Drive control device, transport device unit, drive control method, drive control program, and drive control system

Abstract

To provide a drive control device, a transport device unit, a drive control method, a drive control program, and a drive control system that can easily and simply control the drive of a transport device in the vicinity of a shutter during a disaster. [Solution] A drive control device 1A provided on a transport device and controlling the drive of the transport device comprises a detection unit 12 that detects entrance information to a shutter passage area, and a drive control unit 15B that stops the drive of the transport device when a shutter detection device 50 provided on the shutter detects the closing operation of the shutter and transmits a closing signal, and the detection unit 12 detects the entrance information.

Description

[Technical Field]

[0001] The present invention relates to a drive control device, a conveyance device unit, a drive control method, a drive control program, and a drive control system. [Background Art]

[0002] Conventionally, for example, at distribution bases and the like, a drive control system that controls the driving of a conveyance device near a shutter in the event of a disaster or the like has been used (see, for example, Patent Document 1). As such a drive control system, it is conceivable that a central master unit centrally manages the traveling of all the individual conveyance devices. [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 11-85281 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] However, the drive control system as described above requires a large-scale system, which has a problem in that initial costs and maintenance costs increase.

[0005] In view of the foregoing, an object of the present invention is to provide a drive control device, a conveyance device unit, a drive control method, a drive control program, and a drive control system that can simply and easily control the driving of a conveyance device near a shutter in the event of a disaster. [Means for Solving the Problem]

[0006] In order to solve the above problem, the present invention provides the following means. The present invention provides a drive control device provided in a transport device for controlling the drive of the transport device, comprising: a detection unit for detecting entrance information to a shutter passage area; and a drive control unit which stops the drive of the transport device when a shutter detection device provided in the shutter detects the closing operation of the shutter and transmits a closing signal, and the detection unit detects the entrance information. [Effects of the Invention]

[0007] According to one aspect of this invention, the operation of the transport device in the event of a disaster can be easily and simply controlled in the vicinity of the shutter. [Brief explanation of the drawing]

[0008] [Figure 1] This is a configuration diagram showing a part of the drive control system as a first embodiment of the present invention, organized by function. [Figure 2] Figure 1 is a flowchart showing the drive control process of the drive control device. [Figure 3] The diagram shows the process when the transport device unit reaches the entrance mark first, and then the shutter body moves downward. (A) is an explanatory diagram showing the transport device unit reaching the entrance mark first, and (B) is an explanatory diagram showing the shutter body moving downward after the transport device unit has passed the entrance mark. [Figure 4] The diagram shows the process when the shutter body moves downward first, and then the transport device unit reaches the entrance mark. (A) is an explanatory diagram showing the shutter body moving downward first, and then the transport device unit reaching the entrance mark. (B) is an explanatory diagram showing the shutter body moving downward, blocking the travel path, and the transport device unit stopping its drive at the point where it reaches the entrance mark. [Figure 5] This is a configuration diagram showing a part of the drive control system as a second embodiment of the present invention, organized by function. [Figure 6] Figure 5 is a flowchart showing the drive control process of the drive control device. [Figure 7]Figure 6 is a flowchart showing the adjustment process for other conveying devices. [Figure 8] The diagram shows the sequence in which the transport device unit first reaches the entrance mark, followed by the shutter body descending, and then the transport device unit again reaching the entrance mark. (A) is an explanatory diagram showing the transport device unit first reaching the entrance mark, and (B) is an explanatory diagram showing the shutter body descending after the transport device unit has passed the entrance mark, and then another transport device unit being delivered to the entrance mark. [Figure 9] This diagram shows the situation when the transport device unit reaches the entrance mark first, and then the subsequent transport device unit reaches the entrance mark while the shutter body is not descending. (A) is an explanatory diagram showing the transport device unit reaching the entrance mark first, and (B) is an explanatory diagram showing the situation when the subsequent transport device unit stops driving at the point where it reaches the entrance mark after the transport device unit has passed the entrance mark. [Figure 10] This diagram shows the situation when a transport device unit reaches the entrance mark first, and then a transport device unit on another line reaches the entrance mark while the shutter body is not yet in the downward movement phase. (A) is an explanatory diagram showing the transport device unit reaching the entrance mark first, and (B) is an explanatory diagram showing the situation when the transport device unit on the other line has passed the entrance mark and has stopped moving at the point where it reaches the entrance mark. [Figure 11] This is a configuration diagram showing a part of the drive control system as a third embodiment of the present invention, organized by function. [Figure 12] Figure 11 is a flowchart showing the processing of the shutter detection device. [Figure 13] Figure 11 is a flowchart showing the processing of the drive control device. [Modes for carrying out the invention]

[0009] (Embodiment) The following describes the drive control device, transport device unit, drive control method, drive control program, and drive control system according to embodiments of the present invention. As shown in Figure 3, the drive control system 100 as an embodiment of the present invention includes a shutter device 60, a shutter detection device 50, a transport device unit 1, an entrance mark 81, an exit mark 82, and a travel line L. The shutter device 60 comprises a shutter housing section 61 and a shutter body section 62. The shutter housing section 61 is hollow and is designed to house the shutter body section 62 inside. The shutter body 62 is configured to be retractable and is housed in the shutter housing 61 when retracted. The shutter body 62 is unwound from the shutter housing 61 and lowered, or wound up and raised and housed in the shutter housing 61, by a lifting control unit (not shown). The shutter body 62 then lowers to the floor surface to block the passageway.

[0010] The travel line L is provided on the floor surface of the travel passage and is made of, for example, magnetic tape. This travel line L guides the transport device unit 1 so that it travels appropriately along the travel passage. The entrance mark 81 is a marker placed next to the travel line L on the front side of the shutter device 60. The entrance mark 81 is equipped with a two-dimensional barcode containing entrance information. The entrance information includes main entrance information and entrance identification information. The main entrance information indicates that the vehicle is about to enter the shutter passage area A, just before entering the area. The entrance identification information is uniquely assigned to the shutter identification information (described later) and is used to identify which of the multiple entrance marks 81 installed in the transport work area is being referred to. The exit mark 82 is a marker affixed to the side of the traveling line L on the inner side of the shutter device. The exit mark 82 is provided with a two-dimensional barcode containing exit information. The exit information includes main exit information. The main exit information is information indicating that the carrier has immediately exited the shutter passing area A after leaving the area. The shutter passing area A includes the area of the traveling path where the shutter main body descends and the areas before and after the same, and the length thereof is appropriately set according to the position and height of the shutter device and the size, speed and other parameters of the transport device unit.

[0011] The transport device unit comprises a drive control device 1A and a transport device 1B. The transport device 1B is a transport robot configured to transport an object to be transported. The transport device 1B comprises a drive unit (not shown) and a tire unit. The drive unit is formed of, for example, a motor, and is configured to cause the transport device 1B to travel via the tire unit. The drive control device 1A is detachably attached to the transport device 1B. FIG. 1 is a configuration diagram showing the drive control device 1A and the shutter detection device 50 by function. The drive control device 1A comprises a communication unit 11, a detection unit 12, a drive output unit 13, a storage unit 14, and a control unit 15. The communication unit is composed of various communication devices configured to transmit and receive information between internal devices and external devices. The communication unit 11 receives a closing signal transmitted from the shutter detection device 50, outputs the closing signal to the control unit 15, and transmits an intrusion signal and an exit signal output from the control unit 15.

[0012] The detection unit 12 is various detection devices configured to detect external information, and is formed of, for example, a two-dimensional barcode reader. The detection unit 12 detects two-dimensional barcodes provided on an entrance mark 81 and the exit mark 82, and outputs entrance information and exit information to the control unit 15. The drive output unit 13 is a connection device to the drive unit provided on the transport device 1B, and includes, for example, a connection cable and connection terminals. This drive output unit 13 outputs the stop signal and drive signal output by the control unit 15 to the drive unit. The storage unit 14 consists of, for example, a hard disk or memory, and stores various programs and work data. Specifically, the storage unit 14 stores input information, output information, and shutter identification information included in the closing signal.

[0013] The control unit 15 comprises a main control unit 15A and a drive control unit 15B. The main control unit 15A executes various programs to control the interactions between each functional unit and the entire device. The drive control unit 15B outputs a stop signal and a drive signal to the drive unit provided in the transport device 1B, stopping or driving the drive unit. For example, when the drive control unit 15B receives a closing signal transmitted from the shutter detection device 50 via the communication unit 11, it outputs a stop signal to the drive unit via the drive output unit 13, thereby stopping the drive unit.

[0014] The shutter detection device 50 is designed to be detachably attached to the vicinity of the shutter device 60 by a magnet or adhesive tape. This shutter detection device 50 comprises a detection unit 51, a control unit 52, a communication unit 53, and a storage unit 54. The detection unit 51 consists of various detection devices that detect external information, such as a mirror-regression type reflected photoelectric sensor. When the shutter body 62 descends from the shutter housing 61, the detection unit 51 detects the downward movement of the shutter body 62 by blocking the reflected light and outputs a downward signal. The control unit 52 executes various programs to control the interaction between each functional unit and the entire device. When the detection unit 51 detects the downward movement of the shutter body 62, the control unit 52 transmits a closing signal via the communication unit 53. The closing signal includes closing information and shutter identification information. The closing information indicates that the shutter body 62 has started to move downward. The shutter identification information is uniquely assigned to each shutter body 62 and is used to identify which of the multiple shutter bodies 62 installed in the transport work area it is. When the detection unit 51 no longer detects the shutter body 62, the control unit 52 transmits a closing release signal. The closing release signal includes closing release information and shutter identification information. The closing release information indicates that the shutter body 62 is no longer detected. The communication unit 53 consists of various communication devices that transmit and receive information with internal and external devices. This communication unit 53 transmits a closing signal output by the control unit 52. The storage unit 54 consists of, for example, a hard disk or memory, and stores various programs and work data. The storage unit 54 also includes, for example, DIP switches. This storage unit 54 also stores shutter identification information.

[0015] Next, the operation of the drive control system 100 will be described. Figure 2 is a flowchart showing the drive control process of the drive control device 1A. When the transport device unit 1 is traveling on the travel line L, the detection unit 12 constantly detects the entrance mark 81 of the travel path (detection step), the communication unit 11 constantly detects the closing signal transmitted from the shutter detection device 50, and the control unit 15 constantly reads the outputs of the detection unit 12 and the communication unit 11. That is, the drive control unit 15B constantly reads the outputs of the detection unit 12 and the communication unit 11 and determines whether or not entrance information or a closing signal has been input (step S1). Then, the drive control unit 15B reads the closing signal output from the communication unit 11 and determines that it has received the closing signal (step S1: closing), and reads the output of the detection unit 12 to determine whether or not the entrance information has been input (step S2). If the drive control unit 15B determines that the entrance information has not been input (step S2: No), it reads the outputs of the detection unit 12 and the communication unit 11 and returns to step S1 to repeat the process. As a result, even if the shutter detection device 50 transmits a closing signal, the transport device unit 1 will continue to travel as long as it does not receive entrance information, that is, as long as it does not pass through the shutter passage area A.

[0016] On the other hand, when the drive control unit 15B determines that input information has been input in step S1 (step S1: input), it reads the output of the communication unit 11 and determines whether or not a closing signal has been input (step S3). If the drive control unit 15B determines that a closing signal has been input (step S3: Yes), or if it determines in step S2 that input information has been input (step S2: Yes), it determines whether the identification information matches (step S4). The identification information here refers to the shutter identification information included in the closing signal received by the communication unit 11 and the input identification information included in the input information detected by the detection unit 12. If the drive control unit 15B determines that this shutter identification information and input identification information match (step S4: Yes), it reads the output of the communication unit 11 and determines whether a closing release signal has been received (step S5).

[0017] If the drive control unit 15B determines that it has not received a release signal (step S5: No), it determines which signal, the closing signal or the entrance information, was input first (step S6). The detection unit 12 constantly detects the entrance mark 81, and the communication unit 11 constantly detects the closing signal transmitted from the shutter detection device 50, and the drive control unit 15B constantly reads the outputs of the detection unit 12 and the communication unit 11. Therefore, the drive control unit 15B determines the order based on which output, the detection unit 12 or the communication unit 11, was received first. When the drive control unit 15B determines that the output from the communication unit 11 comes first (i.e., the reception of the closing signal comes first) (step S6: closing), it outputs a stop signal (step S7). That is, the drive control unit 15B outputs a stop signal to the drive unit via the drive output unit 13. As a result, the drive unit stops, and the transport device unit 1 stops moving.

[0018] Then, the drive control unit 15B reads the output of the communication unit 11 and determines whether or not a release signal transmitted from the shutter detection device 50 has been input (step S8). At this time as well, the drive control unit 15B is constantly reading the output of the communication unit 11. When the drive control unit 15B determines that a release signal has been input (step S8: Yes), it determines whether the identification information matches (step S9). The identification information here refers to the shutter identification information included in the release signal received by the communication unit 11 and the entrance identification information included in the entrance information detected by the detection unit 12. If the drive control unit 15B determines that the shutter identification information and the entrance identification information do not match (step S9: No), or if it determines in step S8 that it has not received a closing signal (step S8: No), it reads the output of the communication unit 11 and repeats the process in step S8.

[0019] On the other hand, the drive control unit 15B determines that the shutter identification information and the entrance identification information match (step S9: Yes), determines that no closing signal has been input in step S3 (step S3: No), determines that the identification information does not match in step S4 (step S4: No), determines that a release signal has been input in step S5 (step S5: Yes), determines that the shutter identification information and the entrance identification information included in the release signal match, or determines in step S6 that the entrance information comes first (step S6: entrance), and outputs a drive signal (step S10). In other words, the drive control unit 15B outputs a drive signal to the drive unit via the drive output unit 13. As a result, if the drive unit is operating, the transport device unit 1 maintains its movement, and if the drive unit is stopped, the transport device unit 1 starts moving.

[0020] Then, the drive control unit 15B reads the output of the detection unit 12 and determines whether or not exit information has been input (step S11). That is, at this time the transport device unit 1 has entered the shutter passage area A, and the detection unit 12 is constantly detecting the exit mark 82. If the drive control unit 15B determines that no exit information has been input (step S11: No), it reads the output of the detection unit 12 and repeats the process in step S11. On the other hand, if the drive control unit 15B determines that exit information has been input (step S11: Yes), it terminates the process. Then, the drive control unit 15B repeats the process from step S1 again.

[0021] Next, based on the processing flow described above, specific examples of the operation of the shutter device 60 and the transport device unit 1 will be explained. Figure 3 is an explanatory diagram showing the process when the transport device unit 1 first reaches the entrance mark 81, and then the shutter body 62 moves downward. As shown in Figure 3(A), the transport device unit 1 travels along the travel line L and approaches the shutter device 60. When it reaches the entrance mark 81, the detection unit 12 reads the two-dimensional barcode of the entrance mark 81 and outputs the entrance information to the control unit 15 (detection step). The drive control unit 15B reads the output of the detection unit 12 and determines that the entrance information has been input (step S1: entrance). Furthermore, the drive control unit 15B determines that it has not received a closing signal at this time (step S3: No), and the transport device unit 1 enters the shutter passage area A without stopping its drive. Then, as shown in Figure 3(B), when the transport device unit 1 enters the shutter passage area A, the shutter body 62 begins to descend. The detection unit 51 then detects the descending movement of the shutter body 62 and outputs a descending signal to the control unit 52. The control unit 52 constantly reads the output of the detection unit 51, and when it receives a descending signal, it transmits a closing signal via the communication unit 53. At this time, the transport device unit 1 is traveling through the shutter passage area A and continues to travel without stopping its drive (step S10). Then, the drive control unit 15B performs the process of step S11. As a result, the transport device unit 1 reaches the entrance mark 81 first, and then continues to move without stopping its drive when the shutter body 62 lowers.

[0022] Figure 4 is an explanatory diagram showing the process when the shutter body 62 descends first, and then the transport device unit 1 reaches the entrance mark 81. As shown in Figure 4(A), the transport device unit 1 travels along the travel line L and approaches the shutter device 60. At this time, the shutter body 62 begins to descend. The detection unit 51 then detects the descending motion of the shutter body 62 and outputs a descending signal to the control unit 52. The control unit 52 constantly reads the output of the detection unit 51, and when it receives a descending signal, it transmits a closing signal via the communication unit 53. The communication unit 11 then receives the closing signal and outputs a closing signal to the control unit 15. The drive control unit 15B determines that a closing signal has been input by reading the output of the communication unit 11 (Step S1: Close). Furthermore, the drive control unit 15B determines whether or not it has received entrance information (Step S2). When the transport device unit 1 reaches the entrance mark 81, the detection unit 12 reads the two-dimensional barcode of the entrance mark 81 and outputs entrance information to the control unit 15. The drive control unit 15B determines that entrance information has been input by reading the output of the detection unit 12 (Step S2: Yes).

[0023] Then, the drive control unit 15B determines that the shutter identification information included in the closing signal input in step S1 matches the entrance identification information included in the entrance information input in step S2 (step S4: Yes). Furthermore, the drive control unit 15B determines that no closing release signal has been input at this time (step S5: No), and determines that the closing signal was input first (step S6: Close). Then, as shown in Figure 4(B), the drive control unit 15B outputs a stop signal to stop the drive unit (step S7, drive control step). Furthermore, the drive control unit 15B performs the processing from step S8 onwards. As a result, when the transport device unit 1's shutter body 62 descends first and then reaches the entrance mark 81, it stops driving before entering the shutter passage area A.

[0024] As described above, according to the drive control device 1A, transport device unit 1, drive control method, drive control program, and drive control system 100 of this embodiment, when the shutter detection device 50 detects the downward movement of the shutter body 62 and transmits a closing signal, the drive control unit 15B stops the drive of the transport device 1B based on this closing signal. Therefore, the drive of the transport device 1B in the vicinity of the shutter during a disaster can be controlled simply and easily. For this reason, by simply providing the shutter detection device 50 and the drive control device 1A, shutter closing failures during disasters can be prevented simply and easily. Furthermore, the drive control unit 15B stops driving the transport device 1B when the detection unit 12 detects entrance information after the shutter detection device 50 has transmitted a closing signal. This prevents the transport device 1B from entering the shutter passage area A after the shutter body 62 has begun to descend. Therefore, it is possible to prevent the transport device 1B from traveling through the shutter passage area A when the shutter body 62 has descended and reached the front of the area, thereby easily and simply preventing shutter closing failures during disasters.

[0025] Furthermore, after the detection unit 12 detects the entrance information and the shutter detection device 50 transmits a closing signal, the drive control unit 15B maintains the drive of the transport device 1B. Therefore, when the transport device 1B is passing through the shutter passage area A and the shutter body 62 begins to descend, the transport device 1B can be quickly allowed to pass through the shutter passage area A and exit without being stopped. As a result, shutter closing failures during disasters can be prevented simply and easily.

[0026] Furthermore, since the drive control unit 15B stops the drive of the drive unit when the identification information contained in the closing signal matches the identification information contained in the entrance information, it is possible to stop the drive of the target transport device 1B even if multiple shutter devices 60 or entrance marks 81 are installed. Furthermore, before stopping the drive of the transport device 1B, the drive control unit 15B determines whether or not a closure release signal has been input. If a closure release signal has been input (step S5: Yes), the transport device can continue to move without stopping the drive. The detection unit 51 of the shutter detection device 50 constantly detects the downward movement of the shutter body 62 and periodically outputs a downward signal while it is moving downward. Therefore, when the output from the detection unit 51 stops periodically, the control unit 52 transmits a closure release signal. Thus, if the shutter detection device 50 transmits a closure signal due to noise such as fallen leaves even though the shutter body 62 is not moving downward, the shutter detection device 50 immediately transmits a closure release signal, preventing the transport device 1B from being unnecessarily stopped.

[0027] (Embodiment 2) Next, a second embodiment of the present invention will be described. Figures 5 to 10 show a second embodiment of the present invention. In Figures 5 to 10, the same reference numerals are used for parts that are identical to those described in Figures 1 to 4, and their descriptions are omitted. This embodiment and the first embodiment described above have the same basic configuration; the main differences will be explained here. In this embodiment, multiple transport device units are installed, and the drive of these multiple transport device units is controlled. The two-dimensional barcode provided on the entrance mark 81 in this embodiment includes priority information. Specifically, the entrance information on the entrance mark 81 includes entrance main information, entrance identification information, and priority information. The priority information is set for each travel line L that passes through the shutter passage area A, and sets the priority of the travel line L that passes through the shutter passage area A.

[0028] Furthermore, the drive control system 100 in this embodiment includes a plurality of transport device units. As shown in Figures 8 to 10, one conveying device unit is designated as conveying device unit 1, and the other conveying device unit is designated as conveying device unit 2. Here, there are two conveying device units 1 and 2, but this is not limited to this, and the number of units installed can be three or more, and can be changed as appropriate. As shown in Figure 5, the configurations of transport device units 1 and 2 are identical. Note that code 2A represents the drive control unit, code 21 represents the communication unit, code 22 represents the detection unit, code 23 represents the drive output unit, code 24 represents the storage unit, code 25 represents the control unit, code 25A represents the main control unit, code 25B1 represents the drive control unit, and code 25C represents the transmission control unit. Since the configurations of transport device units 1 and 2 are identical, only the configuration of transport device unit 1 will be described here.

[0029] The drive control device 1A in the transport device unit 1 includes a drive control unit 15B1 and a transmission control unit 15C. The drive control unit 15B1 performs adjustment processing for other conveying devices. When the transmission control unit 15C receives inlet information via the detection unit 12 and a closure signal via the communication unit 11, it transmits an inlet signal via the communication unit 11. Conversely, when it receives exit information via the detection unit 12, it transmits an exit signal via the communication unit 11. The intrusion signal is a signal indicating entry into shutter passage area A, and is transmitted before entering shutter passage area A. The intrusion signal includes the main intrusion signal, entrance identification signal, and priority information. Furthermore, the exit signal is a signal indicating that the user has exited shutter passage area A, and is transmitted after exiting shutter passage area A. The exit signal includes the main exit signal, the entrance identification signal, and priority information.

[0030] Figure 6 is a flowchart showing the drive control process of the drive control device 1A in this embodiment. Steps S1 to S11 are the same as in the first embodiment. However, when the drive control unit 15B1 inputs input information in steps S1 and S2, that input information includes priority information. If the drive control unit 15B1 determines in step S3 that no closing signal has been input (step S3: No), determines in step S4 that the identification information does not match (step S4: No), determines in step S5 that a closing release signal has been input (step S5: Yes), determines that the shutter identification information included in the closing release signal matches the entrance identification information, determines in step S6 that the entrance information comes first (step S6: entrance), or determines in step S9 that the identification information matches (step S9: Yes), then performs adjustment processing for the other transport devices 1B and 2B (step S20).

[0031] Figure 7 is a flowchart showing the adjustment process of other transport devices 1B and 2B by the control unit 15. The drive control unit 15B1 determines whether or not another intrusion signal has been input (step S21). Another intrusion signal is an intrusion signal transmitted by another drive control device 2A. The drive control unit 15B1 constantly reads the output of the communication unit 11, and if the communication unit 11 outputs another intrusion signal, it determines that another intrusion signal has been input. If the drive control unit 15B1 determines that another intrusion signal has been input (step S21: Yes), it determines whether or not the identification information matches (step S22). The identification information here refers to the entrance identification information included in the other intrusion signal received by the communication unit 11 and the entrance identification information included in the entrance information detected by its own detection unit 12. If the drive control unit 15B1 determines that the entrance identification information included in these other intrusion signals matches the entrance identification information detected by its own detection unit 12 (step S22: Yes), it outputs a stop signal (step S23). That is, the drive control unit 15B1 outputs a stop signal to the drive unit via the drive output unit 13. As a result, the drive unit stops, and the transport device unit 1 stops moving.

[0032] Then, the drive control unit 15B1 determines whether or not another exit signal has been input (step S24). Another exit signal is another exit signal transmitted by another drive control device 2A. The drive control unit 15B1 constantly reads the output of the communication unit 11, and if there is an output of another exit signal from the communication unit 11, it determines that an exit signal has been input. If the drive control unit 15B1 determines that another exit signal has been input (step S24: Yes), it determines whether or not the identification information matches (step S25). The identification information here is the input identification information included in the other exit signal received by the communication unit 11 and the input identification information included in the input information detected by its own detection unit 12. If the drive control unit 15B1 determines that the inlet identification information included in these other exit signals does not match the inlet identification information detected by its own detection unit 12 (step S25: No), or if it determines in step S24 that no other exit signals have been input (step S24: No), it reads the output of the communication unit 11 and repeats the process in step S24.

[0033] On the other hand, if the drive control unit 15B1 determines that the identification information matches (step S25: Yes), it determines whether the priority of the entrances is the same or higher (step S26). The priority here refers to the priority information contained in other exit signals received by the communication unit 11 and the priority information contained in the entrance information detected by its own detection unit 12. If the drive control unit 15B1 determines that the priority information contained in the entrance information is not the same or higher (lower) than the priority information contained in other exit signals (step S26: No), it maintains the stop of the transport device 1B (step S27), reads the output of the communication unit 11, and repeats the process in step S21. Furthermore, the drive control unit 15B1 terminates the adjustment process if it determines in step S21 that no other intrusion signals have been input (step S21: No), if it determines in step S22 that the identification signals do not match (step S22: No), or if it determines in step S26 that the priority information included in the intrusion information is the same as or better than the priority information included in other exit signals (step S26: Yes). Then, as shown in Figure 6, when the drive control unit 15B1 finishes the adjustment process, the drive control unit 15B1 outputs a drive signal (step S10), and the transmission control unit 15C transmits an intrusion signal (step S101). This intrusion signal includes entrance identification information and priority information contained in the entrance information detected by the detection unit 12. The transmission control unit 15C continues to transmit the intrusion signal periodically until it transmits an exit signal in step S12. Then, when the drive control unit 15B1 determines in step S11 that exit information has been input (step S11: Yes), the transmission control unit 15C stops transmitting the intrusion signal and transmits an exit signal (step S12), ending the process. This exit signal includes entrance identification information and priority information contained in the entrance information detected by the detection unit 12. The drive control unit 15B1 then repeats the process from step S1.

[0034] Next, based on the processing flow described above, specific examples of the operation of the shutter device 60, the transport device unit 1, and the transport device unit 2 will be explained. Figure 8 is an explanatory diagram showing the process when the transport device unit 1 first reaches the entrance mark 81, then the shutter body 62 descends, and then the subsequent transport device unit 2 reaches the entrance mark 81. As shown in Figure 8(A), the transport device unit 1 travels along the travel line L and approaches the shutter device 60. When it first reaches the entrance mark 81 and then the shutter body 62 begins to descend, the drive control unit 15B1, after processing steps S1 and S3, determines in step S21 that no other intrusion signals have been input (step S21: No). The drive control unit 15B1 then outputs a drive signal (step S10), and the transmission control unit 15C transmits an intrusion signal (step S101). As in the first embodiment, the transport device unit 1 continues to travel without stopping its drive. When the transport device unit 1 reaches the exit mark 82, the drive control unit 15B1 determines that exit information has been input (step S11: Yes), and the transmission control unit 15C stops transmitting the intrusion signal and transmits an exit signal (step S12).

[0035] Here, as shown in Figure 8(B), the transport device unit 1 is traveling on the shutter passage area A, and the subsequent transport device unit 2 reaches the entrance mark 81 before reaching the exit mark 82. The drive control unit 25B1 inputs a closing signal in step S1 (step S1: closed), inputs entrance information in step S2 (step S2: Yes), and performs the processing from steps S4 to S6 to stop the drive of the transport device 2B (step S7). Then, after processing from steps S8 to S9, the drive control unit 25B1 determines whether or not another intrusion signal has been input (step S21). That is, if the transport device unit 1 has entered the shutter passage area A first, the drive control unit 25B1 inputs another intrusion signal that is periodically transmitted from the drive control device 1A (step S21: Yes), determines that the identification information matches (step S22: Yes), and outputs a stop signal to the drive unit (step S23). Therefore, the transport device unit 2 has stopped driving.

[0036] Then, when the transport device unit 1 reaches the exit mark 82, the drive control unit 15B1 stops transmitting the entry signal and transmits an exit signal (step S12). The drive control unit 25B1 of the transport device unit 2 then receives the other exit signal transmitted from the drive control device 1A (step S24: Yes) and determines that the identification information matches (step S25: Yes). The identification information here refers to the entry identification information contained in the other exit signal received by the communication unit 11 and the entry identification information contained in the entry information detected by its own detection unit 12. The drive control unit 25B1 determines that the entry identification information contained in these other exit signals matches the entry identification information detected by its own detection unit 12 (step S25: Yes) and determines that the entry priority is the same or higher (step S26: Yes). At this time, since the transport device units 1 and 2 have detected the same entrance mark 81, the priority information is the same. Therefore, the drive control unit 25B1 determines that the entrance priority information detected by its detection unit 12 is the same as or better than the priority information included in the other exit signals. The drive control unit 25B1 then outputs a drive signal (step S10) and performs the processes in steps S101, S11, and S12. As a result, when another transport device unit 1 passes through the shutter passage area A and the shutter body 62 is in the downward movement, the subsequent transport device unit 2 stops in front of the shutter passage area A, and the drive of transport device unit 2 resumes only after the other transport device unit 1 has exited the shutter passage area A.

[0037] Figure 9 is an explanatory diagram showing the situation when the transport device unit 1 reaches the entrance mark 81 first, and then the subsequent transport device unit 2 reaches the entrance mark 81 while the shutter body 62 is not yet in the downward movement position. As shown in Figure 9(A), the transport device unit 1 travels along the travel line L and approaches the shutter device 60. When it first reaches the entrance mark 81, the drive control unit 15B1 performs the processes in steps S1, S3, and S20. Then, the drive control unit 15B1 outputs a drive signal (step S10), and the transmission control unit 15C transmits an entry signal (step S101), and the transport device unit 1 continues to travel without stopping its drive, as in the first embodiment. When the transport device unit 1 reaches the exit mark 82, the drive control unit 15B1 determines that exit information has been input (step S11: Yes), and the transmission control unit 15C stops transmitting the entry signal and transmits an exit signal (step S12).

[0038] Here, as shown in Figure 9(B), the transport device unit 1 is traveling on the shutter passage area A, and the subsequent transport device unit 2 reaches the entrance mark 81 before reaching the exit mark 82. In step S1, the drive control unit 25B1 inputs inlet information (step S1: inlet), determines in step S3 that it has not received a closing signal (step S3: No), and proceeds to step S20. The drive control unit 25B1 determines that it has received another inlet signal transmitted from the drive control device 1A (step S21: Yes), determines that the identification information matches (step S22: Yes), and stops the drive of the transport device unit 2 (step S23). Then, when the transport device unit 1 reaches the exit mark 82, the transmission control unit 15C stops transmitting the entry signal and transmits an exit signal (step S12). In the same manner as above, the drive control unit 25B1 receives another exit signal (step S24: Yes), determines that the identification information matches (step S25: Yes), and further determines that the priority information of its own entrance is the same or better (step S26: Yes). Then, the transport device unit 2 resumes driving (step S10). Then, the drive control unit 25B1 performs the processes of steps S101, S11, and S12. As a result, even if the shutter body 62 is not in a downward movement, if another transport device unit 1 is passing through the shutter passage area A, the transport device unit 2 that comes later will stop in front of the shutter passage area A, and will resume driving only after the other transport device unit 1 has left the shutter passage area A.

[0039] Figure 10 is an explanatory diagram showing the situation when the transport device unit 1 reaches the entrance mark 81 first, and then, while the shutter body 62 is not yet in the downward movement, the transport device unit 2 on a different line reaches the entrance mark 81. Multiple travel lines L1 and L2 are set for a single shutter device 60. Travel line L1 is provided with an entrance mark 81L1 and an exit mark 82L1, and its priority information is set higher than that of travel line L2. Travel line L2 is provided with an entrance mark 81L2 and an exit mark 82L2, and its priority information is set lower than that of travel line L1. Furthermore, the entrance identification information for entrance marks 81L1 and 81L2, which are set on the same shutter device 60, is set to be the same, and the shutter identification information for the shutter device 60 is also set to be the same.

[0040] As shown in Figure 10(A), the transport device unit 1 travels along the travel line L1 and approaches the shutter device 60. When it first reaches the entrance mark 81L1, the drive control unit 15B1 performs the processes in steps S1, S3, and S20. Then, the drive control unit 15B1 outputs a drive signal (step S10), and the transmission control unit 15C transmits an entry signal (step S101), and the transport device unit 1 continues to travel without stopping its drive, as in the first embodiment. When the transport device unit 1 reaches the exit mark 82L1, the drive control unit 15B1 determines that exit information has been input (step S11: Yes), and the transmission control unit 15C stops transmitting the entry signal and transmits an exit signal (step S12).

[0041] Here, as shown in Figure 10(B), when the transport device unit 1 is traveling over the shutter passage area A, it is assumed that the transport device unit 2 reaches the entrance mark 81L2 before reaching the exit mark 82L1. The drive control unit 25B1 inputs entrance information in step S1 (step S1: entrance), determines in step S3 that it has not received a closing signal (step S3: No), and proceeds to step S20. The drive control unit 25B1 determines that it has received another intrusion signal transmitted from the drive control device 1A (step S21: Yes), determines that the identification information matches (step S22: Yes), and stops the drive of the transport device unit 2 (step S23).

[0042] Then, when the transport device unit 1 reaches the exit mark 82, the transmission control unit 15C stops transmitting the intrusion signal and transmits an exit signal (step S12). The drive control unit 25B1 then determines that another exit signal has been input (step S24: Yes), determines that the identification signals match (step S25: Yes), and determines whether the entrance priority is the same or higher (step S26). The priority information here refers to the priority information provided for the entrance mark 81L1 included in the other intrusion signal and the priority information provided for the entrance mark 81L2 detected by its own detection unit 12. Here, since the priority provided for its own entrance mark 81L2 is set low, the drive control unit 25B1 determines that the priority information of its own entrance is not the same or higher (it is lower) (step S26: No). Then, the drive control unit 25B1 maintains the stop (step S27) and repeats the process of step S21. The drive control unit 25B1 then determines that no other intrusion signals have been input (step S21: No), and the transport device unit 2 resumes driving (step S10). The drive control unit 25B1 then performs the processes in steps S101, S11, and S12. As a result, when multiple travel lines L1 and L2 are set in the shutter device 60, even if the shutter body 62 is not in the downward movement, if another transport device unit 1 is passing through the shutter passage area A, the subsequent transport device unit 2 on a different line will stop before the shutter passage area A, and the transport device unit 2 will resume driving after the other transport device unit 1 has exited the shutter passage area A.

[0043] Based on the above, the drive control device 1A, transport device unit 1, drive control method, drive control program, and drive control system 100 of this embodiment can achieve the same effects as the first embodiment described above. Furthermore, since the drive control unit 25B1 stops the drive of the transport device 2B when it receives an intrusion signal transmitted by another drive control device 1A, the transport device 2B can be stopped and made to wait before the shutter passage area A when another drive control device 1A is traveling through the shutter passage area A. As a result, the number of transport device units traveling through the shutter passage area A can be limited to one, making it easy and simple to prevent shutter closing failures during disasters. Furthermore, if the drive control unit 25B1 receives another exit signal transmitted by the transmission control unit 15C of another drive control device 1A via step S23, and the priority information in the exit information is the same as or greater than the priority information in the exit signal, the transport device 2B is driven. Therefore, after receiving the other exit signal, the transport device 2B can be made to travel to the shutter passage area A based on the priority. Furthermore, if the drive control unit 25B1 receives another exit signal transmitted by the transmission control unit 15C of another drive control device 1A, and the priority information in the exit information is lower than the priority information in the exit signal, the conveying device 2B will remain stopped. This allows the drive of the conveying device 2B to be controlled according to the priority of each of the multiple travel lines L1 and L2, even if multiple travel lines L1 and L2 are set.

[0044] (Embodiment 3) Next, a third embodiment of the present invention will be described. Figures 11 to 13 show a third embodiment of the present invention. In Figures 11 to 13, the same reference numerals are used for parts that are identical to those described in Figures 1 to 10, and their descriptions are omitted. This embodiment and the first embodiment described above have the same basic configuration; the main differences will be explained here.

[0045] As shown in Figure 11, the shutter detection device 50 includes a control unit 52. The control unit 52 comprises a main control unit 52A, a determination control unit 52B1, and a transmission control unit 52C. The main control unit 52A executes various programs to control the interactions between each functional unit and the entire device. The determination control unit 52B1 determines whether or not inputs such as intrusion warning signals, intrusion signals, and exit signals transmitted from the drive control devices 1A and 2A are present, as well as priority information. The transmission control unit 52C transmits a closing notification signal, a closing signal, and a closing release signal according to the determination result of the determination control unit 52B1. The closing warning signal indicates that the shutter body 62 has just begun its downward movement, and includes closing warning information, shutter identification information, and priority information. The priority information of the shutter detection device 50 is set to the highest level, higher than all other travel lines L. The closing signal includes closing information and shutter identification information. The release signal includes release information and shutter identification information. Furthermore, the transmission control unit 15C of the drive control device 1A transmits an intrusion warning signal, an intrusion signal, and an exit signal in accordance with the processing of the drive control unit 15B1. An intrusion warning signal indicates that the user has just reached entrance mark 81 and is transmitted before entering shutter passage area A. The intrusion warning signal includes intrusion warning information, entrance identification information, and priority information. The intrusion signal includes intrusion source information and entry point identification information. The exit signal includes exit information and entry identification information. The configuration of the drive control device 2A is the same as that of the drive control device 1A.

[0046] Next, the operation of the drive control system 100 will be described. Figure 12 is a flowchart showing the processing of the shutter detection device 50. The determination control unit 52B1 determines whether or not the shutter body 62 has moved downward (step S31). If it determines that it has not moved downward (step S31: No), it reads the output of the detection unit 51 and repeats the process in step S31. On the other hand, if the determination control unit 52B1 determines that the shutter body 62 has started to move downward (step S31: Yes), the transmission control unit 52C transmits a closing warning signal via the communication unit 53 (step S32). The transmission control unit 52C continues to transmit the closing warning signal periodically until it transmits the closing signal in step S40.

[0047] Furthermore, the determination control unit 52B1 reads the output received by the communication unit 53 and determines whether or not an intrusion signal transmitted from the drive control devices 1A and 1B has been input (step S33). If the determination control unit 52B1 determines that an intrusion signal has been input (step S33: Yes), it determines whether or not the identification information matches (step S34). The identification information here refers to the shutter identification information stored in the memory unit 54 and the entrance identification information included in the intrusion signal received by the communication unit 11. If the determination control unit 52B1 determines that this shutter identification information and entrance identification information match (step S34: Yes), it reads the output received by the communication unit 53 and determines whether or not an intrusion warning signal transmitted from the drive control devices 1A and 1B has been input (step S35). If the determination control unit 52B1 determines that an intrusion warning signal has been input (step S35: Yes), it stores the intrusion warning signal in the memory unit 54 and determines whether or not the identification information matches (step S36). The identification information here refers to the shutter identification information stored in the memory unit 54 and the entrance identification information included in the intrusion warning signal received by the communication unit 11. If the determination control unit 52B1 determines that the shutter identification information and the entrance identification information do not match (step S36: No), it reads the output of the communication unit 53 and repeats the process in step S35. On the other hand, if the determination control unit 52B1 determines that the shutter identification information and the entrance identification information do match (step S36: Yes), or determines in step S35 that no intrusion warning signal has been input (step S35: No), it reads the output received by the communication unit 53 and determines whether or not an exit signal has been input from the drive control devices 1A and 2A (step S37).

[0048] If the determination control unit 52B1 determines that no exit signal has been input (step S37: No), it reads the output of the communication unit 53 and repeats the process in step S35. On the other hand, if the determination control unit 52B1 determines that an exit signal has been input (step S37: Yes), it reads the memory unit 54 and determines whether the priority information included in the intrusion warning signal input in step S35 is stored there (step S38). If the determination control unit 52B1 determines that the priority information is stored there (step S38: Yes), it determines whether the priority is higher or lower (step S38). The priority here refers to the priority information of the unit itself stored in the memory unit 54 and the priority information included in other intrusion warning signals input in step S35. If the determination control unit 52B1 determines that the priority is not higher (step S39: No), it reads the output of the communication unit 53 and repeats the process in step S35. Normally, the shutter detection device 50 is set to the highest priority, so the determination control unit 52B1 determines that its own priority information is higher than the priority information included in other intrusion warning signals (Step S39: Yes).

[0049] If the determination control unit 52B1 determines that the priority information is higher (step S39: Yes), determines in step S33 that no intrusion signal has been input (step S33: No), determines in step S34 that the identification numbers do not match (step S34: No), or determines in step S38 that the priority information is not stored (step S38: No), the transmission control unit 52C stops transmitting the closing warning signal and transmits the closing signal (step S40). The transmission control unit 52C continues to transmit the closing signal periodically until it transmits the closing release signal in step S42. Furthermore, the determination control unit 52B1 reads the output of the detection unit 51 and determines whether or not the shutter is released (step S41). If it determines that the shutter body 62 is not released (step S41: No), it returns to step S40 and repeats the process. On the other hand, if the determination control unit 52B1 determines that the shutter body 62 is released (step S41: Yes), the transmission control unit 52C stops transmitting the closing signal and transmits a release signal (step S42). This ends the process and repeats the process in step S31.

[0050] Figure 13 is a flowchart showing the processing of drive control devices 1A and 2A. This section will explain the process as performed by the drive control device 1A. The drive control unit 15B1 reads the output of the detection unit 12 and determines whether or not ingress information has been input (step S51). If it determines that ingress information has not been input (step S51: No), it reads the output of the detection unit 12 and repeats the process in step S51. On the other hand, if the drive control unit 15B1 determines that ingress information has been input (step S51: Yes), the transmission control unit 15C transmits an intrusion warning signal via the communication unit 11 (step S52). The transmission control unit 15C continues to transmit the intrusion warning signal periodically until it transmits an ingress signal in step S60.

[0051] Furthermore, the drive control unit 15B1 reads the output received by the communication unit 11 and determines whether a closing signal transmitted from the shutter detection device 50 or another intrusion signal transmitted from the drive control device 2A has been input (step S53). If the drive control unit 15B1 determines that a closing signal or another intrusion signal has been input (step S53: Yes), it determines whether the identification information matches (step S54). The identification information here refers to the entrance identification information included in the entrance information detected by its own detection unit 12 and the shutter identification information included in the closing signal received by the communication unit 11, or the said entrance identification information and the entrance identification information included in the other intrusion signal received by the communication unit 11. If the drive control unit 15B1 determines that this identification information matches (step S54: Yes), it outputs a stop signal (step S541). Furthermore, the drive control unit 15B1 reads the output received by the communication unit 11 and determines whether a closing warning signal transmitted from the shutter detection device 50 or another intrusion warning signal transmitted from the drive control device 2A has been input (step S55). If the drive control unit 15B1 determines that it has received a closing warning signal or other intrusion warning signal (step S55: Yes), it stores these closing warning signals or other intrusion warning signals in the storage unit 14 and determines whether the identification information matches (step S56). The identification information here refers to the entrance identification information included in the entrance information detected by its own detection unit 12 and the shutter identification information included in the closing warning signal received by the communication unit 11, or the said entrance identification information and the entrance identification information included in other intrusion warning signals received by the communication unit 11. If the drive control unit 15B1 determines that this identification information does not match (step S56: No), it reads the output of the communication unit 11 and repeats the process in step S55. On the other hand, if the drive control unit 15B1 determines that these identification pieces of information match (step S56: Yes), or determines in step S55 that no closing warning signal or other intrusion warning signal has been input (step S55: No), it reads the output received by the communication unit 11 and determines whether or not a closing release signal transmitted from the shutter detection device 50 or another exit signal transmitted from the drive control device 2A has been input (step S57).

[0052] If the drive control unit 15B1 determines that no release signal or other exit signal has been input (step S57: No), it reads the output of the communication unit 11 and repeats the process in step S55. On the other hand, if the drive control unit 15B1 determines that a release signal or other exit signal has been input (step S57: Yes), it reads the memory unit 14 and determines whether the priority information included in the release signal or intrusion signal input in step S55 is stored (step S58). If the determination control unit 52B1 determines that the priority information is stored (step S58: Yes), it determines whether the priority is the same or higher (step S59). The priority here refers to the priority information included in the entrance information detected by its own detection unit 12 and the priority information included in the release signal or intrusion signal input in step S55. If the drive control unit 15B1 determines that the priority information included in the entrance information detected by the detection unit 12 is not the same as or greater than the priority information included in the closing warning signal or intrusion warning signal input in step S55 (step S59: No), it reads the output of the communication unit 11 and repeats the process in step S55.

[0053] If the drive control unit 15B1 determines that the priority information included in the entrance information is the same or higher (step S59: Yes), determines in step S53 that no closing signal or other intrusion signal has been input (step S53: No), determines in step S54 that the identification numbers do not match (step S54: No), or determines in step S58 that priority information is not stored (step S58: No), it drives the drive unit so that the transmission control unit 15C stops transmitting the intrusion warning signal and transmits the intrusion signal (step S60). Furthermore, the drive control unit 15B1 reads the output of the detection unit 12 and determines whether or not exit information has been input (step S61). If it determines that exit information has not been input (step S61: No), it returns to step S60 and repeats the process. On the other hand, if the drive control unit 15B1 determines that exit information has been input (step S61: Yes), the transmission control unit 15C stops transmitting the intrusion signal and transmits the exit signal (step S62). This ends the process and repeats the process in step S51.

[0054] Next, based on the processing flow described above, specific examples of the operation of the shutter device 60 and the transport device unit 1 will be explained. As shown in Figure 3(A), the transport device unit 1 travels along the travel line L and approaches the shutter device 60. When it reaches the entrance mark 81, the detection unit 12 reads the two-dimensional barcode of the entrance mark 81 and outputs the entrance information to the control unit 15. The drive control unit 15B1 reads the output of the detection unit 12 and determines that the entrance information has been input (step S51: Yes). Furthermore, the transmission control unit 15C transmits an intrusion warning signal (step S52), and the drive control unit 15B1 determines that it has not received a closing signal or other intrusion signal (step S53: No), and the transmission control unit 15C transmits an intrusion signal (step S60), and the transport device unit 1 enters the shutter passage area A. When the transport device unit 1 is traveling through the shutter passage area A, the shutter detection device 50, when the determination control unit 52 detects the downward movement of the shutter body 62 (step S31: Yes), has the transmission control unit 15C transmit a closing warning signal (step S32). The determination control unit 52 then receives the intrusion signal transmitted by the transport device unit 1 (step S33: Yes) and determines that the identification information matches (step S34: Yes). The determination control unit 52 determines that no intrusion warning signal has been input (step S35: No) and that no exit signal has been input (step S37: No), and repeats the process in step S35. On the other hand, when the transport device unit 1 passes through the shutter passage area A and transmits an exit signal (step S62), the determination control unit 52 determines that an exit signal has been input (step S37: Yes) and determines that priority information is not stored (step S38: No), and has the transmission control unit 15C transmit a closing signal (step S40). As a result, the transport device unit 1 reaches the entrance mark 81 first, and then, when the shutter body 62 descends, it enters the shutter passage area A without stopping its drive.

[0055] Furthermore, as shown in Figure 4(A), the transport device unit 1 travels along the travel line L and approaches the shutter device 60. At this time, the shutter body 62 begins to descend before the transport device unit 1 reaches the entrance mark 81. The detection unit 51 then detects the descending movement of the shutter body 62 and outputs a descending signal to the control unit 52. The determination control unit 52B1 constantly reads the output of the detection unit 51 and determines that a descending signal has been input (step S31), and the transmission control unit 52C transmits a closing warning signal via the communication unit 53 (step S32). Then, the determination control unit 52B1 determines that no intrusion signal has been input (step S33: No), and the transmission control unit 52C periodically transmits a closing signal via the communication unit 53 (step S40).

[0056] Meanwhile, when the drive control device 1A reaches the entrance mark 81, the drive control unit 15B1 determines that entrance information has been input (step S51: Yes), and the transmission control unit 15C transmits an intrusion warning signal (step S52). The drive control unit 15B1 then receives a closing signal via the communication unit 11 and determines that a closing signal has been input (step S53: Yes). Furthermore, the drive control unit 15B1 determines that the shutter identification information included in the closing signal matches the entrance identification information included in the entrance information input in step S51 (step S54: Yes), and outputs a stop signal to the transport device 1B to stop the drive unit (step S541). The drive control unit 15B then performs the processing from step S55 onwards. As a result, when the shutter body 62 moves downward first and the shutter detection device 50 sends a closing signal, and the transport device unit 1 then reaches the entrance mark 81, it stops driving before entering the shutter passage area A.

[0057] Furthermore, as shown in Figure 8(A), if the transport device unit 1 reaches the entrance mark 81 first, and then the shutter body 62 moves downward, the drive control unit 15B1, after processing in steps S51 and S52, determines in step S53 that no closing signal or other intrusion signal has been input (step S53: No). Then, the transmission control unit 15C transmits an intrusion signal (step S60), and the transport device unit 1 continues to move without stopping its drive.

[0058] Here, as shown in Figure 8(B), when the transport device unit 1 is traveling over the shutter passage area A and the shutter body 62 is moving downward, the subsequent transport device unit 2 reaches the entrance mark 81. The drive control unit 25B1 goes through steps S51 and S52, and in step S53 it receives another intrusion signal from the transport device unit 1 (step S53: Yes), and performs the process in S54 to stop the drive of the transport device 2B (step S541). Then the drive control unit 25B1 receives a closing warning signal (step S55: Yes), goes through step S56, determines that it has not received a closing release signal or other exit signal (step S57: No), and repeats the process in step S55. As a result, when another transport device unit 1 is passing through the shutter passage area A, the shutter body 62 moves downward, causing the subsequent transport device unit 2 to stop in front of the shutter passage area A.

[0059] Furthermore, as shown in Figure 9(A), when the transport device unit 1 first reaches the entrance mark 81, the drive control unit 15B1 performs the processes in steps S51, S52, and S53. Then, the transmission control unit 15C transmits an entry signal (step S60), and the transport device unit 1 continues to move without stopping its drive. Here, as shown in Figure 9(B), the transport device unit 1 is traveling on the shutter passage area A, and the transport device unit 2 reaches the entrance mark 81 before reaching the exit mark 82. In step S51, the drive control unit 25B1 receives ingress information (step S51: Yes), and after step S52, it determines that it has received another ingress signal transmitted from the drive control device 1A (step S53: Yes), and after step S54, it stops the drive (step S541).

[0060] Then, the drive control unit 25B1 determines that it has not received a closing warning signal or any other intrusion warning signal transmitted from the drive control device 1A (step S55: No), and determines that it has not received a closing release signal or any other exit signal (step S57: No), and repeats the process in step S55. When the transport device unit 1 reaches the exit mark 82, the transmission control unit 15C transmits an exit signal (step S62), and the drive control unit 25B1 determines that another exit signal has been input (step S57: Yes) and determines that there is no priority information (step S58: No). Then, the transport device unit 2 resumes driving, and the transmission control unit 15C transmits an entry signal (step S60). Furthermore, the drive control unit 25B1 performs the processing in steps S61 and S62. As a result, even if the shutter body 62 is not in a downward movement, if another transport device unit 1 is passing through the shutter passage area A, the transport device unit 2 that comes later will stop in front of the shutter passage area A, and will resume driving only after the other transport device unit 1 has left the shutter passage area A.

[0061] Furthermore, as shown in Figure 10(A), when the transport device unit 1 travels along the travel line L1 and first reaches the entrance mark 81L1, the drive control unit 15B1 performs the processes in steps S51, S52, and S53. Then, the transmission control unit 15C transmits an entry signal (step S60), and the transport device unit 1 continues to travel without stopping its drive. Here, as shown in Figure 10(B), transport device unit 1 is traveling on the shutter passage area A, and transport device unit 2 reaches the entrance mark 81L2 before reaching the exit mark 82L1. The drive control unit 25B1 performs the processing in steps S51 and S52, determines that another intrusion signal has been input (step S53: Yes), and after step S54, stops the drive of the drive unit (step S541).

[0062] The drive control unit 25B1 determines that it has not received a closing warning signal or any other intrusion warning signal transmitted from the drive control device 1A (step S55: No), and determines that it has not received a closing release signal or any other exit signal (step S57: No), and repeats the process in step S55. When the transport device unit 1 reaches the exit mark 82 and the transmission control unit 15C transmits an exit signal (step S62), the drive control unit 25B1 determines that another exit signal has been input (step S57: Yes) and determines that there is no priority information (step S58: No). Then, the transport device unit 2 resumes driving and the transmission control unit 15C transmits an entry signal (step S60). Furthermore, the drive control unit 25B1 performs the processing in steps S61 and S62. As a result, when multiple travel lines L1 and L2 are set in the shutter device 60, even if the shutter body 62 is not in the downward movement, if another transport device unit 1 is passing through the shutter passage area A, the transport device unit 2 that comes later will stop in front of the shutter passage area A, and will resume driving after the other transport device unit 1 has left the shutter passage area A.

[0063] Based on the above, the drive control device 1A, transport device unit 1, drive control method, drive control program, and drive control system 100 of this embodiment can achieve the same effects as the first and second embodiments, as the drive control unit 15B1 stops driving the transport device 1B when it receives a closing signal transmitted when the detection unit 12 detects entrance information and the shutter detection device 50 has not received an intrusion signal, and drives the transport device 1B when it has not received a closing signal transmitted when the detection unit 12 detects entrance information and the shutter detection device 50 has not received an intrusion signal.

[0064] It should be noted that the technical scope of the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the invention. For example, the drive control units 15B, 15B1, and 25B1 are configured to stop driving the transport devices 1B and 2B if the detection unit 12 detects entrance information after the shutter detection device 50 has transmitted a closing signal, and to maintain driving the transport devices 1B and 2B if the shutter detection device 50 transmits a closing signal after the detection unit 12 has detected entrance information. However, this is not limited to this configuration and can be modified as appropriate. Specifically, the drive may be maintained even if the closing signal is received first, or the drive may be stopped even if the entrance information is received first. Furthermore, while the drive control units 15B, 15B1, and 25B1 are configured to stop driving the transport devices 1B and 2B when they receive other intrusion signals transmitted by the transmission control units 15C and 25C of other drive control devices 1A and 2A, this is not the only configuration, and can be modified as appropriate. For example, the drive control units 15B, 15B1, and 25B1 may be configured to maintain driving even when other intrusion signals are received.

[0065] Furthermore, the drive control units 15B, 15B1, and 25B1 are configured to drive the transport devices 1B and 2B when they receive another exit signal while the drive of the transport devices 1B and 2B is stopped, if the priority information in their own entrance information is the same as or higher than the priority information in the exit signal, and to maintain the stop of the transport devices 1B and 2B when the priority information in their own entrance information is lower than the priority information in the exit signal. However, this is not limited to this configuration and can be modified as appropriate. For example, priority information may not be set and control may not be performed based on priority. Furthermore, the drive control units 15B, 15B1, and 25B1 stop driving the transport devices 1B and 2B when they receive a closing signal transmitted by the detection unit 12 when it detects entrance information and the shutter detection device 50 has not received an intrusion signal, and drive the transport devices 1B and 2B when they have not received a closing signal transmitted by the detection unit 12 when it detects entrance information and the shutter detection device 50 has not received an intrusion signal. However, this is not limited to this configuration and can be modified as appropriate.

[0066] Furthermore, while the detection unit 12 is described as a two-dimensional barcode reader and the entrance marks 81, 81L1, 81L2 and exit marks 82, 82L1, 82L2 as two-dimensional barcodes, the configuration is not limited to this and can be changed as appropriate. For example, the detection unit 12 and the entrance marks 81, 81L1, 81L2 and exit marks 82, 82L1, 82L2 may transmit and receive electromagnetic waves, or they may be optical, electrical, magnetic, or mechanical switches. Alternatively, image processing may be performed using a camera or the like. Furthermore, although the detection unit 51 is described as a mirror-regression type reflected photoelectric sensor, it is not limited to this, and its configuration can be changed as appropriate. For example, it may be another optical, electrical, magnetic, or mechanical switch. Alternatively, it may be configured to perform image processing using a camera or the like.

[0067] Furthermore, although the drive control units 15B, 15B1, and 25B1 are described as determining the input timing of the closing signal and the entrance information, this is not limited to this and can be changed as appropriate. For example, when the shutter detection device 50 transmits the closing signal and when the detection unit 12 detects the entrance information, timing information may be included in each case, and the drive control units 15B, 15B1, and 25B1 may determine the order based on that timing information. Furthermore, the positions of the entrance marks 81, 81L1, 81L2 and the exit marks 82, 82L1, 82L2 can be changed as appropriate. For example, they can be changed depending on the height of the shutter detection device 50, the downward movement speed of the shutter body 62, the travel speed and size of the transport devices 1B, 2B, or the size of the transported object, etc.

[0068] Alternatively, exit identification information may be provided in the exit information, and when the determination control unit 52 or the drive control units 15B, 15B1, 25B1 determine whether the identification information matches, it may also determine whether the exit identification information, entrance identification information, and shutter identification information are the same. Priority information may also be included in signals such as the closing warning signal, closing signal, closing release signal, entry warning signal, entry signal, or exit signal. Furthermore, the flowcharts shown in Figures 2, 6, 7, 12, and 13 illustrate examples of processing by the shutter detection device 50 or the drive control devices 1A and 2A, and it goes without saying that each step can be combined or deleted to make appropriate changes. Furthermore, the position in which the shutter detection device 50 is installed on the shutter device 60 can be changed as appropriate, and "installed on the shutter device 60" means that it may be installed directly on the shutter device 60 or in the vicinity of the shutter device 60. Furthermore, the positions in which the drive control devices 1A and 2A are installed on the transport devices 1B and 2B can be changed as appropriate. "Installed on the transport devices 1B and 2B" means that they may be installed directly on the transport devices 1B and 2B, or they may be installed in the vicinity of the transport devices 1B and 2B (such as on the transport trolley or the transported object).

[0069] Furthermore, each of the aforementioned functional units constituting the drive control system 100 may be provided in a single computer, or they may be distributed and provided in multiple computers that can communicate via a communication network. The distributed computers may be located not only in Japan but also in other countries. Alternatively, programs for realizing the functions of the shutter detection device 50 and the drive control devices 1A and 2A may be recorded on a computer-readable recording medium, and various processes may be performed by loading the programs recorded on this recording medium into a computer system and executing them. The term "computer system" here includes hardware such as the operating system and peripheral devices. This program can also produce the same effect as described above.

[0070] Furthermore, "computer system" shall also include the homepage provisioning environment (or display environment) if a WWW system is being used. Furthermore, "computer-readable recording media" refers to portable media such as hard disks, flexible disks, magneto-optical disks, ROMs, CD-ROMs, DVDs, and USB® memory, as well as storage devices such as hard disks built into computer systems. Moreover, "computer-readable recording media" also includes those that dynamically hold programs for a short period of time, such as communication lines used when transmitting programs over networks such as the Internet or communication lines such as telephone lines, and those that hold programs for a certain period of time, such as volatile memory inside computer systems that act as servers or clients in such cases. In addition, the above-mentioned programs may be for the purpose of realizing some of the functions described above, and may also be able to realize the above-mentioned functions in combination with programs already recorded in the computer system. It goes without saying that the combinations of elements in the above embodiments, examples, and modified forms can be changed, and these elements can be combined as appropriate.

[0071] The following additional notes are provided regarding the embodiments described above. (Note 1) A drive control device provided in a conveying device and controlling the drive of the conveying device, A detection unit that detects information about the entrance to the shutter passage area, A shutter detection device installed on the shutter detects the closing operation of the shutter and transmits a closing signal, and when the detection unit detects the entrance information, a drive control unit stops the drive of the transport device. It is equipped with.

[0072] (Note 2) The drive control unit, After the shutter detection device transmits the closing signal, if the detection unit detects the entrance information, it stops the drive of the transport device. The drive control device according to Appendix 1, which is configured such that when the detection unit detects the entrance information and the shutter detection device transmits the closing signal, the drive of the transport device is maintained.

[0073] (Note 3) The detection unit detects the entrance information and includes a transmission control unit that transmits an intrusion signal into the shutter passage area. The drive control unit, A drive control device according to Appendix 1 or Appendix 2, which is configured to stop the drive of its own transport device when it receives another intrusion signal transmitted by another transmission control unit in another drive control device installed in another transport device.

[0074] (Note 4) The detection unit detects exit information from the shutter passage area, When the detection unit detects the exit information, the transmission control unit transmits an exit signal from the shutter passage area. The drive control unit, The drive control device according to Appendix 3, which is configured to drive its own transport device when it receives another exit signal transmitted by the other transmission control unit while it has stopped driving its own transport device after receiving the aforementioned other intrusion signal.

[0075] (Note 5) The drive control unit, The drive control device according to Appendix 3 or Appendix 4, which is configured to drive its own transport device when it receives a closing warning signal transmitted by the shutter detection device or another intrusion warning signal transmitted by the other transport device, and when it receives a closing release signal transmitted by the shutter detection device or another exit signal transmitted by the other transport device, while its own transport device is stopped from driving.

[0076] (Note 6) The drive control unit, The drive control device according to Appendix 5, which is configured to drive its own transport device when, while its own transport device is stopped, the priority information in the entrance information detected by its detection unit is the same as or greater than the priority information included in the closing warning signal or the other intrusion warning signal.

[0077] (Note 7) The drive control unit, A drive control device according to any one of the appendices 1 to 6, which is configured to maintain the drive of the transport device without stopping it when the closing signal transmitted by the shutter detection device is input, and the closing release signal transmitted by the shutter detection device is input thereafter.

[0078] (Note 8) A drive control device described in any one of the items from Appendix 1 to Appendix 7, The transport device on which the drive control device is provided A transport device unit equipped with the following features.

[0079] (Note 9) A drive control method in a drive control device provided in a transport device and used to control the drive of the transport device, A detection step to detect information about the entrance to the shutter passage area, A shutter detection device installed on the shutter detects the closing operation of the shutter and transmits a closing signal, and when the detection unit detects the entrance information in the detection step, a drive control step is performed to stop the drive of the transport device. A drive control method including a drive control method.

[0080] (Note 10) A drive control program for a drive control device provided in a transport device and used to control the drive of the transport device, A detection unit that detects information about the entrance to the shutter passage area, A shutter detection device installed on the shutter detects the closing operation of the shutter and transmits a closing signal. When the detection unit detects the entrance information, the drive control unit stops the drive of the transport device. A drive control program that causes the drive control device to function as described above.

[0081] (Note 11) A drive control system comprising a transport device, a drive control device provided on the transport device for controlling the drive of the transport device, and a shutter detection device provided on the shutter, The drive control device is A detection unit that detects information about the entrance to the shutter passage area, A shutter detection device installed on the shutter detects the closing operation of the shutter and transmits a closing signal, and when the detection unit detects the entrance information, a drive control unit stops the drive of the transport device. A drive control system equipped with the following features. [Explanation of symbols]

[0082] 1,2 Conveyor Unit 1A, 2A drive control device 1B, 2B Conveyor System 12 Detection unit 15, 15B1, 25B1 Drive control unit 15C, 25C Transmitting Control Unit 50 Shutter detection device 60 Shutter device 100 Drive Control System A Shutter passage area

Claims

1. A drive control device provided in a conveying device and controlling the drive of the conveying device, A detection unit that detects information about the entrance to the shutter passage area, A shutter detection device installed on the shutter detects the closing operation of the shutter and transmits a closing signal, and when the detection unit detects the entrance information, a drive control unit stops the drive of the transport device. A drive control device equipped with the following:

2. The drive control unit, After the shutter detection device transmits the closing signal, if the detection unit detects the entrance information, it stops the drive of the transport device. The drive control device according to claim 1, configured such that when the detection unit detects the entrance information, the shutter detection device transmits the closing signal, the drive of the transport device is maintained.

3. The detection unit detects the entrance information and includes a transmission control unit that transmits an intrusion signal into the shutter passage area. The drive control unit, The drive control device according to claim 2, which is configured to stop the drive of its own transport device when it receives another intrusion signal transmitted by another transmission control unit in another drive control device provided in another transport device.

4. The detection unit detects exit information from the shutter passage area, When the detection unit detects the exit information, the transmission control unit transmits an exit signal from the shutter passage area. The drive control unit, The drive control device according to claim 3, which is configured to drive its own transport device when it receives another exit signal transmitted by the other transmission control unit while it has stopped driving its own transport device after receiving the aforementioned other intrusion signal.

5. The drive control unit, The drive control device according to claim 4, which is configured to drive its own transport device when it receives a closing warning signal transmitted by the shutter detection device or another intrusion warning signal transmitted by the other transport device, and receives a closing release signal transmitted by the shutter detection device or another exit signal transmitted by the other transport device, while the drive of its own transport device is stopped.

6. The drive control unit, The drive control device according to claim 5, which is configured to drive its own transport device when, in a state where the drive of its own transport device is stopped, the priority information in the entrance information detected by its detection unit is the same as or greater than the priority information included in the closing warning signal or the other intrusion warning signal.

7. The drive control unit, The drive control device according to claim 1, which is configured to maintain the drive of the transport device without stopping it when the closing signal transmitted by the shutter detection device is input, and the closing release signal transmitted by the shutter detection device thereafter is input.

8. A drive control device according to any one of claims 1 to 7, The transport device on which the drive control device is provided A transport device unit equipped with the following features.

9. A drive control method in a drive control device provided in a transport device and used to control the drive of the transport device, A detection step to detect information about the entrance to the shutter passage area, A shutter detection device installed on the shutter detects the closing operation of the shutter and transmits a closing signal, and when the detection unit detects the entrance information in the detection step, a drive control step is performed to stop the drive of the transport device. A drive control method including a drive control method.

10. A drive control program for a drive control device provided in a transport device and used to control the drive of the transport device, A detection unit that detects information about the entrance to the shutter passage area, A shutter detection device installed on the shutter detects the closing operation of the shutter and transmits a closing signal. When the detection unit detects the entrance information, the drive control unit stops the drive of the transport device. A drive control program that causes the drive control device to function as described above.

11. A drive control system comprising a transport device, a drive control device provided on the transport device for controlling the drive of the transport device, and a shutter detection device provided on the shutter, The drive control device is A detection unit that detects information about the entrance to the shutter passage area, A shutter detection device installed on the shutter detects the closing operation of the shutter and transmits a closing signal, and when the detection unit detects the entrance information, a drive control unit stops the drive of the transport device. A drive control system equipped with the following features.

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