JP5902995B2 - Moving system using LED tube, moving method, and LED tube - Google Patents

Description

  The present invention relates to a moving system, a moving method, and an LED tube using an LED tube.

  There is known an infrared communication system in which transmission means for transmitting position information by infrared rays is arranged in a building and position information is received by a portable information terminal (see Patent Document 1). There is also known a visible light communication system that transmits illumination light (visible light) on which position information is superimposed and receives position information at a receiving terminal (see Patent Documents 2 and 3).

JP 2000-298034 A JP 2010-117301 A JP 2008-281561 A JP 2010-95324 A

  In the communication systems disclosed in Patent Documents 1 to 3, a transmission unit (lighting fixture) that transmits position information is arranged on the ceiling of a building, and a user who has a terminal receives position information from below. In such a communication system, in order to prevent signal interference, it is necessary to increase the interval between the transmission means, so that the position accuracy (resolution) becomes about several meters. For this reason, the communication systems of Patent Documents 1 to 3 are unsuitable for application to a mobile system that moves a mobile object with high accuracy.

  Moreover, in the communication system of patent documents 1-3, installation of a transmission means (lighting fixture) is inconvenient. In particular, in the communication systems disclosed in Patent Documents 2 and 3, since a lighting device is used as a transmission unit, there are large restrictions on the installation location of the transmission unit.

  In addition, the identification display apparatus of patent document 4 which this inventor invented can identify and display a work position to a user with the positional accuracy of about several cm. However, this technology is completely different in technical field from a moving system of a moving body.

  It is an object of the present invention to provide a moving system that has a simple configuration and can move a moving body with high accuracy.

  A main invention for achieving the above object includes a moving body that moves in a moving direction, a moving mechanism that moves the moving body, and a plurality of light emitting elements arranged in a row, and along the moving direction. A light emitting tube arranged to emit light from the light emitting element in a light emission pattern indicating the light emission information based on a light emission information table in which the light emitting element and light emission information are associated with each other; and A moving device provided on the moving body so as to be opposed to each other, receiving the light emission pattern while the moving body is moving, obtaining the light emission information, and controlling the moving mechanism according to the light emission information. System.

  Other characteristics of the present invention will be made clear by the description and drawings described later.

  According to the present invention, it is possible to realize a moving system that has a simple configuration and can move a moving body with high accuracy.

FIG. 1 is an explanatory diagram of an external configuration of the LED tube 1. FIG. 2 is a cross-sectional view of the LED tube 1. FIG. 3 is a block diagram of the LED tube 1. FIG. 4 is a wiring diagram of the LED block group 32. FIG. 5 is an explanatory diagram of the light emission control method of the LED 3. FIG. 6A is an explanatory diagram of a first form of the moving system 100 using the LED tube 1. FIG. 6B is an explanatory diagram of the light emission information table 45 stored in the memory 44. FIG. 6C is an explanatory diagram of light emission information indicated by the light emission pattern of each LED 3. FIG. 7 is an external view of the moving body 5 that is a movement target. FIG. 8A is a hardware block diagram of the communication device 7. FIG. 8B is a block diagram of various functions of the communication device 7. FIG. 9 is a flowchart of the initial confirmation process performed by the initial confirmation unit 85F. FIG. 10 is a flowchart of the movement process performed by the movement processing unit 85G. 11A to 11D are explanatory diagrams of a state during the movement process. FIG. 12 is an explanatory diagram of the second form of the mobile system 100. FIG. 13 is an explanatory diagram of light emission information. FIG. 14 is a block diagram of various functions of the communication device 7 according to the second embodiment. FIG. 15 is a flowchart of the movement process performed by the movement processing unit 85G according to the second embodiment. FIG. 16A is an explanatory diagram of a third form of the mobile system 100. FIG. 16B is a block diagram of various functions of the communication device 7 according to the third embodiment. FIG. 17 is a flowchart of the movement process performed by the movement processing unit 85G according to the third embodiment. 18A to 18D are explanatory diagrams of a state during the movement process. FIG. 19 is an explanatory diagram of the fourth form of the mobile system 100. FIG. 20 is a flowchart of a method for laying the LED tube 1. FIG. 21 is another wiring diagram of the LED block group 32.

  At least the following matters will be apparent from the description and drawings described below.

A light emitting tube having a moving body that moves in a moving direction, a moving mechanism that moves the moving body, and a plurality of light emitting elements arranged in a row, and that is arranged along the moving direction, the light emitting Based on a light emission information table in which elements and light emission information are associated with each other, a light emitting tube that emits light from the light emitting element in a light emission pattern indicating the light emission information, and a moving body so as to face the light emitting tube, A moving system including a communication device that receives the light emission pattern during the movement of the moving body, acquires the light emission information, and controls the moving mechanism according to the light emission information becomes clear.
According to such a moving system, it is possible to realize a moving system that has a simple configuration and can move the moving body with high accuracy.

  The communication device preferably includes a housing having a light receiving window, and the light emitting pattern from the light emitting element not facing the light receiving window is shielded from light. Thereby, the interference by a different light emission pattern can be suppressed. Moreover, light from the outside can also be shielded.

  The light receiving window is desirably long enough to face two or more light emitting elements. Thereby, the moving speed of the moving body can be set relatively fast, and the light emission cycle of the light emission pattern can be set long.

  The light emitting tube preferably includes a plurality of blocks each including two or more light emitting elements, and the two or more light emitting elements in the same block emit light with the same light emission pattern. Thereby, the amount of received light can be increased.

  When the light emitting element of a certain block emits light, it is preferable that the light emitting element of the adjacent block does not emit light. Thereby, it is not necessary to simultaneously receive different light emission patterns.

  The light emission information is position information indicating a position in the light emitting tube, and the light emitting element preferably emits light in a light emission pattern indicating the position information. Thereby, if the light emission pattern is received, the current position of the moving body can be determined.

  The communication device stores target position information indicating a target position, and the communication device receives the light emission pattern during movement of the moving body to acquire the position information, and the acquired position information is If it is the target position information, it is desirable to control the moving mechanism so that the moving body is positioned at the target position. Thereby, the moving body can be positioned at the target position.

  The movement system includes a plurality of the movement mechanisms, and the light emission information includes specific information for specifying any of the plurality of movement mechanisms, and is associated with the specific information. It is desirable that the light emitting element emits light with a light emission pattern indicating the specific information. In addition, the communication device stores event information for specifying the moving mechanism to be controlled, and the communication device receives the light emission pattern and acquires the specifying information while the moving body is moving. If the movement mechanism indicated by the acquired specific information is the movement mechanism indicated by the event information, it is desirable to control the movement mechanism indicated by the specific information. Thereby, a mobile body can be moved to a predetermined position.

  The light emitting element of the light emitting tube preferably emits visible light. Thereby, various information (abnormal information, failure information, speed information, direction information, etc.) can be displayed to the operator.

A light emitting tube having a plurality of light emitting elements arranged in a row is arranged along a moving direction of the moving body, and a communication device is arranged on the moving body so as to face the light emitting tube, and the light emitting element and the light emitting element are emitted. Based on a light emission information table associated with information, each of the light emitting elements is caused to emit light with a light emission pattern indicating the light emission information, and the light emitting pattern is received by the communication device while the mobile body is moving, so that the light emission A moving method characterized by acquiring information and controlling a moving mechanism for moving the moving body according to the light emission information will be apparent.
According to such a moving method, the moving body can be moved with high accuracy with a simple configuration.

A plurality of light-emitting elements arranged in a row; and a light-emitting information table in which the light-emitting elements and the light-emitting information are associated with each other; The luminous tube becomes clear.
According to such a light emitting tube, a plurality of light emitting elements can be easily installed.

=== LED tube ===
<Appearance>
FIG. 1 is an explanatory diagram of an external configuration of the LED tube 1. FIG. 2 is a cross-sectional view of the LED tube 1.

  The LED tube 1 is a light emitting tube in which a large number of light emitting elements are arranged in a transparent tube 2. Here, LED 3 (light emitting diode) is used as the light emitting element, but other light emitting elements such as LD (laser diode) may be used.

  The LED tube 1 has flexibility, and can be wound around, for example, a drum. Thereby, carrying of the LED tube 1 becomes easy.

  The LED tube 1 has a flat cross section, and the light emitting surface 21A faces one surface. The surface opposite to the light emitting surface 21A is an adhesive surface 21B. When the adhesive seal is peeled off from the adhesive surface 21B and the adhesive surface 21B is attached to the wall, the light emitting surface 21A of the LED tube 1 is laid so as to face outward. Note that the adhesive seal may not be provided, and the LED tube can be fixed by applying an adhesive to the LED tube 1 or screwing the LED tube 1.

  As shown in FIG. 2, both edges of the tube 2 protrude above the light emitting surface 21 (irradiation side). This is to prevent the light emitting surface 21 from being damaged or soiled by mechanical contact from the outside.

  In one LED tube 1, 1024 LEDs 3 are arranged in a line at equal intervals of 1 cm. For this reason, the length of the LED tube 1 is about 10 meters. However, although LED3 does not necessarily need to be arrange | positioned at equal intervals, if it arrange | positions at equal intervals, workability | operativity will improve when laying LED tube 1 in consideration of the position of LED3. In addition, the identification number may be printed in the vicinity of LED3, and the distance display from an edge part may be printed.

  Connection terminals 22 are provided at both ends of the LED tube 1. The connection terminal 22 can be connected to the connection terminal 22 of another LED tube 1. Moreover, the power supply terminal for connecting with an exclusive power supply and the setting terminal for connecting with the setting terminal 91 (refer FIG. 3) are provided in the end of the LED tube 1. FIG.

<Internal configuration>
FIG. 3 is a block diagram of the LED tube 1.

  The LED tube 1 includes an LED block group 32, an LED control unit 4, and a power supply circuit 46. A number of control lines are connected between the LED block group 32 and the LED control unit 4.

  The LED block group 32 includes a plurality of LEDs 3 (in this case, 1024 LEDs 3). The LED block group 32 is composed of 256 LED blocks 31 (see FIG. 4), and each LED block 31 is composed of four LEDs 3. A detailed configuration of the LED block group 32 will be described later.

  The LED control unit 4 is a control unit that causes each LED 3 to emit light with a light emission pattern corresponding to the light emission information. The LED control unit 4 includes an LED drive circuit 41, an LED control circuit 42, an MPU 43, and a memory 44. The LED drive circuit 41 generates a signal to be sent to each control line based on the light emission information from the LED control circuit 42. The LED control unit 4 also has a brightness adjustment function by controlling the bias current of the LED 3. The LED control circuit 42 is a circuit for controlling the LED drive circuit 41. The LED control circuit 42 outputs light emission information to the LED drive circuit 41 based on a command from the MPU 43. The MPU 43 is a small arithmetic circuit. The memory 44 is storage means composed of a ROM 44A and a RAM 44B. The ROM 44A stores a control program to be executed by the MPU 43, a light emission information table 45 in which the LED 3 is associated with light emission information, and the like. The RAM 44B provides an area for expanding a program executed by the MPU 43. When the MPU 43 executes the control program stored in the ROM 44A, the LED control unit 4 becomes a control unit that causes each LED 3 to emit light with a light emission pattern indicating light emission information. Further, the MPU 43 executes a control program stored in the ROM 44A, thereby realizing other processing (for example, setting processing).

  The power supply circuit 46 is a circuit that generates necessary power from input power. Here, the input power of the power supply circuit 46 has two systems. One is input power supplied from an external dedicated power supply via a power supply terminal. The other is input power supplied from a setting terminal (for example, a USB terminal) for connection to the setting terminal 91.

  Further, the LED tube 1 includes various interface circuits. The setting interface circuit 47 is an interface circuit for inputting / outputting information via a setting terminal (for example, a USB terminal) for connection to the setting terminal 91. The connection interface circuit 48 is an interface circuit for inputting and outputting information via the connection terminal 22. The reason why there are two connection interface circuits 48 is that there are connection terminals 22 at both ends of the LED tube 1.

  FIG. 4 is a wiring diagram of the LED block group 32.

  One LED block 31 is configured by connecting two or more LEDs 3 in series. Here, one LED block 31 is configured by connecting four LEDs 3 in series. Since there are 1024 LEDs 3 in the LED tube 1, there are 256 LED blocks 31 in total. The four LEDs 3 in the same LED block 31 emit light with the same light emission pattern.

  The LED block group 32 is connected to the LED drive circuit 41 by 128 cathode control lines and two anode control lines. The number of cathode control lines corresponds to half of the number of LED blocks 31 constituting the LED block group 32. The cathode side of each LED block 31 is connected to one of the cathode control lines, and the anode side of each LED block 31 is connected to one of the anode control lines.

  Each cathode control line is connected to the cathode side of each of the two LED blocks 31. The two LED blocks 31 connected to the common cathode control line are adjacent to each other. By wiring the cathode control lines in this way, the number of wirings can be halved compared to the case where the cathode control lines are wired to the individual LED blocks 31.

  Each anode control line is connected to each anode side of the 128 LED blocks 31. One of the two anode control lines is connected to the anode side of the odd-numbered LED block 31. The other is connected to the anode side of the even-numbered LED block 31. By wiring the anode control lines in this way, the number of wirings can be greatly reduced as compared with the case where the anode control lines are wired to the individual LED blocks 31.

  In the figure, four LEDs 3 of the same LED block 31 are connected in series. Thereby, the sum of the bias currents supplied by the LED drive circuit 41 can be reduced. However, four LEDs 3 can be connected in parallel instead of in series. In this case, the sum of the bias currents increases, but the bias voltage can be reduced. In the case of parallel connection, even if a certain LED 3 breaks down, other LEDs 3 can be turned on, and malfunctions of the movement process described later can be suppressed.

  Note that the number of LEDs 3 in each LED block 31 is not limited to four. One may be sufficient and another number of 2 or more may be sufficient. However, considering the bias current and the bias voltage, it is appropriate that the number of LEDs 3 of the LED block 31 is 10 or less. Moreover, when there are too many LED blocks 31, a position detection precision will fall.

  FIG. 5 is an explanatory diagram of the light emission control method of the LED 3. Here, a cathode signal and an anode signal for the first and second LED blocks 31 and a light emission pattern of the first and second LED blocks 31 are shown.

  The cathode signal is a signal output from the LED drive circuit 41 to the cathode control line. The cathode signal is a serial signal obtained by time-division multiplexing the light emission signals to the two LED blocks 31. The anode signal is a signal output from the LED drive circuit 41 to the anode control line. The two anode signals are alternately turned on and off at periodic time intervals (time slots shown in FIG. 5). Each LED 3 of the LED block 31 emits light with a predetermined light emission pattern when a current flows in accordance with the cathode signal while the anode signal is on.

  Since the two anode signals are alternately turned on, the odd-numbered LED blocks 31 and the even-numbered LED blocks 31 emit light alternately. Therefore, adjacent LED blocks 31 emit light alternately, and do not emit light simultaneously. That is, when the LED 3 of a certain LED block 31 emits light, the LED 3 of the LED block 31 adjacent to both sides does not emit light. Thereby, the interference at the time of light reception can be suppressed.

  The LED drive circuit 41 outputs each cathode signal and each anode signal according to the light emission information from the LED control circuit 42. Thereby, the LED drive circuit 41 can light-emit LED3 of each LED block 31 with the light emission pattern according to light emission information, respectively.

  A light emission information table 45 that associates each LED 3 (or LED block 31) with light emission information is stored in advance in the memory 44 of the LED tube 1. Each LED 3 (or LED block 31) emits light with a light emission pattern indicating the corresponding light emission information. The light emission information that each LED 3 should transmit in the light emission pattern will be described later.

=== Transfer system using LED tube (1) ===
FIG. 6A is an explanatory diagram of a first form of the moving system 100 using the LED tube 1. FIG. 6B is an explanatory diagram of the light emission information table 45 stored in the memory 44. FIG. 6C is an explanatory diagram of light emission information indicated by the light emission pattern of each LED 3. Here, in order to facilitate understanding of the basic operation of the LED tube 1, a moving system 100 in which the number of LED tubes 1 is one and the movement of the moving body 5 is limited to one dimension will be described.

  The moving system 100 shown in FIG. 6A is used in a physical distribution system that transports goods such as merchandise. The moving body 5 that is the moving object is placed on the belt conveyor 6A and moves. Here, when the moving body 5 containing articles at the starting position moves by the belt conveyor 6A and reaches the target position, the moving body 5 is pushed out of the belt conveyor 6A by the sorting machine 6B (moved by the sorting machine 6B), and the target. It is assumed that it is positioned at a position. A large number of sorting machines 6B are arranged along the belt conveyor 6A, one of which is also arranged at the target position. The belt conveyor 6 </ b> A and the sorting machine 6 </ b> B correspond to a moving mechanism that moves the moving body 5.

  The LED tube 1 described above is disposed along the moving direction of the moving body 5, that is, along the belt conveyor 6A. The light emitting surface 21 </ b> A of each LED 3 of the LED tube 1 faces the moving body 5. The memory 44 of the LED tube 1 stores a light emission information table 45 that associates the LEDs 3 with the light emission information (see FIG. 6B). Since the LEDs 3 of the same LED block 31 emit light with the same light emission pattern, the LED block 31 is associated with the light emission information instead of the LED 3. Each light emission information is information (position information) indicating the position of the corresponding LED block 31 in the LED tube 1.

  Each LED block 31 of the LED tube 1 emits light with a light emission pattern corresponding to the position information. That is, each LED block 31 emits position information so as to indicate each position in the LED tube 1. Specifically, each LED block 31 of the LED tube 1 emits light in a light emission pattern indicating numbers 1 to 256 (light emission information) in order from the end LED block 31 (see FIG. 6C). Here, the LED block 31 on the left side in the drawing emits a light emission pattern indicating a young number. Here, as an example, the LED 3 at the starting position emits a light emission pattern indicating “3” as position information. Further, the LED 3 at the target position emits a light emission pattern indicating “150” as position information.

  Note that the light emission pattern of the LED 3 does not have to indicate light emission information (here, position information) directly by turning it on / off (light emission / extinction). For example, the light emission information may be scrambled to convert 8-bit light emission information into 10-bit information, and the light emission pattern may indicate the 10-bit information. By doing in this way, when LED3 light-emits visible light, a light emission pattern comes to be recognized without flickering and it becomes easy to visually recognize the lighting state stably.

  FIG. 7 is an external view of the moving body 5 that is a movement target.

  The moving body 5 is a moving object of the moving system 100. The moving body 5 includes a moving car 51. The moving car 51 is a car for accommodating articles and the like. A communication device 7 is attached to the side surface of the moving car 51. The communication device 7 is provided in the moving body 5 so as to face the LED 3 of the LED tube 1. The communication device 7 receives the light emission pattern of the LED 3 of the LED tube 1 while the moving body 5 is moving, acquires light emission information, and moves according to the acquired light emission information (here, the belt conveyor 6A and the sorter 6B). To control. The configuration and functions of the communication device 7 will be described later.

  The housing 71 of the communication device 7 is provided with a light receiving window 71A. The light receiving window 71 </ b> A is disposed close to the LED tube 1 so as to face the LED 3 of the LED tube 1. The LED tube 1 and the communication device 7 are configured and arranged so that the light receiving window 71A continues to face the LED tube 1 while the moving body 5 is moving. By providing the light receiving window 71A in the casing 71, the light emission pattern from the LED 3 not facing the light receiving window 71A is shielded from light, so that interference due to different light emission patterns can be suppressed. Also, by providing the light receiving window 71A, disturbance light in the vertical direction can be shielded. In addition, you may provide the eaves (eaves) for interrupting | blocking the light (for example, illumination light) from a perpendicular direction for the purpose of shielding disturbance light.

  The light receiving window 71 </ b> A is an opening extending along the moving direction of the moving body 5. Here, it is assumed that the length of the light receiving window 71A is about 3 cm (the length that can receive light from three to four LEDs 3 arranged at intervals of 1 cm).

  The light receiving window 71A has a length that can face two or more LEDs 3. Thereby, it is possible to set the moving speed of the moving body 5 relatively fast, and to set the periodic time interval (time slot shown in FIG. 5) of the light emission pattern of the LED 3 relatively long. If the length of the light receiving window 71A is short (for example, 1 cm corresponding to the interval between the LEDs 3), in order to receive all of the light emission patterns for the time slots in FIG. It is necessary to set the moving speed slower or set the periodic time interval (time slot shown in FIG. 5) of the light emission pattern of the LED 3 to be shorter.

  In the present embodiment, since two or more LEDs 3 of the same LED block 31 are caused to emit light with the same light emission pattern (see FIG. 4), the light receiving window 71A has a length that can face two or more LEDs 3. The amount of light when receiving the light emission pattern can be increased. Thereby, the erroneous detection of the light emission pattern can be suppressed.

  The length of the light receiving window 71A is shorter than the length of eight LEDs 3 (corresponding to two LED blocks 31). Thereby, the interference by a different light emission pattern can be suppressed.

  The housing 71 of the communication device 7 is also provided with an antenna 72 for wireless communication, a reading start button 73, a lamp 74, and the like (see FIG. 7).

  FIG. 8A is a hardware block diagram of the communication device 7. The communication device 7 includes a light receiving unit 81, a communication unit 82, and a control unit 83.

  The light receiving unit 81 is a unit for receiving light emission information from the LED 3. The light receiving unit 81 includes a light receiving unit 81A, a preamplifier 81B, an AGC circuit 81C, and a decoding circuit 81D. The light receiving unit 81A is an element that converts a light emission pattern (optical signal) received from the LED 3 into an electric signal. For example, the light receiving unit 81A is configured by a photodiode, a phototransistor, or the like. The preamplifier 81B is a circuit that amplifies the electric signal from the light receiving unit 81A with a predetermined gain. The AGC circuit 81C is a circuit that automatically adjusts the output signal from the preamplifier 81B to a predetermined level. As will be described later, since the number of LEDs 3 that can receive light from the light receiving window 71A is not constant, the output signal is adjusted to a predetermined level by the AGC circuit 81C. The decoding circuit 81D is a circuit that decodes the scrambled received signal. The decoding circuit 81D outputs the received signal to the control unit 83 and notifies the control unit 83 of a reception notification.

  The communication unit 82 is a unit for communicating with the outside. Here, the communication unit 82 performs wireless communication. The communication unit 82 receives signals from the outside and transmits signals to the outside. The communication unit 82 includes a wireless processing circuit 82A and a wireless interface 82B. The wireless processing circuit 82A is a circuit that processes signals to be transmitted and received. The wireless interface 82B is an interface that communicates with the outside via the antenna 72.

  The control unit 83 is a unit for controlling the communication device 7. The control unit 83 includes a moving side MPU 83A and a moving side memory 83B. The moving side MPU 83 </ b> A is a small arithmetic circuit for controlling the communication device 7. The moving side memory 83B is a storage means composed of a ROM and a RAM. The ROM of the movement side memory 83B stores a control program to be executed by the movement side MPU 83A, various information, and the like. The RAM of the moving side memory 83B provides an area for developing a program executed by the moving side MPU 83A. Various functions described below are realized by the movement side MPU 83A executing the control program stored in the movement side memory 83B.

  The communication device 7 also includes a reading start button 73, a lamp 74, a power supply unit 84, and the like. The lamp 74 is a light emitting means for notifying the operation state of the communication device 7. The power supply unit 84 includes a battery 84A and a moving-side power supply circuit 84B that generates necessary power from the battery 84A.

  FIG. 8B is a block diagram of various functions of the communication device 7.

  The light receiving unit 85A has a function of receiving information (for example, position information) from the light receiving unit 81. The optical receiving unit 85A has a function of detecting a reception notification from the decoding circuit 81D and storing light emission information (for example, position information) received from the decoding circuit 81D in the movement side memory 83B. The optical receiver 85A is realized by the control unit 83 executing the control program of the moving side memory 83B and obtaining necessary information from the light receiving unit 81.

  The wireless communication unit 85B has a function of performing wireless communication via the antenna 72. When the wireless communication unit 85B receives information (for example, setting information) from the outside, the wireless communication unit 85B has a function of notifying the fact and storing the received information in the mobile memory 83B. The wireless communication unit 85B also has a function of transmitting information to the outside. The wireless communication unit 85B is realized by the control unit 83 executing the control program of the moving side memory 83B to control the communication unit 82.

  The button operation unit 85C has a function of detecting that the reading start button 73 has been pressed. The button operation unit 85C is realized when the control unit 83 executes a control program in the movement side memory 83B and detects a signal from the reading start button 73.

  The initial setting unit 85D has a function of performing initial settings such as setting of a departure position, a target position, and the like, and setting of a program for realizing movement processing described later. The initial setting unit 85D performs initial setting according to the setting information received from the external management server 92 (see FIG. 12) via the wireless communication unit 85B.

  The position information storage unit 86 is a storage unit for storing predetermined position information. The position information storage unit 86 is realized by a part of the storage area of the movement side memory 83B. Here, the position information storage unit 86 stores departure position information 86A, target position information 86B, and current position information 86C. The departure position information 86A and the target position information 86B in the position information storage unit 86 are position information set by the initial setting unit 85D. Here, it is assumed that the departure position information 86A is initially set to “3” and the target position information 86B is initially set to “150”. The current position information 86 </ b> C is the latest position information received from the LED 3 of the LED tube 1 by the light receiving unit 85 </ b> A. The current position information 86C is updated as needed.

  The abnormality notification unit 85E has a function of determining whether there is an abnormality and a function of notifying that when there is an abnormality. The abnormality notification unit 85E realizes abnormality notification processing such as the control unit 83 executing the control program of the moving-side memory 83B to cause the lamp 74 to blink or the wireless communication unit 85B to transmit an abnormality notification to the outside. To do.

  The initial confirmation unit 85F has a function of performing an initial confirmation process performed before the moving body 5 moves. The initial confirmation process is a process for confirming whether or not the moving body 5 is located at the departure position. The initial confirmation process will be described later (see FIG. 9).

  The movement processing unit 85G has a function of performing movement processing of the moving body 5. The movement process is a process for moving the moving body 5 from the starting position to the target position. The movement process will be described later (see FIG. 10).

  FIG. 9 is a flowchart of the initial confirmation process performed by the initial confirmation unit 85F. The operator installs the moving body 5 at the starting position on the belt conveyor 6A before executing the initial confirmation process. When the operator presses the reading start button 73 of the communication device 7 of the mobile body 5 after the installation, this initial confirmation process starts.

  The control unit 83 waits for a reception notification from the decoding circuit 81D (S001). If there is a reception notification, the control unit 83 acquires the reception information stored in the movement side memory 83B (S002). Here, the acquired reception information should be the position information “3”, and the position information should be updated as the current position information 86C.

  Next, the control unit 83 determines whether the received information is position information (S003). If the received information is not position information (NO in S003), the control unit 83 performs an abnormality notification process and ends the initial confirmation process (S004). If the received information is position information (YES in S003), the control unit 83 determines whether or not the current position information 86C matches the departure position “3” (S005). If they do not match (NO in S005), the control unit 83 performs an abnormality notification process and ends the initial confirmation process (S006). When the current position information 86C matches the departure position “3” (YES in S005), the control unit 83 normally ends the initial confirmation process.

  FIG. 10 is a flowchart of the movement process performed by the movement processing unit 85G. 11A to 11D are explanatory diagrams of a state during the movement process. On the left side of each of FIGS. 11A to 11D, the position of the moving body 5 during the movement process is shown. On the right side, the state of the LED tube 1 visible from the light receiving window 71A is shown. The number in the square indicating the LED 3 is position information indicated by the light emission pattern of the LED 3. Further, the LED 3 that emits light at a certain timing is indicated by a thick line, and the LED 3 that is turned off is indicated by a dotted line.

  After the initial confirmation process described above, the movement process shown in FIG. 10 starts. FIG. 11A is an explanatory diagram of a state when the movement process is started.

  The control unit 83 wirelessly transmits a drive command for the belt conveyor 6A (S101). Thereby, the motor which drives the belt conveyor 6A starts driving, and the moving body 5 starts to move.

  The control unit 83 waits for a reception notification from the decoding circuit 81D (S102). If there is a reception notification, the control unit 83 acquires the reception information stored in the movement side memory 83B (S103). Here, the received information should be position information corresponding to the position of the moving body 5, and the position information should be updated as current position information 86C.

  Next, the control unit 83 determines whether the received information is position information (S104). If the received information is not position information (NO in S104), the control unit 83 performs an abnormality notification process and ends the movement process (S105). If the received information is position information (YES in S104), the control unit 83 determines whether or not the current position information 86C has reached the target position “150” (S106). When it is determined that the current position information 86C has not reached the target position (NO in S106), the control unit 83 determines whether the target position has been passed (S107). If the current position information 86C does not pass through the target position (NO in S107), the movement of the moving body 5 by the belt conveyor 6A continues (S101).

  For example, in the situation shown in the right diagram of FIG. 11B, the light receiving unit 81A of the light receiving unit 81 of the communication device 7 receives the light emission pattern indicating the position information “25”. At this time, the optical receiving unit 85A detects the reception notification from the decoding circuit 81D, and stores the position information “25” as the current position information 86C in the position information storage unit 86 of the moving side memory 83B. Under this situation, the control unit 83 determines that “there is a reception notification” in S102, acquires the current position information “25” in S103, determines “YES” in S104, and determines “NO” in S106. In S107, “NO” is determined, and the movement of the moving body 5 by the belt conveyor 6A is continued (S101).

  As shown in FIG. 11B, in this embodiment, the light receiving window 71A faces two or more LEDs 3, and two or more LEDs 3 of the same LED block 31 emit light with the same light emission pattern. The amount increases. Thereby, erroneous detection of position information can be suppressed.

  When the light receiving window 71A is formed to face two or more LEDs 3 in this way, as shown in FIG. 11C, two LEDs 3 belonging to different LED blocks 31 may face the light receiving window 71A at the same time. . However, in the present embodiment, when a certain LED block 31 emits light, the LED blocks 31 adjacent to both sides do not emit light (see FIGS. 4 and 5), and therefore, as shown in FIG. It is not necessary to receive different light emission patterns. That is, interference during light reception can be suppressed.

  Further, when the light receiving window 71A is formed so as to face two or more LEDs 3, the number of LEDs 3 that receive light from the light receiving window 71A changes (here, changes between 1 and 4). However, in this embodiment, the AGC circuit 81C (see FIG. 8A) of the light receiving unit 81 automatically adjusts the output signal of the preamplifier 81B to a predetermined level, so that erroneous conversion when converting the received light emission pattern into light emission information is suppressed. it can.

  If the moving body 5 continues to be moved by the belt conveyor 6A, the light receiving portion 81A of the light receiving unit 81 of the communication device 7 receives the light emission pattern indicating the position information “150” as shown in the right diagram of FIG. 11D. Will do. Under this situation, the control unit 83 determines “YES” in S106, and transmits a notification of arrival wirelessly (S108). When the target position sorter 6B receives the arrival notice (or when the target position sorter 6B receives a command from the management server that has received the arrival notice), as shown in the left diagram of FIG. 11D, the sorter 6B. Pushes the moving body 5 out of the belt conveyor 6A (the sorter 6B moves the moving body 5), and the moving body 5 is positioned at the target position.

  When the current position passes the target position (YES in S107), the control unit 83 performs an abnormality notification process and ends the movement process (S109). By doing so, it is possible to prevent intrusion into an abnormal area, erroneous delivery, and the like on the mobile body 5 side. Instead of performing the abnormality notification process in S109, a process may be performed in which the belt conveyor 6A is driven in reverse to return the position of the moving body 5.

  The moving system 100 described above includes a moving body 5 that moves in a predetermined moving direction, a belt conveyor 6A and a sorting machine 6B that move the moving body 5, and an LED tube 1 (corresponding to a light emitting tube). And a communication device 7. The communication device 7 is configured to control the belt conveyor 6A and the sorter 6B by receiving light emission patterns, obtaining light emission information, and transmitting a command according to the light emission information. By arranging the LED tube 1 along the moving direction of the moving body 5 and providing the communication device 7 on the moving body 5 so as to face the LED tube 1, the moving system 100 can be easily installed. In addition, since the LED tube 1 and the communication device 7 are arranged so as to face each other, the distance between the LED tube 1 and the communication device 7 is close, so the moving body 5 has high resolution (position accuracy of several centimeters). Can be moved.

  Note that the LED tube 1 includes a plurality of LEDs 3 arranged in a row, and is configured to cause each LED 3 to emit light with a light emission pattern indicating light emission information based on the light emission information table 45. According to the LED tube 1 configured in this way, a large number of LEDs 3 can be easily installed.

  Further, the communication device 7 has a casing 71 provided with a light receiving window 71A, and the light emission pattern of the LED 3 not facing the light receiving window 71A is shielded from light. Thereby, the interference by a different light emission pattern can be suppressed. Moreover, light from the outside can also be shielded.

  Furthermore, the light receiving window 71A has a length that can face two or more LEDs 3. Thereby, it is possible to set the moving speed of the moving body 5 relatively fast, and to set the periodic time interval (time slot shown in FIG. 5) of the light emission pattern of the LED 3 relatively long. In addition, since two or more LEDs 3 of the same LED block 31 emit light with the same light emission pattern, the amount of light received by the light receiving unit 81A is increased, and erroneous detection of position information can be suppressed.

  When the light receiving window 71A is formed to face two or more LEDs 3, as shown in FIG. 11C, two LEDs 3 belonging to different LED blocks 31 may face the light receiving window 71A at the same time. However, when a certain LED block 31 emits light, the LED blocks 31 adjacent to both sides thereof do not emit light (see FIGS. 4 and 5), so that the light receiving unit 81A simultaneously receives different light emission patterns as shown in FIG. 11C. I don't have to.

  The light emission information is position information indicating a position in the LED tube 1, and the LEDs 3 each emit light in a light emission pattern indicating the position information. Thereby, if the light emission pattern is received, the current position of the moving body 5 can be determined. The communication device 7 stores target position information 86B. If the acquired current position information 86C is the target position information 86B, the communication device 7 controls the sorting machine 6B (corresponding to a moving mechanism). Thereby, the moving body 5 can be positioned at the target position.

=== Transfer system using LED tube (2) ===
FIG. 12 is an explanatory diagram of the second form of the mobile system 100. Here, the movement system 100 using many LED tubes 1 is demonstrated.

  The management server 92 wirelessly transmits setting information to the communication device 7 (not shown in FIG. 12), and performs initial setting (setting of the target position information 86B and the movement processing unit 85G in the initial setting unit 85D of the communication device 7). (Move processing program settings etc.). The mobile body 5 including the communication device 7 that has been initialized is placed on the belt conveyor 6A in order. The management server 92 only sets the communication device 7 and does not track the position of the moving body 5 thereafter. For this reason, the load of the management server 92 is lighter than in the case of centrally managing the positions of all the mobile bodies 5.

  The belt conveyor 6A always continues to operate in one direction, and the moving body 5 moves to the target building by the belt conveyor 6A. The LED tube 1 is arranged along the moving direction of the belt conveyor 6A. When the belt conveyor 6 </ b> A is long, two or more LED tubes 1 are connected by a connection terminal 22. As for other LED tubes 1 in the figure, two or more LED tubes 1 may be connected by connecting terminals 22.

  Each building is provided with an elevator 6C for transporting the moving body 5 to a predetermined floor. Here, when the sorting machine 6B pushes the moving body 5 from the belt conveyor 6A to the retreat space, the worker standing by in the retreat space carries the mobile body 5 into the elevator 6C. The LED tube 1 is arranged along the moving direction of the elevator 6C. The elevator 6 </ b> C corresponds to a moving mechanism that moves the moving body 5.

  On each floor, belt conveyors 6D to 6F are two-dimensionally arranged in a mesh shape. LED tube 1 is arrange | positioned so that these belt conveyors 6D-6F may be followed. An area number is assigned to each belt conveyor. Here, when the sorting machine 6B pushes out the moving body 5 from the belt conveyor 6D in the first area, the moving body 5 can be moved to the belt conveyor 6E in the second area or the belt conveyor 6F in the third area. The belt conveyors 6D to 6F and the sorting machines 6B installed on these belt conveyors correspond to a moving mechanism that moves the moving body 5.

  FIG. 13 is an explanatory diagram of light emission information.

  The light emission information includes “building number”, “floor number”, “area number”, “LED tube number”, and “LED block number”. The “building number” is information for identifying the building where the LED tube 1 is installed. The “floor number” is information for specifying the floor on which the LED tube 1 is installed. The “area number” is information for specifying the area where the LED tube 1 is installed (or the belt conveyor in that area). The “LED tube number” is information for specifying each LED tube 1 when two or more LED tubes 1 are connected by the connection terminal 22. The “LED block number” is information for specifying the LED block 31 in the LED tube 1 and corresponds to the position information 1 to 256 in FIG. 6C.

  In the light emission information table 45 of the memory 44 of each LED tube 1, each LED block 31 is associated with light emission information of 32 bits in the figure. In other words, in the light emission information table 45, 32-bit light emission information shown in FIG. 13 is associated with each LED block 31 instead of the light emission information 1 to 256 in FIG. 6B.

  If the communication device 7 of the mobile body 5 receives the light emission pattern and receives the light emission information, the current position of the mobile body 5 can be specified. For this reason, in the following description, 32-bit light emission information is also referred to as “position information”.

  FIG. 14 is a block diagram of various functions of the communication device 7 according to the second embodiment. Compared with the above-described FIG. 8B, there is a difference in that there are a plurality (four in this case) of target position information 86B in the position information storage unit 86. An event information storage unit 87 is newly prepared. The event information storage unit 87 stores event information 87A including a destination of the arrival notification (information for specifying the moving mechanism) and a command for processing to be performed by the destination. Since there are four pieces of target position information 86B, there are also four pieces of event information 87A.

  Here, a block diagram of the communication device 7 of the first moving body 5 in FIG. 12 is shown. The hardware of the communication device 7 is almost the same as that shown in FIG. 8A.

  FIG. 15 is a flowchart of the movement process performed by the movement processing unit 85G according to the second embodiment. When the moving body 5 is placed on the belt conveyor 6A, the moving process starts. Hereinafter, the movement process of the 1st mobile body 5 of FIG. 12 is demonstrated.

  Since the belt conveyor 6A continues to operate, when the moving body 5 is placed on the belt conveyor 6A, the moving body 5 moves (S201). Similar to the mobile system 100 of the first embodiment, the communication device 7 is attached to the mobile body 5, and the control unit 83 waits for a reception notification from the decoding circuit 81D (S202). If there is a reception notification, the control unit 83 acquires the reception information stored in the movement side memory 83B (S203). The control unit 83 determines whether the received information is position information (S204). If the received information is not position information (NO in S204), the control unit 83 performs an abnormality notification process and ends the movement process (S205). If the received information is position information (YES in S204), the control unit 83 determines whether or not the current position has reached the first target position “P_A” (S206). When it is determined that the current position has not reached the target position (NO in S206), the control unit 83 determines whether the target position has been passed (S207). If the current position does not pass the target position (NO in S207), the movement of the moving body 5 by the belt conveyor 6A continues (S201). If the current position passes the target position (YES in S207), the control unit 83 performs an abnormality notification process and ends the movement process (S209). These processes are almost the same as the processes of S101 to S109 of the first form.

  If the movement of the moving body 5 by the belt conveyor 6 </ b> A is continued, the communication device 7 detects a light emission pattern corresponding to the target position “P_A” from the LED tube 1. Under this situation, the control unit 83 determines “YES” in S206, and wirelessly issues a command to the second sorter 6B of the belt conveyor 6A based on the first event information 87A of the event information storage unit 87. Transmit (S208). When receiving the command, the second sorter 6B pushes the moving body 5 from the belt conveyor 6A to the retracting space, and the worker waiting in the retracting space moves the moving body 5 to the elevator 6C. Further, the control unit 83 wirelessly transmits an ascent command to the elevator 6C based on the first event information 87A in the event information storage unit 87 (S208). Thereafter, since there is a next target position (YES in S210), the control unit 83 updates the target position in accordance with the second target position information 86B in the position information storage unit 86 (S211).

  When the elevator 6C that has received the command rises, the moving body 5 moves in the second building (S201). If the LED tube 1 is arranged along the elevator 6C and there is a reception notification from the decoding circuit 81D (S202), the control unit 83 acquires the reception information stored in the movement side memory 83B (S203). When the received information is position information (YES in S204), the control unit 83 determines whether or not the current position has reached the second target position “P_B” (S206). When the moving body 5 reaches the second target position “P_B” (YES in S206), the control unit 83 wirelessly transmits a stop command to the elevator 6C based on the second event information 87A (S208). . The elevator 6C stops when it receives the stop command. Here, the elevator 6C stops on the third floor. Further, the control unit 83 sounds the buzzer of the elevator 6C based on the second event information 87A, and notifies the attendant that the moving body 5 has arrived at the third floor (S208). The staff member who heard the buzzer moves the moving body 5 from the elevator 6C to the belt conveyor 6D. Since there is a next target position (YES in S210), the control unit 83 updates the target position according to the third target position information 86B (S211).

  Thereafter, the control unit 83 executes substantially the same movement process, and when the moving body 5 reaches the third target position “P_C” by the belt conveyor 6D in the first area (YES in S206), the third event Based on the information 87A, a command is sent to the second sorter 6B in the first area to move the moving body 5 to the belt conveyor 6F in the third area, and a command is sent to the motor of the belt conveyor 6F in the third area. Then, the belt conveyor 6F in the third area is driven (S208). Since the next target position is present (YES in S210), the control unit 83 updates the target position according to the fourth target position information 86B (S211). Further, the control unit 83 executes substantially the same movement process, and when the moving body 5 reaches the fourth target position “P_D” by the belt conveyor 6F in the third area (YES in S206), the fourth event Based on the information 87A, a stop command is transmitted to the motor of the belt conveyor 6F in the third area (S208), and the movement process is terminated (NO in S210). When the motor of the belt conveyor 6F in the third area stops according to the command, the moving body 5 is positioned at the final target position “P_D” (the position of the star in FIG. 12).

  By the way, when the several mobile body 5 exists on the belt conveyor 6F of a 3rd area, if the belt conveyor 6F stops by S208, the other mobile body 5 will not be able to reach | attain a target position. Therefore, when it is assumed that the plurality of moving bodies 5 flow on the belt conveyor 6F in the third area, the above-described sorting is not performed instead of stopping the motor of the belt conveyor 6F in the third area as described above. The moving body 5 may be pushed out from the belt conveyor 6F by a machine. Alternatively, when a plurality of moving bodies 5 flow on the belt conveyor 6F in the third area, when the motor of the belt conveyor 6F in the third area stops for positioning of the certain moving body 5, the other moving bodies 5 Since the control unit 83 can recognize the stop of the belt conveyor 6F when the reception information does not change, the belt after the predetermined time (time until the moving body 5 is taken out from the belt conveyor 6F) has elapsed since the stop of the belt conveyor 6F. You may transmit the operation start command of the motor of the conveyor 6F. In this case, the control device of the belt conveyor 6F operates the motor when receiving the operation start command. However, the control device for the belt conveyor 6F may reject the operation start command (do not operate the motor) when the motor is stopped in accordance with the abnormality notification. Note that the control device for the belt conveyor 6F may manage whether or not the plurality of moving bodies 5F are flowing to the belt conveyor 6F.

  Like the mobile system 100 of the above-described second form, the mobile system 100 of the first form can be applied.

=== Transfer system using LED tube (3) ===
In the moving system 100 described above, the light emission information is position information indicating the position of the LED block 31. However, as in the mobile system 100 according to the third embodiment described below, the light emission information may not be position information.

  In the above-described movement system 100, the target position information 86B indicating the target position is stored in the movement side memory 83B of the communication device 7 of the moving body 5. However, the target position information 86B may not be stored in the movement side memory 83B. Even in such a case, the moving body 5 can be positioned at the target position as described below.

  FIG. 16A is an explanatory diagram of a third form of the mobile system 100. Here, for ease of explanation, the movement of the moving body 5 is limited to one dimension.

  The mobile system 100 of the third form has almost the same configuration as the mobile system 100 of the first form. The moving body 5 that is the moving object is placed on the belt conveyor 6A and moves. Here, when the moving body 5 containing articles at the starting position moves by the belt conveyor 6A and reaches the target position, the moving body 5 is pushed out of the belt conveyor 6A by the sorting machine 6G and positioned at the target position.

  Two sorters 6G are arranged between the starting position and the target position. The moving body 5 is pushed out to the target position by the second sorter 6G. Since the sorter 6G of the third form takes time to operate, it is necessary to operate in advance before the mobile body 5 arrives. Here, as an example, when the moving body 5 is sorted by the first sorting machine 6G, the first time is reached when the moving body 5 reaches the 64th LED block 31 a predetermined distance before the first sorting machine 6G. The sorter 6G is operated. Further, when the moving body 5 is sorted by the second sorting machine 6G, the second sorting machine is timed when the moving body 5 reaches the 184th LED block 31 a predetermined distance before the second sorting machine 6G. 6G shall be operated. It is assumed that the LED 3 at the starting position emits a light emission pattern indicating “3” as position information.

  The LED tube 1 is disposed along the moving direction of the moving body 5, that is, along the belt conveyor 6A. The LED blocks 31 except for the 64th and 184th lights emit a light emission pattern according to position information, for example. The 64th LED block 31 emits a light emission pattern indicating "first approach information" indicating that the first sorter 6G is approaching. The 184th LED block 31 emits a light emission pattern indicating “second approach information” indicating that the second sorter 6G is approaching. Note that “Near 1” in FIG. 16A indicates that the LED 3 emits light with a light emission pattern indicating “first approach information”. In addition, “Near 2” in the figure indicates that the LED 3 emits light with a light emission pattern indicating “second approach information”.

  In the light emission information table 45 of the memory 44 of the LED tube 1, “first approach information” is associated with the 64th LED block 31, and “second approach information” is associated with the 184th LED block 31. It is associated. The “first approach information” and the “second approach information” correspond to specific information for specifying a movement mechanism (here, the sorter 6G) to be controlled from a plurality of movement mechanisms. For example, it is possible to indicate that the light emission information is approach information by changing the extension bit of the light emission information in FIG.

  FIG. 16B is a block diagram of various functions of the communication device 7 according to the third embodiment. Compared to FIG. 8B and FIG. 14 described above, the target position information 86B is not stored. Instead, event information 87 </ b> A that identifies the sorter 6 </ b> G to be controlled by the movement process is stored in the event information storage unit 87.

  FIG. 17 is a flowchart of the movement process performed by the movement processing unit 85G according to the third embodiment. 18A to 18D are explanatory diagrams of a state during the movement process. The position of the moving body 5 during the movement process is shown on the left side of each of FIGS. On the right side, the state of the LED tube 1 visible from the light receiving window 71A is shown. In the square indicating the LED 3, light emission information indicated by the light emission pattern of the LED 3 is described. Further, the LED 3 that emits light at a certain timing is indicated by a thick line, and the LED 3 that is turned off is indicated by a dotted line.

  As shown in FIG. 18A, when the moving body 5 is placed on the belt conveyor 6A, the moving body 5 moves (S301). The communication device 7 is attached to the moving body 5, and the control unit 83 waits for a reception notification from the decoding circuit 81D (S302). If there is a reception notification, the control unit 83 acquires the reception information stored in the movement side memory 83B (S303).

  In the third mode, the control unit 83 determines whether or not the received information is approach information (S304). When the received information is not the approach information (NO in S304), the moving body 5 is continuously moved by the belt conveyor 6A (S301). When the received information is approach information (YES in S304), the control unit 83 determines whether or not the moving mechanism to be controlled by the moving process is approaching based on the approach information and the event information 87A. (S305). Specifically, the control unit 83 determines whether or not the moving mechanism indicated by the approach information matches the moving mechanism indicated by the event information 87A in the event information storage unit 87 (here, the second sorter 6G). (S305). If the controlled object is not approaching (NO in S305), the movement of the moving body 5 by the belt conveyor 6A continues (S301).

  As shown in FIG. 18B, when the reception information is “first approach information”, the control unit 83 determines “YES” in S304. However, since the “first approach information” is information indicating the approach of the first sorter 6G and does not indicate the approach of the second sorter 6G, the control unit 83 determines “NO” in S305. And the movement of the moving body 5 by the belt conveyor 6A continues (S301).

  As shown in FIG. 18C, when the received information is “second approach information”, the control unit 83 determines “YES” in S304. Further, since the “second approach information” is information indicating the approach of the second sorter 6G, the control unit 83 determines “YES” in S305, and controls the control object (here, the event information 87A). The command is transmitted wirelessly to the second sorter 6G) (S306).

  When the second sorter 6G receives the command, the second sorter 6G starts the operation before the mobile body 5 arrives. Thereafter, as shown in FIG. 18D, the moving body 5 is pushed out of the belt conveyor 6A by the second sorter 6G and positioned at the target position.

  In the movement system 100 described above, the light emission information includes approach information (specific information) for identifying the sorter 6G to be controlled from among a plurality of sorters 6G (movement mechanism). The LED 3 associated with the information emits light with a light emission pattern indicating the approach information. Thereby, if the light emission pattern is received, it becomes possible to specify the approaching sorter 6G. Further, the communication device 7 stores event information 87A for specifying a moving mechanism to be controlled. If the moving mechanism indicated by the approach information matches the moving mechanism indicated by the event information 87A, the communication information 7 indicates the approach information. The moving mechanism (here, the second sorter 6G) is controlled. Thereby, the moving body 5 can be moved to a predetermined position.

As described above, even if the target position information 86B is not stored in the movement side memory 83B, the moving body 5 can be positioned at the target position. According to the movement system 100 of the third embodiment, there is an advantage that even if the arrangement of the second sorter 6G is changed due to a layout change or the like, it is not necessary to change the information set in the movement side memory 83B. (On the other hand, in the first form and the second form described above, it is necessary to change the target position information 86B set in the movement side memory 83B.)
=== Transfer system using LED tube (4) ===
FIG. 19A is an explanatory diagram of the fourth form of the mobile system 100. FIG. 19B is a graph of the moving speed of the moving body 5.

  The moving body 5 that is a movement target includes a drive mechanism (not shown) and travels on the rail 6H. A drive mechanism (not shown) corresponds to a moving mechanism that moves the moving body 5.

  The LED tube 1 is disposed along the moving direction of the moving body 5, that is, along the rail 6H. The 64th LED block 31 emits a light emission pattern indicating “first movement speed information”. The 121st LED block 31 emits a light emission pattern indicating “second movement speed information”. The 184th LED block 31 located at the target position emits a light emission pattern indicating “arrival information”.

  In other words, in the light emission information table 45 of the memory 44 of the LED tube 1, the “first moving speed information” is associated with the 64th LED block 31, and the “second movement speed information” is associated with the 121st LED block 31. “Moving speed information” is associated with the LED block 31 of No. 184, and “arrival information” is associated with it. “First moving speed information”, “second moving speed information”, and “arrival information” are specific information that specifies a drive mechanism (not shown) as a control target, and parameters of processing to be performed by the control target ( Here, it is also parameter information for setting (moving speed). For example, by changing the extension bit of the light emission information in FIG. 13, it can be shown that the light emission information is movement speed information or arrival information.

  The “first moving speed information” is information indicating the moving speed V1. “Second moving speed information” is information indicating the moving speed V2. Note that the moving speeds V1 and V2 have a relationship of V0> V1> V2 (> 0) with respect to the initial speed V0 of the moving body 5.

  As shown in FIG. 19A, the moving body 5 is moving at the initial speed V0. When the communication device 7 of the moving body 5 receives the light emission pattern indicating “first movement speed information” from the LED tube 1, the communication device 7 controls the drive mechanism (not shown) according to the first movement speed information to move the communication device 7. The speed is changed to the moving speed V1. When the communication device 7 of the moving body 5 receives the light emission pattern indicating the “second movement speed information” from the LED tube 1, the driving mechanism is controlled according to the second movement speed information, and the movement speed is changed to the movement speed. Change to V2. Further, when the communication device 7 of the moving body 5 receives the light emission pattern indicating “arrival information” from the LED tube 1, the driving mechanism is controlled to stop the moving body 5 (set the moving speed to zero). As described above, the moving body 5 moving on the rail 6H at the initial speed V0 is gradually decelerated before the target position and stopped at the target position, thereby being positioned at the target position.

  As described above, not only position information and approach information but also various information can be adopted as the light emission information.

  Also in the fourth embodiment, similarly to the third embodiment, the moving body 5 can be positioned at the target position without storing the target position information 86B in the movement side memory 83B. For this reason, even if the arrangement of the second sorter 6G is changed due to a layout change or the like, it is not necessary to change the information set in the movement side memory 83B.

=== Laying LED tubes ===
Next, a method for laying the LED tube 1 for constructing the moving system 100 will be described. Here, in the 12th area of the 5th floor of the 3rd building, the 3 LED tubes 1 are connected and laid to construct the moving system 100 of the third form shown in FIG. 16A.

  FIG. 20 is a flowchart of a method for laying the LED tube 1.

  First, the operator prepares three LED tubes 1, a dedicated light receiver, and a setting terminal 91 (S401). The dedicated light receiver is connected to the setting terminal 91 and can receive the light emission pattern of the LED 3 and output the light emission information to the setting terminal 91.

  Next, the worker temporarily installs the three LED tubes 1 (S402). Here, the three LEDs 3 are arranged in a substantially straight line along the belt conveyor. Since the length of the LED tube 1 is about 10m, when the end of the LED tube 1 is aligned with the reference position (0m), the connection terminal 22 of the LED tube 1 can be connected to the 10m and 20m points from the reference position. Has been.

  Next, the operator connects the setting terminal 91 to the setting terminal of the LED tube 1 and sets predetermined information in the memory 44 of the LED tube 1 (S403). Since the LED tube 1 has already been temporarily installed, the operator stores the building number “3”, the floor number “5”, the area number “12” and the LED in the memory 44 of the LED tube 1 at the reference position (0 m). Set tube number “0”. The operator also connects the setting terminals 91 in order to the other two LED tubes 1 and sets predetermined information in the memory 44. In the memory 44 of the other two LED tubes 1, the same information is set for the building number, the floor number, and the area number, and “1” or “2” is set for the LED tube number.

  Note that “master” is set as “master / slave information” in the memory 44 of the LED tube 1 at the reference position (0 m), and “master / slave information” is set as “master / slave information” in the memories 44 of the other two LED tubes 1. By setting the “slave 1” or “slave 2” and managing the information in the memory 44 of the “master” LED tube 1, the setting terminal 91 may manage the other two pieces of information. However, here, “LED tube number” is used instead as “master / slave information”.

  After the setting of S403, the control unit 83 of each LED tube 1 determines each light emission information corresponding to each LED block 31 based on the set information (building number, floor number, area number and LED tube number) (see FIG. 13) is automatically generated, and the light emission information table 45 is generated. The LED block number in the light emission information is set in advance as a default value. A light emission information table 45 that associates each LED block 31 with light emission information is stored in the memory 44 of each LED tube 1.

  Next, the operator connects the three LED tubes 1 by connecting the connecting terminals 22 at 10 m and 20 m from the reference position (0 m) (S404). At this time, the operator peels off the adhesive seal from the adhesive surface 21B of the LED tube 1 (the surface opposite to the light emitting surface 21A), and places the adhesive surface 21B so that the light emitting surface 21A of the LED tube 1 faces the belt conveyor side. The LED tube 1 may be finally installed by pasting it on a wall or the like.

  After the connection in S404, the operator connects the setting terminal 91 to the LED tube 1 with the LED tube number “0” (or the LED tube 1 with the “master”). The setting terminal 91 can set not only the LED tube 1 with the LED tube number “0” but also other LED tubes 1 by specifying the LED tube number. For example, when the setting terminal 91 designates the LED tube number “2”, the LED tubes 1 with the LED tube numbers “0” and “1” receive the setting information from the setting terminal 91 as the connection terminal 22 (and the connection interface). The LED tube 1 with the LED tube number “2” is set based on the setting information transferred from the adjacent LED tube 1.

  Next, the operator confirms the operation of the LED tube 1 using a dedicated light receiver (S405). Specifically, the light emission pattern of the LED 3 is read with a dedicated light receiver at an arbitrary position of the LED tube 1 and the light emission information (building number, floor number, area number, LED tube number, LED block number) is confirmed to be correct. (Or check whether it is within the required position accuracy).

  If the light emission information is only the position information, in other words, if each LED 3 only emits light with the light emission pattern indicating the position information, the laying of the LED tube 1 is completed at this stage. However, in the case of the mobile system 100 of the third form (see FIG. 16A), it is necessary to set approach information as light emission information other than position information. Therefore, the worker next changes a part of the light emission information of the LED tube 1 and sets the approach information (S406).

  The operator reads the light emission pattern of the LED 3 with a dedicated light receiver at a position just a predetermined distance (for example, 1 m) from the sorting machine 6G. Thereby, the operator can specify the light emission information (here, the building number, floor number, area number, LED tube number, LED block number) of the LED 3 on the setting terminal 91. Here, it is assumed that the specified light emission information is the building number “3”, the floor number “5”, the area number “12”, the LED tube number “0”, and the LED block number “64”. Next, the operator displays the light emission information table 45 registered in the memory 44 with the LED tube number “0” on the setting terminal 91, and displays the light emission information associated with the LED block number “64”. It changes to "first approach information" (S406). The operator registers “second approach information” in the light emission information table 45 of the memory 44 of the LED tube 1 by the same procedure.

  Even when the LED block 31 emits light with a light emission pattern other than “approach information”, the position of the LED block 31 to be changed is specified by the dedicated light receiver, and is associated with the specified LED block 31. The light emission information may be changed. For example, in the case of the LED tube 1 of the fourth form (see FIG. 19A), moving speed information and arrival information are set as the light emission information.

  The target position information 86B may be set in the communication device 7 of the moving body 5. In such a case, the light emission pattern at the target position is read by the dedicated light receiver, and the setting terminal 91 reads the position information (building number, floor number, area number, LED tube number, LED block number) indicated by the light emission pattern. Register in the management server 92. Then, when positioning the moving body 5 at the target position, the management server 92 sets the registered position information as the target position information 86B in the position information storage unit 86 of the communication device 7 of the moving body 5. .

=== Others ===
The above embodiments are mainly described for LED tubes, moving systems, and LED tube laying methods, but the description includes moving methods, LED tube setting methods, moving system manufacturing methods, and the like. It goes without saying that disclosure is included.

  The above-described embodiments are for facilitating the understanding of the present invention, and are not intended to limit the present invention. The present invention can be modified and improved without departing from the gist thereof, and it goes without saying that the present invention includes equivalents thereof.

<About mobile systems>
The above moving system is not limited to a physical distribution system that transports goods such as merchandise. For example, the moving body 5 (traffic system) may be configured by replacing the moving body 5 described above with a rail vehicle. Alternatively, it is also possible to configure a moving system that moves the inspection device by using an inspection device that inspects the inside of the piping as a moving body and disposing the LED tube in the piping. In addition, when LED emits visible light, if an LED tube is arrange | positioned in piping, an LED tube can also be utilized as an illuminating device in piping.

<About moving direction>
According to the above-described moving system, the moving body 5 is restricted in moving direction by the belt conveyor 6A, the elevator 6C, the rail 6H, and the like, and the LED tube 1 is arranged along the moving direction thus restricted. Has been. However, the present invention is not limited to this, and there may be no means for limiting the moving direction of the moving body 5.

  By the way, when there is no means for restricting the moving direction of the moving body 5, the facing relationship between the LED tube 1 and the communication device 7 may be shifted while the moving body 5 is moving. Therefore, the communication device 7 analyzes the installation direction of the LED tube 1 by detecting the positions of two or more LEDs facing the light receiving window 71A, and moves the moving body 5 along the analyzed installation direction. The moving mechanism may be controlled. Thereby, since the moving body 5 moves so that LED3 of the LED tube 1 may be tracked, the LED tube 1 and the communication device 7 can continue to face each other during the movement.

  In addition, the camera is mounted on the communication device 7, an image is taken in a photographing range that includes a large number of LEDs 33 of the LED tube 1, and the curvature of the LED tube 1 is obtained by analyzing the position of the light emitting point. May be. And you may control the movement of the mobile body 5 with the moving speed according to the curvature of the LED tube 1.

<About LED wiring>
According to the wiring diagram of the LED block group 32 in FIG. 4 described above, the cathode control line is connected to the two LED blocks 31, and the anode control line is connected to the 128 LED blocks 31. However, the wiring of the LED block group 32 is not limited to this.

  For example, as shown in FIG. 21, the cathode control line and the anode control line may be wired so as to be connected to one LED block 31. According to such wiring, the light emission timing of each LED block 31 can be arbitrarily changed. (On the other hand, according to the wiring of FIG. 4, the odd-numbered LED blocks 31 and the even-numbered LED blocks 31 emit light alternately.) Also, according to such wiring, the adjacent LED blocks 31 are the same. It is also possible to substantially increase the number of LEDs in the LED block by an integral multiple by controlling to emit light with the light emission pattern. However, according to FIG. 21, the number of wirings increases.

<About LED block>
The above-described LED block 31 is composed of two or more LEDs 3, and the LEDs 3 of the same LED block 31 emit light with the same light emission pattern. However, the present invention is not limited to this. By configuring the LED block from one LED, each LED may emit light with a different light emission pattern.

<About LED control unit>
According to the LED tube 1 of FIG. 3 described above, the LED control unit 4 is integrated with the LED block group 32 and the like. However, it is also possible to configure the LED control unit 4 separately from the LED block group 32 and connect the LED control unit 4 and the LED block group 32 with a cable.

<About the emission wavelength of LED>
The LED 3 preferably emits visible light. That is, it is desirable that the emission wavelength of the LED 3 is in the range of 380 nm to 780 nm which is a visible light region. When the LED 3 emits visible light, for example, the following processing is possible.

  For example, as already described, by scrambling the light emission information, the light emission pattern can be visually recognized without flickering, and the lighting state can be stably visually recognized. That is, it can appear that the LED 3 is always lit. Further, if the always-on state is a normal state, the failure of the LED 3 can be visually recognized when the LED 3 fails and is turned off.

In addition, information such as the speed and moving direction of the moving body 5 can be displayed in a visible manner. Specifically, when the speed of the moving body 5 is fast, the LED 3 may blink rapidly, and when the speed of the moving body 5 is slow, the LED 3 may blink slowly so that the speed information can be visually recognized. Further, by turning on a plurality of LEDs 3 (or LED blocks 31) in order according to the moving direction of the moving body 5, it is possible to display the lighting LED 3 so that the information on the moving direction can be visually recognized. .
When the LED 3 emits visible light in the above-described vehicle movement system (traffic system), the driver can recognize the traveling direction of the vehicle at night by visually recognizing the visible light from the LED 3. Speed control can be performed.

  In addition, when an abnormal stop occurs, the operator can be notified by turning on the LED 3. Further, not only the presence / absence of an abnormality may be notified, but information such as the location where the abnormality has occurred may be displayed to the operator. For example, it is possible to turn on the LED 3 so as to guide the operator to the place where the abnormality has occurred by sequentially turning on the LED 3 (or the LED block 31) toward the place where the abnormality has occurred.

  Note that when the LED 3 emits visible light, not only the above information (abnormal information, failure information, speed information, direction information, etc.) but also various other information can be displayed so that the operator can visually recognize the information. .

<About rail>
According to the movement system of the 4th form shown to FIG. 19A, the LED tube 1 and the rail 6H are comprised separately. However, the LED tube may be configured to function as a rail. If it does in this way, it will become easy to arrange | position an LED tube along the moving direction of the mobile body 5, or arrange | position so that an LED tube and the communication apparatus 7 may be opposed.

  When the LED tube is configured to function also as a rail, the light emitting surface of the LED tube usually faces upward, and the light receiving window 71A of the communication device 7 attached to the moving body 5 covers the light emitting surface from above. Will be arranged downward. Thus, the light emission direction of the LED tube 1 is not limited to the horizontal direction, and may be the vertical direction or other directions.

1 LED tube, 2 tube,
21A Light emitting surface, 21B Adhesive surface, 22 Connection terminal,
3 LED, 31 LED block, 32 LED block group,
4 LED control unit, 41 LED drive circuit, 42 LED control circuit, 43 MPU,
44 memory, 44A ROM, 44B RAM, 45 light emission information table,
46 power supply circuit, 47 setting interface circuit,
48 interface circuit for connection,
5 moving objects, 51 moving baskets,
6A belt conveyor, 6B sorter, 6C elevator,
6D-6F belt conveyor, 6G sorter, 6H rail,
7 communication device, 71 housing, 71A light receiving window,
72 antenna, 73 reading start button, 74 lamp,
81 light receiving unit,
81A light receiving unit, 81B preamplifier, 81C AGC circuit, 81D decoding circuit,
82 communication unit, 82A wireless processing circuit, 82B wireless interface,
83 Control unit, 83A Movement side MPU, 83B Movement side memory,
84 power supply unit, 84A battery, 84B moving side power supply circuit,
85A optical receiver, 85B wireless communication unit, 85C button operation unit,
85D initial setting unit, 85E abnormality notification unit, 85F initial confirmation unit, 85G movement processing unit,
86 position information storage unit, 86A departure position information,
86B target position information, 86C current position information,
87 event information storage unit, 87A event information,
91 setting terminal, 92 management server,
100 Mobile system

Claims (11)

A moving body that moves in the moving direction;
A moving mechanism for moving the moving body;
A light emitting tube having a plurality of light emitting elements arranged in a row and arranged along the moving direction, wherein the light emitting information is based on a light emitting information table in which the light emitting elements are associated with light emitting information. A light emitting tube that emits light from each of the light emitting elements with a light emitting pattern indicating:
A communication device that is provided on the moving body so as to face the light emitting tube, receives the light emission pattern while the moving body is moving, acquires the light emission information, and controls the moving mechanism according to the light emission information A moving system comprising: The mobile system according to claim 1,
The communication system includes a housing having a light receiving window, and the light emitting pattern from the light emitting element not facing the light receiving window is shielded from light. The mobile system according to claim 2,
The moving system, wherein the light receiving window has a length that can be opposed to two or more light emitting elements. The mobile system according to claim 3,
The light emitting tube includes a plurality of blocks composed of two or more light emitting elements, and causes the two or more light emitting elements in the same block to emit light with the same light emission pattern. The mobile system according to claim 4,
When the light emitting element of a certain block emits light, the light emitting element of the adjacent block does not emit light. The mobile system according to any one of claims 1 to 5,
The light emission information is position information indicating a position in the light emitting tube,
The light emitting element emits light with a light emission pattern indicating the position information, respectively. The mobile system according to claim 6,
The communication device stores target position information indicating a target position,
The communication device receives the light emission pattern during the movement of the moving body to acquire the position information, and if the acquired position information is the target position information, the communication apparatus positions the moving body at the target position. The moving system is characterized by controlling the moving mechanism as described above. The mobile system according to any one of claims 1 to 7,
The movement system includes a plurality of the movement mechanisms,
The light emission information includes specific information for specifying any of the plurality of moving mechanisms,
The moving system, wherein the light emitting element associated with the specific information emits light with a light emission pattern indicating the specific information. 9. The mobile system according to claim 8, wherein
The communication device stores event information that identifies the moving mechanism to be controlled,
The communication device receives the light emission pattern during the movement of the moving body, acquires the specific information, and if the moving mechanism indicated by the acquired specific information is the moving mechanism indicated by the event information, A moving system that controls the moving mechanism indicated by the specific information. The mobile system according to claim 1, wherein
The moving system, wherein the light emitting element of the light emitting tube emits visible light. A light emitting tube having a plurality of light emitting elements arranged in a row is arranged along the moving direction of the moving body, and a communication device is arranged on the moving body so as to face the light emitting tube,
Based on a light emission information table in which the light emitting elements and light emission information are associated with each other, the light emitting elements are caused to emit light with light emission patterns indicating the light emission information,
Receiving the light emission pattern in the communication device during the movement of the mobile body to obtain the light emission information;
A moving method characterized by controlling a moving mechanism for moving the moving body according to the light emission information.

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