| 摘要 |
When one of a plurality of transfer robots operating in concert with one another stops, a transfer device for instructing another transfer robot to continue to operate within the range in which a collision does not occur while avoiding the collision is provided. Each of PLC100Ps is allowed to control the time sequence of the back and forth motion of three transfer robots through the data communication from the network side by connecting the PLC100Ps by a network (NW). When a PLC100P on the upper stream side of the three PLCs receives the position information of a transfer robot (10) on the downstream side (posterior process side) via a communication line (100) and detects the collision, the PLC100P is allowed to instruct a transfer robot (100P) which the PLC100P itself targets to control to perform a collision avoidance operation by connecting the communication devices that PLC100Ps in the neighboring processes have via a communication line (1000). |
