JP2005225662A - Truck monitoring control device, unmanned truck, transport system, and truck monitoring controlling method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enhance the running efficiency of an unmanned truck by judging whether the truck may intrude or not in accordance with the traffic situation in an area including an intersection. <P>SOLUTION: A truck monitoring control device 20 works with a plurality of unmanned trucks 10 running along the running path laid in a container yard and functions so that it judges whether the intended running path of any truck 10 in the area including intersection is an admissible path decided according to the traffic situation in the intersection area when a signal is received from the truck 10 to request an intrusion admission into the area and transmits to the truck 10 an intrusion admission signal for the area if the intended running path is an admissible one. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a transport system that performs cargo handling or the like in a container yard.

In the unmanned container yard, a traveling route on which the automatic guided vehicle travels is laid, and a plurality of automatic guided vehicles travel along the traveling route to perform a cargo handling operation.
As a control method of the automatic guided vehicle in such a container yard, for example, there is one disclosed in Japanese Patent Laid-Open No. 2000-44063 (Patent Document 1).
In the above-mentioned Patent Document 1, an intersection vehicle entry guide means for indicating entry permission and entry prohibition is provided at an intersection where the traveling route of the automatic guided vehicle and the traveling route of the manned guided vehicle intersect in the container yard. The technique which permits only one of an automatic guided vehicle or a manned transport vehicle to approach an intersection part by a partial vehicle approach guide means is disclosed.
JP 2000-44063 A

  However, in the intersection control method disclosed in Patent Document 1, the number of vehicles permitted to enter the intersection is always limited to one. Therefore, there is a problem that other vehicles that are not allowed to enter are in a waiting state for entering, and traveling efficiency is poor.

  The present invention has been made to solve the above problem, and it is possible to improve the traveling efficiency of the automatic guided vehicle by determining whether the guided vehicle can enter according to the traffic state in the intersection area. It is an object of the present invention to provide a transport vehicle monitoring control device, an automatic guided vehicle, a transport system, and an automatic guided vehicle monitoring control method.

In order to solve the above problems, the present invention employs the following means.
The present invention is a transport vehicle monitoring control device that monitors and controls the travel of the transport vehicle by communicating with a plurality of transport vehicles that travel along a travel route laid in a container yard. When an entry permission request to the intersection area is received, it is determined whether the planned travel route of the transport vehicle in the intersection area is a travel permission route determined according to a traffic state in the intersection area, When the planned travel route corresponds to the travel permission route, a transport vehicle monitoring control device is provided that transmits an entrance permission signal to the intersection area to the transport vehicle.

In the container yard, a travel route on which the transport vehicle travels is laid in a grid pattern, for example, and an intersection area where the travel route branches, merges, intersects, etc. exists on the travel route.
When the transport vehicle enters the intersection area, the transport vehicle transmits an entry permission request to the transport vehicle monitoring control device.
When the transport vehicle monitoring and control apparatus receives the entry permission request from the transport vehicle, the transport vehicle monitoring control device determines whether the planned travel route on which the transport vehicle is scheduled to travel corresponds to the travel permission route in the intersection area where entry is desired. to decide. Here, the travel permission route refers to a travel route that is permitted to travel in accordance with the traffic state in the intersection area at the time when an entry permission request is received from the transport vehicle, for example.
And as a result of the judgment, if the planned travel route of the transport vehicle that has requested entry permission corresponds to the travel permission route in the intersection area, the approach that permits the transport vehicle to enter the intersection area Send permission signal.
As described above, according to the present invention, as long as the planned travel route corresponds to the travel permitted route, entry into the intersection area is permitted. Therefore, there is a transport vehicle permitted to enter the intersection area. It is not necessarily limited to one. Thereby, the traveling efficiency of the conveyance vehicle can be improved. In addition, since only the transport vehicle that has received the entry permission signal from the transport vehicle monitoring control device can enter the intersection area, traffic in the intersection area can be safely performed.

  In the transport vehicle monitoring control device according to the invention, it is preferable that the traffic state in the intersection area is determined based on a travel route of another transport vehicle existing in the intersection area.

The travel route that can be permitted to travel in the intersection area varies depending on the traffic state in the intersection area.
In the present invention, other transportation vehicles existing in the intersection area, for example, other transportation vehicles currently traveling in the intersection area, and other transportation vehicles that are about to enter the intersection area now. Based on the above, the traffic state in the intersection area at that time is grasped, and the travel permitted route is determined.
As described above, according to the present invention, the travel permission route is determined based on the travel route of the other transport vehicle existing in the intersection area, and therefore, accurate and safe intersection control according to the traffic state in the intersection area. Can be performed.

  Further, the transport vehicle monitoring and control device of the invention includes a travel permission route table in which a combination of travel routes capable of simultaneous travel among a plurality of travel routes in the intersection area is provided, the travel permission table, It is preferable that the entry permission route is determined based on a travel route of another transport vehicle existing in the intersection area.

According to the present invention, the transport vehicle monitoring and control device is provided in advance with a travel permission route table in which a combination of travel routes that does not cause any problems in terms of safety even if simultaneous travel is permitted in the intersection area. . And when the approach permission request | requirement is received from the conveyance vehicle which wishes to enter the intersection area, the planned travel route of this conveyance vehicle is the travel route of the transport vehicle existing in the intersection area and the travel permission route table. It is judged whether it corresponds to the travel permission route determined based on, and when it corresponds, a travel permission signal is transmitted.
Thus, by providing the travel permission route table, the travel permission route can be determined by a simple process and in a short time.
As a method for determining the travel permission route, for example, when a transport vehicle enters the intersection area, a travel route corresponding to the travel route of the transport vehicle is extracted with reference to the travel permission route table. Then, the extracted travel route is determined as the entry permission route.
Further, when there is no transport vehicle in the intersection area, all travel routes are set as travel permission routes.

  Further, the present invention is an automatic guided vehicle that travels along a traveling route laid in a container yard, and when entering the intersection area, with respect to the transportation vehicle monitoring control device installed outside, the intersection An automatic guided vehicle is provided that enters an intersection area when an entry permission request to an area is transmitted and an entry permission signal is received from the transport vehicle monitoring and control device.

  According to the present invention, when the automatic guided vehicle enters the intersection area, the automatic guided vehicle always transmits an entry permission request to the guided vehicle monitoring control device. And it waits, without approaching into the said intersection area, until the approach permission signal with respect to this approach permission request | requirement is received from the conveyance vehicle monitoring control apparatus. Thereby, traffic control in an intersection area will be performed exactly and it will become possible to implement | achieve safe driving | running | working.

  Further, the automatic guided vehicle according to the present invention, when transmitting the entry permission request, transmits the identification information of the intersection area for which the entry permission is requested and the planned travel route in the intersection area to the carrier monitoring control apparatus. It is preferable.

  According to the present invention, the identification information of the intersection area for which entry permission is requested and the planned travel route in the intersection area are transmitted to the transport vehicle monitoring and control apparatus. Thereby, since the conveyance vehicle monitoring control apparatus can determine immediately which entry permission request | requirement is made with respect to which travel route of which intersection area, it becomes possible to judge entry permission in a short time. As a result, the period until the entry permission signal is received can be shortened, so that the traveling efficiency of the automatic guided vehicle can be improved.

  Moreover, the automatic guided vehicle of the said invention transmits the said approach permission request | requirement with respect to the said conveyance vehicle monitoring control apparatus at the timing determined based on the distance to the said intersection area, a travel speed, and / or a communication speed. It is preferable.

According to the present invention, in consideration of the traveling speed and the communication speed, a timing at which an entry permission signal can be received from the transport vehicle monitoring control device near the entrance of the intersection area is obtained based on the traveling speed and the communication speed. Then, an entry permission request is transmitted to the transport vehicle monitoring control device.
This makes it possible to receive an entry permission signal in the vicinity of the entrance of the intersection area, and the waiting time for the approach to the intersection can be extremely shortened. As a result, the traveling efficiency of the automatic guided vehicle can be greatly improved.

  Moreover, this invention comprises the control management apparatus as described in any one of Claims 1-3, and the automatic guided vehicle as described in any one of Claims 4-6. Providing a characteristic transport system.

  The present invention is also a transport vehicle monitoring control method for monitoring and controlling the travel of the transport vehicle by communicating with a plurality of transport vehicles traveling along a travel route laid in a container yard. Determining whether the planned travel route of the transport vehicle in the intersection area is an entrance permitted route in the intersection area when an entry permission request from the vehicle to the intersection area is received; And a step of transmitting an entry permission signal to the intersection area to the carrier when the route is the entry permission route.

According to the transport vehicle monitoring control device of the present invention, it is possible to make maximum use of the travel route in the intersection area without limiting the number of vehicles entering the intersection area to one. Thereby, the traveling efficiency of the conveyance vehicle can be improved.
In addition, according to the automatic guided vehicle of the present invention, when entering the intersection area, the entrance permission request is always transmitted to the carriage monitoring control device, and the entry permission signal for the entry permission request is transmitted. Since the vehicle waits without entering the intersection area until it is received, traffic control in the intersection area is accurately performed, and safe and efficient travel can be realized.

Below, the case where the conveyance system which concerns on one Embodiment of this invention is applied to the container handling in a container yard is demonstrated with reference to drawings.
First, the travel route of the automatic guided vehicle in the container yard will be described with reference to FIGS. 1 and 2.
As shown in FIG. 1, a traveling route A is laid in a grid pattern in the container yard, and the automatic guided vehicle 10 travels along the traveling route A. An intersection area 50 is provided at a location where each traveling route A intersects. In the intersection area 50, as shown in FIG. 2, a plurality of travel routes A1 to A8 intersect, branch, and exchange. Marks 51 (see FIG. 2) are laid at the entrance and exit of the intersection area 50. The automatic guided vehicle 10 recognizes entry into or exit from the intersection area 50 by detecting the mark 51. In the container yard, a plurality of access points 60 are arranged for the automatic guided vehicle 10 to communicate with a transport vehicle monitoring control device to be described later.

FIG. 3 is a block diagram schematically showing the configuration of the transport system 1 according to the present embodiment.
As shown in FIG. 3, the transport system 1 communicates with a plurality of automatic guided vehicles 10 traveling along a traveling route A laid in the container yard, and the automatic guided vehicle 10. And a transport vehicle monitoring control device 20 that monitors and controls the travel of the vehicle.
The automatic guided vehicle 10 is connected to the access point 60 described above via a wireless LAN, and the access point 60 is connected to the transport vehicle monitoring control device 20 via a wired LAN. Thereby, the automatic guided vehicle 10 and the conveyance vehicle monitoring control apparatus 20 become a structure in which bidirectional communication is possible.
The automatic guided vehicle 10 includes a communication unit 11 for performing communication with the transport vehicle monitoring control device 20 and a travel control unit 12 for performing various controls for traveling along the travel route A as main components. I have. Examples of the automatic guided vehicle 10 include AGV (automated guided vehicles) and a rubber tire transfer crane (RTG).

The transport vehicle monitoring and control device 20 includes a monitor control unit 21 for monitoring and controlling the travel of all automatic guided vehicles 10 existing in the container yard, and a communication unit 22 for realizing bidirectional communication with the automatic guided vehicle 10. As main components.
Specifically, the monitoring control unit 21 appropriately reads out a storage unit 23 storing various programs necessary for monitoring and controlling the automatic guided vehicle 10 and various programs stored in the storage unit 23 as appropriate. And a central processing unit (CPU) 24 that performs various control processes by executing information processing and arithmetic processing. For example, the storage unit 23 includes an entry permission control program 25 that performs the entry permission control of the automated guided vehicle 10 in the intersection area 50 (see FIG. 1), and a travel permission route that is referred to when the entry permission control program 25 is executed. A table 26 is stored.

  The travel permission route table 26 is a table in which combinations of travel routes capable of simultaneous travel among a plurality of travel routes in the intersection area are set. For example, in an intersection area 50a composed of travel routes A1 to A8 as shown in FIG. 2, two automated guided vehicles 2 enter the intersection area 50a at the same time, one for the travel route A1, and the other for the other When traveling along the travel route A8, the two automatic guided vehicles can travel safely in the intersection area 50a without colliding with each other. Thus, in the travel permission route table 26, in consideration of safety and the like, combinations of travel routes in which a plurality of transport vehicles can travel simultaneously are set. For example, the travel permission route table 26 in the intersection area 50a is set as shown in FIG.

Next, operations of the automatic guided vehicle 10 and the guided vehicle monitoring control device 20 regarding the intersection area in the transport system 1 described above will be described. In addition, the following control is mainly implemented when the monitoring control unit 21 of the transport vehicle monitoring control device 20 executes the entry permission control program 25 stored in the storage unit 23.
Here, the case where the automatic guided vehicle 10a enters the intersection area 50a including the travel route A (A1 to A8) as illustrated in FIG. 2 and then the automatic guided vehicle 10b enters will be specifically described.
In addition, it is assumed that there is no automatic guided vehicle that is traveling or planning to travel in the intersection area 50a at this time, and therefore, A1 to A8 are determined as travel permission routes.

First, the automatic guided vehicle 10a stops when it detects the mark 51a laid at the entrance of the intersection area 50a. Subsequently, the automatic guided vehicle 10a transmits an entry permission request to the intersection area 50a to the guided vehicle monitoring control device 20 (see FIG. 3). At this time, the identification information of the intersection area 50a desired to enter from now on and the information of the scheduled traveling route (herein, the traveling route A5) in the intersection area 50a are transmitted together with the entry permission request. As a result, an entry permission request or the like is transmitted to the transport vehicle monitoring control device 20 via the access point 60 (see FIG. 1).
Upon receiving the entry permission request, the transport vehicle monitoring control device 20 determines whether or not the planned travel route A5 of the automatic guided vehicle 10a corresponds to the travel permission route in the intersection area 50a. Here, as described above, since the travel routes A1 to A8 are defined as the travel permission route, the planned travel route A5 corresponds to the travel permission route, and the transport vehicle monitoring control device 20 is connected to the automatic guided vehicle 10a. In response to this, an entry permission signal is transmitted.
The automatic guided vehicle 10a that has received the entry permission signal travels according to the planned travel route A5.
Next, the transport vehicle monitoring control device 20 extracts a travel route corresponding to the travel route A5 permitted to enter from the entry permitted route table 26 (see FIG. 4), and determines the extracted travel route as a travel permitted route. As a result, travel routes A2 and A6 are extracted and defined as travel permission routes.

Subsequently, it is assumed that the automatic guided vehicle 10b reaches the entrance of the intersection area 50a, detects the mark 51b, and stops. In order to enter the intersection area 50a, the automatic guided vehicle 10b transmits an entry permission request and a planned travel route (for example, A6) to the guided vehicle monitoring control device 20.
Upon receiving the entry permission request or the like transmitted from the automatic guided vehicle 10b, the transport vehicle monitoring control device 20 determines whether A6 that is the planned travel route corresponds to the travel permission route. As a result, the scheduled travel route A6 corresponds to the travel permission route, and therefore an entry permission signal is transmitted to the automatic guided vehicle 10b.
The automatic guided vehicle 10b that has received the entry permission signal travels according to the planned travel route A6.
In addition, since the guided vehicle monitoring and control device 20 that has permitted entry of the automated guided vehicle 10b prohibits further entry of the automated guided vehicle, all the travel routes determined as the permitted travel routes, that is, A2 and A6 Is deleted.

  Subsequently, when the automated guided vehicle 10a that has previously entered the intersection area 50a leaves the intersection area 50a, the mark 51 laid at the exit is detected. When the mark is detected, the automatic guided vehicle 10a transmits an exit signal for the intersection area 50a to the guided vehicle monitoring control device 20. The transport vehicle monitoring and control device 20 that has received the exit signal, the travel route A6 of the automatic guided vehicle 10b currently existing in the intersection area 50a, and the travel permission route stored in the storage unit 23 (see FIG. 3). Based on the table 26, a travel permission route is determined. As a result, the travel routes A3 and A5 set corresponding to the travel route A6 are extracted from the travel permitted route table 26 (see FIG. 4) and determined as the travel permitted route.

In this state, a new automatic guided vehicle (not shown) arrives at the entrance of the intersection area 50a, and similarly transmits an entry permission request and a scheduled travel route (for example, A1) to the transport vehicle monitoring control device 20. And In this case, since the planned travel route A1 does not correspond to the entry permission route, the transport vehicle monitoring control device 20 cannot transmit an approach permission signal to the automatic guided vehicle. In this case, until the traveling route A1 corresponds to the entry permission route, that is, until the automatic guided vehicle 10b currently traveling in the intersection area 50a leaves the intersection area 50a, the vehicle enters a standby state. .
Specifically, when the automatic guided vehicle 10b exits the intersection area 50a and detects the mark 51 laid at the exit, the exit signal is transmitted to the transport vehicle monitoring control device 20. Upon receiving the exit signal, the transport vehicle monitoring control device 20 sets all travel routes A1 to A8 as travel permission routes. Subsequently, it is determined that the planned travel route A1 that has received the entry permission signal corresponds to the travel permission route, and an entry permission signal is transmitted to the automatic guided vehicle that is the transmission source of the entry permission signal. Thus, the automatic guided vehicle that has received the entry permission signal is released from the standby state and enters the intersection area 50a.
As described above, when one automatic guided vehicle is in a standby state, another automatic guided vehicle reaches the intersection area 50a, and the planned travel route of the automatic guided vehicle corresponds to the travel permission route. In this case, this automatic guided vehicle is allowed to enter first. Thereby, an automatic guided vehicle can be run very efficiently.

  As described above, according to the transport system 1 according to the present embodiment, when the transport vehicle monitoring control device 20 receives an entry permission request from the automatic guided vehicle 10 to the intersection area 50, It is determined whether the planned travel route A of the automated guided vehicle 10 is a travel permitted route that is permitted to travel in the intersection area 50. If the planned travel route corresponds to the travel permitted route, the unmanned vehicle An entry permission signal to the intersection area 50 is transmitted to the transport vehicle 10. As a result, as long as the planned travel route corresponds to the travel permitted route, entry into the intersection area 50 is permitted. Therefore, one unmanned transport vehicle 10 is permitted to enter the intersection area 50. It is not limited to. Therefore, the traveling efficiency of the automatic guided vehicle 10 can be improved. Moreover, since only the automatic guided vehicle 10 that has received the entry permission signal from the transport vehicle monitoring control device 20 can enter the intersection area, traffic in the intersection area can be safely performed.

  Further, the transport vehicle monitoring and control device 20 is about to enter another unmanned transport vehicle existing in the intersection area 50, for example, another transport vehicle currently traveling in the intersection area, or just entering the intersection area. Based on the travel route of another transport vehicle or the like, the traffic state in the intersection area at that time is grasped, and the travel permission route is determined. Therefore, accurate and safe intersection control according to the traffic state in the intersection area can be performed.

  Further, the transport vehicle monitoring and control device 20 includes a travel permission route table 26 in which combinations of travel routes capable of simultaneous travel among a plurality of travel routes in the intersection area 50 are set, the travel permission table 26, Since the approach permission route is determined based on the travel route of the other automatic guided vehicle 10 existing in the intersection area 50, the travel permission route can be determined in a short time by a simple process.

  In the present embodiment, the automatic guided vehicle 10 always transmits an entry permission request to the guided vehicle monitoring control device 20 when entering the intersection area 50. And it waits, without approaching into the said intersection area, until the approach permission signal with respect to this approach permission request | requirement is received from the conveyance vehicle monitoring control apparatus 20. FIG. Thereby, the traffic control in the intersection area 50 will be performed accurately, and it will be possible to realize safe traveling.

  Further, when the automatic guided vehicle 10 transmits the entry permission request to the guided vehicle monitoring control device 20, the guided vehicle monitoring the identification information of the intersection area 50 for which the entry permission is requested and the planned travel route in the intersection area. It transmits to the control apparatus 20. As a result, the transport vehicle monitoring control device 20 can immediately determine which of the intersection areas 50 the entry permission request is for which travel route, and therefore can determine the travel permission in a short time. Become. As a result, the period until the entry permission signal is received can be shortened, so that the traveling efficiency of the automatic guided vehicle can be improved.

In the above-described embodiment, the automatic guided vehicle 10 transmits the entry permission request after detecting the mark 51 laid at the entrance of the intersection area 50. However, if transmission is performed at such a timing, it is necessary to wait at the entrance of the intersection area 50 until an entry permission signal is received from the transport vehicle monitoring and control device 20, resulting in a large time loss.
Accordingly, in consideration of the distance to the entrance of the intersection area 50, the traveling speed of the automatic guided vehicle 10, and the communication speed, the entrance permission signal can be received from the transport vehicle monitoring control device 20 at the entrance of the intersection area 50. It is preferable to transmit an entry permission request to the transport vehicle monitoring control device 20 at the timing. Thereby, the waiting time regarding the intersection approach can be extremely shortened, and the traveling efficiency of the automatic guided vehicle can be extremely improved.

  When the entry permission request is transmitted at the above timing, for example, the two automatic guided vehicles are traveling in the same direction on the same traveling route and follow the automatic guided vehicle ahead. When the traveling speed is faster, a situation arises in which the following automatic guided vehicle first transmits the entry permission request. And if the planned travel route of the automatic guided vehicle to follow corresponds to the approach permission route, an approach permission signal is transmitted to the automatic guided vehicle to follow, and the preceding automatic guided vehicle However, depending on the scheduled travel route, the entry is not permitted despite the fact that the vehicle has reached the entrance of the intersection area 50 first. That is, the transport vehicle monitoring and control apparatus 20 has already determined the travel permission route based on the planned travel route of the automatic guided vehicle that has been permitted to enter and the travel permission route table 26 (see FIG. 4). Therefore, there is a case where the scheduled traveling route of the preceding automatic guided vehicle does not correspond to the traveling permission route. If the preceding automatic guided vehicle cannot enter the intersection area, naturally, the following automatic guided vehicle also enters a standby state, and eventually both vehicles cannot enter the intersection area 50.

Accordingly, when such a situation occurs, the following operation is performed.
For example, the automatic guided vehicle that follows the vehicle transmits a signal for canceling the approach permission signal received earlier to the transport vehicle monitoring control device 20.
Thereby, the conveyance vehicle monitoring control apparatus 20 returns the travel permission route determined based on the scheduled travel route of the automatic guided vehicle to be followed and the travel permission route table 26 to the original travel permission route. That is, when there is no automatic guided vehicle in the intersection area, all travel routes in the intersection area are determined as travel permission routes. Further, when an automatic guided vehicle exists in the intersection area, a travel route extracted based on the travel route of the automatic guided vehicle and the travel permitted route table 26 is defined as a travel permitted route.
As a result, entry permission of the preceding automatic guided vehicle is permitted, and traveling in the intersection area is performed as usual.

  Further, in the above-described embodiment, the number of automatic guided vehicles that can enter one intersection area is two. However, the number of automatic guided vehicles is not limited to this. For example, the same traveling route as the automatic guided vehicle that is traveling in the intersection area Entry may be permitted for an automated guided vehicle having a planned travel route of. As a result, it is possible to further improve the driving efficiency.

It is a figure which shows an example of the laying state of the driving | running route in a container yard. It is a figure which shows the state of the driving | running route in the intersection area which concerns on one Embodiment of this invention. It is a schematic structure figure of a conveyance system concerning one embodiment of the present invention. It is the figure which showed an example of the driving | running | working permission route table.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Transfer system 10 (10a, 10b) Unmanned transfer vehicle 20 Transfer vehicle monitoring control device 25 Entrance permission control program 26 Travel permission route table 50 Intersection area 51 Mark A (A1-A8)

Claims (8)

A transport vehicle monitoring and control device that monitors and controls travel of the transport vehicle by communicating with a plurality of transport vehicles that travel along a travel route laid in a container yard,
Whether the planned travel route of the transport vehicle in the intersection area is a travel permission route determined according to the traffic state in the intersection area when an entry permission request to the intersection area is received from the transport vehicle Judging
When the planned travel route corresponds to the travel permission route, the transport vehicle monitoring control device transmits an entry permission signal to the intersection area to the transport vehicle.   The transport vehicle monitoring and control device, wherein the traffic state in the intersection area is determined based on a travel route of another transport vehicle existing in the intersection area. A travel permission route table in which a combination of travel routes capable of simultaneous travel is set among a plurality of travel routes in the intersection area,
The transport vehicle monitoring and control device according to claim 1, wherein the access permission route is determined based on the travel permission table and a travel route of another transport vehicle existing in the intersection area. An automated guided vehicle that travels along a travel route laid in a container yard,
When entering the intersection area, send a request for permission to enter the intersection area to the vehicle monitoring and control device installed outside,
An automatic guided vehicle that enters the intersection area when an entry permission signal is received from the transport vehicle monitoring control device.   5. When transmitting the entry permission request, identification information of an intersection area for which entry permission is requested and a planned travel route in the intersection area are transmitted to the transport vehicle monitoring control device. Automatic guided vehicle.   5. The entry permission request is transmitted to the transport vehicle monitoring control device at a timing determined based on a distance to the intersection area and a traveling speed and / or a communication speed. Item 6. The automatic guided vehicle according to Item 5. The control management device according to any one of claims 1 to 3,
A transport system comprising: the automatic guided vehicle according to any one of claims 4 to 6. A transport vehicle monitoring control method for monitoring and controlling the travel of the transport vehicle by communicating with a plurality of transport vehicles traveling along a travel route laid in a container yard,
A process of determining whether or not the planned travel route of the transport vehicle in the intersection area is an entrance permission route in the intersection area when an entry permission request to the intersection area is received from the transport vehicle;
And a step of transmitting an entry permission signal to the intersection area to the transport vehicle when the planned travel route is the approach permission route.

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