Cleaning system

Abstract

The cleaning system includes: a sweeper vehicle that travels along a predetermined path to perform cleaning operations along that path; and a control device that controls the sweeper vehicle. The sweeper vehicle has a status detection device that detects the status of the travel path and has a cleaning mode for performing cleaning operations and a non-cleaning mode for not performing cleaning operations as operating modes. The control device performs the following controls: inspection control, which, while the sweeper vehicle travels in non-cleaning mode, detects the status of a pre-set inspection area in the travel path using the status detection device; specific control, which, based on the status of the inspection area detected by the status detection device in inspection control, specifies the area in the travel path that must be cleaned, i.e., the area that must be cleaned; and cleaning control, which, after the inspection control and specific control are completed, causes the sweeper vehicle to travel in cleaning mode within the area that must be cleaned.

Description

[Technical Field]

[0001] The present invention relates to a cleaning system equipped with a sweeper, wherein the sweeper travels along a predetermined path to perform cleaning operations along that path. [Previous Technology]

[0002] An example of such a cleaning system has been disclosed in Japanese Patent Application Publication No. 2013-605 (hereinafter referred to as "Patent Document 1"). In the cleaning system of Patent Document 1, the sweeper (W) attracts dust that has accumulated on the travel path (L) to perform a cleaning operation on the travel path (L). Hereinafter, the symbols shown in parentheses in the prior art description are the symbols of Patent Document 1. [Summary of the Invention]

[0003] Patent Document 1 does not specifically mention the conditions under which the sweeper (W) performs sweeping operations along the travel path (L). Therefore, even when the amount of dust accumulated along the travel path (L) is extremely small, sweeping operations along the travel path (L) will still be performed. As a result, areas along the travel path (L) that do not require sweeping will be swept, making the sweeping operation along the travel path (L) inefficient. Although operators can visually identify the areas along the travel path (L) that must be swept and manually set the sweeper (W) to perform sweeping operations, thereby avoiding inefficiency in the sweeping operation along the travel path (L), this is disadvantageous from the perspective of increasing the workload of operators.

[0004] Therefore, what is desired is the realization of a cleaning system that can efficiently perform cleaning operations by a sweeper in an automatic manner.

[0005] In view of the above, the cleaning system is characterized by the following: The cleaning system comprises: a sweeper that travels along a predetermined path to perform cleaning operations along the path; and a control device that controls the sweeper, wherein the sweeper is equipped with a state detection device for detecting the state of the path, and has a cleaning mode for performing the cleaning operation and a non-cleaning mode for not performing the cleaning operation as operating modes, and the control device performs the following controls: a check control, wherein while the sweeper travels in the non-cleaning mode, the state detection device detects the state of a pre-set check area in the path; a specific control, wherein based on the state of the check area detected by the state detection device in the check control, the specific area in the path where the cleaning operation must be performed, i.e., the area that must be cleaned; and a cleaning control, wherein after the check control and the specific control are completed, the sweeper travels in the cleaning mode within the area that must be cleaned.

[0006] Based on this feature, the state detection device of the sweeper can detect the state of a pre-set inspection area in the travel path. Furthermore, based on the state of the inspection area detected by the state detection device, the area in the travel path that must be cleaned, i.e., the area that must be cleaned, is identified, and the sweeper performs the cleaning operation on that area. Therefore, it eliminates the need for operators to visually identify the area that must be cleaned, or to manually set the area for the sweeper's cleaning operation. Thus, the sweeper can perform cleaning operations automatically and efficiently.

Implementation Method

[0008] Form used to implement the invention

[0009] Hereinafter, the cleaning system 100 of the embodiment will be described with reference to the drawings. As shown in FIG1, in this embodiment, the cleaning system 100 is installed in the material conveying equipment F.

[0010] First, the goods conveying equipment F will be described. The goods conveying equipment F has a track 3 and a conveying vehicle 4.

[0011] Track 3 is the travel path R that constitutes the transport vehicle 4. In this embodiment, track 3 is supported in a state of suspension from the ceiling of the goods transport equipment F.

[0012] The transport vehicle 4 is configured to travel along the travel path R. In this embodiment, a plurality of transport vehicles 4 are provided. The transport vehicle 4 is configured to transport the item W (see Figure 2) to any one of a plurality of transport target locations (not shown) arranged along the travel path R. The item W is, for example, a front-opening container called a FOUP (Front Opening Unified Pod) that holds a plurality of semiconductor wafers. In this case, the transport vehicle 4 transports the item W to the aforementioned transport target location, such as a processing device for processing semiconductor wafers or a storage facility for temporary storage.

[0013] As shown in FIG2, in this embodiment, the transport vehicle 4 includes a first traveling part 41, a transfer part 42, and a first cover 43.

[0014] The first traveling unit 41 includes a plurality of first wheels 41a that roll on the track 3. In this embodiment, at least one of the plurality of first wheels 41a is rotated and rolled on the track 3 by the driving force of a traveling motor (not shown), thereby causing the remaining first wheels 41a to roll on the track 3 as well. In this way, the first traveling unit 41 travels along the traveling path R formed by the track 3.

[0015] The transfer unit 42 transfers the item W between the aforementioned destination and the transport location. Although detailed description is omitted, the transfer unit 42 includes, for example, a holding part for holding the item W, and a lifting part for moving the holding part up and down relative to the first traveling part 41. Furthermore, the transfer unit 42 is equipped with, as needed, a horizontal moving part for moving the holding part horizontally relative to the first traveling part 41, and a rotating part for rotating the holding part relative to the first traveling part 41 about a rotation axis in the vertical direction. In addition, the transfer unit 42 is not limited to the configuration described above, as long as it has the necessary structure for transferring the item W between the aforementioned destination and the transport location.

[0016] The first cover 43 is formed to cover the article W held by the transfer part 42. In this embodiment, the first cover 43 is formed to cover the article W held by the holding part from both sides (left and right directions in FIG. 2) and the top side in the walking direction of the first walking part 41 when the holding part is located at the uppermost side of the movement range of the lifting part. In addition, in this embodiment, the first cover 43 is connected to the first walking part 41 through the first connecting part 44 while suspended from the first walking part 41.

[0017] Next, the cleaning system 100 will be described. As shown in FIG1, the cleaning system 100 includes a sweeper 1.

[0018] The sweeper 1 travels along a predetermined path R. Furthermore, the sweeper 1 performs sweeping operations along the path R. In this embodiment, a plurality of sweepers 1 are configured. Also, in this embodiment, the path R on which the sweeper 1 is the object to be swept is the path R of the transport vehicle 4. Therefore, the sweeper 1 and the transport vehicle 4 are configured to travel along the same track 3 constituting the path R in the direction D. In this embodiment, the sweeper 1 sweeps away dust accumulated on the track 3. This dust is generated by the movement of various elements within the transport equipment F, such as the wear of the first wheel 41a of the transport vehicle 4 as it travels on the track 3.

[0019] As shown in FIG2, in this embodiment, the sweeper 1 includes a second walking part 11, a sweeping part 12, a dust quantity detection part 13, and a second cover 14.

[0020] The second traveling unit 11 includes a plurality of second wheels 11a that roll on the track 3. In this embodiment, at least one of the plurality of second wheels 11a is rotated and rolled on the track 3 by the driving force of a traveling motor (not shown), thereby causing the remaining second wheels 11a to roll on the track 3 as well. In this way, the second traveling unit 11 travels along the traveling path R formed by the track 3.

[0021] The cleaning unit 12 includes: a suction nozzle 121, a reservoir 122, a fan 123, and a filter 124.

[0022] The suction nozzle 121 is a suction nozzle used to suction dust that has accumulated on the track 3. The suction nozzle 121 is configured to face the position where the dust has accumulated in the track 3 (here, the upper surface of the track 3). Furthermore, the suction nozzle 121 is fixed to the second traveling part 11 so as to move integrally with the second traveling part 11.

[0023] In this embodiment, a brush body 125 is provided downstream of the suction nozzle 121 in the travel direction D. The brush body 125 is an assembly of multiple fibers (e.g., synthetic fibers, carbon fibers, metal fibers, etc.). The brush body 125 is configured to contact the dust accumulation point in the track 3 (here, the upper surface of the track 3). Furthermore, the brush body 125 is fixed to the second travel section 11 and moves integrally with the second travel section 11. Therefore, the brush body 125 travels along the track 3 with the second travel section 11, removing the dust accumulated on the track 3. The dust removed from the track 3 by the brush body 125 is then attracted by the suction nozzle 121.

[0024] The reservoir 122 is configured to store the dust attracted by the suction nozzle 121. In this embodiment, the internal space of the reservoir 122 is connected to the suction nozzle 121 through a pipe 126.

[0025] The fan 123 and filter 124 are disposed within the internal space of the reservoir 122. The fan 123 generates an airflow for the suction nozzle 121 to draw in the dust accumulated on the track 3. In this embodiment, the airflow generated by the fan 123 flows sequentially through the suction nozzle 121, the piping 126, and the internal space of the reservoir 122. The filter 124 captures the dust drawn in by the suction nozzle 121. In this embodiment, the filter 124 is disposed upstream of the fan 123 in the direction of the airflow generated by the fan 123.

[0026] The dust detection unit 13 is configured to detect the amount of dust collected by the cleaning unit 12. In this embodiment, the dust detection unit 13 detects the amount of dust captured by the filter 124. In this example, the dust detection unit 13 includes a pressure sensor that detects the pressure inside the reservoir 122. Here, when the amount of dust captured by the filter 124 increases, the airflow generated by the fan 123 becomes difficult to pass through the filter 124, thus creating a pressure difference between the two spaces sandwiching the filter 124 inside the reservoir 122. The dust detection unit 13 detects this pressure difference to detect the amount of dust captured by the filter 124. In the example shown in FIG2, the dust detection unit 13 is disposed inside the reservoir 122 further downstream of the filter 124 in the direction of the airflow generated by the fan 123. Therefore, the dust detection unit 13 detects the decrease in pressure in the internal space of the reservoir 122 downstream of the filter 124, thereby detecting the amount of dust captured by the filter 124. Furthermore, various known sensors can be used as the pressure sensor provided in the dust detection unit 13.

[0027] The second cover 14 is formed to cover at least a portion of the cleaning section 12. In this embodiment, the second cover 14 is formed to cover the storage body 122 of the cleaning section 12 from both sides (left and right directions in FIG. 2) and the top side of the second traveling section 11 in the traveling direction. In this embodiment, the second cover 14 is connected to the second traveling section 11 via the second connecting portion 15 while suspended from the second traveling section 11. In addition, in this embodiment, a portion of the piping 126 is disposed inside the second cover 14 and inside the second connecting portion 15.

[0028] As shown in FIG2, the sweeper 1 includes a state detection device 2 for detecting the state of the travel path R. In this embodiment, the state detection device 2 is fixed to the second travel section 11 and moves integrally with the second travel section 11. Furthermore, the state detection device 2 is configured to detect the portion of the travel path R located further in the travel direction D than the second travel section 11. In this example, the state detection device 2 is a camera that captures an image IM (refer to FIG5 and FIG6) by taking the travel path R as the object of photography.

[0029] The state detection device 2 detects the state of a pre-set inspection range S in the travel path R. As shown in FIG1, in this embodiment, a plurality of inspection ranges S are set in the travel path R. Furthermore, the plurality of sweepers 1 are each associated with at least one inspection range S, and while traveling in the corresponding inspection range S, the state detection device 2 detects the state of the inspection range S. In the illustrated example, the travel path R includes a plurality of loop paths, and an inspection range S is set for each of the plurality of loop paths.

[0030] As shown in FIG3, in this embodiment, the transport vehicle 4 includes a first position information reading unit 45. The sweeper 1 also includes a second position information reading unit 16. The first position information reading unit 45 and the second position information reading unit 16 are each configured to read position information held in a position information holding unit M, which is located at each of a plurality of locations on or near the track 3. The position information holding unit M holds position information corresponding to its installation position. Furthermore, the position information holding unit M can be configured using, for example, barcodes or wireless tags. When the position information holding unit M is configured using barcodes, the first position information reading unit 45 and the second position information reading unit 16 can simply be configured as barcode readers. Similarly, when the position information holding unit M is configured using wireless tags, the first position information reading unit 45 and the second position information reading unit 16 can simply be configured as tag readers.

[0031] As shown in FIG3, the sweeping system 100 includes a control device 10 for controlling the sweeper 1. In this embodiment, the control device 10 includes an integrated control device 20, a transport vehicle control device 30 for controlling the transport vehicle 4, and a sweeper control device 40 for controlling the sweeper 1.

[0032] The integrated control device 20 includes an instruction unit 20A, an input receiving unit 20B, a memory unit 20C, and a processing unit 20D.

[0033] The instruction unit 20A outputs instructions to each of the transport vehicle control device 30 and the sweeper control device 40 for controlling the device under the control of each control device.

[0034] The input receiving unit 20B is configured to receive input operations from operators. The input receiving unit 20B can be configured using, for example, a touch panel display, a keyboard, and a mouse. In this embodiment, the input receiving unit 20B is used by operators to set the inspection range S and determine the correspondence between the sweeper 1 and each inspection range S.

[0035] The memory unit 20C contains various information required for the control of the cleaning system 100. In this embodiment, the captured image IM obtained by the status detection device 2 of the cleaning vehicle 1 and the position information obtained by the second position information reading unit 16 of the cleaning vehicle 1 are stored in the memory unit 20C.

[0036] The processing unit 20D is configured to perform prescribed processing on information input through the input receiving unit 20B and information stored in the memory unit 20C. In this embodiment, the processing unit 20D performs image processing such as grayscale processing and binarization processing on the captured image IM.

[0037] A transport vehicle control device 30 is installed on the transport vehicle 4. The transport vehicle control device 30 controls the operation of the first traveling unit 41 and the transfer unit 42 of the transport vehicle 4 according to instructions from the integrated control device 20. Furthermore, the transport vehicle control device 30 obtains the position of the transport vehicle 4 on its traveling path R based on the position information read by the position information holding unit M from the first position information reading unit 45. The information obtained in this way, displaying the position of the transport vehicle 4, is sent from the transport vehicle control device 30 to the integrated control device 20.

[0038] A sweeper control device 40 is installed in the sweeper 1. The sweeper control device 40 controls the operation of the second traveling unit 11 and the sweeping unit 12 of the sweeper 1 according to instructions from the integrated control device 20. Furthermore, the sweeper control device 40 obtains information on the amount of dust captured by the display filter 124 based on the detection signal from the dust quantity detection unit 13. Also, the sweeper control device 40 obtains the position of the sweeper 1 on its traveling path R based on the position information read by the position information holding unit M from the second position information reading unit 16. The information obtained in this way, showing the position of the sweeper 1, is sent from the sweeper control device 40 to the integrated control device 20. Furthermore, the obtained information on the displayed dust quantity can also be sent from the sweeper control device 40 to the integrated control device 20.

[0039] Furthermore, the sweeper control device 40 acquires information about the status of the inspection range S detected by the display status detection device 2. This acquired information about the status of the display inspection range S is sent from the sweeper control device 40 to the integrated control device 20.

[0040] The control device 10 is configured to switch the operating modes of the sweeper 1. The sweeper 1 has a sweeping mode for performing sweeping operations and a non-sweeping mode for not performing sweeping operations as operating modes. In this embodiment, the travel speed of the sweeper 1 in the non-sweeping mode is set to be higher than the travel speed of the sweeper 1 in the sweeping mode.

[0041] The control device 10 performs inspection control, specific control, and cleaning control. Inspection control involves controlling the sweeper 1 to travel in a non-cleaning mode while simultaneously detecting the state of the inspection area S using the state detection device 2. Specific control involves determining the area within the travel path R that must be cleaned, i.e., the area C that must be cleaned, based on the state of the inspection area S detected by the state detection device 2 during inspection control. Cleaning control, after the inspection control and specific control are completed, enables the sweeper 1 to travel in cleaning mode within the area C that must be cleaned.

[0042] In Figure 4, as an example of the control processing of the control device 10, a flowchart is shown when the control device 10 controls a sweeper 1 that has been established with an inspection range S.

[0043] As shown in Figure 4, firstly, the control device 10 causes the sweeper 1 to travel in a non-sweeping mode (step #1). Furthermore, while the sweeper 1 is traveling in the non-sweeping mode, the control device 10 uses the status detection device 2 to detect the status of the inspection range S (step #2). In this example, the command unit 20A, through the sweeper control device 40, causes the status detection device 2 to capture images of the travel path R, and establishes a correlation with the position information of the sweeper 1 obtained by the second position information reading unit 16, thus storing the captured image IM in the memory unit 20C. Here, the status detection device 2 can be configured, for example, to capture images of the travel path R at regular intervals of travel distance, or at regular intervals of time.

[0044] Furthermore, steps #1 and #2 described above are equivalent to inspection control. In this example, in inspection control, the control device 10 causes the sweeper 1 to preferentially travel on the portion of the travel path R that the sweeper 1 has not yet traveled, so that the sweeper 1 travels throughout the entire area of ​​the travel path R within the inspection range S. At this time, if the sweeper 1 may interfere with the transport vehicle 4 or other sweepers 1, the control device 10 will control the sweeper 1 to perform an avoidance action to avoid such interference. In the case of the sweeper 1 performing an avoidance action, although there may be a situation where it travels again on the portion of the travel path R that has already been traveled in the inspection control, it is sufficient as long as the sweeper 1 can travel throughout the entire area of ​​the travel path R within the inspection range S.

[0045] Next, the control device 10 determines the area in the walking path R that must be cleaned, namely the cleaning area C, based on the state of the inspection range S detected by the state detection device 2 (step #3). In this example, firstly, as shown in FIG5, the processing unit 20D performs grayscale processing on the captured image IM stored in the memory unit 20C to obtain the first processed image IM1. Next, as shown in FIG6, the processing unit 20D performs binarization processing on the first processed image IM1 to obtain the second processed image IM2. Furthermore, in the designated area A of the second processed image IM2, if the area of ​​the part displaying dust (here, the area of ​​the white part in FIG6) exceeds a designated threshold, the processing unit 20D determines that the area in the walking path R corresponding to the captured image IM is the cleaning area C. In this way, by repeating the above processing on all captured images IM, the cleaning area C can be determined in the entire area of ​​the inspection range S. As shown in Figure 7, in this example, within one inspection range S, the first range C1, the second range C2, the third range C3, and the fourth range C4 are designated as the areas that must be cleaned, C. Furthermore, step #3 above is equivalent to specific control.

[0046] Next, as shown in FIG4, the control device 10 determines whether there is a cleaning area C in the inspection range S (step #4). If there is no cleaning area C in the inspection range S (step #4: yes), the control device 10 returns to step #1 above and performs inspection control and specific control again. On the other hand, if there is a cleaning area C in the inspection range S (step #4: no), the control device 10 determines the cleaning area C, i.e., the target area Ct, that the sweeper 1 should perform cleaning operation earliest at the current time (step #5).

[0047] When determining the target range Ct, if there is one area C that must be cleaned in the inspection range S, the control device 10 sets that area C as the target range Ct. On the other hand, if there are multiple areas C that must be cleaned in the inspection range S (here, the first range C1, the second range C2, the third range C3, and the fourth range C4), the control device 10 sets one of the multiple areas C that must be cleaned as the target range Ct based on at least one of the following: the degree of contamination indicating the degree of dirtiness of the area C that must be cleaned, and the length of the pre-cleaning movement path RT (see Figure 7). The aforementioned pre-cleaning movement path RT is the path from the location where the inspection control and specific control have been completed, i.e., the completion location P0, to the starting point of the area C that must be cleaned, i.e., the cleaning start location P1.

[0048] In this example, the control device 10 determines the degree of contamination of the area C to be cleaned in a plurality of stages. This determination of the degree of contamination can be based, for example, on the area of ​​the dusty portion shown in the second processed image IM2 corresponding to the area C to be cleaned (in this case, the area of ​​the white portion in Figure 6). In the example shown in Figure 8, the degree of contamination is represented by 5 stages, and the degree of contamination of the first area C1, the second area C2, the third area C3, and the fourth area C4 is determined to be "2", "3", "5", and "3", respectively.

[0049] Furthermore, in this example, the control device 10 calculates the length of the pre-cleaning movement path RT based on the location information of the completion location P0 and the cleaning start location P1 obtained by the second location information reading unit 16. In the example shown in FIG8, the lengths of the pre-cleaning movement path RT in the first range C1, the second range C2, the third range C3, and the fourth range C4 (referred to as "distance" in FIG8) are calculated to be "50", "25", "10", and "20", respectively.

[0050] When the target area Ct is determined based on the degree of contamination of the area C to be cleaned, the control device 10 sets the target area Ct as the area C with the highest degree of contamination. In such a case, as shown in the example in FIG8, the control device 10 sets the third area C3 with the highest degree of contamination as the target area Ct among the first area C1, the second area C2, the third area C3, and the fourth area C4. In this way, when a plurality of areas C to be cleaned have been specified in a particular control, the control device 10 determines the degree of contamination of each of the plurality of areas C to be cleaned in a plurality of stages, and performs cleaning control first on the area C with the highest degree of contamination.

[0051] Furthermore, when the target area Ct is determined based on the length of the pre-cleaning movement path RT, the control device 10 sets the target area Ct as the area C with the shortest pre-cleaning movement path RT. In such a case, as shown in the example in FIG8, the control device 10 sets the target area Ct as the third area C3 with the shortest pre-cleaning movement path RT among the first area C1, the second area C2, the third area C3, and the fourth area C4. In this way, when a plurality of target areas C have been specified in a specific control, the control device 10 first performs cleaning control on the target area C that is closest to the location where the inspection control and the specific control are completed (completion location P0).

[0052] Furthermore, when determining the target area Ct based on both the contamination level of the area to be cleaned C and the length of the pre-cleaning movement path RT, the control device 10 may, for example, determine the length of the pre-cleaning movement path RT in five stages, similar to the contamination level of the area to be cleaned C (the shorter the pre-cleaning movement path RT, the larger the determination value), and set the area to be cleaned C with the largest sum of this determination value and the contamination level of the area to be cleaned C as the target area Ct. Alternatively, for example, a first weight may be calculated by multiplying the length of the pre-cleaning movement path RT by a predetermined coefficient, and a second weight may be calculated by multiplying the contamination level of the area to be cleaned C by a predetermined coefficient, and the area to be cleaned C with the largest sum or multiplied value of the first weight and the second weight may be set as the target area Ct.

[0053] As shown in Figure 4, after determining the target area Ct (step #5), the control device 10 sets the path from the completion location P0 to the cleaning start location P1, i.e., the pre-cleaning movement path RT (see Figure 7) (step #6). At this time, the cleaning start location P1 is the location of the target area Ct. In addition, the pre-cleaning movement path RT is set to be independent of the path traveled by the sweeper 1 during inspection control. For example, if the path from the completion location P0 to the cleaning start location P1 is a complex path with more branching or merging points than shown in Figure 7, and multiple paths can be selected as the pre-cleaning movement path RT, this configuration is particularly suitable. With such a configuration, when multiple paths can be selected as the pre-cleaning movement path RT, it is independent of the path already traveled by the sweeper 1 during inspection control. For example, considerations such as avoiding blockages of the transport vehicle 4 or the distance of the pre-cleaning movement path RT can be taken to ensure that the sweeper 1 reaches the cleaning start location P1 on the optimal path.

[0054] Next, the control device 10 causes the sweeper 1 to travel along the pre-set pre-cleaning movement path RT in a non-cleaning mode (step #7). Then, the control device 10 causes the sweeper 1 to travel in a cleaning mode within the target area Ct (step #8). That is, the control device 10 causes the sweeper 1 to perform a cleaning operation within the target area Ct. Step #8 above is equivalent to cleaning control.

[0055] After the sweeper 1 completes the cleaning operation on the target area Ct, the control device 10 determines whether the number of times the cleaning operation on the target area Ct has been performed is less than the preset number of cleaning operations (step #9). Here, the preset number of cleaning operations is set to be more as the degree of contamination of the area C to be cleaned increases. In the example shown in Figure 8, the preset number of cleaning operations is set to "1", "2", "3", and "2" for the first area C1, the second area C2, the third area C3, and the fourth area C4, respectively.

[0056] If the number of cleaning operations performed on the target area Ct is less than the set number of cleaning operations (step #9: Yes), the control device 10 returns to step #8 above and performs cleaning control again. In this way, the control device 10 determines the degree of soiling of the target area C to be cleaned in multiple stages within a specific control, and increases the number of times cleaning control is performed on the target area C as the degree of soiling of the target area C is high. Here, after the cleaning operation of one target area Ct is completed, the sweeper 1 travels around the travel path R and returns to the cleaning start point P1 of that target area Ct, and performs cleaning control on that target area Ct. Furthermore, if other target areas C are passed through while traveling around the travel path R in this way, cleaning control on those other target areas C can also be performed during that passage.

[0057] When the number of cleaning operations performed on the target area Ct reaches the set number of cleaning operations (step #9: No), the control device 10 determines whether the cleaning operations on all the required cleaning areas C have been completed (step #10). If the cleaning operations on all the required cleaning areas C have not been completed (step #10: No), the control device 10 returns to step #5 above and determines the target area Ct from the required cleaning areas C from which the cleaning operations have not been completed. If the cleaning operations on all the required cleaning areas C have been completed (step #10: Yes), the control device 10 ends the control process.

[0058] [Other Embodiments] (1) In the above embodiment, the state detection device 2 is described as a camera that acquires the captured image IM. However, it is not limited to that configuration. For example, the state detection device 2 may also be a device that shines light on the dust accumulation location in the track 3 and detects the state of the walking path R based on the reflected light. Furthermore, for example, the state detection device 2 may also be configured using radio waves or sound waves or various sensors, such as probes that directly contact the object location to detect the state of the walking path R.

[0059] (2) In the above embodiment, the following configuration is used as an example: the walking speed of the sweeper 1 in non-sweeping mode is set to be higher than the walking speed of the sweeper 1 in sweeping mode. However, it is not limited to that configuration, and the walking speed of the sweeper 1 in non-sweeping mode may also be the same as the walking speed of the sweeper 1 in sweeping mode. Furthermore, the walking speed of the sweeper 1 in non-sweeping mode may also be lower than the walking speed of the sweeper 1 in sweeping mode.

[0060] (3) In the above embodiment, the following configuration is used as an example: the pre-cleaning movement path RT is set to be independent of the path that the sweeper 1 travels in the inspection control. However, it is not limited to such a configuration, and the pre-cleaning movement path RT can also be set along the path that the sweeper 1 travels in the inspection control.

[0061] (4) In the above embodiment, the following configuration is used as an example: In the specific control, when it is determined that there is no area C that must be cleaned in the inspection range S, the inspection control and specific control are executed again. However, it is not limited to such a configuration. In the specific control, when it is determined that there is no area C that must be cleaned in the inspection range S, the control process can also be terminated.

[0062] (5) In the above embodiment, the following configuration is used as an example: when a plurality of cleaning ranges C have been specified in a specific control, for each of the plurality of cleaning ranges C, the degree of contamination is determined in a plurality of stages, and the cleaning range C with the highest degree of contamination is set as the target range Ct. Also, in the above embodiment, the following configuration is used as an example: when a plurality of cleaning ranges C have been specified in a specific control, the cleaning range C closest to the location where the inspection control and specific control are completed (completion location P0) is set as the target range Ct. However, it is not limited to these configurations. For example, one of the plurality of cleaning ranges C can be set as the target range Ct in a random manner.

[0063] (6) In the above embodiment, the following configuration is used as an example: the number of cleaning times is set to increase as the degree of contamination of the area C to be cleaned increases. However, it is not limited to that configuration. For example, a fixed number of cleaning times may be set regardless of the degree of contamination of the area C to be cleaned. Alternatively, it may be configured to set the number of cleaning times to 1, that is, it may be configured to not repeat the cleaning operation of the area C to be cleaned.

[0064] (7) In the above embodiment, the following configuration is used as an example: the cleaning system 100 is applied to an item transport device F that has a track 3 suspended from the ceiling. However, it is not limited to such a configuration, and the item transport device F using the cleaning system 100 may also have a configuration that has a track 3 installed on the floor.

[0065] (8) In the above embodiment, although the example of the sweeper 1 being configured to sweep up dust accumulated on the track 3 is described, it is not limited to this. For example, there may be a case where the power supply line for supplying power to the transport vehicle 4 is arranged along the travel path R. In this case, the sweeper 1 may also be configured to sweep up dust attached to the power supply line. Alternatively, the sweeper 1 may be configured to sweep up both the dust accumulated on the track 3 and the dust attached to the power supply line. In addition, when the sweeper 1 sweeps up dust attached to the power supply line, it is preferable that the suction nozzle 121 is arranged facing the power supply line. That is, the suction nozzle 121 is arranged facing the dust accumulation position in the travel path R. The brush body 125 is also similarly arranged to contact the dust accumulation position in the travel path R.

[0066] (9) Furthermore, the configurations disclosed in the above embodiments can be combined with the configurations disclosed in other embodiments, provided that no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely illustrative at all points. Therefore, various changes can be made appropriately without departing from the spirit of this disclosure.

[0067] [Summary of the above embodiments] Hereinafter, a summary of the cleaning system described above will be explained.

[0068] A cleaning system comprising: a sweeper vehicle that travels along a predetermined travel path to perform cleaning operations along the travel path; and a control device that controls the sweeper vehicle, wherein the sweeper vehicle is equipped with a state detection device for detecting the state of the travel path, and is equipped with a cleaning mode for performing the cleaning operation and a non-cleaning mode for not performing the cleaning operation as operating modes, and the control device performs the following controls: a check control, wherein while the sweeper vehicle travels in the non-cleaning mode, the state detection device detects the state of a pre-set check area in the travel path; a specific control, wherein based on the state of the check area detected by the state detection device in the check control, a specific area in the travel path where the cleaning operation must be performed, i.e., a cleaning area; and a cleaning control, wherein after the check control and the specific control are completed, the sweeper vehicle travels in the cleaning mode within the cleaning area.

[0069] According to this configuration, the state of a pre-set inspection area in the travel path can be detected by the state detection device of the sweeper. Furthermore, based on the state of the inspection area detected by the state detection device, the area in the travel path that must be cleaned, i.e., the cleaning area, is identified, and the sweeper performs the cleaning operation on that cleaning area. Therefore, it is unnecessary for operators to identify the cleaning area visually or manually set the cleaning area for the sweeper. Thus, the cleaning operation performed by the sweeper can be carried out automatically and efficiently.

[0070] Ideally, the travel speed of the sweeper in the non-sweeping mode is set to be higher than that of the sweeper in the sweeping mode.

[0071] Based on this configuration, the time required for detection control can be reduced to a shorter duration. The aforementioned detection control involves simultaneously moving the sweeper in a non-sweeping mode while a state detection device detects the state of the inspection area along the travel path. Here, the inspection area is generally larger than the area that must be swept. Therefore, by reducing the time required for inspection control as described above, the time from the start of inspection control to the completion of sweeping control can be effectively shortened.

[0072] Furthermore, more ideally, after the aforementioned inspection control and the aforementioned specific control are completed, regardless of the path that the aforementioned sweeper has traveled in the aforementioned inspection control, the aforementioned control device sets the path from the location where the aforementioned inspection control and the aforementioned specific control have been completed to the starting point of the aforementioned cleaning range, i.e., the pre-cleaning movement path, and causes the aforementioned sweeper to travel along the aforementioned pre-cleaning movement path in the aforementioned non-cleaning mode.

[0073] Based on this configuration, regardless of the path the sweeper has already traveled during inspection control, the path that can efficiently reach the starting point of the area to be cleaned can be set as the pre-cleaning movement path. Therefore, after inspection control and specific control are completed, cleaning control can be started quickly.

[0074] Furthermore, more ideally, when the aforementioned control device determines that the aforementioned cleaning range is not within the aforementioned inspection range during the aforementioned specific control, it will again execute the aforementioned inspection control and the aforementioned specific control.

[0075] According to this configuration, when cleaning is not required, inspection control and specific control are repeatedly executed before the necessity for cleaning occurs. This allows cleaning to begin quickly when the necessity for cleaning occurs.

[0076] Furthermore, ideally, when a plurality of the aforementioned cleaning ranges have been specified in the aforementioned specific control, the aforementioned control device determines the degree of contamination of each of the plurality of aforementioned cleaning ranges in a plurality of stages, and performs the aforementioned cleaning control first on the aforementioned cleaning range with the highest degree of contamination.

[0077] Based on this configuration, when multiple areas that must be cleaned have been identified, the areas with higher levels of contamination can be cleaned preferentially. Thus, cleaning operations can be carried out efficiently on multiple areas that must be cleaned.

[0078] Furthermore, more ideally, the aforementioned control device determines the degree of contamination of the aforementioned area to be cleaned in multiple stages during the aforementioned specific control, and increases the number of times the aforementioned cleaning control is performed on the area to be cleaned as the degree of contamination of the aforementioned area to be cleaned increases.

[0079] Based on this configuration, even when the level of contamination in the area requiring cleaning is high, dust in the area requiring cleaning can still be appropriately removed. That is, the level of contamination in the area requiring cleaning, which has a high level of contamination, can be effectively reduced.

[0080] Furthermore, ideally, when multiple cleaning ranges have been specified in the aforementioned specific control, the aforementioned control device first performs the aforementioned cleaning control on the cleaning range that is closest to the location where the aforementioned inspection control and the aforementioned specific control are completed.

[0081] Based on this configuration, when multiple cleaning areas have been specified, the cleaning area that can be reached in a short time can be selected to quickly start the cleaning operation.

[0082] Furthermore, more ideally, in the aforementioned inspection control, the aforementioned control device enables the aforementioned sweeper to preferentially travel on the portion of the aforementioned travel path that the aforementioned sweeper has not yet traveled, so that the aforementioned sweeper travels throughout the entire area of ​​the aforementioned travel path within the aforementioned inspection range.

[0083] Based on this configuration, in inspection control, even if the sweeper deviates from its path before the avoidance action when it performs a retreating action to avoid interference with the transport vehicle and other sweepers, the sweeper can still easily travel to cover the entire area of ​​the travel path within the inspection range. Industrial Applicability

[0084] The technology disclosed herein can be used in a cleaning system equipped with a sweeper, which sweeps along a predetermined path to perform cleaning along that path. [Simplified Explanation of the Diagram]

[0007] Figure 1 is a schematic diagram showing the overall structure of the material transport equipment of the cleaning system in the embodiment. Figure 2 is a side view of the cleaning vehicle and the transport vehicle. Figure 3 is a control block diagram of the material transport equipment of the cleaning system in the embodiment. Figure 4 is a flowchart showing an example of the control processing of the control device. Figure 5 is a diagram showing the image after grayscale processing of the captured image obtained by the status detection device, i.e., the first processed image. Figure 6 is a diagram showing the image after binarization processing of the first processed image, i.e., the second processed image. Figure 7 is a diagram showing an example of a plurality of areas that must be cleaned and the movement path before cleaning. Figure 8 is a diagram showing an example of the degree of contamination in the plurality of areas that must be cleaned, the length of the movement path before cleaning, and the set number of cleaning times.

Claims

1. A cleaning system, characterized by the following features: The cleaning system comprises: a sweeper vehicle that travels along a predetermined travel path to perform cleaning operations along the travel path; and a control device that controls the sweeper vehicle, wherein the sweeper vehicle is equipped with a state detection device for detecting the state of the travel path, and is equipped with a cleaning mode for performing the cleaning operation and a non-cleaning mode for not performing the cleaning operation as operating modes; the control device performs the following controls: a check control, wherein while the sweeper vehicle travels in the non-cleaning mode, the state detection device detects the state of a pre-set check area in the travel path; a specific control, wherein based on the state of the check area detected by the state detection device in the check control, a specific area in the travel path where the cleaning operation must be performed, i.e., a mandatory cleaning area; and a cleaning control, wherein after the check control and the specific control are completed, the sweeper vehicle travels in the cleaning mode within the mandatory cleaning area.

2. The cleaning system as described in claim 1, wherein the travel speed of the aforementioned sweeper in the non-sweeping mode is set to be higher than the travel speed of the aforementioned sweeper in the sweeping mode.

3. The cleaning system as requested in item 1 or 2, wherein after the completion of the aforementioned inspection control and the aforementioned specific control, regardless of the path that the aforementioned cleaning vehicle has traveled in the aforementioned inspection control, the aforementioned control device sets a path from the location where the aforementioned inspection control and the aforementioned specific control have been completed to the starting point of the aforementioned area to be cleaned, i.e., the pre-cleaning movement path, and causes the aforementioned cleaning vehicle to travel along the aforementioned pre-cleaning movement path in the aforementioned non-cleaning mode.

4. The cleaning system of request item 1 or 2, wherein the aforementioned control device, in the aforementioned specific control, if it is determined that there is no aforementioned mandatory cleaning range in the aforementioned inspection range, then executes the aforementioned inspection control and the aforementioned specific control again.

5. The cleaning system of claim 1 or 2, wherein when a plurality of the aforementioned areas to be cleaned have been specified in the aforementioned specific control, the aforementioned control device determines the degree of contamination of each of the plurality of the aforementioned areas to be cleaned in a plurality of stages, and performs the aforementioned cleaning control first on the aforementioned area to be cleaned with the highest degree of contamination.

6. The cleaning system of claim 1 or 2, wherein the aforementioned control device determines the degree of contamination of the aforementioned area to be cleaned in multiple stages in the aforementioned specific control, and increases the number of times the aforementioned cleaning control is performed on the area to be cleaned as the degree of contamination of the aforementioned area to be cleaned increases.

7. In the cleaning system of claim 1 or 2, where a plurality of the aforementioned areas to be cleaned have been specified in the aforementioned specific control, the aforementioned control device first performs the aforementioned cleaning control on the aforementioned areas to be cleaned closest to the location where the aforementioned inspection control and the aforementioned specific control have been completed.

8. The cleaning system of claim 1 or 2, wherein in the aforementioned inspection control, the aforementioned control device causes the aforementioned sweeper to preferentially travel on the portion of the aforementioned travel path that the aforementioned sweeper has not yet traveled, so that the aforementioned sweeper travels throughout the entire area of ​​the aforementioned travel path within the aforementioned inspection range.

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