JP2009009440A - Unmanned carrier system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely prevent a carrier vehicle from colliding even in a portion with a junction or a branch approaching on a travel road. <P>SOLUTION: The carrier vehicle travels on the travel road in this unmanned carrier system of the present invention. The travel road includes a junction point and a branch point, and is provided with three or more of guide lines in a track holding a plurality of joining points with the junction point or branch point continuous thereto. The carrier vehicle has two transceiving parts communicated with the guide lines when traveling on the track holding the plurality of joining points. The two transceiving parts are set with anyone of a plurality of communication modes, based on communication mode setting information. The plurality of communication modes includes transmission mode and a reception mode. The fellow carrier vehicles are surely prevented from colliding, by providing the three or more of guide lines, and by setting the communication modes of the transceiving parts in the respective carrier vehicles in response to a shape of the track holding the plurality of joining points. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an automatic guided system for running a plurality of automatic guided vehicles.

  2. Description of the Related Art There is known an automatic guided system that makes an automatic guided vehicle travel along a predetermined traveling path. Since each transport vehicle travels unattended, transport vehicles may collide if there is a junction or the like on the travel path. For this reason, the collision prevention apparatus of a conveyance vehicle is needed at a junction.

  An example of the collision preventing apparatus as described above is described in Patent Document 1. In patent document 1, the guide wire for controlling advancing and a stop of a conveyance vehicle is provided in the junction of a travel path. A conveyance vehicle has a transmission part and a reception part, and communicates with a guide wire when approaching a junction. Specifically, when a signal indicating the entry of another vehicle is received before entering the junction, the transport vehicle stops before entering the junction. On the other hand, when a signal indicating the entry of another vehicle is not received, the vehicle travels as it is and sends a signal indicating that the vehicle is entering to the guide wire.

  Patent Document 2 describes a collision prevention device similar to Patent Document 1 in which the guide wire is formed of a single wire.

JP-A-10-301626 JP 2005-115590 A

  The method described in the above literature can correctly prevent a collision when two transport vehicles enter one junction. However, a collision may not be prevented when a plurality of merging points are close to each other. For example, there may be a case where a total of three transport vehicles enter a continuous junction channel having a shape in which two tributaries are joined close to one main stream. At this time, the transport vehicle traveling on the main stream and each transport vehicle traveling on the two tributaries can prevent collision by communication, but communication between the transport vehicles traveling on the two tributaries is possible. Because it is not possible, there is a risk of collision. Further, the present invention is not limited to this example, and collision prevention may not be sufficient on a traveling road that is continuously located in a section where merging and branching are short.

  This invention is made in view of the above point, and makes it a subject to prevent the collision of a conveyance vehicle reliably also in the part where the confluence | merging and branching on a travel path adjoin.

  In one aspect of the present invention, an unmanned conveyance system includes a conveyance vehicle, a traveling path on which the conveyance vehicle travels, and a plurality of track junctions that serve as junctions or branch points of the traveling path. And a plurality of guide lines obtained by adding 1 to the number of joint track junction points of the plurality of joint holding tracks provided in a region including the plurality of joint holding tracks. Are a plurality of communication units including a transmission mode and a reception mode, based on communication mode setting information when traveling on the two-junction holding track, and two transmission / reception units communicating with the guide wire. A communication mode setting unit configured to set one of the modes.

  In the above-described unmanned conveyance system, the conveyance vehicle travels on the traveling path. The travel path includes a junction point and a branch point, and a plurality of track junction points serving as a junction point or a branch point of the travel path are arranged adjacent to each other to form a multiple junction point holding track. In the region including the multiple-junction holding track, the number of guide lines obtained by adding 1 to the number of Seki-track joints of the multi-joint holding track to be laid is provided. A conveyance vehicle has a pair of transmission / reception part which communicates with a guide wire when drive | working a multiple junction holding track. The pair of transmission / reception units is set to one of a plurality of communication modes based on the communication mode setting information. The plurality of communication modes include a transmission mode and a reception mode. In this way, the number of guide lines is increased by adding 1 to the number of Seki track joint points of the multi-junction holding track, and the communication mode of the transmission / reception unit of each transport vehicle is set and changed according to the shape of the multi-joint holding track By doing so, it is possible to reliably prevent the collision between the transport vehicles.

  In one aspect of the above-described unmanned conveyance system, a communication mode setting information supply unit that supplies the communication mode setting information to the conveyance vehicle is provided on the multiple-junction holding track, and the conveyance vehicle includes the communication The communication mode setting information is received from the mode setting information supply unit, and the communication mode of each transmission / reception unit is set. In this aspect, the transport vehicle receives the communication mode setting information from the outside, and sets the communication mode of each transmission / reception unit accordingly.

  In a preferred example in this case, the communication mode setting information supply unit is provided in a position before entering the junction part constituting the multiple junction holding track and in the multiple junction holding track. Thereby, when a conveyance vehicle enters into a multi-junction holding track and at a necessary position in the multi-junction holding track, the communication mode of each transmission / reception unit can be set and changed.

  In a preferred example, the communication mode setting unit has one transmission / reception unit as a transmission mode and the other one transmission / reception unit as a reception mode at a position before entering the junction part constituting the multiple-junction holding trajectory. To do. Further, in this case, when the communication mode setting unit has not received the entry signal of the other vehicle when the transmission / reception unit set in the transmission mode at the position entering the joining part constituting the multiple-junction holding track, The one transceiver is maintained in a transmission mode, and the other transceiver is in a no-communication mode. As a result, the transport vehicle that has not received the approach signal of the other vehicle is exclusively allowed to enter, and continues to transmit only the approach signal. Thereby, since the other transport vehicle receives the approach signal and stops, the occurrence of the collision is prevented.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 schematically shows the basic configuration of the unmanned conveyance system of the present invention. As shown in the drawing, in the automatic guided system, a plurality of automatic guided vehicles (hereinafter also simply referred to as “conveyed vehicles”) 1 travels on the traveling path 10. The transport vehicle 1 travels independently on the travel path 10. In addition, the referential mark used below uses a suffix when showing each element, and abbreviate | omits a suffix when showing as a representative. For example, “travel road 10a”, “travel road 10b”, etc. are used to indicate individual travel paths, and “travel road 10” is used to refer to the entire travel path.

  The example of FIG. 1 shows the junction 15 of the traveling path 10, and the traveling path 10b which is a tributary joins the traveling path 10a which is the main stream. The transport vehicle 1a travels on the travel path 10a, and the transport vehicle 1b travels on the travel path 10b, both of which are about to enter the junction 15.

  A guide wire 11 is provided on the travel path 10. The guide wire 11 enables communication between the plurality of transport vehicles 1 to prevent collision. In the example of FIG. 1, a guide line 11x is provided on the right side in the traveling direction of the travel path 10a, and a guide line 11y is provided on the left side in the traveling direction. The “traveling direction” refers to the direction in which the transport vehicle 1 travels on each travel path 10. As shown by the broken line, the guide wire 11x passes under the traveling path 10a and extends to the left in the traveling direction (see the broken line), and further extends to the left in the traveling direction of the traveling path 10b. On the other hand, the guide wire 11y bends along the travel path 10b before the junction 15 and extends to the right in the traveling direction of the travel path 10b. Each guide wire 11 is composed of a conductive wire or the like, and electrically constitutes one wire.

  Further, a communication mode indicator 12 is provided in the vicinity of the travel path 10 at a position before entering the junction 15. The communication mode indicator 12 functions as a communication mode setting information supply unit in the present invention, and provides communication mode setting information that specifies the communication mode of the transmission / reception units 2 and 3 of the transport vehicle 1.

  FIG. 2 shows a functional configuration of the transport vehicle 1. The transport vehicle 1 includes transmission / reception units 2 and 3, a communication mode setting information detection unit 4, a control unit 5, and a drive unit 6. The transmission / reception units 2 and 3 basically have the same configuration, and are set to one of a transmission mode, a reception mode, and a no-communication mode by a control signal from the control unit 5. The transmission / reception units 2 and 3 can be configured by, for example, an excitation coil that induces an induction current in the induction wire 11 and a reception coil that detects the current induced in the induction wire 11.

  The communication mode setting information detection unit 4 detects the communication mode indicator 12 arranged in the vicinity of the traveling road 10 and acquires the communication mode setting information therefrom. The communication mode setting information is information indicating in which communication mode each of the transmission / reception units 2 and 3 of the transport vehicle 1 should be set. For example, in the example of FIG. 1, the transport vehicle 1a traveling on the travel path 10a is configured such that the transmission / reception unit 2a is in the reception mode R and the transmission / reception unit 3a is based on the communication mode setting information received from the communication mode indicator 12a. The transmission mode T is set.

  The communication mode indicator 12 can be realized in various forms. In one example, the communication mode indicator 12 may be configured as a mark, and the communication mode setting information detection unit 4 may be configured to optically read the mark and acquire the communication mode setting information. In another example, the communication mode indicator 12 may be configured as a transmitter and the communication mode setting information detection unit 4 may be configured as a receiver.

  The drive unit 6 is a unit that drives the transport vehicle 1 and includes, for example, a motor. Although the configuration of the drive unit 6 depends on the driving method of the transport vehicle 1, the driving method of the transport vehicle 1 is not limited in the present invention, and various driving methods such as driving by an electric motor and driving by a linear motor are adopted. be able to. The drive unit 6 performs traveling, acceleration, deceleration, stop, and the like of the transport vehicle 1 based on a signal from the control unit 5.

  The control unit 5 controls the entire transport vehicle 1. Particularly in the present embodiment, the control unit 5 sets and changes the communication mode of the transmission / reception units 2 and 3 based on the communication mode setting information acquired by the communication mode setting information detection unit 4. When the transport vehicle 1 enters the junction 15, the transmission / reception unit 2 or 3 set in the reception mode receives an approach signal indicating that another vehicle has entered the junction 15 from the guide wire 11. The drive unit 6 is controlled to decelerate or stop the transport vehicle 1. On the other hand, when the transport vehicle 1 enters the junction 15 and does not receive an entry signal of another vehicle, the control unit 5 controls the transmission / reception unit 2 or 3 set in the transmission mode so that the own vehicle An approach signal indicating entry into the junction 15 is sent to the guide wire 11.

  Returning to FIG. 1, the collision prevention operation of the transport vehicle 1 will be specifically described. In FIG. 1, a transport vehicle 1a travels on a travel path 10a, and a transport vehicle 1b travels on a travel path 10b. The transport vehicle 1a acquires communication mode setting information when it passes the position of the communication mode indicator 12a, and based on this, the transmission / reception unit 2a is set to the reception mode and the transmission / reception unit 3a is set to the transmission mode. Similarly, the transport vehicle 1b acquires the communication mode setting information when passing the position of the communication mode indicator 12b, and based on this, the transmission / reception unit 2b is set to the reception mode and the transmission / reception unit 3b is set to the transmission mode. ing.

  Each transport vehicle 1 communicates with the guide wire 11 when entering the junction. Specifically, the transmission / reception unit set in the reception mode communicates with the guide wire 11 to determine whether an approach signal of another vehicle is sent to the guide wire 11. When an approach signal of another vehicle is received, the other vehicle has already entered the junction, so the transport vehicle 1 stops. After that, communication with the guide wire 11 is continued, and the vehicle enters the junction when there is no other vehicle entry signal. On the other hand, if no other vehicle approach signal is received, there is no other vehicle entering the junction, so the vehicle enters the junction as it is, and through the transceiver set in the transmission mode, An approach signal indicating that the vehicle has entered is sent to the guide wire 11. In this way, another vehicle is prevented from entering the junction after entering the junction.

  In FIG. 1, it is assumed that the transport vehicle 1a has first entered the junction. In this case, the transport vehicle 1a first determines whether an approach signal of another vehicle is sent to the guide wire 11x. In this case, since there is no approach signal for other vehicles, the vehicle travels as it is and sends an approach signal for the host vehicle to the guide line 11y. The transport vehicle 1b that is about to enter the junction 15 after the transport vehicle 1a first communicates with the guide wire 11y. At this time, since the transport vehicle 1a sends an approach signal to the guide wire 11y, the transport vehicle 1b receives this signal and stops. Then, the transport vehicle 1b enters the junction 15 when the transport vehicle 1a passes through the junction 15 and no entry signal is sent to the guide wire 11y. Thus, collision is prevented. The same applies when the order of the transport vehicles 1a and 1b is reversed.

  Now, when such a junction point exists independently on the travel path 10, a collision can be prevented by the above-described procedure. However, when such merging points are close to each other, that is, when they are continuously present at a short distance, the number of transport vehicles 1 to be controlled increases, so that collision prevention control may be difficult. . Specifically, in the example of FIG. 1, there are two guide wires 11 for two transport vehicles 1. One transport vehicle 1a uses one guide line 11y to send an approach signal, and the other transport vehicle 1b uses the other guide line 11x to send an approach signal. Can prevent the collision. However, when the merging point and the like are close to each other and there are three transport vehicles 1 to be controlled, the approach signals of the three transport vehicles 1 are sent to the other transport vehicles 1 by two guide lines. Can not be communicated to, and a collision can occur.

  Therefore, in the present invention, in a trajectory having a shape in which a plurality of trajectory junctions serving as junctions or branching points are adjacent and continuous (referred to as a “multiple junction possession trajectory”), Collisions are prevented by providing as many guide wires 11 as 1 added to the number of track junction points and appropriately switching the communication mode of each transport vehicle 1.

  Note that the “confluence” or “branch point” means that there are a plurality of junction points or branch points within a distance where the transport vehicle 1 cannot stop immediately. This case corresponds to a case where the vehicle exists within a predetermined distance determined according to the maximum traveling speed, braking ability, and the like.

  Hereinafter, various cases will be individually described with reference to the drawings. In the following drawings, for convenience of illustration, only a plurality of joint point possessing tracks on the travel path 10 is shown, and actually, the tips of the travel paths 10 in the figure are further connected.

(First case)
FIG. 3A shows a first case. In the first case, the junction branching section 110 in which the junction point and the junction point are continuous constitutes a multiple junction holding track. There is a possibility of collision between the transport vehicle 1a traveling on the travel path 10a, the transport vehicle 1b traveling on the travel path 10b, and the transport vehicle 1c traveling on the travel path 10c. In this case, three guide lines 11x, 11y, and 11z are arranged as illustrated.

  When the transport vehicle 1a first enters the merging / branching unit 110, the transport vehicle 1a is set to the right transmission / left reception mode by the communication mode indicator 12a. The “right transmission / left reception mode” means that the transmission / reception unit 2 on the right side in the traveling direction is set to the transmission mode and the transmission / reception unit 3 on the left side is set to the reception mode.

  The transport vehicle 1a first determines whether or not there is an approach signal from another vehicle on the left guide lines 11y and 11z. In this case, there is no other vehicle approach signal, and no other vehicle approach signal is received from the guide lines 11y and 11z along the travel path 10a. Therefore, the transport vehicle 1a enters the junction branch 110 and the right side An approach signal of the own vehicle is transmitted to the guide wire 11x. The transport vehicle 1b is set to the left transmission / right reception mode by the communication mode indicator 12b, and stops after receiving the approach signal sent by the transport vehicle 1a to the guide wire 11x first. Thus, no collision occurs.

  The reverse is true when the transport vehicle 1b first enters the junction branch 110. That is, the transport vehicle 1a receives the approach signal sent to the guide wire 11z by the transport vehicle 1b and stops.

  Next, consider a case where the transport vehicle 1c first enters the merge branch 110 and then the transport vehicle 1b enters the merge branch 110. In this case, the transport vehicle 1c enters the junction branch 110 in the left transmission / right reception mode by the communication mode indicator 12c. Since the transport vehicle 1c does not receive the approach signal of the other vehicle until the position where the guide lines 11x and 11y end, it changes to the left transmission mode and proceeds as it is. The “left transmission mode” refers to a mode in which the transmission / reception unit 3 on the left side in the traveling direction is set to the transmission mode, and the right transmission / reception unit 2 does not perform transmission / reception.

  The transport vehicle 1c is changed to the right transmission mode by the communication mode indicator 12c provided in the junction branching section 110 and travels on the traveling path 10c while sending an approach signal to the guide lines 11x and 11y located on the right side. I will do it. Next, the transport vehicle 1b entering the travel path 10b stops because the approach signal sent by the transport vehicle 1c previously is received from the guide wire 11x or 11y. Thus, the collision between the transport vehicle 1c that has entered first and the transport vehicle 1b that has entered next is also prevented.

(Second case)
FIG. 3B shows a second case. In the second case, the junction point 111 and the junction point 112 are continuous to form a multiple junction holding track. There is a possibility of collision between the transport vehicle 1a traveling on the travel path 10a, the transport vehicle 1b traveling on the travel path 10b, and the transport vehicle 1c traveling on the travel path 10c. In this case, three guide lines 11x, 11y, and 11z are arranged as illustrated.

  When the transport vehicle 1a first enters the multiple junction holding track, the transport vehicle 1a is set to the right transmission / left reception mode by the communication mode indicator 12a. The transport vehicle 1a first determines whether or not there is an approach signal from another vehicle on the left guide lines 11y and 11z. In this case, since there is no entry signal of another vehicle, the transport vehicle 1a enters the junction 111 and changes to the right transmission mode at the position where the left guide lines 11y and 11z disappear, and the right guide line 11x. In response, the vehicle's approach signal is transmitted.

  The transport vehicle 1b about to enter after this is set to the left transmission / right reception mode by the communication mode indicator 12b, and stops after receiving the approach signal sent from the transport vehicle 1a to the guide wire 11x first. Thus, no collision occurs.

  Similarly, the transport vehicle 1c about to enter after this is set to the left transmission / right reception mode by the communication mode indicator 12c, and receives the approach signal that the transport vehicle 1a previously sent to the guide wire 11x. Stop. Thus, no collision occurs.

  When the transport vehicle 1b first enters the junction 111, the transport vehicle 1b sends an approach signal to the guide line 11z. The transport vehicle 1a receives the approach signal sent from the transport vehicle 1b to the guide wire 11z and stops. Similarly, the transport vehicle 1c receives the approach signal sent from the transport vehicle 1b to the guide wire 11z and stops.

  When the transport vehicle 1c first enters the junction 112, the transport vehicle 1c sends an approach signal to the guide wire 11y. The transport vehicle 1a receives the approach signal sent from the transport vehicle 1c to the guide wire 11y and stops. Similarly, the transport vehicle 1b also stops after receiving the approach signal sent by the transport vehicle 1c to the guide wire 11y. As described above, in any case, collision is prevented.

(Third case)
FIG. 4A shows a third case. In the third case, the branch points 113 and 114 continuously form a continuous branch portion. There is a possibility of collision between the transport vehicle 1a traveling on the travel path 10a, the transport vehicle 1b traveling on the travel path 10b, and the transport vehicle 1c traveling on the travel path 10c. In this case, three guide lines 11x, 11y, and 11z are arranged as illustrated.

  The transport vehicle 1a that travels straight through the branch sections 113 and 114 is set to the right transmission / left reception mode by the communication mode indicator 12a. Therefore, when the transport vehicle 1b is on the travel path 10b ahead of the branch point 113, or when the transport vehicle 1c is on the travel path 10c ahead of the branch point 114, the transport vehicle 1a sends the approach signal from the guide line 11y. Receive and stop. If there is a transport vehicle 1 that goes straight ahead of itself, the transport vehicle 1 receives an approach signal sent to the guide wire 11z and stops. In other cases, the transport vehicle 1a travels and sequentially sends an approach signal to the guide lines 11x and 11z.

  The transport vehicle 1b that branches the branch point 113 to the travel path 10b is set to the left transmission / right reception mode by the communication mode indicator 12a. Therefore, when there is a transport vehicle 1a that travels straight ahead of itself, the transport vehicle 1a receives the approach signal sent to the guide wire 11x and stops. On the other hand, when the approach signal is not received from the guide line 11x, the transport vehicle 1b transmits the approach signal to the guide line 11y in the left transmission mode. Therefore, unless the vehicle travels to a position where the guide line 11y on the travel path 10b disappears, an approach signal is present on the guide line 11y, so the next transport vehicle 1a stops.

  Similarly, the transport vehicle 1c that branches the branch point 114 to the travel path 10c is set to the left transmission / right reception mode by the communication mode indicator 12a. Therefore, when there is a transport vehicle 1a that travels straight ahead of itself, the transport vehicle 1a receives the approach signal sent to the guide wire 11x and stops. On the other hand, when the approach signal is not received from the guide line 11x, the approach signal is transmitted to the guide line 11y in the left transmission mode. Therefore, unless the vehicle travels to the position where the guide line 11y disappears on the travel path 10c, the next transport vehicle 1a stops because an approach signal exists on the guide line 11y.

(Fourth case)
FIG. 4B shows a fourth case. In the fourth case, a multi-junction holding track in which the branch point 115 and the merge branch point 116 are continuous is configured. This case is basically a combination of the first case shown in FIG. 3A and the first branching portion 113 of the third case shown in FIG. Moreover, since it is a composite form of the first and third cases, it is necessary to set the transport vehicle 1 to the both-side transmission mode when passing through the junction branch point 116. “Both-side transmission mode” means that both the two transceivers 2 and 3 are set to the transmission mode.

(Fifth case)
FIG. 5 shows a fifth case. In the fifth case, two junctions and one branch point are continuous in this order to form a multi-junction holding track. Since a total of four transport vehicles 1a to 1d may collide with each other, four guide wires 11 are used. This case is basically a combination of the merging portion 111 shown in FIG. 3 (B) and the merging / branching portion 110 shown in FIG. 3 (A).

(Sixth case)
FIG. 6 shows a sixth case. In the sixth case, three junctions are continuous to form a multi-junction holding track. Since a total of four transport vehicles 1a to 1d may collide with each other, four guide wires 11 are used. In this case, another merging portion is basically provided in the merging portions 111 and 112 shown in FIG.

  The first to sixth representative cases have been described above, but the application of the present invention is not limited to these specific forms. In the present invention, the present invention can be applied to various multi-junction point holding tracks in which a plurality of merging points or branch points are adjacent and continuous.

[Modification]
In the above example, the communication mode of the transmission / reception units 2 and 3 of the transport vehicle 1 is set by supplying the communication mode setting information from the communication mode indicator 12 disposed in the vicinity of the travel path 10. Instead, when there is a controller that manages the traveling state of the plurality of transport vehicles 1 by wireless communication or the like, the communication mode setting information is transmitted from the controller to each transport vehicle 1 by wireless communication to set the communication mode. It is good to do.

The operation example in the typical junction part of the unmanned conveyance system of this invention is shown. It is a block diagram which shows schematic structure of a conveyance vehicle. The example of arrangement | positioning of the guide wire in the 1st and 2nd case is shown. The example of arrangement | positioning of the guide wire in the 3rd and 4th case is shown. The example of arrangement | positioning of the guide wire in a 5th case is shown. The example of arrangement | positioning of the guide wire in a 6th case is shown.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Carrier vehicle 2, 3 Transmission / reception part 4 Communication mode setting information detection part 5 Control part 6 Drive part 10 Traveling path 11 Guide line 12 Communication mode indicator

Claims (5)

A transport vehicle;
A travel path on which the transport vehicle travels;
A plurality of junction holding tracks configured by adjacently arranging a plurality of track junctions serving as junctions or branching points of the traveling path,
A number of guide lines obtained by adding 1 to the number of Seki orbit junctions of the plurality of junction holding orbits laid in a region including the plurality of junction holding orbits;
With
The transport vehicle is
A pair of transceivers communicating with the guide wire;
A communication mode setting unit configured to set each of the transmission / reception units to one of a plurality of communication modes including a transmission mode and a reception mode based on communication mode setting information when traveling on the multiple junction holding track. An unmanned conveyance system comprising: The multi-junction holding track is provided with a communication mode setting information supply unit that supplies the communication mode setting information to the transport vehicle,
The unmanned conveyance system according to claim 1, wherein the transport vehicle receives the communication mode setting information from the communication mode setting information supply unit and sets a communication mode of each transmission / reception unit.   The said communication mode setting information supply part is provided in the position before approaching the confluence | merging part which comprises the said multiple junction holding trajectory, and the said multiple junction holding trajectory, The Claim 2 characterized by the above-mentioned. The unmanned transfer system described.   The communication mode setting unit is characterized in that one transmission / reception unit is set as a transmission mode and the other one transmission / reception unit is set as a reception mode at a position before entering the junction part constituting the multiple junction holding trajectory. The unmanned conveyance system according to any one of claims 1 to 3.   When the transmission / reception unit set in the transmission mode does not receive a signal indicating the entry of another vehicle at a position where the communication mode setting unit has entered the junction that forms the multiple junction holding track, The unmanned conveyance system according to claim 4, wherein the transmission / reception unit is maintained in a transmission mode, and the other transmission / reception unit is set to a no-communication mode.

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