Vehicle system and control method for a vehicle

Abstract

The travel route from the starting cell to the destination cell is determined using a new method. [Solution] A vehicle system SYS comprising a controller TC that controls multiple vehicles V traveling on a grid-like track R in which multiple cells C are arranged, wherein the controller TC performs a path search process to search for a travel path of the vehicle V from the starting cell CS to the destination cell CG, and the path search process includes: identifying a group of cells located on a first line L1 that divides a first rectangle S1, whose vertices are opposite the starting cell CS and the destination cell CG, into a part containing the starting cell CS and a part containing the destination cell CG; selecting a first intermediate cell CA from the group of cells that the vehicle V should pass through; and determining a travel path from the starting cell to the first intermediate cell CA and a travel path from the first intermediate cell CA to the destination cell CG.

Description

Technical Field

[0001] The present invention relates to a traveling vehicle system and a method for controlling a traveling vehicle.

Background Art

[0002] A system including a plurality of mobile robots for transporting articles and a controller (server device) that wirelessly communicates with the plurality of mobile robots to control their movement has been disclosed (see, for example, Patent Document 1). The mobile robots move along a grid-shaped track in which a plurality of cells are arranged in a grid pattern. The controller searches for an optimal travel route connecting a departure cell corresponding to the departure point of the mobile robot and a destination cell corresponding to the destination point, and transmits the travel route to the mobile robot. When searching for a travel route, for example, the Dijkstra method or the like is known as an algorithm for searching for an optimal route.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above traveling vehicle system, the traveling vehicle can move in four directions from one cell of the grid-shaped track. When performing route search processing by the Dijkstra method, since the route is evaluated for each cell exhaustively, while an optimal route can be surely found, the amount of calculation becomes enormous and the processing load becomes high. In route search processing, it is useful to select an appropriate algorithm according to the situation and purpose to determine the travel route, and various variations of methods are required for route search processing in order to widen the range of selection of the algorithm.

[0005] The present invention aims to provide a vehicle system capable of determining the travel path from the starting cell to the destination cell using a novel method. [Means for solving the problem]

[0006] A vehicle system according to an aspect of the present invention comprises a grid-like track in which a plurality of cells are arranged, a plurality of vehicles that travel on the grid-like track, and a controller that controls the movement of the plurality of vehicles, wherein the controller performs a path search process to search for a travel path from a departure cell corresponding to the starting point of a vehicle to a destination cell corresponding to the destination point, and drives the vehicles along the travel path determined by the path search process, the path search process includes a process to identify a group of cells located on a first line that divides a first rectangle, whose vertices are opposite each other, into a part containing the departure cell and a part containing the destination cell, a process to select a first intermediate cell from the group of cells that the vehicles should pass through, and a process to determine a travel path from the departure cell to the first intermediate cell and a travel path from the first intermediate cell to the destination cell.

[0007] A method for controlling a vehicle according to an aspect of the present invention is a method for controlling a vehicle traveling on a grid-like track in which a plurality of cells are arranged, and includes: executing a path search process to search for a travel path from a departure cell corresponding to the vehicle's starting point to a destination cell corresponding to its destination; and driving the vehicle along the travel path determined by the path search process, wherein the path search process includes: identifying a group of cells located on a first line that divides a first rectangle, whose vertices are opposite each other, into a portion including the departure cell and a portion including the destination cell; selecting a first intermediate cell from the group of cells through which the vehicle should pass; and determining a travel path from the departure cell to the first intermediate cell and a travel path from the first intermediate cell to the destination cell. [Effects of the Invention]

[0008] According to the above-described vehicle system and vehicle control method, after setting a first rectangle with the starting cell and the destination cell as opposing vertices, a first intermediate cell is selected from a group of cells located on a first line that divides the system into a portion including the starting cell and a portion including the destination cell. In order to determine the travel path from the starting cell to the first intermediate cell and the travel path from the first intermediate cell to the destination cell, the travel path from the starting cell to the destination cell can be determined by a new method.

[0009] Furthermore, in the vehicle system according to the above embodiment, the controller may, in the route search process, preferentially select as the first intermediate cell a cell that can be reached from the starting cell with the fewest turns of direction from the group of cells. With this configuration, since a route that requires less time for turning around is selected, a route that shortens the travel time of the vehicle from the starting cell to the destination cell can be determined.

[0010] Furthermore, in the vehicle system according to the above embodiment, the controller may, in the route search process, preferentially select as the first intermediate cell a cell from among the group of cells that requires fewer decelerations due to changes in direction. With this configuration, since a route with less deceleration time is selected, it is possible to determine a route that shortens the travel time of the vehicle from the starting cell to the destination cell.

[0011] Furthermore, in the vehicle system according to the above embodiment, the controller may, in the route search process, prioritize selecting a cell other than a cell reachable via a cell with restricted access as the first intermediate cell. This configuration makes it possible to determine a route that is not affected by cells with restricted access.

[0012] Furthermore, in the vehicle system according to the above embodiment, the first line may be a straight line extending at a 45° angle to the short and long sides of the first rectangle from a vertex of the first rectangle that is far from the starting cell in the short-side direction. This configuration allows for the appropriate identification of cell groups.

[0013] Furthermore, in the vehicle system according to the above embodiment, the path search process may further include: identifying a second group of cells located on a second line that divides a second rectangle, whose vertices are opposite each other, into a portion containing the first intermediate cell and a portion containing the target cell; selecting a second intermediate cell from the second group of cells that the vehicle should pass through; and determining a travel path from the first intermediate cell to the second intermediate cell and a travel path from the second intermediate cell to the target cell. With this configuration, the travel path from the first intermediate cell to the target cell can be easily determined, and the processing burden on the controller can be reduced.

[0014] Furthermore, in the vehicle system according to the above embodiment, the second line may be a straight line extending at a 45° angle to the short and long sides of the second rectangle from a vertex of the second rectangle that is located away from the first intermediate cell in the short-side direction. This configuration allows for the appropriate identification of the second group of cells.

[0015] Furthermore, in the vehicle system according to the above embodiment, the route search process may further include: identifying a group of third cells located on a third line that divides a third rectangle, whose vertices are opposite each other, into a portion including the starting cell and a portion including the first intermediate cell; selecting a third intermediate cell from the group of third cells that the vehicle should pass through; and determining the travel route from the starting cell to the third intermediate cell and the travel route from the third intermediate cell to the first intermediate cell. With this configuration, the travel route from the starting cell to the first intermediate cell can be easily determined, and the processing burden on the controller can be reduced.

[0016] Furthermore, in the vehicle system according to the above embodiment, the third line may be a straight line extending at a 45° angle to the short and long sides of the third rectangle from a vertex of the third rectangle that is far from the starting cell in the short-side direction. This configuration allows for the appropriate identification of the third group of cells.

[0017] In the traveling vehicle system according to the above aspect, the cell group may include cells within the first rectangle and cells outside the first rectangle located on the extension line of the first line. According to this configuration, a traveling route passing through cells outside the first rectangle can be selected as an option.

[0018] In the traveling vehicle system according to the above aspect, the controller may preferentially select cells within the first rectangle as the first intermediate cells rather than cells outside the first rectangle. According to this configuration, a route with a short traveling distance passing through cells within the first rectangle can be determined.

Brief Description of the Drawings

[0019] [Figure 1] It is a perspective view showing an example of the traveling vehicle system according to the embodiment. [Figure 2] It is a perspective view showing an example of the traveling vehicle. [Figure 3] It is a functional block diagram showing the controller and the in-vehicle controller. [Figure 4] It is a flowchart showing an example of the control method of the traveling vehicle according to the embodiment. [Figure 5] It is a diagram showing a cell group on the first rectangle and the first line. [Figure 6] It is a diagram showing the selection of the first intermediate cell from the cell group. [Figure 7] It is a diagram showing the selection of the second intermediate cell from the cell group on the second rectangle and the second line. [Figure 8] It is a diagram showing another example of the cell group on the first rectangle and the first line. [Figure 9] It is a diagram showing the selection of the third intermediate cell from the cell group on the third rectangle and the third line. [Figure 10] It is a diagram showing the selection of the fourth intermediate cell from the cell group on the fourth rectangle and the fourth line. [Figure 11] It is a diagram showing the selection of the second intermediate cell from the cell group on the second rectangle and the second line. [Figure 12](A) is a diagram showing an example of moving between multiple cells in a straight line, and (B) is a diagram showing another example of moving between multiple cells in a straight line. [Figure 13] This diagram shows the first left detour route, with the first left obstacle area set and the first left detour cell set. [Figure 14] This diagram shows the first left rectangle set using the first left bypass cell. [Figure 15] This is a diagram showing the first leftmost intermediate cell selected. [Figure 16] This image shows the second left rectangle set and the second left middle cell selected. [Figure 17] This diagram shows the first rightward obstacle area and the first rightward detour cell set up in the rightward detour route. [Figure 18] This diagram shows the first right rectangle set using the first right bypass cell. [Figure 19] This is a diagram showing the second rightmost intermediate cell selected. [Figure 20] This diagram compares the left detour route and the right detour route. [Modes for carrying out the invention]

[0020] Embodiments of the present invention will be described below with reference to the drawings. However, the present invention is not limited to what is described below. Also, in order to illustrate the embodiments, the scale of the drawings has been changed as appropriate, such as by enlarging or emphasizing certain parts, and the shape, dimensions, etc. may differ from those of the actual product. In the drawings, directions in the figures may be explained using the XYZ coordinate system. In this XYZ coordinate system, the plane parallel to the horizontal plane is called the XY plane. The direction perpendicular to the XY plane is called the Z direction. In the X, Y, and Z directions, the direction pointed to by the arrow in the figure is the + direction, and the direction opposite to the direction pointed to by the arrow is called the - direction.

[0021] Figure 1 is a perspective view showing an example of a mobile vehicle system SYS according to an embodiment. Figure 2 is a perspective view of a mobile vehicle V used in the mobile vehicle system SYS shown in Figure 1. The mobile vehicle system SYS is a system for transporting goods M by mobile vehicle V in a cleanroom, for example, in a semiconductor manufacturing plant.

[0022] The vehicle system SYS comprises multiple vehicles V that travel along a grid-like track R, and a controller TC that controls the multiple vehicles V. The controller TC controls the movement of the multiple vehicles V. Details of the controller TC will be described later. Also, Figure 1 shows only one vehicle V, and the other vehicles V are omitted. In this embodiment, an example in which the vehicles V are overhead vehicles is described. The vehicles V travel along the grid-like track R and transport items M such as FOUPs that contain semiconductor wafers or reticle Pods that contain reticles. Since the vehicles V transport items M, they are sometimes referred to as transport vehicles.

[0023] The grid-like track R is installed, for example, suspended from the ceiling or near the ceiling of a building such as a cleanroom by a suspension member H. The grid-like track R is provided above a processing device (not shown), a stocker (automated warehouse, not shown), a buffer (not shown), etc., that handles the transfer of goods M. Note that Figure 1 shows only a part of the grid-like track R, and the grid-like track R is formed by continuously creating similar configurations in the first direction DR1 (X direction) and the second direction DR2 (Y direction) from the configuration shown.

[0024] The grid-like track R comprises a first track R1, a second track R2, and an intersecting track R3. The first track R1 extends along the X direction (first direction DR1). The second track R2 extends along the Y direction (second direction DR2). Multiple first track R1s and multiple second track R2s are provided orthogonally to each other and are arranged so as not to contact each other. The intersecting track R3 is located at the intersection of the first track R1 and the second track R2. The intersecting track R3 is adjacent to the first track R1 in the first direction DR1 and adjacent to the second track R2 in the second direction DR2. Together with the first track R1, the intersecting track R3 forms a track in the first direction DR1, and together with the second track R2, it forms a track in the second direction DR2.

[0025] In a grid of orbitals R, the first orbital R1 and the second orbital R2 are arranged in mutually orthogonal directions, so that in a plan view, multiple cells C are adjacent to each other and arranged vertically and horizontally (first direction DR1, second direction DR2). Cells C are sometimes referred to as grid cells or squares. In a plan view, one cell C is the portion enclosed by two adjacent first orbitals R1 in the second direction DR2 and two adjacent second orbitals R2 in the first direction DR1.

[0026] The first track R1, the second track R2, and the crossing track R3 each have running surfaces R1a, R2a, and R3a, respectively. The running wheels 21 of the vehicle V, described later, roll on the running surfaces R1a, R2a, and R3a. A gap D is formed between the first track R1 and the crossing track R3, and between the second track R2 and the crossing track R3. The gap D is the portion through which the connecting section 30, which is part of the vehicle V, passes when the vehicle V travels on the first track R1 and crosses the second track R2, or when the vehicle V travels on the second track R2 and crosses the first track R1. Therefore, the gap D is provided to be wide enough for the connecting section 30 to pass through.

[0027] As shown in Figure 2, the vehicle V comprises a main body 10, a running section 20, a connecting section 30, and an on-board controller VC. The on-board controller VC comprehensively controls the vehicle V. Details of the on-board controller VC will be described later. The main body 10 is positioned below (-Z side) the grid-like track R. The main body 10 is sized to fit within one cell C (see Figure 1) of the grid-like track R in a plan view. Therefore, the main body 10s do not interfere with each other when passing other vehicles V traveling on adjacent first tracks R1 or second tracks R2.

[0028] The main body 10 comprises an upper unit 17 and a transfer device 18. The upper unit 17 is suspended from the traveling unit 20 via a connecting unit 30. The traveling unit 20 is provided at each of the four corners of the upper surface 17a of the upper unit 17. The transfer device 18 is located below the upper unit 17 and transfers articles M to predetermined positions. The transfer device 18 includes an article holding unit 13 for holding articles M, a lifting drive unit 14 for raising and lowering the article holding unit 13 vertically, a side-extension mechanism 11 for sliding the lifting drive unit 14 horizontally, and a rotating unit 12 for rotating the side-extension mechanism 11.

[0029] The running section 20 has running wheels 21 and auxiliary wheels 22. One auxiliary wheel 22 is positioned in front of and behind the running wheels 21 in the direction of travel. The running wheels 21 are mounted on axles provided on support members 31 of the connecting section 30. Each of the running wheels 21 is rotationally driven by the driving force of the running drive section 33. The connecting member 32 of the connecting section 30 is provided so as to be rotatable in the θZ direction about the pivot axis AX2 and has a transmission mechanism inside that transmits the driving force of the running drive section 33 to the running wheels 21. By rotating this connecting member 32 about the pivot axis AX2, the running wheels 21 can be rotated in the θZ direction about the pivot axis AX2.

[0030] The connecting section 30 is equipped with a direction changing mechanism 34. The direction changing mechanism 34 rotates a pinion gear 36 with a drive source 35, moving the drive source 35 along the rack 37, thereby rotating the running wheels 21 in the θZ direction around the pivot axis AX2. By rotating the running wheels 21, the running direction of the running vehicle V can be switched from a state where the running direction is the first direction DR1 to a state where the running direction is the second direction DR2, or from a state where the running direction is the second direction DR2 to a state where the running direction is the first direction DR1.

[0031] The vehicle V is equipped with a position detection unit (not shown) that detects its own position information. This position detection unit detects the vehicle's current position by, for example, non-contact detecting position markers (not shown) provided for each cell C of the grid-like track R.

[0032] The grid-like track R allows vehicles V to selectively move in either the first direction DR1 or the second direction DR2. Each cell C has a blocking section where exclusive control is implemented to prevent other vehicles V from entering if one of the multiple vehicles V occupies the cell. In other words, cell C also functions as a blocking section. A vehicle V in a designated cell C can proceed to an adjacent cell C if it obtains permission from the controller TC to occupy that cell C, but if it does not obtain permission from the controller TC, it will not proceed to that cell C and will stop in the designated cell C. Interference between vehicles V is prevented by granting occupancy permission in such a cell C.

[0033] Figure 3 is a block diagram showing an example of a controller TC and an on-board controller VC. The controller TC and the on-board controller VC are connected to communicate via an arbitrary communication system. As shown in Figure 3, the on-board controller VC includes a storage unit 51 for storing various data, a communication unit 52, a driving control unit 53, a transfer control unit 54, a status information processing unit 55, and an occupation permission request unit 56. The on-board controller VC is, for example, a computer device.

[0034] The communication unit 52 communicates wirelessly with the controller TC or other devices (external devices). The driving control unit 53 controls the driving of the vehicle V by controlling the driving drive unit 33 and the direction change mechanism 34. The driving control unit 53 controls, for example, driving (driving speed), stopping, and direction change operations. The driving control unit 53 controls driving based on the route command CM, which will be described later. The transfer control unit 54 controls the transfer operation by controlling the transfer device 18. The transfer control unit 54 controls the load-grabbing operation to grasp and hold the item M to be placed in a predetermined location, and the load-unloading operation to lower and release the held item M to a predetermined location.

[0035] The status information processing unit 55 periodically generates and updates status information A. Status information A is stored in the storage unit 51. The status information processing unit 55 transmits status information A to the controller TC via the communication unit 52. Status information A includes, for example, information on the vehicle's current position, information indicating the current speed of movement, information indicating the presence or absence of cargo, and information on the execution status of various commands such as route command CM (executing, execution completed, execution failed).

[0036] The occupancy permission request unit 56 generates an occupancy permission request for a vehicle V traveling on a grid-like track R according to a route command CM, allowing the vehicle to proceed from the current cell C to an adjacent cell C in the direction of travel specified in the route command CM. The occupancy permission request unit 56 may generate one occupancy permission request for each cell C adjacent to the current cell C in the direction of travel, or it may generate multiple occupancy permission requests for multiple cells C in the direction of travel from the current cell C. The occupancy permission requests generated by the occupancy permission request unit 56 are transmitted to the controller TC via the communication unit 52. The occupancy permission requests may be transmitted in the status information A, or they may be transmitted separately from the status information A.

[0037] The controller TC controls the vehicle V by transmitting various commands to the vehicle V. The controller TC includes a storage unit 61 for storing various data, a communication unit 62, a route search processing unit 63, an allocation unit 64, a status information request unit 65, and an occupation permission determination unit 66. The controller TC is a computer device that processes various information, for example, by including a CPU, main memory, storage device, communication device, etc. The controller TC stores information or control programs necessary for controlling each vehicle V in its storage unit 61. Note that the configuration of the controller TC shown in Figure 3 is just one example, and other configurations may be applied. The communication unit 62 communicates wirelessly with the on-board controller VC or other devices (external devices).

[0038] The route search processing unit 63 generates a route command CM. The route command CM is a command to drive the vehicle V along a predetermined route. In this embodiment, an example in which the route search processing unit 63 is provided in the controller TC is described. The route search processing unit 63 may also be provided in the on-board controller VC. In this case, the controller TC transmits a command to the on-board controller VC that specifies a destination without including a driving route. The assignment unit 64 assigns the route command CM generated in the route search processing unit 63 to the vehicle V. The status information request unit 65 transmits a status information request command RQ to the vehicle V, requesting it to transmit status information A.

[0039] The route search processing unit 63 performs route search processing to generate a route command CM. The route search processing is the process of searching for a travel route from the departure cell CS, which is the cell C corresponding to the starting point of the traveling vehicle V, to the destination cell CG, which is the cell C corresponding to the destination point. The travel route determined by the route search processing unit 63 is included in the route command CM and assigned to a predetermined traveling vehicle V by the assignment unit 64. This route command CM is sent to the predetermined traveling vehicle V via the communication unit 62, causing the predetermined traveling vehicle V to travel. Details of the route search processing will be described later.

[0040] The occupancy permission determination unit 66 receives an occupancy permission request transmitted from the in-vehicle controller VC and determines whether or not to grant occupancy permission for cell C, which is the subject of the occupancy permission, to the vehicle V that issued the occupancy permission request. If the occupancy permission determination unit 66 has already transmitted occupancy permission for cell C to another vehicle V (i.e., cell C is occupied by one of the vehicles V), it will not grant occupancy permission until it has confirmed that the other vehicle V has proceeded to another cell C (i.e., after the occupancy of cell C has been released). If the occupancy permission determination unit 66 grants occupancy permission for cell C, it generates information regarding the occupancy permission and transmits it to the vehicle V that sent the occupancy permission request via the communication unit 62.

[0041] In this embodiment, the controller TC is equipped with an occupation permission determination unit 66, but the system is not limited to this configuration. For example, the occupation permission determination unit 66 may be provided in a controller other than the controller TC (e.g., a blocking controller).

[0042] Next, the control method for the vehicle V in the vehicle system SYS will be described. Figure 4 is a flowchart showing an example of the control method for the vehicle V according to the embodiment. Figures 5 to 7 show an example of the path search process in the vehicle system SYS. Note that Figures 5 to 7 show a part of the grid-shaped track R. First, the controller TC assigns the optimal vehicle V using the assignment unit 64 based on the transport command obtained from a higher-level device, etc. The process of assigning the optimal vehicle V may involve, for example, assigning the vehicle V that is closest to the target cell C among the vehicles V to which a transport command has not been assigned.

[0043] Next, the route search processing unit 63 of the controller TC executes the route search process (step S10). In this embodiment, the route search process is, for example, the process of searching for a travel route from the departure cell CS to the destination cell CG, as shown in Figure 5. The departure cell CS is, for example, the cell C in which the vehicle V assigned by the allocation unit 64 is currently located.

[0044] In step S10 of the pathfinding process, the pathfinding is performed according to the following description. First, a first rectangle S1 is set as shown in the flowchart of Figure 4 (step S11). In step S11, the pathfinding processing unit 63 sets a first rectangle S1 where the starting cell CS and the target cell CG are opposite each other, as shown in Figure 5. In Figure 5, the first rectangle S1 is shown with a thick line.

[0045] Next, the pathfinding processing unit 63 identifies the cell group CF located on the first line L1 (step S12). In step S12, as shown in Figure 5, the pathfinding processing unit 63 identifies the cell group CF located on the first line L1 that divides the first rectangle S1 into a portion containing the starting cell CS and a portion containing the target cell CG. For example, as shown in Figure 5, the pathfinding processing unit 63 sets the first line L1 as a straight line extending at a 45° angle to the short and long sides of the first rectangle S1 from a vertex of the first rectangle S1 that is far from the starting cell CS in the short side direction, and identifies the cell group CF as a plurality of cells C located on this first line L1.

[0046] The first line L1 is not limited to being a straight line extending at a 45° angle to the short and long sides of the first rectangle S1 from a vertex of the first rectangle S1 that is far from the starting cell CS in the short-side direction, as shown in Figure 5. It may be a straight line other than a 45° line, or a curve, etc., as long as it can divide the rectangle into a part containing the starting cell CS and a part containing the target cell CG. As in this embodiment, by making the first line L1 a straight line extending at a 45° angle to the short and long sides of the first rectangle S1 from a vertex of the first rectangle S1 that is far from the starting cell CS in the short-side direction, the rectangle can be easily and conveniently divided into a part containing the starting cell CS and a part containing the target cell CG. The cell group CF includes cells C within the first rectangle S1 and cells C outside the first rectangle S1 that are located on the extension of the first line L1.

[0047] Next, the route search processing unit 63 selects the first intermediate cell CA (step S13). In step S13, the route search processing unit 63 selects the first intermediate cell CA from the cell group CF that the vehicle V should pass through. The route search processing unit 63 preferentially selects as the first intermediate cell CA the cell C that can be reached from the starting cell CS with the fewest turns of direction from the starting cell CS. Assume that the vehicle V is facing to the right in the diagram at the starting cell CS. In this state, Figure 5 indicates the priority order within the cell C identified as part of the cell group CF. Within the first rectangle S1, cell C that can reach the target cell CG with one turn of direction from the starting cell CS is given priority "1", cell C that can reach the target cell CG with two turns of direction is given priority "2", and cell C that can reach the target cell CG with three turns of direction is given priority "3". Note that if the vehicle V changes direction from a state where it is facing to the right at the starting cell CS, this is also included in the number of turns of direction.

[0048] Furthermore, the pathfinding processing unit 63 selects cells C within the first rectangle S1 as the first intermediate cell CA with higher priority than cells C outside the first rectangle S1. For example, outside the first rectangle S1, cells C that can reach the target cell CG from the starting cell CS in three turns are given priority "4", while cells C that can reach the target cell CG in four turns are given priority "5" or "6". In this case, priority is set not only based on the number of turns, but also on factors such as fewer decelerations and shorter travel times, which give higher priority to cells C that can be reached.

[0049] In the example shown in Figure 5, the route search processing unit 63 selects cell C, which has the highest priority "1", as the first intermediate cell CA. If it is necessary to detour due to the presence of an obstacle within the first rectangle S1, the route search processing unit 63 may select a cell C outside the first rectangle S1. Furthermore, if a group of cells CF is located at a relatively close distance from the starting cell CS, the priority of cells C that are temporarily difficult to pass through may be lowered, in addition to the number of direction changes and decelerations and the time to arrive.Specific examples of cells C that are temporarily difficult to pass through include, for example, a cell C that is temporarily occupied because another vehicle V is scheduled to pass through, or a cell C that is physically impossible to pass through because another vehicle V is stopped.

[0050] Next, the route search processing unit 63 determines the travel routes RS and RG (step S14). In step S14, as shown in Figure 6, the route search processing unit 63 determines the travel route RS to be from the starting cell CS to the first intermediate cell CA. When determining the travel route RG from the first intermediate cell CA to the destination cell CG, the route search processing unit 63 first sets a second rectangle S2, as shown in Figure 7, where the vertices of the first intermediate cell CA and the destination cell CG are opposite each other. In Figure 7, the second rectangle S2 is shown with a thick line.

[0051] After setting the second rectangle S2, the pathfinding processing unit 63 identifies the second group of cells CF2 located on the second line L2 that divides the second rectangle S2 into a portion containing the first intermediate cell CA and a portion containing the target cell CG. The pathfinding processing unit 63 may define the second line L2 as a straight line extending diagonally from a vertex of the second rectangle S2 that is far from the first intermediate cell CA in the short-side direction, at a 45° angle to the short and long sides of the second rectangle S2. However, the second line L2 is not limited to being a straight line extending at a 45° angle, similar to the first line L1.

[0052] After identifying the second cell group CF2, the path search processing unit 63 selects the second intermediate cell CB from the second cell group CF2 that the vehicle V should pass through. The vehicle V is facing right towards the first intermediate cell CA. The path search processing unit 63 selects the second intermediate cell CB from the second cell group CF2 that allows the vehicle V to reach the target cell CG with one turn of direction from the first intermediate cell CA. After selecting the second intermediate cell CB, the path search processing unit 63 determines the travel path RG1 from the first intermediate cell CA to the second intermediate cell CB and the travel path RG2 from the second intermediate cell CB to the target cell CG as the travel path RG. That is, the path search processing unit 63 determines the travel path RS shown in Figure 6 and the travel path RG shown in Figure 7 as the travel path for the vehicle V.

[0053] Next, the controller TC directs the vehicle V to travel along the travel paths RS and RG (step S20). The controller TC generates a route command CM that directs the vehicle V to travel along the travel paths RS and RG determined in the above route search process. The route command CM is sent via the communication unit 52 to the vehicle V that was previously assigned by the assignment unit 64.

[0054] When the vehicle V receives a route command CM, the driving control unit 53 of the onboard controller VC controls its movement based on the route command CM and executes the route command CM. When the vehicle V is traveling on the grid-shaped track R, the occupancy permission request unit 56 sends an occupancy permission request to the controller TC for the adjacent cell C. The controller TC, using the occupancy permission determination unit 66, determines whether it is permissible to proceed to the cell C that is the subject of the occupancy permission request, and if it is permissible to proceed, it sends an occupancy permission for cell C to the vehicle V.

[0055] Having obtained permission to occupy a cell, the vehicle V proceeds to the adjacent cell C. By sequentially repeating this process of requesting and obtaining permission to occupy a cell for the next cell C, the vehicle V proceeds along the route specified in the route command CM. In the embodiment described above, the vehicle V issues one permission to occupy a cell C at a time in the direction of travel, but the embodiment is not limited to this form. For example, multiple permission to occupy a cell may be issued together for multiple cells C along the travel route. In this case, the permission to occupy a cell determination unit 66 of the controller TC may determine whether or not to grant permission to occupy a cell for each of the multiple permission to occupy a cell, and may transmit the multiple permission to occupy a cell together or individually to the vehicle V.

[0056] Figure 8 shows another example of a group of cells on the first rectangle S1 and the first line L1. The example shown in Figure 8 includes a cell C that cannot be traversed (a cell filled in black; hereinafter referred to as obstacle cell CO). In this case, as above, the path search processing unit 63 sets the first rectangle S1 where the starting cell CS and the target cell CG are opposite each other. In Figure 8, the first rectangle S1 is shown with a thick line.

[0057] Next, the pathfinding processing unit 63 identifies a group of cells CF located on a first line L1 that divides the first rectangle S1 into a portion containing the starting cell CS and a portion containing the target cell CG. For example, as shown in Figure 8, the pathfinding processing unit 63 sets a straight line as the first line L1 that extends at a 45° angle to the short and long sides of the first rectangle S1 from a vertex of the first rectangle S1 that is far from the starting cell CS in the short-side direction. The pathfinding processing unit 63 identifies a group of cells CF consisting of cells C (cells with widely spaced hatching and cells with narrowly spaced hatching) located on the first line L1.

[0058] Next, the route search processing unit 63 selects the first intermediate cell CA from the cell group CF that the vehicle V should pass through. In the starting cell CS, the vehicle V is facing right. In the route search process, the route search processing unit 63 prioritizes selecting the cell C from the cell group CF that can be reached from the starting cell CS with the fewest direction changes as the first intermediate cell CA. In Figure 8, in the cell group CF, the cell C (the cell with widely spaced hatching) that can reach the target cell CG with the fewest direction changes of 3 from the starting cell CS is given priority "1".

[0059] The pathfinding processing unit 63 calculates the number of direction changes required to reach the target cell CG from the starting cell CS for each cell in the cell group CF. In other words, the pathfinding processing unit 63 calculates the total number of direction changes required to reach the target cell CG from the starting cell CS by adding the number of direction changes required to reach any cell C in the cell group CF from the starting cell CS to the number of direction changes required to reach the target cell CG from that cell C. In the example shown in Figure 8, the first intermediate cell CA is selected in the cell group CF, which can reach the target cell CG from the starting cell CS in 3 direction changes.

[0060] Next, the pathfinding processing unit 63 sets a third rectangle S3, as shown in Figure 9, where the starting cell CS and the first intermediate cell CA are opposite each other. In Figure 9, the third rectangle S3 is shown with a thick line. After setting the third rectangle S3, the pathfinding processing unit 63 identifies a third group of cells CF3 (cells with wide-spaced hatching and narrow-spaced hatching) located on a third line L3 that divides the area into a part containing the starting cell CS and a part containing the first intermediate cell CA. The pathfinding processing unit 63 defines the third line L3 as a straight line extending at a 45° angle to the short and long sides of the third rectangle S3 from a vertex of the third rectangle S3 that is far from the starting cell CS in the short-side direction.

[0061] After setting the third cell group CF3, the path search processing unit 63 selects the third intermediate cell CC from the third cell group CF3 that the vehicle V should pass through. Since the vehicle V is facing right at the starting cell CS, in Figure 9, in the third cell group CF3, the two cells C (cells with widely spaced hatching) that can reach the first intermediate cell CA with the fewest number of direction changes (two) from the starting cell CS can be given priority "1". When selecting one cell C from these two cells C, the path search processing unit 63 may, for example, select the cell C that can be reached in the shortest time or the cell that can be reached fastest, or it may select the cell C that was calculated first. In the example shown in Figure 9, the case where the lower right cell C of the two is set as the third intermediate cell CC is shown.

[0062] Next, the pathfinding processing unit 63 sets a fourth rectangle S4, as shown in Figure 10, where the starting cell CS and the third intermediate cell CC are opposite each other. In Figure 10, the fourth rectangle S4 is shown with a thick line. After setting the fourth rectangle S4, the pathfinding processing unit 63 identifies a fourth group of cells CF4 (cells with wide-spaced hatching and narrow-spaced hatching) located on a fourth line L4 that divides the area into a part containing the starting cell CS and a part containing the third intermediate cell CC. The pathfinding processing unit 63 defines the fourth line L4 as a straight line extending at a 45° angle to the short and long sides of the fourth rectangle S4 from a vertex of the fourth rectangle S4 that is far from the starting cell CS in the short-side direction.

[0063] After setting the fourth cell group CF4, the route search processing unit 63 selects the fourth intermediate cell CD from the fourth cell group CF4 that the vehicle V should pass through. Since the vehicle V is facing right in the starting cell CS, in Figure 10, the fourth intermediate cell CD is the cell C (a cell with widely spaced hatching) in the fourth cell group CF4 that can reach the third intermediate cell CC with the fewest direction changes (one) from the starting cell CS.

[0064] After setting the fourth intermediate cell CD, the route search processing unit 63 determines the following as the travel route RS: RS1 from the starting cell CS to the fourth intermediate cell CD, RS2 from the fourth intermediate cell CD to the third intermediate cell CC, and RS3 from the third intermediate cell CC to the first intermediate cell CA.

[0065] Next, the pathfinding processing unit 63 sets a second rectangle S2, as shown in Figure 11, where the vertices of the first intermediate cell CA and the target cell CG are opposite each other. In Figure 11, the second rectangle S2 is shown with a thick line. After setting the second rectangle S2, the pathfinding processing unit 63 identifies a second group of cells CF2 (cells with wide-spaced hatching and narrow-spaced hatching) located on a second line L2 that divides the second rectangle S2 into a part containing the first intermediate cell CA and a part containing the target cell CG. The pathfinding processing unit 63 defines the second line L2 as a straight line extending at a 45° angle to the short and long sides of the second rectangle S2 from a vertex in the short-side direction away from the first intermediate cell CA in the second rectangle S2.

[0066] After identifying the second cell group CF2, the path search processing unit 63 selects the second intermediate cell CB from the second cell group CF2 that the vehicle V should pass through. Since the vehicle V is facing right in the first intermediate cell CA, in Figure 11, the second intermediate cell CB is defined as the cell C (a cell with widely spaced hatching) in the second cell group CF2 that allows the vehicle to reach the target cell CG with the fewest direction changes (one cell) from the first intermediate cell CA. After selecting the second intermediate cell CB, the path search processing unit 63 determines the travel path RG1 from the first intermediate cell CA to the second intermediate cell CB and the travel path RG2 from the second intermediate cell CB to the target cell CG as the travel path RG.

[0067] The route search processing unit 63 generates a route command CM that causes the vehicle V to travel along the travel routes RS and RG determined in the above route search process. Subsequently, the route command CM is transmitted to the vehicle V assigned by the allocation unit 64, and the vehicle V travels based on the route command CM, as described above.

[0068] Figure 12(A) shows an example of moving in a straight line through multiple cells, and Figure 12(B) shows another example of moving in a straight line through multiple cells. As shown in Figures 12(A) and (B), if the width of the first rectangle S1 is one cell and the destination can be reached by moving in a straight line from the current location of the vehicle V, the path search processing unit 63 determines a path (straight path) that allows the vehicle V to move in a straight line without increasing the number of intermediate points such as the first intermediate cell CA, the second intermediate cell CB, the third intermediate cell CC, and the fourth intermediate cell CD.

[0069] In such a straight path, if an obstacle is present, or if a temporary inability to pass occurs, the vehicle will be routed around the obstacle as described below. Figures 13 to 20 show examples of how to route around an obstacle. In Figures 13 to 20, cells C (obstacle cells CO) that cannot be passed are shown filled in black. Also, in the starting cell CS, the vehicle V is facing upwards in the figures.

[0070] Using Figures 13 to 16, we will explain using the example of a detour from the starting cell CS to the left in the figures. In the following explanation, the route that detours to the left will be referred to as the left detour route LR. As shown in Figure 13, in the left detour route LR, the route search processing unit 63 encloses the obstacle cell CO adjacent to the front of the starting cell CS in the direction to the left or diagonally to the left with a rectangle, and sets the area enclosed by the rectangle as the left obstacle area OL. In Figure 13, the left obstacle area OL is shown with a thick line. By enclosing the obstacle cell CO adjacent to the front of the starting cell CS in the direction to the left or diagonally to the left with a rectangle as the left obstacle area OL, the first left detour cell CL1, which will be described later, can be easily set.

[0071] Next, the route search processing unit 63 sets the cell C that is diagonally ahead of the obstacle area OL on the left, the cell C that is furthest from the starting cell CS of the vehicle V, as the first left detour cell CL1. Note that "ahead" refers to the side where the vehicle V is located.

[0072] Next, as shown in Figure 14, the pathfinding processing unit 63 sets up the first left rectangle SL1 that encloses the first left detour cell CL1 and the target cell CG. In Figure 14, the first left rectangle SL1 is shown with a thick line. Next, the pathfinding processing unit 63 identifies the group of cells CF located on the first line L1 that divides the first left rectangle SL1 into a part containing the first left detour cell CL1 and a part containing the target cell CG. For example, as shown in Figure 14, the pathfinding processing unit 63 sets the first line L1 as a straight line that extends at a 45° angle to the short and long sides of the first left rectangle SL1 from a vertex of the first left rectangle SL1 that is far from the first left detour cell CL1 in the short side direction. The pathfinding processing unit 63 identifies the cell C located on the first line L1 as the group of cells CF.

[0073] Next, the route search processing unit 63 selects the second left detour cell CL2 from the cell group CF that the vehicle V should pass through. In the route search process, the route search processing unit 63 selects a passable cell C from the cell group CF as the second left detour cell CL2. As shown in Figure 15, the route search processing unit 63 selects the second cell C from the bottom left of the four cells C in the cell group CF as the second left detour cell CL2 because it is passable. In this case, if there are multiple passable cells C, the cell C that can be reached with the fewest turns from the first left detour cell CL1 is selected from the cell group CF.

[0074] Next, the pathfinding processing unit 63 sets the second left rectangle SL2, with the vertices of the second left detour cell CL2 and the target cell CG facing each other, as shown in Figure 16. In Figure 16, the second left rectangle SL2 is shown with a thick line. After setting the second left rectangle SL2, the pathfinding processing unit 63 identifies the second group of cells CF2 located on the second line L2 that divides the second left rectangle SL2 into a portion containing the second left detour cell CL2 and a portion containing the target cell CG.

[0075] After identifying the second cell group CF2, the path search processing unit 63 selects the second intermediate cell CB from the second cell group CF2 that the vehicle V should pass through. In the example shown in Figure 16, of the three passable cells C, the cell C (the cell with widely spaced hatching) that allows the vehicle to reach the target cell CG with the fewest number of direction changes (3) from the second left detour cell CL2 is selected as the third left detour cell CL3. Note that in the second left detour cell CL2, the vehicle V changing direction from upward to right in the figure is also counted as a direction change.

[0076] Next, the route search processing unit 63 determines the travel route LRS from the departure cell CS to the second left detour cell CL2 via the first left detour cell CL1, and determines the travel route LRG1 from the second left detour cell CL2 to the third left detour cell CL3, and the travel route LRG2 from the third left detour cell CL3 to the destination cell CG as the travel route LRG. In other words, as shown by the arrows in Figure 16, the route search processing unit 63 determines the travel routes LRS and LRG from the departure cell CS to the destination cell CG as the left detour route LR.

[0077] Next, using Figures 17 to 19, we will explain the case where the train detours to the right from the starting cell CS as an example. In the following explanation, the route that detours to the right will be referred to as the right detour route RR. As shown in Figure 17, in the right detour route RR, the route search processing unit 63 encloses the obstacle cell CO adjacent to the starting cell CS in the direction of travel from the front to the right or diagonally to the right with a rectangle, and sets the area enclosed by the rectangle as the right obstacle area OR. In Figure 17, the right obstacle area OR is shown with a thick line. By enclosing the obstacle cell CO adjacent to the starting cell CS in the direction of travel from the front to the right or diagonally to the right with a rectangle as the right obstacle area OR, the first right detour cell CR1, which will be described later, can be easily set.

[0078] Next, the route search processing unit 63 sets the cell C that is diagonally ahead of the obstacle area OR on the right, the cell C that is furthest from the starting cell CS of the vehicle V, as the first right detour cell CR1. Note that "ahead" refers to the side where the vehicle V is located.

[0079] Next, as shown in Figure 18, the pathfinding processing unit 63 sets up the first right rectangle SR1 that encloses the first right detour cell CR1 and the target cell CG. In Figure 18, the first right rectangle SR1 is shown with a thick line. Next, the pathfinding processing unit 63 identifies the group of cells CF located on the first line L1 that divides the first right rectangle SR1 into a part containing the starting cell CS and a part containing the target cell CG. For example, as shown in Figure 18, the pathfinding processing unit 63 sets the first line L1 as a straight line that extends diagonally from a vertex in the first right rectangle SR1 that is far from the starting cell CS in the short-side direction, at a 45° angle to the short and long sides of the first right rectangle SR1. The pathfinding processing unit 63 identifies the cell C located on the first line L1 as the group of cells CF.

[0080] Next, the route search processing unit 63 selects the second right detour cell CR2 from the cell group CF that the vehicle V should pass through. In the route search process, the route search processing unit 63 selects a passable cell C from the cell group CF as a candidate for the second right detour cell CR2. As shown in Figure 18, all three cells C within the first right rectangle SR1 of the cell group CF are impassable within the first right rectangle SR1. Therefore, the route search processing unit 63 selects a cell C outside the first right rectangle SR1 of the cell group CF as the second right detour cell CR2. Note that in Figure 18, there is only one cell C outside the first right rectangle SR1 of the cell group CF, so this cell C is selected as the second right detour cell CR2. However, if there are two or more cells C outside the first right rectangle SR1 among the cell group CF, the pathfinding processing unit 63 selects the second right detour cell CR2 from among the cells C outside the first right rectangle SR1, taking into consideration the number of direction changes, etc.

[0081] Next, as shown in Figure 19, the route search processing unit 63 determines the travel route RRS from the departure cell CS to the first right detour cell CR1, and determines the travel route RRG1 from the first right detour cell CR1 to the second right detour cell CR2, and the travel route RRG2 from the second right detour cell CR2 to the destination cell CG as the travel route RRG. In other words, as shown by the arrows in Figure 19, the route search processing unit 63 determines the travel routes RRS and RRG from the departure cell CS to the destination cell CG as the right detour route RR.

[0082] Figure 20 shows a comparison between the left detour route LR and the right detour route RR. As shown in Figure 20, the route search processing unit 63 compares the left detour route LR and the right detour route RR and selects the appropriate route. In this case, the route search processing unit 63 prioritizes the route that requires less detour, while also considering factors such as the number of direction changes. In the example shown in Figure 20, the amount of detour required is 4 cells for the left detour route LR and 5 cells for the right detour route RR. Also, the number of direction changes is 7 for the left detour route LR and 3 for the right detour route RR.

[0083] The route search processing unit 63 selects, for example, the route that gets the vehicle from the starting cell CS to the destination cell CG in the shortest time between the left detour route LR and the right detour route RR. In the example shown in Figure 20, the left detour route LR is one cell shorter in the left-right direction than the right detour route RR, so the distance traveled from the starting cell CS to the destination cell CG is shorter than that of the right detour route RR. On the other hand, the left detour route LR involves seven turns of direction, which is four more than the right detour route RR. Since the turns of direction include time loss due to deceleration and re-acceleration of the vehicle V, the left detour route LR may take longer than the right detour route RR.

[0084] Therefore, the route search processing unit 63 selects the right detour route RR. Alternatively, the selection between the left detour route LR and the right detour route RR may be made by calculating the travel time of the vehicle V using a predetermined formula with parameters such as travel distance and number of direction changes, and selecting the route with the shorter travel time based on this calculation result.

[0085] Furthermore, while a vehicle V is traveling along a route command CM, there may be cases where a cell C along the route becomes impassable due to another vehicle V occupying it. In this case, the controller TC may, for example, have the vehicle V wait before the impassable cell C, or it may perform a route search again. Whether or not to perform a route search again is determined by the controller TC checking the status of cells C along the route at predetermined intervals. If a route search is performed again, the controller TC determines the travel route based on the current position of the vehicle V using the same method as in the embodiment described above. Even when a route search is performed again, the processing load on the controller TC is small, so a new travel route can be determined easily and quickly.

[0086] This embodiment includes the following: [Configuration 1] A vehicle system SYS comprising a grid-like track R in which multiple cells C are arranged, multiple vehicles V that travel on the grid-like track R, and a controller TC that controls the movement of the vehicles V, Controller TC is A route search process is executed to find a route from the starting cell CS, which corresponds to the starting point of the vehicle V, to the destination cell CG, which corresponds to the destination point. The vehicle V is then driven along the route RS and RG determined by the route search process. The pathfinding process is, A process to identify a group of cells CF located on a first line L1 that divides a first rectangle S1, where the starting cell CS and the target cell CG are opposite each other, into a portion containing the starting cell CS and a portion containing the target cell CG, The process of selecting the first intermediate cell CA from the cell group CF through which the vehicle V should pass, A vehicle system including a process for determining a travel route RS from the departure cell CS to the first intermediate cell CA, and a travel route RG from the first intermediate cell CA to the destination cell CG. In configuration 1, when selecting the first intermediate cell CA from the cell group CF, it is necessary to select any cell C from the cell group CF as the first intermediate cell CA. In other words, unlike configuration 2 described later, the first intermediate cell CA may be selected from the cell group CF as the cell C that is reachable from the starting cell CS with the largest number of direction changes (the maximum number of direction changes).

[0087] [Configuration 2] The vehicle system according to Configuration 1, wherein the controller TC, in the route search process, preferentially selects a cell C from the cell group CF that can be reached from the starting cell CS with the fewest turns of direction as the first intermediate cell CA. [Configuration 3] The vehicle system according to configuration 1 or 2, wherein the controller TC, in the path search process, preferentially selects a cell C from the cell group CF that has fewer decelerations associated with changes of direction as the first intermediate cell CA. Configuration 3 includes the possibility that, during the pathfinding process, the number of decelerations associated with direction changes in addition to the number of direction changes from the starting cell CS may be taken into consideration when selecting the first intermediate cell CA, or that the number of decelerations associated with direction changes may be taken into consideration when selecting the first intermediate cell CA, regardless of the number of direction changes from the starting cell CS.

[0088] [Structure 4] The vehicle system according to any one of Configurations 1 to 3, wherein the controller TC, in the route search process, preferentially selects other cells C from the cell group CF as the first intermediate cell CA, rather than cells C that can be reached via restricted cell C. Configuration 4 includes the possibility that, in the route search process, in addition to the number of turns from the starting cell CS and / or the number of decelerations associated with the turns, other cells C from the cell group CF that do not pass through restricted cell C may be preferentially selected as the first intermediate cell CA, or other cells C that do not pass through restricted cell C may be preferentially selected as the first intermediate cell CA regardless of the number of turns from the starting cell CS and the number of decelerations associated with the turns.

[0089] [Composition 5] The vehicle travel system according to any one of configurations 1 to 4, wherein the first line L1 is a straight line extending from a vertex of the first rectangle S1 that is located away from the starting cell CS in the direction of the shorter side, at a 45° angle to the shorter and longer sides of the first rectangle S1. Configuration 5 includes the following: when performing the pathfinding process, at least one of the contents of Configurations 2 to 4 described above may be performed, and the first line L1 may be a straight line extending at a 45° angle to the short and long sides of the first rectangle S1 from a vertex of the first rectangle S1 that is far from the starting cell CS in the short-side direction; or, without performing the contents of Configurations 2 to 4, the first line L1 may be a straight line extending at a 45° angle to the short and long sides of the first rectangle S1 from a vertex of the first rectangle S1 that is far from the starting cell CS in the short-side direction.

[0090] [Composition 6] The pathfinding process is, A process to identify a second group of cells CF2 located on a second line L2 that divides a second rectangle S2, where the first intermediate cell CA and the target cell CG are opposite each other, into a portion containing the first intermediate cell CA and a portion containing the target cell CG, The process of selecting the second intermediate cell CB from the second cell group CF2 through which the vehicle V should pass, A vehicle system according to any one of configurations 1 to 6, further comprising a process for determining a travel path RG1 from a first intermediate cell CA to a second intermediate cell CB, and a travel path RG2 from the second intermediate cell CB to the target cell CG. Configuration 6 includes the possibility that, during the route search process, the process of identifying the second cell group CF2, selecting the second intermediate cell CB, and determining the travel route RG1 and travel route RG2 may be performed while performing at least one of the contents of Configurations 2 to 5, or the process of identifying the second cell group CF2, selecting the second intermediate cell CB, and determining the travel route RG1 and travel route RG2 may be performed without performing the contents of Configurations 2 to 5.

[0091] [Composition 7] The vehicle system according to configuration 6, wherein the second line L2 is a straight line extending at a 45° angle to the short and long sides of the second rectangle S2 from a vertex of the second rectangle S2 that is located away from the first intermediate cell CA in the short-side direction. [Structure 8] The pathfinding process is, A process to identify a third group of cells CF3 located on a third line L3 that divides a third rectangle S3, where the starting cell CS and the first intermediate cell CA are opposite each other, into a portion containing the starting cell CS and a portion containing the first intermediate cell CA, and The process of selecting the third intermediate cell CC from the third cell group CF3 through which the vehicle V should pass, A vehicle system according to any one of configurations 1 to 7, further comprising a process for determining travel routes RS1 and RS2 from the starting cell CS to the third intermediate cell CC, and travel route RS3 from the third intermediate cell CC to the first intermediate cell CA. Configuration 8 includes the possibility of performing the following steps during the route search process: identifying the third cell group CF3, selecting the third intermediate cell CC, and determining the travel routes RS1, RS2, and travel route RS3, while performing at least one of the contents of Configurations 2 to 7; or performing the following steps without performing the contents of Configurations 2 to 7.

[0092] [Composition 9] The vehicle system according to configuration 8, wherein the third line L3 is a straight line extending at a 45° angle to the short and long sides of the third rectangle S3 from a vertex of the third rectangle S3 that is located away from the starting cell CS in the short-side direction. [Configuration 10] The vehicle system according to any one of configurations 1 to 9, wherein the cell group CF includes a cell C within a first rectangle S1 and a cell C outside the first rectangle S1 located on the extension of the first line L1. Configuration 10 includes the possibility that, during the pathfinding process, at least one of the contents of Configurations 2 to 9 may be performed while the cells C inside and outside the first rectangle S1 located on the extension of the first line L1 may be treated as a cell group CF, or the contents of Configurations 2 to 9 may not be performed while the cells C inside and outside the first rectangle S1 located on the extension of the first line L1 may be treated as a cell group CF. Furthermore, unlike configuration 11, which will be described later, configuration 10 includes the selection of a first intermediate cell CA from either a cell C within the first rectangle S1 or a cell C outside the first rectangle S1. [Composition 11] The vehicle system according to configuration 10, wherein the controller TC selects a cell C within the first rectangle S1 as the first intermediate cell CA with priority over a cell C outside the first rectangle S1.

[0093] Thus, according to this embodiment, after setting a first rectangle S1 with the vertices of the starting cell CS and the target cell CG facing each other, a first intermediate cell CA is selected from the group of cells CF located on a first line L1 that divides the rectangle into a portion including the starting cell CS and a portion including the target cell CG. Then, the travel path RS from the starting cell CS to the first intermediate cell CA and the travel path RG from the first intermediate cell CA to the target cell CG are determined. As a result, the processing load on the controller TC is reduced, and the travel path from the starting cell CS to the target cell CG can be determined by a new method.

[0094] For example, the controller TC can be equipped with both a method (algorithm) that evaluates all possible routes for each of the multiple cells C to find the optimal route, and a method that calculates the travel route according to the embodiment described above, in the route search process, the appropriate method can be selected according to the situation and purpose to determine the travel route, thereby broadening the range of method selections.

[0095] Although embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the embodiments described above. It will be apparent to those skilled in the art that various modifications or improvements can be made to the embodiments described above. Furthermore, such modified or improved forms are also included in the technical scope of the present invention. One or more of the requirements described in the embodiments described above may be omitted. Also, the requirements described in the embodiments described above can be combined as appropriate. In addition, the execution order of each process shown in this embodiment can be implemented in any order, as long as the output of the previous process is not used in the subsequent process. Furthermore, even if the operation in the embodiments described above is described using "first," "next," "followed," etc. for convenience, it is not necessary to perform them in this order.

[0096] The above-described embodiment uses as an example a configuration in which the controller TC is equipped with a route search processing unit 63 and transmits a route command CM created in the controller TC to the vehicle V, but is not limited to this configuration. For example, the route search processing unit 63 may be provided in the on-board controller VC of the vehicle V. In this configuration, information regarding the target cell CG is sent from the controller TC, and the on-board controller VC determines the travel route using the method of the above-described embodiment. The travel route determined by the on-board controller VC is sent to the controller TC and may be used by the controller TC to control multiple vehicles V.

[0097] Furthermore, although the above-described embodiment uses a vehicle system SYS in which multiple vehicles V travel along a grid-like track R provided near the ceiling as an example, it is not limited to this form. For example, this embodiment can also be applied to automated guided vehicles (AGVs) that travel on the floor surface of a building. For example, if a grid-like track is virtually set on the floor surface, and an automated guided vehicle travels along the cells (grids) of this track, its travel path can be determined by the same procedure as in the above-described embodiment. [Explanation of symbols]

[0098] C···Cell CA...First intermediate cell CB...Second intermediate cell CC...Third intermediate cell CD...4th Intermediate Cell CF... Cell group CF2...Second cell group CF3...Third cell group CF4...Fourth cell group CG...Objective cell CL1...First left bypass cell CL2...Second left bypass cell CL3...Third left bypass cell CR1... First right bypass cell CR2...Second right bypass cell CO... Obstacle Cell CS...Departure Cell L1...the first line L2...Second line L3...the third line L4...the fourth line Office Lady... Obstacle area on the left OR... Obstacle area on the right R...lattice orbit RE...Rectangle RG, RG1, RG2, RS, RS1, RS2, RS3... Driving routes LR...Left detour route RR... Right detour route S1...First rectangle S2...Second rectangle S3...Third rectangle S4...Fourth rectangle SYS... Vehicle System TC... Controller V... Vehicles in motion VC... In-vehicle controller 51, 61...Storage section 52, 62... Communications Department 53. Driving Control Unit 54. Transfer Control Unit 55. Status Information Processing Unit 56...occupancy permission request section 63...Route search processing unit 64... Layout section 65. Status Information Request Unit 66...Occupancy Permit Judgment Department

Claims

1. A vehicle system comprising a grid-like track with multiple cells arranged in a grid, multiple vehicles that travel along the grid-like track, and a controller that controls the movement of the vehicles, The aforementioned controller, A route search process is performed to search for a route from the starting cell corresponding to the starting point of the vehicle to the destination cell corresponding to the destination point, and the vehicle is driven along the route determined by the route search process. The aforementioned pathfinding process is: A process to identify a group of cells located on a first line that divides a first rectangle, whose vertices are opposite each other, into a portion containing the starting cell and a portion containing the target cell, A process of selecting a first intermediate cell from the group of cells through which the vehicle should pass, A vehicle system including a process for determining a travel route from the departure cell to the first intermediate cell and a travel route from the first intermediate cell to the destination cell.

2. The vehicle system according to claim 1, wherein the controller, in the path search process, preferentially selects as the first intermediate cell a cell that can be reached from the starting cell with the fewest direction changes from the group of cells.

3. The vehicle system according to claim 1, wherein the controller, in the path search process, preferentially selects as the first intermediate cell a cell from among the group of cells that has a small number of decelerations associated with changing direction.

4. The vehicle system according to claim 1, wherein the controller, in the route search process, preferentially selects other cells from the group of cells as the first intermediate cell, rather than cells that can be reached via the cell that is subject to traffic restrictions.

5. The vehicle system according to claim 1, wherein the first line is a straight line extending from a vertex of the first rectangle that is located away from the starting cell in the short-side direction, at a 45° angle to the short and long sides of the first rectangle.

6. The aforementioned pathfinding process is: A process to identify a second group of cells located on a second line that divides a second rectangle, whose vertices are opposite each other, into a portion containing the first intermediate cell and a portion containing the target cell, and A process of selecting a second intermediate cell from the second group of cells through which the vehicle should pass, The vehicle system according to claim 1, further comprising a process for determining a travel path from the first intermediate cell to the second intermediate cell and a travel path from the second intermediate cell to the target cell.

7. The vehicle system according to claim 6, wherein the second line is a straight line extending from a vertex of the second rectangle that is located in the direction away from the first intermediate cell in the direction of the shorter side, at a 45° angle to the shorter and longer sides of the second rectangle.

8. The aforementioned pathfinding process is: A process to identify a group of third cells located on a third line that divides a third rectangle, whose vertices are opposite each other, into a portion including the starting cell and a portion including the first intermediate cell, and A process of selecting a third intermediate cell from the third group of cells through which the vehicle should pass, The vehicle system according to claim 1, further comprising a process for determining a travel path from the starting cell to the third intermediate cell and a travel path from the third intermediate cell to the first intermediate cell.

9. The vehicle system according to claim 8, wherein the third line is a straight line extending from a vertex of the third rectangle that is located away from the starting cell in the short-side direction, at a 45° angle to the short and long sides of the third rectangle.

10. The vehicle system according to claim 1, wherein the group of cells includes the cells within the first rectangle and the cells outside the first rectangle located on the extension of the first line.

11. The vehicle system according to claim 10, wherein the controller selects the cells within the first rectangle as the first intermediate cells with priority over the cells outside the first rectangle.

12. A method for controlling a vehicle traveling on a grid-like track consisting of multiple cells arranged in a grid, This involves performing a route search process to find a travel route from the starting cell corresponding to the starting point of the vehicle to the destination cell corresponding to the destination point, This includes driving the vehicle along the route determined by the route search process, The aforementioned pathfinding process is: A process to identify a group of cells located on a first line that divides a first rectangle, whose vertices are opposite each other, into a portion containing the starting cell and a portion containing the target cell, A process of selecting a first intermediate cell from the group of cells through which the vehicle should pass, A method for controlling a vehicle, comprising the process of determining a travel path from the starting cell to the first intermediate cell and a travel path from the first intermediate cell to the destination cell.

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