Transport apparatus
The transport apparatus is provided with a path that extends past a plurality of article transferring locations, a plurality of article transporting vehicles that run on the path, a travel driving means provided on each of the article transporting vehicles for controlling movement of the article transporting vehicle, and a ground-side controller for managing operation of the plurality of article transporting vehicles by managing the travel driving means, wherein the ground-side controller is capable of transmitting run command information and stop command information, relating to each of the article transporting vehicles, to their corresponding travel driving means, and wherein the travel driving means drives and stops the article transporting vehicles based on the run command information and the stop command information from the ground-side controller.
1. A transport apparatus, comprising:
at least one rail that extends past a plurality of article transfer stations and that has a first end and a second end;
a plurality of article transporting vehicles that travel back and forth on and share the rail;
a position sensor that is fixed, at each of the first end and the second end, with respect to a floor and detects a position of each of the plurality of article transporting vehicles on the rail;
an electric motor configured to control the article transporting vehicle provided on each of the article transporting vehicles;
an inverter configured to control power to the electric motor;
an inverter control portion configured to control the inverter provided on each of the article transporting vehicles;
a ground-side controller that is fixed with respect to a floor, that is signally connected to the position sensor, and that generates a first control signal based on a detection result from the position sensor in order to manage the movement of the plurality of article transporting vehicles;
a signal transmission device, provided between the ground-side controller and the inverter control portion, configured to transmit the first control signal from the first controller to the inverter control portion;
a vehicle distance sensor provided on at least one of a pair of article transporting vehicles adjacent each other on the rail, the vehicle distance sensor configured to detect a vehicle-to-vehicle distance to the other article transporting vehicle adjacent thereto;
an onboard controller provided on each of the article transporting vehicles, said onboard controller having a direct signal transmission device configured to direct information communication with the onboard controller provided on a further article transporting vehicle adjacent thereto, said onboard controller generating second control information which is independent from the management by the ground-side controller, in accordance with at least one of a relative vehicle-to-vehicle distance and a relative speed calculated based on the vehicle-to-vehicle distance; and
a second signal transmission device provided between the onboard controller and the inverter control portion configured to transmit a second control signal to the inverter control portion,
wherein in collision avoid control, said second control signal overrides said first control signal.
2. The transport apparatus according to claim 1 , wherein said plurality of article transporting vehicles are two article transporting vehicles, each of which includes said vehicle distance sensor and said onboard controller; and
wherein when there is the risk of collision between the article transporting vehicles, the onboard controller of one of the article transporting vehicles generates second control information for controlling this article transporting vehicle and generates also stop command information for stopping the other article transporting vehicle adjacent thereto.