| 摘要 |
<p>PURPOSE:To find a basic route which has no opposite-run section and never blocks an escape path for a waiting unmanned vehicle by providing a means which detects a loop for circulation on a travel path, setting its direction, and searches for a travel course along it to the operation management control unit for plural unmanned vehicles which travel among plural nodes. CONSTITUTION:The control unit and method are equipped with an operation control data memory 103 which stores the movement courses, movement order, etc., of the respective unmanned vehicles, a conveyance indication table memory 104 which stores the positions, conveyance destinations, etc., of conveyed bodies, an unmanned vehicle data memory 105 which stores the states of the current positions, movement directions, etc., of the respective unmanned vehicles, and a memory 106 which stores the coordinates of the respective nodes on the travel path, their connection relation and direction, the cost, etc. A control part 107 consists of a CPU, etc., and is functionally divided into an operation programming part 108, a path arrangement part 109, a path search part 110, and a loop candidate detection part 111. A travel path for each unmanned vehicle is found by directing the travel path so that the unmanned vehicle circulates on the travel path, so the movement is never stagnated.</p> |
