JP5291528B2 - Mobile operation management system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle operation management system, which reduces the risk that radio signals interfere between the system and an external device and that information communicated leaks to the outside, etc., and which can perform radio communication between a communication relay device and a vehicle's communication device while power consumption for communication is kept low. <P>SOLUTION: A communication relay device 6 which performs radio communication with a vehicle's communication device provided on a vehicle 1 moving along a path of travel 3 includes a relay device body 12 connected with a management means 7 by a communication line 8 in such a way as to communicate management information thereto, and an antenna unit 14 connected to the relay device body 12 by a connection line 13 for communicating the management information to the vehicle's communication device via radio signals. The antenna unit 14 is constituted of a sheet-shaped antenna 14A formed in the shape of a long sheet with a flat cross-sectional shape and having a communicable area formed on its entire surface along thickness direction, and is installed to extend along the path of travel 3. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a communication relay device that performs wireless communication with a communication device on a mobile body provided in a mobile body that moves along a movement path, and the communication device on the mobile body side via the communication relay device. Management means for performing operation management of the mobile body by communicating management information between the mobile body and the mobile body based on the management information received by the mobile-side communication device. The present invention relates to an operation management system for a moving body provided with a control means for controlling the operation of the body.

  Conventionally, in this type of mobile operation management system, a communication relay device integrally has an antenna unit for communicating management information with a mobile device communication device using a radio signal. It is prepared for. The antenna unit is configured to form a communicable region in a three-dimensional direction, and the relay apparatus main body communicates on the moving body side of the moving body when the moving body is located within a predetermined range in the moving path. It was provided in a fixed state on the ground side so that wireless communication with the device was possible (see, for example, Patent Document 1).

JP 2001-42940 A

In the operation management system for a moving object described in Patent Document 1, when the moving object is located in a predetermined range on the moving route, the communication relay device wirelessly communicates with the communication device on the moving object side of the moving object. Although communication is possible, depending on the position of the mobile body, the separation distance between the communication relay device and the mobile-side communication device may increase. Thus, even if the separation distance becomes large, it is necessary to widen the communicable area of the communication relay device so that it can communicate with the communication device on the mobile body side. There were the following disadvantages.
In other words, when a communicable area is formed in a three-dimensional direction and communication is performed with a communication device on a mobile unit having a large separation distance, a radio signal interferes with an external device present in the surrounding area, or communication is performed. Since the possible area is wide, there is a disadvantage that the information being communicated may be leaked to the outside.
In addition, since the communication relay device is configured to form a communicable region in a three-dimensional direction, a wide communicable region so that it can be satisfactorily performed with a communication device on a mobile unit having a large separation distance. As a result, the communicable area is formed up to the location where the movement path is not formed, and there is a disadvantage that the power consumption is increased more than necessary.

  An object of the present invention is a state in which a radio signal interferes with an external device, information that is being communicated is less likely to leak to the outside, and the power consumption for communication is reduced. Thus, the present invention is to provide an operation management system for a moving body capable of performing wireless communication between the communication relay device and the communication device on the moving body side.

A mobile operation management system according to the present invention includes a communication relay device that performs wireless communication with a communication device on a mobile body provided in a mobile body that moves along a movement route, and the communication relay device. Management means for performing operation management of the mobile body by communicating management information with the communication apparatus on the mobile body via the mobile device, and receiving the mobile body by the communication device on the mobile body Control means for controlling the operation of the moving body based on the management information is provided, the first characteristic configuration is
The relay device for communication is connected to the management means by a communication line so that the management information can be freely communicated with the management means, and is connected to the relay device main body by a connection line. An antenna unit that communicates the management information with a radio signal between the antenna unit and the antenna unit. It is composed of a sheet-like antenna that forms a communicable area on the entire surface, and is installed in a state along the movement path, and the communication relay device is divided into a plurality of traveling sections partitioned along the movement path. Correspondingly, a plurality of the antenna units for each of the communication relay devices are capable of wirelessly communicating the management information with the mobile device side communication device in the mobile body located in each travel section. Traveling Each of the communication relay devices is configured to transmit the management information received from the communication device on the mobile unit and its own identification information in association with each other to the management unit. And configured to determine a travel section where the mobile body is located based on the received management information and the identification information, and provided with a position detection means for detecting the position of the mobile body on the travel route, The management means determines the position of the moving body in the moving route based on the detection information received from the position detection means, and the determined position of the moving body is received at the same timing as the detection information. Based on whether the position belongs to the travel section determined based on the management information and the identification information, the communication by the communication relay device and the position detection means Lies in the detection is configured to determine whether or not successful.

  That is, the antenna portion in the communication relay device is configured by a sheet-like antenna having a long sheet shape and a cross-sectional shape formed in a flat sheet shape, and the thickness direction is formed on the entire surface of the sheet-like antenna. The communication is performed in such a manner that a communicable area along the surface is output along the surface, and such a sheet-like antenna is installed along the movement path so as to be separated from the communication device on the mobile body side. Wireless communication is performed with a communication device on the mobile unit side in a state where the distance is reduced. Incidentally, as an example of a sheet-like antenna, for example, a mesh-shaped conductor portion is provided on one surface of a sheet-like dielectric portion, and a planar dielectric portion is provided on the other surface of the dielectric portion. There are configurations.

  Since such a sheet-like antenna is configured to form a communicable region along the surface and perform wireless communication with the communication device on the mobile unit in a state where the separation distance from the communication device on the mobile unit is small, Wireless communication with a mobile communication device in a state where there is little risk of radio signals interfering with external devices existing in the network or leakage of management information being communicated to the outside. It becomes possible. Moreover, since the antenna part is formed in a state where the communicable area capable of wireless communication is along the surface, the communicable area can be formed along the movement path, and the wireless signal can be output. Electricity consumption can be reduced.

  Therefore, according to the first feature configuration, there is little risk of radio signals interfering with external devices, information being communicated is leaked to the outside, and the power consumption for communication is low. In this state, a mobile operation management system capable of performing wireless communication between the communication relay device and the mobile communication device can be provided.

In addition , a plurality of communication relay apparatuses are provided corresponding to a plurality of travel sections, and each of the plurality of communication relay apparatuses manages the management information received from the communication apparatus on the mobile body side in association with its own identification information. In order to transmit to the means, the received management means can determine from the identification information whether the management information is transmitted from the communication relay device belonging to which travel section in the plurality of travel sections. It is possible to determine the travel section where is located.
Therefore, by providing a plurality of communication relay devices for transmitting the management means corresponding to a plurality of travel sections, there is no need to separately provide a device for detecting that a moving body is located in the travel section. The traveling section in which the moving body is located can be determined, and the configuration of the operation management system for the moving body can be simplified.
Therefore, according to the 1st characteristic composition, it came to be able to provide the operation management system of the mobile which can aim at simplification of the composition which can discriminate the run section in which the mobile is located.

Further , the position of the moving body determined based on the detection information received from the position detection means is determined based on the management information and the identification information received from the communication relay device received at the same timing as this detection information. If the position belongs to the travel section where the body is located, it is determined that the communication by the communication relay device and the detection by the position detecting means are normally performed, and if the position does not belong, the communication by the communication relay device Alternatively, it is determined that the detection by the position detection unit is not normally performed.
That is, when the communication by the communication relay device and the detection by the position detection means are normally performed, the position of the moving body determined based on the detection information received from the position detection means is the same as this detection information. Since the mobile body determined based on the management information and the identification information received from the communication relay device received at the timing should belong to the travel section where the mobile body is located, the mobile body determined based on the detection information When the position is a position belonging to a travel section different from the travel section in which the mobile body is determined based on the management information and the identification information, communication by the communication relay device or detection by the position detection means is abnormal. It can be determined that there is.
Therefore, according to the 1st characteristic structure, it came to be able to provide the operation management system of the mobile which can discriminate | determine whether the communication by the communication relay apparatus or the detection by a position detection means is performed normally.

A second feature configuration of the operation management system for a moving body according to the present invention is the first feature configuration, wherein a plurality of the moving bodies are provided, and the management means is provided to the traveling section where the moving body is located. In the point which is comprised so that operation management of the said several mobile body may be performed in order to prohibit the approach of another mobile body.

That is, since the management means manages the operation of a plurality of moving bodies so that other moving bodies do not enter the travel section where the moving body is located, Even when the vehicle stops unexpectedly, other mobile objects do not enter the travel section where the mobile object is located, so that collisions between the mobile objects can be prevented.
Therefore, according to the 2nd characteristic structure, it came to be able to provide the operation management system of the moving body which can prevent the collision of moving bodies beforehand.

The 3rd characteristic structure of the operation management system of the moving body concerning this invention is the management conditions in which the said management means is set separately for every some driving | running | working area in any one of the 1st or 2nd characteristic structure. In the point which is comprised so that operation management of the said moving body may be performed.

That is, the management means performs the operation management of the moving body under the management conditions set for each of a plurality of travel sections. For example, the management condition may be a travel section corresponding to a straight route. For example, if the travel speed is set to high speed and the travel speed corresponding to the curved route is set to low speed, the mobile body is suitable for the travel section by setting preferable management conditions for each travel section. It can be run with.
Therefore, according to the 3rd characteristic structure, it came to provide the operation management system of the moving body which can make a moving body drive | work in the state suitable for the travel area.

4th characteristic structure of the operation management system of the moving body concerning this invention is the moving end of the said 1st- 3rd characteristic structure in any one of the 1st- 3rd characteristic structure, The said moving body is, It exists in the point provided so that it may reciprocate along the said movement path | route.

When reciprocating a moving body along a linear end-shaped movement path, an optical optical communication device is provided at the end of the movement path, and the communication device on the moving body side is connected via this optical communication device. It is conceivable to manage the operation of the moving body by the management means by communicating management information between them.
However, in the case of such a configuration, the length of the movement path is limited to a distance shorter than the communicable distance by the optical communication device. In addition, even when an optical communication device is provided at each of both ends of the movement path, only two mobile bodies can communicate with each other, and the communication light is blocked, that is, between the two mobile bodies. A third moving body cannot be provided. Therefore, it is difficult to increase the distance of the moving route and to increase the number of moving objects on the moving route.
Therefore, by installing the sheet-like antenna in the communication relay device in a state along the movement path, it moves through the communication relay device even at a position away from the end of the movement path beyond the communicable distance by the optical communication device. Since management information can be communicated with the body side communication device, the moving path of the moving body can be lengthened, and the sheet-like antenna is installed in a state along the moving path. Even when more than three moving bodies are arranged along the transport path, the management means can communicate management information with any of the three or more moving bodies via the communication relay device.
Therefore, according to the fourth characteristic configuration, it is possible to provide an operation management system that can lengthen the moving path of the moving body and that can manage the operation of three or more moving bodies by the management means. It was.

A fifth feature configuration of the operation management system for a moving body according to the present invention is the fourth feature configuration, wherein three or more moving bodies are provided, and the three or more moving bodies are provided at both ends of the moving path. An optical optical communication device that communicates the management information with the communication device on the mobile body side in each mobile body located at each end of the mobile body, and the communication relay device includes the three bodies The management information is configured to communicate with the communication device on the mobile body side in a mobile body located in the middle of the above mobile bodies, and the management means is configured to transmit the terminal via the optical communication device. By performing communication of the management information with the communication device on the mobile body in the mobile body located in the section, operation management of the mobile body located in the end is performed, and the communication relay device In the moving body located in the middle By between the communication device of the serial movement side communicates the control information, in that it is configured to perform operation control of the moving body positioned in the middle.

That is, for the two moving bodies located at each end of the three or more moving bodies, the management means uses a pair of optical optical communication devices provided at both ends of the moving path. Operation management is performed by communicating management information via the antenna unit, and the mobile unit located in the middle where the management information cannot be communicated via the optical communication device among the three or more mobile units provided is moved by the antenna unit. Operation management is performed by communicating management information via a communication relay device installed along the route.
That is, operation management of three or more mobile objects can be performed by performing operation management of a mobile object with a pair of optical communication devices and a communication relay device. By providing a relay device for communication so that the antenna unit is installed in a state along the movement path in an operation management system for an existing mobile body provided with a mobile body, and by providing the mobile body in the middle of the two mobile bodies Since it is possible to add a moving body, it becomes easy to add a moving body to the operation management system of an existing moving body.
Therefore, according to the 5th characteristic structure, it came to be able to provide the operation management system of the moving body which is easy to add a moving body.
A mobile operation management system according to the present invention includes a communication relay device that performs wireless communication with a communication device on a mobile body provided in a mobile body that moves along a movement route, and the communication relay device. Management means for performing operation management of the mobile body by communicating management information with the communication apparatus on the mobile body via the mobile device, and receiving the mobile body by the communication device on the mobile body Control means for controlling the operation of the moving body based on the management information is provided, the sixth characteristic configuration is
The relay device for communication is connected to the management means by a communication line so that the management information can be freely communicated with the management means, and is connected to the relay device main body by a connection line. An antenna unit that communicates the management information with a radio signal between the antenna unit and the antenna unit. It is composed of a sheet-like antenna that forms a communicable area along the entire surface, and is installed in a state along the movement path. The movement path is a linear end form, and the moving body is moved. Provided to reciprocate along a path, and three or more moving bodies are provided, and each movement located at each end of the three or more moving bodies is provided at each end of the moving path. A communication device on the mobile side of the body; An optical optical communication device that communicates the management information between the communication devices, and the communication relay device is connected to the communication device on the moving body side in the moving body located in the middle of the three or more moving bodies. The management information is communicated with the communication device on the mobile body side in the mobile body located at the end via the optical communication device. By performing communication, operation management of the mobile body located at the end is performed, and the management information is communicated between the mobile body located in the middle of the mobile body via the communication relay device. It is in the point comprised so that operation management of the mobile body located in the middle may be performed by performing communication.
That is, the antenna portion in the communication relay device is configured by a sheet-like antenna having a long sheet shape and a cross-sectional shape formed in a flat sheet shape, and the thickness direction is formed on the entire surface of the sheet-like antenna. The communication is performed in such a manner that a communicable area along the surface is output along the surface, and such a sheet-like antenna is installed along the movement path so as to be separated from the communication device on the mobile body side. Wireless communication is performed with a communication device on the mobile unit side in a state where the distance is reduced. Incidentally, as an example of a sheet-like antenna, for example, a mesh-shaped conductor portion is provided on one surface of a sheet-like dielectric portion, and a planar dielectric portion is provided on the other surface of the dielectric portion. There are configurations.
Since such a sheet-like antenna is configured to form a communicable region along the surface and perform wireless communication with the communication device on the mobile unit in a state where the separation distance from the communication device on the mobile unit is small, Wireless communication with a mobile communication device in a state where there is little risk of radio signals interfering with external devices existing in the network or leakage of management information being communicated to the outside. It becomes possible. Moreover, since the antenna part is formed in a state where the communicable area capable of wireless communication is along the surface, the communicable area can be formed along the movement path, and the wireless signal can be output. Electricity consumption can be reduced.
Therefore, according to the sixth characteristic configuration, there is little risk of interference of a radio signal with an external device, leakage of information being communicated to the outside, etc., and low power consumption for communication In this state, a mobile operation management system capable of performing wireless communication between the communication relay device and the mobile communication device can be provided.
When reciprocating a moving body along a linear end-shaped movement path, an optical optical communication device is provided at the end of the movement path, and the communication device on the moving body side is connected via this optical communication device. It is conceivable to manage the operation of the moving body by the management means by communicating management information between them.
However, in the case of such a configuration, the length of the movement path is limited to a distance shorter than the communicable distance by the optical communication device. In addition, even when an optical communication device is provided at each of both ends of the movement path, only two mobile bodies can communicate with each other, and the communication light is blocked, that is, between the two mobile bodies. A third moving body cannot be provided. Therefore, it is difficult to increase the distance of the moving route and to increase the number of moving objects on the moving route.
Therefore, by installing the sheet-like antenna in the communication relay device in a state along the movement path, it moves through the communication relay device even at a position away from the end of the movement path beyond the communicable distance by the optical communication device. Since management information can be communicated with the body side communication device, the moving path of the moving body can be lengthened, and the sheet-like antenna is installed in a state along the moving path. Even when more than three moving bodies are arranged along the transport path, the management means can communicate management information with any of the three or more moving bodies via the communication relay device.
Therefore, according to the sixth feature configuration, it is possible to provide an operation management system in which the moving path of the moving body can be lengthened and the operation means can manage the operation of three or more moving bodies by the management means. It was.
Further, the management means includes a pair of optical optical communication devices provided at both ends of the moving path for two moving bodies located at each end of the three or more moving bodies. Operation management is performed by communicating management information via the antenna unit, and the mobile unit located in the middle where the management information cannot be communicated via the optical communication device among the three or more mobile units provided is moved by the antenna unit. Operation management is performed by communicating management information via a communication relay device installed along the route.
That is, operation management of three or more mobile objects can be performed by performing operation management of a mobile object with a pair of optical communication devices and a communication relay device. By providing a relay device for communication so that the antenna unit is installed in a state along the movement path in an operation management system for an existing mobile body provided with a mobile body, and by providing the mobile body in the middle of the two mobile bodies Since it is possible to add a moving body, it becomes easy to add a moving body to the operation management system of an existing moving body.
Therefore, according to the 6th characteristic structure, it came to be able to provide the operation management system of the moving body which is easy to add a moving body.
According to a seventh feature configuration of the moving body operation management system according to the present invention, in the sixth feature configuration, a plurality of the communication relay devices are provided corresponding to a plurality of travel sections partitioned along the travel route. The antenna unit for each of the communication relay devices is provided for each traveling section so that the management information can be wirelessly communicated with the communication device on the moving body side in the moving body located in each traveling section. Each of the communication relay devices is configured to associate the management information received from the mobile-side communication device with its identification information and transmit it to the management means, and the management means receives the management The configuration is such that the travel section in which the mobile body is located is determined based on the information and the identification information.
In other words, a plurality of communication relay devices are provided corresponding to a plurality of travel sections, and each of the plurality of communication relay devices manages the management information received from the mobile-side communication device in association with its own identification information. In order to transmit to the means, the received management means can determine from the identification information whether the management information is transmitted from the communication relay device belonging to which travel section in the plurality of travel sections. It is possible to determine the travel section where is located.
Therefore, by providing a plurality of communication relay devices for transmitting the management means corresponding to a plurality of travel sections, there is no need to separately provide a device for detecting that a moving body is located in the travel section. The traveling section in which the moving body is located can be determined, and the configuration of the operation management system for the moving body can be simplified.
Therefore, according to the 7th characteristic structure, it came to be able to provide the operation management system of the mobile which can attain simplification of the composition which can distinguish the travel section in which the mobile is located.

The top view which shows the overhead conveyance vehicle in 1st Embodiment, and a movement path | route. The perspective view which shows the overhead conveyance vehicle and station in 1st Embodiment. Longitudinal front view of a ceiling guided vehicle in the first embodiment The block diagram which shows schematic structure of the operation management system in 1st Embodiment. The block diagram which shows schematic structure of the overhead conveyance vehicle in 1st Embodiment. The figure which shows the antenna main-body part in 1st Embodiment. The partially cutaway perspective view of the coupler in the first embodiment The top view which shows the stacker crane and movement path | route in 2nd Embodiment. The perspective view which shows the stacker crane in 2nd Embodiment. The top view of the movement path | route in another embodiment (1)

<< First Embodiment >>
Hereinafter, a first embodiment in which an embodiment of an operation management system for a moving body according to the present invention is applied to an article transport facility including a ceiling transport vehicle as a moving body will be described with reference to the drawings.
As shown in FIG.1 and FIG.2, the overhead conveyance vehicle 1 which travels on the ceiling as an example of the mobile body which can be traveled in the state where the article W is supported is provided on the traveling rail 2 provided in a loop-like endless form. The plurality of ceiling transport vehicles 1 are configured to move toward one side in the longitudinal direction of the moving path along the moving path 3 formed by the traveling rail 2. Has been. In addition, each of the plurality of ceiling transport vehicles 1 is configured to transport articles between stations 4 provided in the middle of the movement path 3. Incidentally, two ceiling transport vehicles 1 are provided.

  As shown in FIG. 3, the traveling rail 2 is composed of a pair of rail portions 2 a and 2 b arranged along the lateral width direction of the moving path 3, and the pair of rail portions 2 a and 2 b are respectively suspended from the ceiling. While being supported by being lowered, they are connected to each other by a connecting member R.

Next, the ceiling conveyance vehicle 1 will be described.
As shown in FIG. 3, the overhead conveyance vehicle 1 is supported by being suspended from the traveling drive unit 9 that travels on the traveling rail 2 and the traveling drive unit 9 so as to be positioned below the traveling rail 2 and lifts and lowers the article W. And an article support portion 10 that is movably supported, and is provided in a state of traveling between a pair of rail portions 2a.
Then, as shown in FIG. 2, the overhead traveling vehicle 1 moves the article W up and down in a state where it is stopped at the target stop position corresponding to the station 4, thereby transferring the article W to and from the station 4. Configured to do.

  The traveling drive unit 9 of the overhead carriage 1 includes a pair of drive wheels 28 that are rotated by a drive motor 27 and roll on the upper surfaces of the pair of rail portions 2a and 2b, and a pair of rail portions 2a and 2b, respectively. And a pair of rotatable guide wheels 29 that are in contact with the opposite side surfaces. Then, the driving wheel 28 is rotationally driven by the driving motor 27, and the guide wheel 29 is guided by contact with the pair of rail portions 2a, whereby the overhead traveling vehicle 1 is guided to the traveling rail 2 and moved to the moving path 3. Configured to move along.

  The article support unit 10 of the ceiling transport vehicle 1 has a rotating drum 32 that is wound around a wire 30 and rotated by a lifting motor 31, and an article W that is suspended and supported by the wire 30 by a gripping motor 33. A gripping tool 34 that is switched between a gripping posture for gripping and a gripping release posture for releasing gripping is provided. Then, when the rotary drum 32 is rotationally driven by the lifting motor 31, the gripping tool 34 and the article W gripped thereby move up and down, and the gripping motor 33 switches the gripping tool 34 to switch the article. It is configured to grip W or release the grip on the article W.

The overhead conveyance vehicle 1 is provided with a power receiving coil 36 so as to be positioned between the pair of rail portions 2a, and a magnetic field is generated by energization of an alternating current to a power supply line 35 disposed along the movement path 3. In addition, the magnetic power is generated in the power receiving coil 36 by the magnetic field by the magnetic field, and power is supplied to the ceiling transport vehicle 1 in a non-contact state.
Incidentally, the power supply line 35 is supported by the traveling rail 2 so as to be disposed between the pair of rail portions 2a and 2b.

Next, an operation management system for managing the operation state of the ceiling transport vehicle 1 will be described.
As shown in FIG. 4, a communication relay device 6 that performs wireless communication with the carrier-side communication unit 5 as a mobile device-side communication device provided in the ceiling transport vehicle 1, and the communication relay device 6 In addition, a management computer 7 is provided as management means for managing all operations of the plurality of overhead transport vehicles 1 by communicating management information with the transport vehicle side communication unit 5.

The communication relay device 6 is connected to a relay device body 12 via a communication line 8 so that management information can be freely communicated with a management computer 7, and connected to the relay device body 12 via a connection line 13. The antenna unit 14 is configured to communicate management information with the vehicle-side communication unit 5 (see FIG. 5) by radio signals.
As shown in FIGS. 2 and 3, the antenna unit 14 is formed into a sheet having a long shape and a cross-sectional shape that is a flat plate, and forms a communicable region along the thickness direction on the entire surface. It is comprised by 14A, and is arrange | positioned in the state along the movement path | route 3. As shown in FIG. And this antenna part 14 (sheet-like antenna 14A) propagates a radio signal in a two-dimensional direction, forms a communication area capable of wireless communication along the surface, and forms a communicable area along the thickness direction over the entire surface. The sheet-like antenna main body 15 that is output in the state of being formed in the above, and a coupler 16 as a connection portion to which the connection line 13 is connected.
Incidentally, as a communication format when communication is performed using a wireless signal, the communication format is based on the standard communication standard (IEEE802.11a) as in a general wireless LAN.

Next, the antenna body 15 will be described.
As shown in FIG. 6, the antenna body 15 includes a mesh-like conductor portion 17 made of a conductor formed in a mesh shape, and a sheet-like dielectric portion 18 made of a sheet-like dielectric. And a sheet-like conductor portion 19 made of a conductor formed in a sheet shape in order, and on the front side of the mesh-like conductor portion 17 and the back side of the sheet-like conductor portion 19 Each of them is provided with sheet-like insulator portions 20 and 21 made of an insulator, and they are bonded to each other in a laminated state to form a sheet-like shape as a whole.

  The sheet-shaped dielectric portion 18 uses a dielectric having a dielectric constant in a frequency band used for signal transmission larger than that of air, a magnetic permeability almost equal to that of air, and a transmission speed of electromagnetic waves smaller than that of air. . In other words, the speed of the electromagnetic wave as an example of the radio signal is determined by the product of the magnetic permeability and the dielectric constant. The velocity is smaller than the velocity of the electromagnetic wave propagating in the air. The mesh-shaped conductor portion 17 has a large number of openings 22 as shown in FIG.

Next, the configuration of the coupler 16 will be described.
As shown in FIG. 7, the coupler 16 includes an intermediate dielectric portion 25 between an inner electrode 23 and an outer electrode 24 that are concentrically arranged, and is connected to a connection line 13 to be connected to a relay device. A signal can be communicated with the main body 12. The internal electrode 23 and the external electrode 24 are each made of a metal material, and the intermediate dielectric portion 25 is made of the same material as that of the sheet-like dielectric portion.

  In other words, the internal electrode 23 has a disk-like plate body 23b integrally fixed to the tip of the central shaft 23a, and the bottom surface of the disk-like plate body 23b is a sheet-like antenna. It is provided so as to be parallel to the surface of the main body 15. The intermediate dielectric portion 25 includes a shaft covering portion 25a covering the central shaft 23a and a disk-shaped covering portion 25b covering the disk-shaped plate body 23b so as to cover all but the exposed surface of the internal electrode 23. Has been. Further, an external electrode 24 is disposed so as to cover the periphery of the intermediate dielectric portion 25, and the external electrode 24 is a cylindrical shaft portion 24a and a disc-shaped portion integrally fixed to the distal end portion of the cylindrical shaft portion 24a. 24b, and a cylindrical portion 24c extending downward from the peripheral edge of the disc-like portion 24b. For example, each connection terminal of the connection line 13 made of a coaxial cable or the like is connected to the central shaft 23 a of the internal electrode 23 and the upper end portion of the cylindrical shaft portion 24 a of the external electrode 24.

  When a signal corresponding to a radio signal is applied to the coupler 16 having such a configuration through the connection line 13, an electromagnetic wave as an example of the radio signal is generated along the bottom surface of the coupler 16 in a state where the magnetic field is parallel to the bottom surface. Are released in a radially expanding state. The electromagnetic waves thus emitted are sent to the sheet-like antenna main body 15 to which the coupler 16 is connected. When an electromagnetic wave is transmitted from the coupler 16 to the front surface of the sheet-like dielectric portion 18, an electromagnetic field caused by the electromagnetic wave is formed only near the surface of the sheet-like dielectric portion 18. This is called “evanescent wave”. The evanescent wave is attenuated exponentially in a direction perpendicular to the front surface of the sheet-like dielectric portion 18, and a significant electromagnetic field is not formed except in the vicinity of the surface.

  In other words, the electromagnetic wave transmitted from the coupler 16 to the sheet-like dielectric part 18 propagates in the sheet-like dielectric part 18 in a two-dimensional direction, that is, concentrically. On the way, it oozes out to the surface through the opening 22 of the mesh-like conductor portion 17. At that time, as described above, it attenuates exponentially in the direction perpendicular to the front surface of the sheet-like dielectric portion 18, and no significant electromagnetic field is formed except in the vicinity of the surface. .

  Therefore, the sheet-like antenna main body 15 propagates a radio signal in a two-dimensional direction and outputs it in a state where a communication area capable of radio communication is formed along the surface.

  On the contrary, when the electromagnetic wave output from the coupler 16 propagates through the sheet-like antenna main body 15, the electromagnetic wave in the electromagnetic field is caused by the coupler 16 when the sheet-like antenna main body 15 exists in the electromagnetic field. Can be detected and transmitted to the relay apparatus main body 12 side through the connection line 13.

As shown in FIGS. 2 and 3, the antenna portion 14 is attached to the lower surface of one rail portion 2 a so that the surface side thereof faces downward, and is provided so as to form an electromagnetic field below.
Further, as shown in FIG. 5, the overhead transportation vehicle 1 includes management information communicated from the transportation computer side communication unit 5 for performing communication with the communication relay device 6 and the management computer 7. A control unit 11 is provided as a control unit that controls the operation of the overhead traveling vehicle 1 by controlling the operation of the traveling drive unit 9 and the article support unit 10 on the basis thereof.

  Then, the overhead carrier 1 has the article support unit 10 so that it can receive electromagnetic waves in the electromagnetic field formed near the surface of the antenna unit 14 when moving along the movement path 3. An antenna 5a is provided near the lower portion of the antenna unit 14 on the upper surface and at a position overlapping with the antenna unit 14 in the vertical direction, and the carrier vehicle communication unit 5 can receive electromagnetic waves via the antenna 5a. Has been. Incidentally, management information transmitted from the management computer 7 is superimposed on the electromagnetic wave.

  Therefore, when the overhead traveling vehicle 1 is moving along the movement path 3, a radio signal can be received by the antenna 5a at any position on the movement path 3, and the management computer 7 The management information is transmitted to the relay device main body 12 of the communication relay device 6 via the communication line 8 and further transmitted as a radio signal to the sheet-like antenna main body portion 15 via the connection line 13 and the coupler 16. Then, on the ceiling conveyance vehicle 1 side, the radio signal output from the antenna unit 14 is received by the conveyance vehicle side communication unit 5 via the antenna 5 a and transmitted to the control unit 11. And the control part 11 can control the operation state of the overhead conveyance vehicle 1 based on the management information transmitted from the management computer 7 by a radio signal.

  As shown in FIG. 1, the travel route 3 along which the overhead transport vehicle 1 moves is set by dividing a plurality of travel sections (A to L) in advance. A plurality of communication relay apparatuses 6 are provided corresponding to a plurality of travel sections in the movement route 3, and the management computer 7 and each of the plurality of communication relay apparatuses 6 are connected via the communication line 8. And configured as a wired LAN. Specifically, based on the standard communication standard [IEEE802.3 (100BASE-TX) or IEEE802u (10BASE-T)], the management computer 7 and the plurality of communication relay devices 6 can communicate with each other. It is configured.

  As shown in FIG. 4, the antenna unit 14 for each of the plurality of communication relay devices 6 is managed with the transport vehicle side communication unit 5 in the overhead transport vehicle 1 located in each travel section (A to L). Information is provided for each traveling section (A to L) so that wireless communication is possible. Each of the relay device main bodies 12 is provided with a plurality of antenna units 14 (specifically, four each), and the relay device main body 12 receives a plurality of signals (with a distributor 26 built therein). It is configured to be transmitted to the antenna unit 14 in a state of being branched into four).

  Each of the plurality of communication relay devices 6 is associated with the management information received from the transport vehicle side communication unit 5 in association with the identification code as its own identification information previously assigned to each of the plurality of communication relay devices 6. The management computer 7 is configured to determine the traveling section (A to L) in which the ceiling transport vehicle 1 is located based on the received management information and the identification code. ing.

  In other words, the control unit 11 of the ceiling transport vehicle 1 has a reception strength of the radio signal received by the transport vehicle side communication unit 5 in communication with the communication relay device 6 on the upper side in the moving direction. When the reception strength of the radio signal received by the carrier-side communication unit 5 in the communication with the communication relay device 6 on the lower side in the moving direction is lower than the determination threshold value and exceeds the lower determination threshold value, It is configured to execute a relay device switching process for determining that the switching determination condition is satisfied and switching the communication relay device 6 to be communicated to the communication relay device 6 corresponding to the next travel section.

  And the control part 11 of the ceiling conveyance vehicle 1 is comprised so that it may communicate to the management computer 7 when the relay apparatus switching process is performed. As a result, the management computer 7 can confirm that the ceiling transport vehicle 1 has properly performed the process of changing over the communication relay device 6 that is the communication target. It is possible to appropriately communicate with the antenna unit 14 corresponding to the traveling section. Further, the management computer 7 determines which of the plurality of ceiling transport vehicles 1 is the management information based on the received management information, and the identification data associated with the management information Based on the above, it is possible to determine which of the plurality of communication relay devices 6 is the management information from the communication relay device 6 and to determine the travel section in which the ceiling transport vehicle 1 is located.

The management computer 7 determines the position of the ceiling transport vehicle 1 in the movement path 3 based on the detection information received from the position detection means 37 in addition to the determination of the position of the ceiling transport vehicle 1 based on the identification code described above. It is configured.
That is, as shown in FIG. 3, an ID tag 38 is affixed to the lower surface of the other rail portion 2 b where the sheet-like antenna main body 15 is not provided, and the upper surface of the article support portion 10 in the ceiling transport vehicle 1. Is provided with a tag reader 39 for detecting information stored in the ID tag 38 by wireless communication. Incidentally, the ID tag 38 and the tag reader 39 constitute a position detection means 37 for detecting the position of the overhead transport vehicle 1 in the movement path 3.

  The ID tag 38 stores position information corresponding to the position in the movement path 3 where the ID tag 38 is provided, and the control unit 11 of the overhead carriage 1 detects the position information (detection) detected by the tag reader 39. Information) is associated with the management information and communicated to the management computer 7. As a result, the management computer 7 determines which of the plurality of ceiling transport vehicles 1 is the management information based on the received management information, and the position associated with the management information. Based on the information, the position of the ceiling transport vehicle 1 can be determined.

  Further, the management computer 7 determines that the travel position determined based on the position information transmitted from the ceiling transport vehicle 1 is based on the management information and the identification code received from the ceiling transport vehicle 1 at the same timing as this position information. On the basis of whether or not the position belongs to the travel section determined in this way, it is determined whether or not the communication by the communication relay device 6 and the detection by the position detection means 37 are normally performed. If the determined traveling position is not a position belonging to the determined traveling section, communication by the communication relay device 6 or detection by the position detecting means 37 is not normally performed, and all the overhead transport vehicles 1 are stopped. Let

The management computer 7 is configured to manage the operation of the overhead traveling vehicle 1 under management conditions set for each of a plurality of travel sections (A to L).
When the management conditions set separately for each of the plurality of traveling sections are described, for example, among the plurality of traveling sections shown in FIG. 1, the traveling sections (E, F, K, and L) that form an arcuate route. Then, in order to prevent the posture change due to the centrifugal force, the overhead traveling vehicle 1 is moved at a curve setting speed lower than the set speed. In a travel section (A, B, G, H) that is a straight path and does not require the ceiling transport vehicle 1 to be stopped, the ceiling transport vehicle 1 is moved at a set speed for straight travel faster than the set speed. In the traveling section (C, I) in which the station 4 for loading and unloading articles is provided, the ceiling transport moves at a set speed for straight traveling from the traveling section (B, H) for high speed on the front side of the moving path 3 before that. Car 1 is decelerated and stopped at station 4. In the travel section (D, J) next to the travel section in which the station 4 is provided, the speed is gradually increased from the stop state to the curve setting speed.

In addition, the management computer 7 is configured to perform operation management of the two ceiling transport vehicles 1 so as to prohibit other ceiling transport vehicles 1 from entering the traveling section in which the ceiling transport vehicle 1 is located. Yes.
For example, in the travel section (L) adjacent to the front side of the travel path 3 of the travel section (A) where one of the overhead traveling vehicles 1 is located among the plurality of travel sections shown in FIG. The other ceiling transport vehicle 1 that has moved to the travel section (L) is stopped, and the other ceiling transport vehicle 1 is prohibited from entering the travel section (A) where the one ceiling transport vehicle 1 is located. . And when one ceiling conveyance vehicle 1 comes out of driving | running | working area (A), the other ceiling conveyance vehicle 1 is gradually increased in speed from a stop state, and is accelerated to the curve setting speed, and one ceiling conveyance vehicle 1 Allow entry into the travel section (A) where it was located.

<< Second Embodiment >>
Hereinafter, a second embodiment in which an embodiment of an operation management system for a moving body according to the present invention is applied to an article conveyance facility provided with a stacker crane as a moving body will be described with reference to the drawings.
In addition, about the structure similar to 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted and the structure different from 1st Embodiment is mainly demonstrated.

  As shown in FIGS. 8 and 9, a guide rail in which a stacker crane 41 that travels on a floor surface as an example of a movable body that can travel while supporting an article W is provided in a linear end shape. A plurality of stacker cranes 41 are provided in a state where they are guided movably at 42, and the plurality of stacker cranes 41 are configured to reciprocate along a movement path 3 formed by the guide rails 42. By the way, three stacker cranes 41 are provided. The guide rail 42 is installed on the floor surface.

The stacker crane 41 is a travel drive unit 9 that travels on a guide rail 42, and an article that is guided and supported by the travel drive unit 9 so as to be movable up and down, and that supports the article W so that it can be moved in and out in a horizontal direction intersecting the travel direction. And a support portion 10.
Then, the stacker crane 41 is stopped at the target stop position corresponding to the article transfer target location of the storage unit in the load receiving platform 43 or the storage shelf 44, and at the target lift position corresponding to the article transfer target location. When the article W is moved up and down while being moved up and down, the article W is exchanged with the article transfer location.

The antenna unit 14 is attached to the floor surface in the vicinity of the lateral side of the guide rail 42 so that the surface side thereof faces upward, and is provided so as to form an electromagnetic field upward.
Further, the stacker crane 41 travels along the travel path 3 so that it can receive electromagnetic waves in an electromagnetic field formed near the surface of the antenna unit 14 when moving along the travel path 3. The antenna 5a is provided in a position near the upper part of the antenna unit 14 at one end in the direction and overlapping the antenna unit 14 in the vertical direction.

  Therefore, the management computer 7 communicates management information with the carrier-side communication unit 5 in the stacker crane 41 via the communication relay device 6 installed with the antenna unit 14 along the movement path 3. Thus, even if the transport vehicle side communication unit 5 is far away from the end of the travel route, management information can be communicated with the transport vehicle side communication unit 5, so that the travel route 3 is long. be able to.

[Another embodiment]
Hereinafter, another embodiment will be described.

(1) In each of the above-described embodiments, the management computer 7 communicates management information with the transport vehicle side communication device 5 via the communication relay device 6, so that a plurality of mobile bodies (ceiling transport vehicles) 1 or the stacker crane 41) is configured to perform all operations management, but the management computer 7 communicates management information with the carrier-side communication device 5 via the communication relay device 6. Thus, a part of the plurality of moving bodies may be managed.
Specifically, as shown in FIG. 10, three stacker cranes 41 are provided so as to reciprocate along a linear end-shaped movement path 3, and three at each end of the movement path 3. An optical optical communication device 45 that communicates management information by optical communication with the light receiving device 46 as a communication device on the moving body side in each stacker crane 41a located at each end of the stacker crane 41 of A communication relay device 6 that communicates management information with the carrier-side communication unit 5 in the stacker crane 41b located in the middle of the three stacker cranes 41 is provided.
Then, the management computer 7 communicates management information with the light receiving device 46 of the stacker crane 41a located at the end via the optical communication device 45, thereby operating the stacker crane 41a located at the end. By performing management and communicating management information with the carrier side communication unit 5 (antenna 5a) of the stacker crane 41b located in the middle via the communication relay device 6, the stacker crane 41b located in the middle To manage the operation.

  Further, the stacker crane 41a located at the end is generally provided with a position detecting device for detecting the position in the transport path 3 such as a laser range finder or a rotary encoder, and the stacker crane 41a located at the end is also provided. By providing the transport vehicle side communication unit 5, the travel position determined based on the position information transmitted from the stacker crane 41a located at the end is the stacker crane 41a located at the end at the same timing as this position information. Communication and position detection device by communication relay device 6 also for stacker crane 41a located at the end based on whether or not the position belongs to the travel section determined based on the management information and the identification code received from It can be determined whether or not the detection by is normally performed.

(2) In the first embodiment, the sheet-like antenna 14A is provided on the lower surface of the traveling rail 2. However, the sheet-like antenna 14A is attached to the upper surface of the traveling rail 2 so as to form an electromagnetic field upward. It may be provided on the upper surface of the rail 2 or may be provided on the side surface of the traveling rail 2 so as to be adhered to the side surface of the traveling rail 2 to form an electromagnetic field on the side. You may provide in a ceiling surface so that it may form.
In the second embodiment, the sheet-like antenna 14A is provided on the floor surface. However, the sheet-like antenna 14A is provided on the side surface of the guide rail 42 so as to form an electromagnetic field on the side. You may provide in the rail 42. FIG.

(3) In each of the above embodiments, the management means 7 is configured to manage the operation of the moving body under the management conditions set separately for each of the plurality of travel sections. You may comprise so that a driving | running | working division may be managed by the same management conditions.

(4) In each of the above embodiments, the position detection means for detecting the position of the mobile body (the overhead transport vehicle 1 and the stacker crane 41) in the movement path 3 is provided, but this position detection means may not be provided.

(5) In each of the above embodiments, the number of movement paths 3 is one. For example, a plurality of movement paths 3 are merged into one at a merge point, or one movement path 3 is divided into a plurality at a branch point. A configuration may be adopted in which a plurality of movement paths 3 are provided so as to be branched.

(6) In the first embodiment, two moving bodies 1 are provided. In the second embodiment, three moving bodies 1 are provided. However, the moving body 1 may be one, or the moving body 1 may be Four or more may be provided.

(7) In the said 1st Embodiment, the mobile body was the overhead conveyance vehicle 1, and in the said 2nd Embodiment, the mobile body was the stacker crane 41, However, As a mobile body, the traveling cart which self-propels on a floor surface. Etc., and can be changed as appropriate.

DESCRIPTION OF SYMBOLS 1 Mobile body 3 Movement path 5 Mobile-side communication apparatus 6 Communication relay apparatus 7 Management means 8 Communication line 11 Control means 12 Relay apparatus main body 13 Connection line 14 Antenna part 14A Sheet-like antenna 37 Position detection means 41 Mobile body 45 Optical communication apparatus

Claims (7)

A communication relay device that performs wireless communication with a communication device on a mobile unit provided in a mobile unit that moves along a movement path;
Management means for performing operation management of the mobile body by performing communication of management information with the communication apparatus on the mobile body side via the communication relay device,
The moving body is an operation management system for a moving body provided with control means for controlling the operation of the moving body based on the management information received by the communication device on the moving body side,
The relay device for communication is connected to the management means by a communication line so that the management information can be freely communicated with the management means, and is connected to the relay device main body by a connection line. An antenna unit that communicates the management information with a radio signal between
The antenna portion is formed of a sheet-like antenna that is formed in a sheet shape having a long shape and a cross-sectional shape in a flat plate shape, and that forms a communicable region along the thickness direction on the entire surface. is installed in the state along,
A plurality of the communication relay devices are provided corresponding to a plurality of travel sections partitioned along the travel route,
The antenna unit for each of the communication relay devices is provided for each travel section so that the management information can be wirelessly communicated with the communication device on the mobile body in the mobile body located in each travel section,
Each of the communication relay devices is configured to associate the management information received from the mobile-side communication device with its own identification information and transmit it to the management means,
The management means is configured to determine a traveling section where the moving body is located based on the received management information and the identification information.
Position detecting means for detecting the position of the moving body in the moving path is provided;
The management means determines the position of the moving body on the moving route based on the detection information received from the position detection means, and the determined position of the moving body is received at the same timing as the detection information. Whether communication by the communication relay device and detection by the position detection means are normally performed based on whether or not the position belongs to the travel section determined based on the management information and the identification information A moving body operation management system configured to discriminate . A plurality of the moving bodies are provided,
The movement according to claim 1 , wherein the management unit is configured to perform operation management of the plurality of moving bodies so as to prohibit entry of other moving bodies into the traveling section in which the moving body is located. Body operation management system. The operation management system for a moving body according to claim 1 or 2, wherein the management means is configured to manage the operation of the moving body under management conditions set separately for each of a plurality of travel sections . The movement path is a linear end form;
The operation management system of the mobile body of any one of Claims 1-3 provided so that the said mobile body may reciprocate along the said movement path | route . Three or more moving bodies are provided,
Optical light that communicates the management information with the communication device on the mobile unit side in each mobile unit located at each end of the three or more mobile units at both ends of the moving path. A communication device is provided,
The communication relay device is configured to communicate the management information with the communication device on the mobile body side in a mobile body located in the middle of the three or more mobile bodies,
The management means communicates the management information with a communication device on the mobile body side in the mobile body located at the end via the optical communication device, so that the mobile body located at the end The operation of the mobile body located in the middle is performed by performing operation management and communicating the management information with the communication device on the mobile body side in the mobile body located in the middle via the communication relay device. The operation management system of the moving body of Claim 4 comprised so that management may be performed . A communication relay device that performs wireless communication with a communication device on a mobile unit provided in a mobile unit that moves along a movement path;
Management means for performing operation management of the mobile body by performing communication of management information with the communication apparatus on the mobile body side via the communication relay device,
The moving body is an operation management system for a moving body provided with control means for controlling the operation of the moving body based on the management information received by the communication device on the moving body side,
The relay device for communication is connected to the management means by a communication line so that the management information can be freely communicated with the management means, and is connected to the relay device main body by a connection line. An antenna unit that communicates the management information with a radio signal between
The antenna portion is formed of a sheet-like antenna that is formed in a sheet shape having a long shape and a cross-sectional shape in a flat plate shape, and that forms a communicable region along the thickness direction on the entire surface. Installed along
The movement path is a linear end form;
The moving body is provided to reciprocate along the moving path;
Three or more moving bodies are provided,
Optical light that communicates the management information with the communication device on the mobile unit side in each mobile unit located at each end of the three or more mobile units at both ends of the moving path. A communication device is provided,
The communication relay device is configured to communicate the management information with the communication device on the mobile body side in a mobile body located in the middle of the three or more mobile bodies,
The management means communicates the management information with a communication device on the mobile body side in the mobile body located at the end via the optical communication device, so that the mobile body located at the end The operation of the mobile body located in the middle is performed by performing operation management and communicating the management information with the communication device on the mobile body side in the mobile body located in the middle via the communication relay device. A mobile operation management system configured to perform management. A plurality of the communication relay devices are provided corresponding to a plurality of travel sections partitioned along the travel route,
The antenna unit for each of the communication relay devices is provided for each travel section so that the management information can be wirelessly communicated with the communication device on the mobile body in the mobile body located in each travel section,
Each of the communication relay devices is configured to associate the management information received from the mobile-side communication device with its own identification information and transmit it to the management means,
The operation management system for a moving body according to claim 6 , wherein the management means is configured to determine a traveling section in which the moving body is located based on the received management information and the identification information .

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