Goods handling equipment

Abstract

In the article transporting equipment, the ceiling transport vehicle is configured to perform a first transferring action of holding the article placed on the loading platform at the transport starting point by a holding part, and a second transferring action of placing the article held by the holding part on the loading platform at the transport destination. Before the first transferring action, the control device causes the camera installed on the ceiling transport vehicle to obtain a first captured image. The first captured image takes the upper surface of the article placed on the loading platform at the transport starting point as the capturing object, and adjusts the relative position relationship of the holding part with respect to the article placed on the loading platform at the transport starting point based on the first captured image and the first reference image data. Before the second transferring action, the camera device causes the camera to obtain a second captured image. The second captured image takes the upper surface of the loading platform at the transport destination as the capturing object, and adjusts the relative position relationship of the holding part with respect to the loading platform at the transport destination based on the second captured image and the second reference image data.

Description

Technical Field

[0001] The present invention relates to article transport equipment comprising a travel track provided on a ceiling, a plurality of loading platforms arranged along the travel track, and a ceiling transport vehicle that travels along the travel track and transports articles from a loading platform at a transport start point to a loading platform at a transport destination. Background Art

[0002] In the article handling equipment as described above, the ceiling transport vehicle is provided with a holding portion for holding articles. Furthermore, in order to transfer articles between the ceiling transport vehicle and the loading platform with good precision, before starting the operation of the equipment, the positional relationship between the holding portion and the loading portion of each ceiling transport vehicle is obtained, and a teaching (demonstration) process is performed to set the adjustment amount of the position of the holding portion corresponding to the positional relationship so as to be able to adjust the offset of the relative positional relationship of the holding portion with respect to the loading platform. The following Japanese Patent Application Publication No. 11-349280 discloses a technology related to such a teaching process. In addition, in the following, the symbols indicated in brackets in the description of the background technology are the symbols of Japanese Patent Application Publication No. 11-349280.

[0003] In the teaching process disclosed in Japanese Patent Application Laid-Open No. 11-349280, a fixture (11) having a focusing lens (12a) and a position detection element (12b) is first placed on a platform (53). Next, light is irradiated toward the fixture (11) from a pair of light-emitting diodes (7a, 7b) mounted on a holding portion (6). Then, based on an output signal from a position detection element (12b) receiving light focused by the focusing lens (12a), the relative positional relationship of the holding portion (6) with respect to the platform (53) is obtained, and based on this positional relationship, an adjustment amount of the position of the holding portion (6) with respect to the platform (53) is set.

[0004] In the article transporting device disclosed in Japanese Patent Application Laid-Open No. 11-349280, the above-mentioned teaching process is performed on each of the plurality of loading platforms (53). Therefore, as the number of loading platforms (53) increases, the time required to complete all the teaching processes increases. As a result, it takes a long time to start the operation of the article transporting device. Summary of the Invention

[0005] Therefore, it is desirable to realize article transport equipment that can shorten the time required to start operation.

[0006] In view of the above, the article transporting equipment is characterized in that it is an article transporting equipment comprising a travel track provided on a ceiling, a plurality of loading platforms arranged along the travel track, and a ceiling transport vehicle that travels along the travel track and transports articles from the loading platform at a transport starting point among the plurality of loading platforms to the loading platform at a transport destination, the equipment comprising: a photographing device installed on the ceiling transport vehicle, photographing a photographing object located below the ceiling transport vehicle to obtain a photographed image; and a control device that controls the ceiling transport vehicle and the photographing device, the ceiling transport vehicle comprising a holding portion for holding the article, and being configured to perform a first transfer action of holding the article placed on the loading platform at the transport starting point by the holding portion, and a second transfer action of placing the article held by the holding portion on the loading platform at the transport destination, using image data of the photographed image with the upper surface of the article as the photographing object under a positional relationship between the ceiling transport vehicle and the upper surface of the article as a reference state as the first reference image data, The control device implements: a first adjustment control, in which, when the ceiling transport vehicle performs the first transferring action, the camera acquires a first captured image before the first transferring action, the first captured image being the captured image with the upper surface of the article placed on the loading platform at the starting point of the transfer as the captured image object, and adjusts the relative positional relationship of the holding portion with respect to the article placed on the loading platform at the starting point of the transfer based on the first captured image and the first reference image data; and a second adjustment control, in which, when the ceiling transport vehicle performs the second transferring action, the camera acquires a second captured image before the second transferring action, the second captured image being the captured image with the upper surface of the loading platform at the transfer destination as the captured image object, and adjusts the relative positional relationship of the holding portion with respect to the loading platform at the transfer destination based on the second captured image and the second reference image data.

[0007] According to this configuration, the first and second reference image data acquired before or after the operation of the article handling equipment are used to implement the first and second adjustment controls during the operation of the article handling equipment. Specifically, before the operation of the article handling equipment, there is no need to perform a teaching process to acquire the relative positional relationship of the holding unit with respect to the object being imaged and to set the adjustment amount for the holding unit's position based on this relationship. Instead, it is sufficient to acquire the first and second reference image data before or after the operation of the article handling equipment. This significantly reduces the time required for pre-operational operations of the article handling equipment. Consequently, the time required to start the operation of the article handling equipment can be kept to a minimum. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a schematic diagram showing the overall structure of the article transport facility according to the embodiment.

[0009] Figure 2 This is a side view showing a state in which a subject is photographed by a photographing device mounted on a ceiling transport vehicle.

[0010] Figure 3 It is a side view showing the structure of the ceiling transport vehicle.

[0011] Figure 4 This is a block diagram showing the system configuration of an article transport facility.

[0012] Figure 5 3 is a diagram showing a comparison between a first captured image and first reference image data.

[0013] Figure 6 3 is a diagram showing comparison between the second captured image and the second reference image data.

[0014] Figure 7 is a flowchart showing an example of a control process by the control device.

[0015] Figure 8 It is a side view showing the structure of a ceiling transport vehicle according to another embodiment. DETAILED DESCRIPTION

[0016] Hereinafter, the article transporting equipment 100 according to the embodiment will be described with reference to the accompanying drawings. Figure 1 and Figure 2As shown, the article transporting equipment 100 includes: a travel track 1, which is provided on the ceiling C; a plurality of loading platforms 2, which are arranged along the travel track 1; a ceiling transport vehicle 3, which travels along the travel track 1 and transports the article W from the loading platform 2 at the starting point of the transportation among the plurality of loading platforms 2 to the loading platform 2 at the destination of the transportation; and a camera 4, which is installed on the ceiling transport vehicle 3. In this embodiment, a plurality of ceiling transport vehicles 3 are arranged along the travel track 1. Therefore, in this embodiment, the same number of camera devices 4 as the number of ceiling transport vehicles 3 are arranged. In addition, in this embodiment, the article W is a front-opening container called a FOUP (Front Opening Unified Pod) that accommodates a plurality of semiconductor wafers.

[0017] like Figure 1 As shown, the travel rail 1 extends to form a travel path P for the ceiling transport vehicle 3. In the following description, the direction along the travel rail 1 is referred to as the "travel direction X," and the direction perpendicular to the travel direction X in a plan view is referred to as the "width direction Y." Furthermore, the direction along the vertical direction is referred to as the "up-down direction Z."

[0018] In this embodiment, the travel path P includes: a first path Pa formed in a loop; a plurality of second paths Pb, which are formed in a loop smaller than the first path Pa in a manner that branches off from and merges with the first path Pa; and a third path Pc, which is formed in a manner that branches off from and merges with the first path Pa.

[0019] Multiple mounting tables 2 are arranged on each of the plurality of second paths Pb. In this embodiment, multiple processing devices 5 are also arranged on each of the plurality of second paths Pb. The processing devices 5 perform various processes such as thin film formation, photolithography, and etching on semiconductor wafers removed from the article W. The processing devices 5 are provided in the same number as the mounting tables 2 and are arranged side by side in the width direction Y.

[0020] In the third path Pb, one stage 2 is arranged. Hereinafter, the stage 2 arranged in the third path Pc is referred to as a "reference stage 2S." The reference stage 2S is used when acquiring first reference image data SD1 and second reference image data SD2 described later.

[0021] like Figure 2 As shown, the ceiling transport vehicle 3 includes a holding portion 31 for holding an article W. The ceiling transport vehicle 3 is configured to perform a "first transfer operation" in which the article W placed on the loading platform 2 at the starting point of transfer is held by the holding portion 31, and a "second transfer operation" in which the article W held by the holding portion 31 is placed on the loading platform 2 at the destination of transfer.

[0022] In this embodiment, the article W includes a housing portion W1 for accommodating a plurality of semiconductor wafers, and a flange portion W2 held by a holding portion 31. The flange portion W2 is formed to protrude upward from the housing portion W1 and extend therefrom in a direction perpendicular to the vertical direction Z. Thus, in this embodiment, the article W is a container having the flange portion W2 held by the holding portion 31 provided on its upper portion.

[0023] The placing table 2 is configured to place an article W on a table top surface 2a, which is the upper surface of the placing table 2. The table top surface 2a is a plane along a horizontal plane. In this embodiment, the placing table 2 has a plurality of protrusions 21 formed so as to protrude from the table top surface 2a. The plurality of protrusions 21 are configured to engage with a plurality of recesses W1a provided on the bottom surface of the article W. In this example, a protrusion 21 is provided at each of the three locations corresponding to the vertices of the triangle when viewed from above (see FIG. 1 ). Figure 6 That is, in this example, each of the three protrusions 21 serves as a moving pin. The plurality of recesses W1a are formed into grooves recessed upward from the bottom surface of the article W. In this embodiment, the plurality of recesses W1a are formed to extend radially from a reference position on the bottom surface of the container W1 for the article W. Furthermore, in this embodiment, each of the plurality of recesses W1a is formed into a tapered shape that tapers upward, with the inner surface of the recess W1a being an inclined surface.

[0024] like Figure 3 As shown, in this embodiment, the roof transporter 3 includes, in addition to the holding portion 31,: a traveling portion 32, which travels along the traveling direction X; a lifting drive portion 33, which lifts and lowers the holding portion 31 relative to the traveling portion 32; a sliding drive portion 34, which slides the holding portion 31 relative to the traveling portion 32 along the width direction Y; and a rotating drive portion 35, which rotates the holding portion 31 relative to the traveling portion 32 around the rotation axis AX along the up-down direction Z.

[0025] like Figure 3 and Figure 4 As shown, in this embodiment, the holding portion 31 includes a pair of holding claws 311 for holding the flange portion W2 of the article W, and a holding motor 312 for activating the pair of holding claws 311. The pair of holding claws 311 are configured to move toward and away from each other in a direction perpendicular to the vertical direction Z by the driving force of the holding motor 312. When the pair of holding claws 311 move toward each other, the holding portion 31 is in a holding state, holding the article W. On the other hand, when the pair of holding claws 311 move away from each other, the holding portion 31 is in a released state, not holding the article W.

[0026] The travel unit 32 includes a plurality of travel wheels 321 that roll on the travel rail 1, and a travel motor 322 that rotates at least one of the plurality of travel wheels 321. The driving force of the travel motor 322 causes at least one of the plurality of travel wheels 321 to rotate and roll on the travel rail 1, thereby causing the remaining travel wheels 32 to also roll on the travel rail 1. In this manner, the roof transport vehicle 3 travels along the travel rail 1.

[0027] The lifting drive unit 33 includes a pulley 331, a belt 332 wound around the pulley 331, and a lifting motor 333 that rotates the pulley 331. The pulley 331 is rotatably supported by the rotation drive unit 35. The front end of the belt 332 is connected to the holding unit 31. The lifting motor 333 rotates forward to wind the belt 332, rotating the pulley 331. Furthermore, the lifting motor 333 rotates reversely to unwind the belt 332. In this manner, the lifting drive unit 33 raises and lowers the holding unit 31 relative to the travel unit 32.

[0028] The slide drive unit 34 includes a transfer unit 341 slidably supported by the travel unit 32 in the width direction Y, and a slide motor 342 that causes the transfer unit 341 to slide in the width direction Y. The transfer unit 341 supports the rotation drive unit 35 from above. The driving force of the slide motor 342 causes the transfer unit 341 to slide in the width direction Y. This causes the holding unit 31 to slide in the width direction Y via the rotation drive unit 35 supported by the transfer unit 341 and the lifting drive unit 33 supported by the rotation drive unit 35. In this manner, the slide drive unit 34 causes the holding unit 31 to slide in the width direction Y relative to the travel unit 32.

[0029] The rotation drive unit 35 includes a rotating body 351 rotatably supported about a rotation axis AX by the transfer unit 341, and a rotation motor 352 that rotates the rotating body 351. The rotating body 351 rotatably supports the pulley 331 of the lift drive unit 33. The driving force of the rotation motor 352 causes the rotating body 351 to rotate about the rotation axis AX, thereby rotating the holding unit 31 about the rotation axis AX via the lift drive unit 33 supported by the rotating body 351. In this way, the rotation drive unit 35 rotates the holding unit 31 relative to the traveling unit 32 about the rotation axis AX, which extends along the vertical direction Z.

[0030] In this embodiment, each of the plurality of roof transport vehicles 3 includes a cover 3a. The cover 3a is configured to cover the article W transported by the roof transport vehicle 3. In this embodiment, when the holding portion 31 supported by the lifting drive unit 33 is at the uppermost position, the cover 3a is configured to cover the article W held by the holding portion 31 from both sides and the upper side in the travel direction X. Furthermore, in this embodiment, the cover 3a is supported by the travel unit 32.

[0031] like Figure 4 As shown, in the present embodiment, each of the plurality of ceiling transport vehicles 3 further includes a storage unit 36 ​​for storing first reference image data SD1 and second reference image data SD2 to be described later.

[0032] like Figure 2 As shown, the imaging device 4 is mounted on the ceiling transport vehicle 3. In this embodiment, the imaging device 4 is mounted on the holding portion 31 of the ceiling transport vehicle 3. The imaging device 4 captures the object T located below the ceiling transport vehicle 3 and obtains a captured image IM (see FIG. Figure 5 and Figure 6 ). Therefore, the camera 4 is arranged at a position where it can capture the object T located below the ceiling transport vehicle 3 even when the holding portion 31 is holding the article W. For example, the camera 4 is arranged at a position where it does not overlap with the article W held by the holding portion 31 when viewed from above. Here, regarding the arrangement of two elements, the so-called "overlapping when viewed from a specific direction" means that when an imaginary line parallel to the direction of sight is moved in directions orthogonal to the imaginary line, there is at least a partial area where the imaginary line intersects both elements.

[0033] like Figure 4 As shown, the article transport facility 100 includes a transport vehicle control device 10 for controlling the ceiling transport vehicle 3 , and a host control device H for outputting commands to the transport vehicle control device 10 .

[0034] The transporter control device 10 is mounted on the ceiling transporter 3. In this embodiment, the transporter control device 10 controls the holding unit 31, the traveling unit 32, the lifting drive unit 33, the sliding drive unit 34, and the rotating drive unit 35. Specifically, the transporter control device 10 is connected to each of the holding motor 312, the traveling motor 322, the lifting motor 333, the sliding motor 342, and the rotating motor 352 so as to be able to transmit and receive signals (e.g., electrical signals) to control their operations.

[0035] In this embodiment, the transport vehicle control device 10 controls not only the ceiling transport vehicle 3 but also the imaging device 4 installed on the ceiling transport vehicle 3 . That is, in this embodiment, the transport vehicle control device 10 functions as a “control device” that controls the ceiling transport vehicle 3 and the imaging device 4 .

[0036] When the ceiling transport vehicle 3 performs the aforementioned first transfer operation, the transport vehicle control device 10 executes a first adjustment control to adjust the relative position of the holding unit 31 relative to the article W placed on the loading platform 2 at the transfer starting point before the first transfer operation. During the first adjustment control, the transport vehicle control device 10 first causes the imaging device 4 to capture a first captured image IM1, which is an image IM of the top surface of the article W placed on the loading platform 2 at the transfer starting point as the imaging subject T. Then, based on the first captured image IM1 and the first reference image data SD1, the transport vehicle control device 10 adjusts the relative position of the holding unit 31 relative to the article W placed on the loading platform 2 at the transfer starting point.

[0037] The first reference image data SD1 is based on image data of an image IM captured with the top surface of the article W as the subject T, when the positional relationship between the ceiling transport vehicle 3 and the top surface of the article W is in a reference state. Here, the "reference state" refers to a state in which the holding unit 31 remains in the reference position, a positional relationship that enables accurate transfer of the article W between the ceiling transport vehicle 3 and the loading platform 2. Furthermore, the reference position of the holding unit 31 is not limited to the mechanical origin of the holding unit 31 but may also be a position corrected in various directions relative to that origin. Even in such a corrected position, the position of the holding unit 31 set by the transport vehicle control device 10 serves as the reference position.

[0038] The first reference image data SD1 is obtained, for example, in the following manner. First, the operator adjusts the position of the ceiling transport vehicle 3 and the position of the article W placed on the loading platform 2 so that the positional relationship between the ceiling transport vehicle 3 and the upper surface of the article W becomes a reference state. Next, the transport vehicle control device 10 causes the imaging device 4 to obtain a captured image IM with the upper surface of the article W as the shooting object T. Then, the transport vehicle control device 10 obtains the first reference image data SD1 by applying appropriate image processing (binarization, edge detection, etc.) to the captured image IM. In this embodiment, the first reference image data SD1 is obtained on the reference loading platform 2S (refer to Figure 1 ) obtained.

[0039] In this embodiment, as described above, a flange portion W2 is provided on the upper portion of the article W. Therefore, the upper surface of the article W, serving as the imaging target T, includes the flange upper surface W2a of the flange portion W2. Specifically, in this embodiment, the captured image IM, which serves as the starting point of the first reference image data SD1, and the first captured image IM1 are each acquired by capturing the flange upper surface W2a of the flange portion W2 using the imaging device 4.

[0040] like Figure 5As shown, in this embodiment, at least one of the position and orientation of the flange upper surface W2a in the first captured image IM1 is typically offset from the flange upper surface W2a in the first reference image data SD1. During the first adjustment control of this embodiment, the transport vehicle control device 10 adjusts the position and orientation of the holding portion 31 so that the position and orientation of the flange upper surface W2a in the first captured image IM1 correspond to the position and orientation of the flange upper surface W2a in the first reference image data SD1. Specifically, the position of the holding portion 31 in the travel direction X is adjusted by controlling the travel portion 32, the position of the holding portion 31 in the width direction Y is adjusted by controlling the slide drive portion 34, and the rotational position of the holding portion 31 about the rotation axis AX is adjusted by controlling the rotation drive portion 35. The position of the holding portion 31 is adjusted so that the position and orientation of the flange upper surface W2a in the first captured image IM1, captured corresponding to the adjusted position of the holding portion 31, match the position and orientation of the flange upper surface W2a in the first reference image data SD1. Specifically, during the first adjustment control, the position and orientation of the retaining portion 31 are adjusted so that the relative positional relationship between the retaining portion 31 and the flange upper surface W2a matches the positional relationship between the retaining portion 31 and the flange upper surface W2a in the reference state. Furthermore, when comparing the first captured image IM1 with the first reference image data SD1, appropriate image processing (binarization, edge detection, etc.) may be performed on the first captured image IM1.

[0041] Furthermore, when the ceiling transport vehicle 3 performs the aforementioned second transfer operation, the transport vehicle control device 10 performs a second adjustment control to adjust the relative position of the holding unit 31 relative to the destination loading platform 2 before the second transfer operation. During the second adjustment control, the transport vehicle control device 10 first causes the imaging device 4 to capture a first captured image IM2, which is an image IM of the top surface 2a of the destination loading platform 2 as the image subject T. The transport vehicle control device 10 then adjusts the relative position of the holding unit 31 relative to the destination loading platform 2 based on the second captured image IM2 and the second reference image data SD2.

[0042] The second reference image data SD2 is image data based on a captured image IM having the table top surface 2a of the mounting table 2 as the imaging target T when the positional relationship between the ceiling transport vehicle 3 and the table top surface 2a of the mounting table 2 is in a reference state.

[0043] The second reference image data SD2 is obtained, for example, in the following manner. First, the operator adjusts the position of the ceiling transport vehicle 3 so that the positional relationship between the ceiling transport vehicle 3 and the upper surface 2a of the platform 2 becomes a reference state. Next, the transport vehicle control device 10 causes the imaging device 4 to obtain a captured image IM with the upper surface 2a of the platform 2 as the capturing object T. Then, the transport vehicle control device 10 obtains the second reference image data SD2 by applying appropriate image processing (binarization, edge detection, etc.) to the captured image IM. In this embodiment, the second reference image data SD2 is obtained on the reference platform 2S (refer to Figure 1 ) obtained.

[0044] In this embodiment, as described above, the plurality of protrusions 21 are provided to protrude from the upper surface 2a of the mounting table 2. Therefore, the upper surface 2a of the mounting table 2, which serves as the imaging target T, includes the plurality of protrusions 21. Specifically, in this embodiment, the captured image IM, which serves as the starting point of the second reference image data SD2, and the second captured image IM2 are each acquired by capturing images of the plurality of protrusions 21 by the imaging device 4.

[0045] like Figure 6 As shown, in this embodiment, at least one of the position and orientation of the plurality of protrusions 21 in the second captured image IM2 is typically offset from the plurality of protrusions 21 in the second reference image data SD2. During the second adjustment control of this embodiment, the transport vehicle control device 10 adjusts the position and orientation of the holding portion 31 so that the position and orientation of the plurality of protrusions 21 in the second captured image IM2 correspond to the position and orientation of the plurality of protrusions 21 in the second reference image data SD2. Specifically, the position of the holding portion 31 in the travel direction X is adjusted by controlling the travel portion 32, the position of the holding portion 31 in the width direction Y is adjusted by controlling the slide drive portion 34, and the rotational position of the holding portion 31 about the rotation axis AX is adjusted by controlling the rotation drive portion 35. The position of the holding portion 31 is adjusted so that the position and orientation of the plurality of protrusions 21 in the second captured image IM2, captured corresponding to the adjusted position of the holding portion 31, match the position and orientation of the plurality of protrusions 21 in the second reference image data SD2. That is, in the second adjustment control, the position and orientation of the holding portion 31 are adjusted so that the relative positional relationship between the holding portion 31 and the plurality of protrusions 21 matches the positional relationship between the holding portion 31 and the plurality of protrusions 21 in the reference state. Furthermore, when comparing the second captured image IM2 with the second reference image data SD2, appropriate image processing (binarization, edge detection, etc.) may be applied to the second captured image IM2.

[0046] In this embodiment, the imaging device 4 is a stereo camera. Therefore, the transporter control device 10 can calculate the distance in the vertical direction Z between the ceiling transporter 3 and the object T based on the captured image IM obtained by the imaging device 4. The transporter control device 10 controls the lifting drive unit 33 to adjust the vertical direction Z position of the holding unit 31 so that the vertical direction Z distance between the ceiling transporter 3 and the object T matches a pre-set reference distance. Thus, in this embodiment, the vertical direction Z distance between the ceiling transporter 3 and the object T is calculated based on the captured image IM, and the vertical direction Z position of the holding unit 31 is adjusted by controlling the lifting drive unit 33 in each of the first adjustment control and the second adjustment control.

[0047] Below, refer to Figure 7 , the control process by the transport vehicle control device 10 according to this embodiment will be described. Figure 7 1 is a flowchart showing an example of the control process by the transport vehicle control device 10 .

[0048] like Figure 7 As shown, the transport vehicle control device 10 first acquires the first reference image data SD1 and the second reference image data SD2 (step #1). At this point, the transport vehicle control device 10 causes the storage unit 36 ​​of the ceiling transport vehicle 3 on which the transport vehicle control device 10 is mounted to store the first reference image data SD1 and the second reference image data SD2. The procedure for acquiring the first reference image data SD1 and the second reference image data SD2 is as described above.

[0049] Next, the transport vehicle control device 10 checks whether a command to cause the ceiling transport vehicle 3 to perform the first transfer operation is output from the host control device H (step # 2 ).

[0050] When an instruction to cause the ceiling transport vehicle 3 to perform the first transfer action is output from the upper control device H (step #2: Y), the transport vehicle control device 10 controls the travel unit 32 to cause the ceiling transport vehicle 3 to travel to a position above the loading platform 2 which is the starting point of the transfer and is used to perform the first transfer action (step #3).

[0051] Then, the transport vehicle control device 10 causes the imaging device 4 mounted on the ceiling transport vehicle 3 on which the transport vehicle control device 10 is mounted to acquire the first captured image IM1 (step # 4 ).

[0052] Next, the guided vehicle control device 10 calculates a first offset D1, which is the offset of the flange upper surface W2a of the article W in the first captured image IM1 relative to the first reference image data SD1 (step #5). The first offset D1 includes the offset in the travel direction X, the offset in the width direction Y, and the offset in the rotational direction about the rotation axis AX. The guided vehicle control device 10 then determines whether the first offset D1 exceeds a predetermined first threshold TH1 (step #6). In this judgment, for example, the first offset D1 can be at least one of (1) the offset of the flange upper surface W2a in the first captured image IM1 in the traveling direction X relative to the flange upper surface W2a in the first reference image data SD1, (2) the offset of the flange upper surface W2a in the first captured image IM1 in the width direction Y relative to the flange upper surface W2a in the first reference image data SD1, and (3) the offset of the flange upper surface W2a in the first captured image IM1 in the rotation direction centered on the rotation axis AX relative to the flange upper surface W2a in the first reference image data SD1.

[0053] When the first offset D1 is less than the first threshold TH1 (step #6: Y), the transport vehicle control device 10 adjusts the relative position relationship of the holding unit 31 with respect to the article W placed on the loading platform 2 at the starting point of the transport based on the first captured image IM1 and the first reference image data SD1 (step #7).

[0054] In step #7, if the flange upper surface W2a in the first captured image IM1 is offset in the travel direction X relative to the flange upper surface W2a in the first reference image data SD1, the transport vehicle control device 10 controls the travel unit 32 to adjust the position of the holding unit 31 in the travel direction X so that the position of the flange upper surface W2a in the travel direction X in the first captured image IM1 captured corresponding to the adjusted position of the holding unit 31 corresponds to the position of the flange upper surface W2a in the travel direction X in the first reference image data SD1. Furthermore, if the flange upper surface W2a in the first captured image IM1 is offset in the width direction Y relative to the flange upper surface W2a in the first reference image data SD1, the transport vehicle control device 10 controls the slide drive unit 34 to adjust the position of the holding unit 31 in the width direction Y so that the position of the flange upper surface W2a in the width direction Y in the first captured image IM1 captured corresponding to the adjusted position of the holding unit 31 corresponds to the position of the flange upper surface W2a in the width direction Y in the first reference image data SD1. In addition, when the flange upper surface W2a in the first captured image IM1 is offset in the rotation direction centered on the rotation axis AX relative to the flange upper surface W2a in the first reference image data SD1, the transport vehicle control device 10 adjusts the rotation position of the holding portion 31 centered on the rotation axis AX by controlling the rotation drive portion 35, so that the position of the flange upper surface W2a in the rotation direction centered on the rotation axis AX in the first captured image IM1 captured corresponding to the position of the adjusted holding portion 31 corresponds to the position of the flange upper surface W2a in the rotation direction centered on the rotation axis AX in the first reference image data SD1.

[0055] Furthermore, in step #7, when the imaging device 4 is a stereo camera, the transporter control device 10 calculates the distance in the vertical direction Z between the ceiling transporter 3 and the flange upper surface W2a of the article W based on the first captured image IM1. The transporter control device 10 then controls the lifting drive unit 33 to adjust the vertical position of the holding unit 31 in the vertical direction Z so that the distance in the vertical direction Z between the ceiling transporter 3 and the flange upper surface W2a of the article W matches a preset reference distance.

[0056] After the above-described adjustment of the holding portion 31, the transport vehicle control device 10 causes the ceiling transport vehicle 3 to perform the first transfer operation (step #2). Thereafter, the transport vehicle control device 10 repeats the control steps after step #2.

[0057] If the first offset D1 exceeds the first threshold TH1 (step #6: N), the transport vehicle control device 10 outputs a warning message (step #9). "Outputting a warning message" includes, for example, outputting a sound to alert the operator, displaying a graphic, or outputting such a warning message to the higher-level control device H. Thus, during the first adjustment control, the transport vehicle control device 10 outputs a warning message instead of causing the ceiling transport vehicle 3 to perform the first transfer operation if the offset (first offset D1) of the upper surface of the article W (here, the flange upper surface W2a) in the first captured image IM1 based on the first reference image data SD1 exceeds the predetermined first threshold TH1. Steps #2 through #7 described above correspond to the first adjustment control.

[0058] When the host control device H does not output a command for the ceiling transport vehicle 3 to perform the first transfer operation (step #2: N), the transport vehicle control device 10 checks whether the host control device H outputs a command for the ceiling transport vehicle 3 to perform the second transfer operation (step #10).

[0059] When the host control device H does not output a command to cause the ceiling transport vehicle 3 to perform the second transfer operation (step # 10 : N), the control after step # 2 is repeated.

[0060] On the other hand, when an instruction to cause the ceiling transport vehicle 3 to perform a second transfer action is output from the upper control device H (step #10: Y), the transport vehicle control device 10 controls the travel unit 32 to cause the ceiling transport vehicle 3 to travel to a position above the loading platform 2 which is the transport destination and for performing the second transfer action (step #11).

[0061] Then, the transport vehicle control device 10 causes the imaging device 4 mounted on the ceiling transport vehicle 3 on which the transport vehicle control device 10 is mounted to acquire the second captured image IM2 (step # 12 ).

[0062] Next, the transport vehicle control device 10 calculates a second offset D2, which is an offset of the plurality of protrusions 21 in the second captured image IM2 based on the second reference image data SD2 (step #13). The second offset D2 includes an offset in the travel direction X, an offset in the width direction Y, and an offset in the rotation direction about the rotation axis AX. The transport vehicle control device 10 then determines whether the second offset D2 exceeds a predetermined second threshold TH2 (step #14). In this determination, for example, the second offset D2 can be set to at least one of (1) an offset in the travel direction X of the plurality of protrusions 21 in the second captured image IM2 relative to the plurality of protrusions 21 in the second reference image data SD2, (2) an offset in the width direction Y of the plurality of protrusions 21 in the second captured image IM2 relative to the plurality of protrusions 21 in the second reference image data SD2, and (3) an offset in the rotation direction about the plurality of protrusions 21 in the second captured image IM2 relative to the plurality of protrusions 21 in the second reference image data SD2.

[0063] When the second offset amount D2 is equal to or smaller than the second threshold value TH2 (step # 14 : Y), the transport vehicle control device 10 adjusts the relative position of the holding unit 31 with respect to the destination stage 2 based on the second captured image IM2 and the second reference image data SD2 (step # 15 ).

[0064] In step #15, if the plurality of protrusions 21 in the second captured image IM2 are offset in the travel direction X relative to the plurality of protrusions 21 in the second reference image data SD2, the transport vehicle control device 10 controls the travel unit 32 to adjust the position of the holding unit 31 in the travel direction X so that the positions of the plurality of protrusions 21 in the second captured image IM2 captured corresponding to the adjusted position of the holding unit 31 correspond to the positions of the plurality of protrusions 21 in the travel direction X in the second reference image data SD2. Furthermore, if the plurality of protrusions 21 in the second captured image IM2 are offset in the width direction Y relative to the plurality of protrusions 21 in the second reference image data SD2, the transport vehicle control device 10 controls the slide drive unit 34 to adjust the position of the holding unit 31 in the width direction Y so that the positions of the plurality of protrusions 21 in the second captured image IM2 captured corresponding to the adjusted position of the holding unit 31 correspond to the positions of the plurality of protrusions 21 in the width direction Y in the second reference image data SD2. In addition, when the multiple protrusions 21 in the second captured image IM2 are offset in the rotation direction centered on the rotation axis AX relative to the multiple protrusions 21 in the second reference image data SD2, the transport vehicle control device 10 adjusts the rotation position of the holding portion 31 centered on the rotation axis AX by controlling the rotation drive portion 35, so that the positions of the multiple protrusions 21 in the rotation direction centered on the rotation axis AX in the second captured image IM2 captured corresponding to the adjusted position of the holding portion 31 correspond to the positions of the multiple protrusions 21 in the rotation direction centered on the rotation axis AX in the second reference image data SD2.

[0065] Furthermore, in step #15, when the imaging device 4 is a stereo camera, the transporter control device 10 calculates the distance in the vertical direction Z between the ceiling transporter 3 and the plurality of protrusions 21 on the mounting platform 2 based on the second captured image IM2. The transporter control device 10 then controls the lifting drive unit 33 to adjust the position of the holding unit 31 in the vertical direction Z so that the distance in the vertical direction Z between the ceiling transporter 3 and the plurality of protrusions 21 on the mounting platform 2 matches a preset reference distance.

[0066] After the above-described adjustment of the holding portion 31, the transport vehicle control device 10 causes the ceiling transport vehicle 3 to perform the second transfer operation (step #16). Thereafter, the transport vehicle control device 10 repeats the control from step #2 onward.

[0067] If the second offset D2 exceeds the second threshold TH2 (step #14: N), the transport vehicle control device 10 outputs a warning message (step #9). Thus, during the second adjustment control, if the offset (second offset D2) of the upper surface 2a of the mounting table 2 (here, the plurality of protrusions 21) in the second captured image IM2 based on the second reference image data SD2 exceeds the predetermined second threshold TH2, the transport vehicle control device 10 does not cause the ceiling transport vehicle 3 to perform the second transfer operation, but instead outputs a warning message. Steps #10 to #15 described above correspond to the second adjustment control.

[0068] <Other Implementation Methods>

[0069] (1) In the above-described embodiment, the configuration in which the first reference image data SD1 and the second reference image data SD2 acquired on the reference stage 2S are used as constant data during the operation of the article transport system 100 is described as an example. However, the configuration is not limited to that configuration, and the following configuration may be adopted. Here, one of the multiple stages 2 is referred to as a "specific stage," the first adjustment control for adjusting the relative positional relationship of the holding unit 31 with respect to the article W placed on the specific stage is referred to as the "specific first adjustment control," and the second adjustment control for adjusting the relative positional relationship of the holding unit 31 with respect to the specific stage is referred to as the "specific second adjustment control." In this case, after the specific first adjustment control, the transport vehicle control device 10 may update the first reference image data SD1 used in the next specific first adjustment control based on the first captured image IM1 used in the specific first adjustment control. That is, when the first adjustment control is performed on the stage 2 on which the first adjustment control was previously performed, the first reference image data SD1 used in the current first adjustment control may be generated based on the first captured image IM1 acquired in the previous first adjustment control. In this case, the reference position of the holding unit 31 defining the "reference state" is preferably also determined based on the updated first reference image data SD1. That is, the reference position of the holding unit 31 is also updated based on the first captured image IM1 acquired during the previous first adjustment control. Furthermore, after the specific second adjustment control, the transport vehicle control device 10 may update the second reference image data SD2 used in the next specific second adjustment control based on the second captured image IM2 used in the specific second adjustment control. That is, when the second adjustment control is performed on the platform 2 that previously underwent the second adjustment control, the second reference image data SD2 used in the current second adjustment control may be generated based on the second captured image IM2 acquired during the previous second adjustment control. In this case, the reference position of the holding unit 31 defining the "reference state" is preferably also determined based on the updated second reference image data SD2. That is, the reference position of the holding unit 31 is also updated based on the second captured image IM2 acquired during the previous second adjustment control.

[0070] (2) In the above-described embodiment, the following configuration is described as an example: in the first adjustment control, when the first offset D1 exceeds the first threshold value TH1, the transport vehicle control device 10 does not cause the roof transport vehicle 3 to perform the first transfer operation but instead outputs a warning message; and in the second adjustment control, when the second offset D2 exceeds the second threshold value TH2, the transport vehicle control device 10 does not cause the roof transport vehicle 3 to perform the second transfer operation but instead outputs a warning message. However, the present invention is not limited to such a configuration. When the first offset D1 exceeds the first threshold value TH1 or when the second offset D2 exceeds the second threshold value TH2, the operation of the article transporting equipment 100 may be stopped. Furthermore, the first offset D1 and the second offset D2 may not be calculated.

[0071] (3) In the above embodiment, the configuration in which the imaging device 4 is mounted on the holding portion 31 is described as an example. However, the configuration is not limited to that. For example, Figure 8 The figure shows a configuration in which the camera 4 is fixed to the lower end of the cover 3a. Even with this configuration, the camera 4 maintains a fixed relative position to the reference position of the holder 31, which defines the "reference position," enabling the first and second adjustment controls to be performed in the same manner as in the above-described embodiment. Furthermore, the camera 4 can also be mounted elsewhere, such as on the travel portion 32 of the roof transport vehicle 3.

[0072] (4) In the above embodiment, the imaging device 4 is described as a stereo camera. However, the imaging device 4 is not limited to such a configuration, and may also be a single-lens reflex camera. In this case, for example, a laser rangefinder may be installed on the ceiling transport vehicle 3, and the distance in the vertical direction Z between the ceiling transport vehicle 3 and the object T to be photographed may be measured by the laser rangefinder. Alternatively, instead of measuring the distance in the vertical direction Z between the ceiling transport vehicle 3 and the object T to be photographed, the holding portion 31 may be raised or lowered by a predetermined height by the lifting drive portion 33.

[0073] (5) In addition, the configurations disclosed in each of the above-mentioned embodiments can be combined and applied with the configurations disclosed in other embodiments as long as no contradiction arises. With regard to other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various changes can be appropriately made without departing from the scope of the present disclosure.

[0074] <Overview of the above embodiment>

[0075] Hereinafter, an overview of the article transport facility described above will be described.

[0076] The article transporting equipment is an article transporting equipment including a travel track provided on a ceiling, a plurality of loading platforms arranged along the travel track, and a ceiling transport vehicle that travels along the travel track and transports articles from the loading platform at the starting point of the transport among the plurality of loading platforms to the loading platform at the destination of the transport, and includes: a shooting device that is installed on the ceiling transport vehicle and shoots a shooting object located below the ceiling transport vehicle to obtain a shooting image; and a control device that controls the ceiling transport vehicle and the shooting device, the ceiling transport vehicle including a holding portion for holding the article, and is configured to perform a first transfer action of holding the article placed on the loading platform at the starting point of the transport by the holding portion, and a second transfer action of placing the article held by the holding portion on the loading platform at the destination of the transport, using image data of the shot image with the upper surface of the article as the shooting object based on the positional relationship between the ceiling transport vehicle and the upper surface of the loading platform as a reference state as the first reference image data, and a control device that controls the ceiling transport vehicle and the shooting device based on the positional relationship between the ceiling transport vehicle and the upper surface of the loading platform as the reference state. The control device implements: a first adjustment control, in which, when the roof transport vehicle performs the first transfer action, before the first transfer action, the camera acquires a first captured image, the first captured image being the captured image with the upper surface of the article placed on the platform at the transfer starting point as the captured image object, and adjusts the relative positional relationship of the holding portion with respect to the article placed on the platform at the transfer starting point based on the first captured image and the first reference image data; and a second adjustment control, in which, when the roof transport vehicle performs the second transfer action, before the second transfer action, the camera acquires a second captured image, the second captured image being the captured image with the upper surface of the platform at the transfer destination as the captured image object, and adjusts the relative positional relationship of the holding portion with respect to the platform at the transfer destination based on the second captured image and the second reference image data.

[0077] According to this configuration, the first and second reference image data acquired before or after the operation of the article handling equipment are used to perform the first and second adjustment controls during the operation of the article handling equipment. Specifically, before the operation of the article handling equipment, there is no need to perform a teaching process to acquire the relative positional relationship of the holding unit with respect to the object being imaged and to set the adjustment amount for the holding unit's position based on this relationship. Instead, the first and second reference image data need only be acquired before or after the operation of the article handling equipment. This significantly reduces the time required for pre-operational operations of the article handling equipment. Consequently, the time required to start the operation of the article handling equipment can be kept to a minimum.

[0078] Here, it is appropriate that the control device: in the first adjustment control, when the offset amount of the upper surface of the above-mentioned article in the above-mentioned first captured image based on the above-mentioned first reference image data exceeds a prescribed first threshold value, the above-mentioned ceiling transport vehicle is not caused to perform the above-mentioned first transfer action, but a reminder message is output; in the second adjustment control, when the offset amount of the upper surface of the above-mentioned loading platform in the above-mentioned second captured image based on the above-mentioned second reference image data exceeds a prescribed second threshold value, the above-mentioned ceiling transport vehicle is not caused to perform the above-mentioned second transfer action, but the above-mentioned reminder message is output.

[0079] According to this configuration, when there is a significant positional deviation between the ceiling transport vehicle and the article, the operator can be promptly notified.

[0080] In addition, it is appropriate that, with the direction along the aforementioned travel track as the travel direction and the direction orthogonal to the travel direction when viewed from above as the width direction, the aforementioned roof transport vehicle includes the aforementioned holding part, a travel part that travels along the aforementioned travel direction, a lifting drive part that raises and lowers the aforementioned holding part relative to the aforementioned travel part, a sliding drive part that slides the aforementioned holding part along the aforementioned width direction relative to the aforementioned travel part, and a rotating drive part that rotates the aforementioned holding part relative to the aforementioned travel part around a rotation axis along the up and down direction, and the aforementioned control device adjusts the position of the aforementioned holding part in the aforementioned travel direction by controlling the aforementioned travel part, adjusts the position of the aforementioned holding part in the aforementioned width direction by controlling the aforementioned sliding drive part, and adjusts the rotation position of the aforementioned holding part around the aforementioned rotation axis by controlling the aforementioned rotating drive part in each of the aforementioned first adjustment control and the aforementioned second adjustment control.

[0081] According to this configuration, in each of the first adjustment control and the second adjustment control, the position of the holding portion in the traveling direction, the position of the holding portion in the width direction, and the rotational position of the holding portion can be appropriately adjusted.

[0082] It is appropriate that, in the structure in which the above-mentioned ceiling transport vehicle comprises the above-mentioned holding portion, the above-mentioned traveling portion, the above-mentioned lifting drive portion, the above-mentioned sliding drive portion and the above-mentioned rotating drive portion, the above-mentioned shooting device is a stereo camera, the above-mentioned control device determines the distance in the above-mentioned vertical direction between the above-mentioned ceiling transport vehicle and the above-mentioned shooting object based on the above-mentioned shooting image, and in each of the above-mentioned first adjustment control and the above-mentioned second adjustment control, the above-mentioned vertical position of the above-mentioned holding portion is adjusted by controlling the above-mentioned lifting drive portion.

[0083] According to this configuration, since the imaging device is a stereo camera, the vertical distance between the ceiling transport vehicle and the imaging object can be appropriately determined based on the captured images obtained by the imaging device. Consequently, the vertical position of the holding portion can be appropriately adjusted in each of the first and second adjustment controls.

[0084] Furthermore, preferably, a plurality of the ceiling transport vehicles are arranged along the travel rail, and each of the plurality of ceiling transport vehicles includes a storage unit that stores the first reference image data and the second reference image data.

[0085] With this configuration, the storage unit of each roof transport vehicle can store the first and second reference image data corresponding to that vehicle. This allows for precise execution of the first and second adjustment controls for each vehicle. Furthermore, this configuration facilitates immediate comparison of the first or second captured image with the first or second reference image data stored in the storage unit of the vehicle after the camera mounted on the vehicle captures it. This allows for swift execution of the first and second adjustment controls.

[0086] In addition, it is appropriate that one of the multiple aforementioned loading platforms is used as a "specific loading platform", the first adjustment control for adjusting the relative position relationship of the aforementioned holding portion with respect to the aforementioned article loaded on the aforementioned specific loading platform is used as a specific first adjustment control, and the second adjustment control for adjusting the relative position relationship of the aforementioned holding portion with respect to the aforementioned specific loading platform is used as a specific second adjustment control, and the aforementioned control device: after the aforementioned specific first adjustment control, based on the aforementioned first captured image used in the specific first adjustment control, updates the aforementioned first reference image data used in the next aforementioned specific first adjustment control; after the aforementioned specific second adjustment control, based on the aforementioned second captured image used in the specific second adjustment control, updates the aforementioned second reference image data used in the next aforementioned specific second adjustment control.

[0087] This configuration allows the use of first and second reference image data that include positional shifts between the ceiling transport vehicle and the article that occur over time. This allows accurate detection of positional shifts between the ceiling transport vehicle and the article that are caused by unexpected events, as opposed to positional shifts between the ceiling transport vehicle and the article that occur over time.

[0088] In addition, it is appropriate that the aforementioned article is a container having a flange portion provided on the upper part of the article and retained by the aforementioned retaining portion, the aforementioned placing table has a plurality of protrusions formed to protrude from the upper surface of the placing table and respectively engage with a plurality of recesses provided on the bottom surface of the aforementioned article, the upper surface of the aforementioned article serving as the aforementioned photographic object includes the upper surface of the aforementioned flange portion, and the upper surface of the aforementioned placing table serving as the aforementioned photographic object includes the plurality of aforementioned protrusions.

[0089] This configuration allows for precise comparison of the first captured image with the first reference image data in the first adjustment control, and for precise comparison of the second captured image with the second reference image data in the second adjustment control.

[0090] Industrial applicability

[0091] The technology involved in the present invention can be used in an article transporting equipment including a travel track installed on a ceiling, a plurality of loading platforms arranged along the travel track, and a ceiling transport vehicle that travels along the travel track and transports articles from a loading platform at a transport starting point to a loading platform at a transport destination.

[0092] Explanation of symbols

[0093] 100: Goods handling equipment

[0094] 1: Driving track

[0095] 2: Loading table

[0096] 2a: Countertop surface

[0097] 3: Roof transporter

[0098] 31: Maintenance Department

[0099] 4: Shooting device

[0100] 10: Truck control device (control device)

[0101] W: Item

[0102] T: Subject

[0103] IM: Capture Image

[0104] IM1: First captured image

[0105] IM2: Second captured image.

Claims

1. Goods handling equipment, equipped with the following: A running track is arranged on the ceiling; A plurality of loading platforms are arranged along the travel track; A ceiling transport vehicle travels along the travel track and transports articles from a transport starting point of the plurality of loading platforms to a transport destination of the loading platform; a photographing device mounted on the roof transport vehicle and configured to photograph a subject located below the roof transport vehicle to obtain a photographed image; A control device for controlling the roof transport vehicle and the photographing device; It has the following characteristics: The ceiling transport vehicle includes a holding portion for holding the article, and is configured to perform a first transfer operation in which the article placed on the loading platform at the starting point of the transfer is held by the holding portion, and a second transfer operation in which the article held by the holding portion is placed on the loading platform at the destination of the transfer. The image data of the image captured with the upper surface of the article as the shooting object in a state where the positional relationship between the ceiling transport vehicle and the upper surface of the article is used as a reference state is used as the first reference image data, and the image data of the image captured with the upper surface of the loading platform as the shooting object in a state where the positional relationship between the ceiling transport vehicle and the upper surface of the loading platform is used as the second reference image data. The control device implements: a first adjustment control for causing the imaging device to obtain a first captured image before the first transferring action when the ceiling transport vehicle performs the first transferring action, the first captured image being the image having the upper surface of the article placed on the loading platform at the transfer starting point as the captured object, and adjusting the relative positional relationship of the holding portion with respect to the article placed on the loading platform at the transfer starting point based on the first captured image and the first reference image data; and The second adjustment control enables the camera to obtain a second captured image before the second transferring action when the ceiling transport vehicle performs the second transferring action. The second captured image is the captured image with the upper surface of the loading platform at the transporting destination as the captured object. Based on the second captured image and the second reference image data, the relative position relationship of the holding portion with respect to the loading platform at the transporting destination is adjusted.

2. The article handling equipment according to claim 1, wherein: The control device: In the first adjustment control, when the amount of deviation of the upper surface of the article in the first captured image based on the first reference image data exceeds a predetermined first threshold, the ceiling transport vehicle is not caused to perform the first transfer operation, but a warning message is output; In the second adjustment control, when the deviation amount of the upper surface of the mounting table in the second captured image based on the second reference image data exceeds a predetermined second threshold, the ceiling transport vehicle is not caused to perform the second transfer operation, but the warning information is output.

3. The article handling equipment according to claim 1 or 2, wherein: The direction along the travel track is the travel direction, and the direction perpendicular to the travel direction in a plan view is the width direction. The roof transport vehicle includes the holding portion, a traveling portion that travels along the traveling direction, a lifting drive portion that raises and lowers the holding portion relative to the traveling portion, a sliding drive portion that slides the holding portion relative to the traveling portion in the width direction, and a rotation drive portion that rotates the holding portion relative to the traveling portion about a rotation axis along the vertical direction. In each of the first adjustment control and the second adjustment control, the control device adjusts the position of the holding portion in the traveling direction by controlling the traveling portion, adjusts the position of the holding portion in the width direction by controlling the sliding drive portion, and adjusts the rotation position of the holding portion centered on the rotation axis by controlling the rotation drive portion.

4. The article handling equipment according to claim 3, wherein: The shooting device is a stereo camera, The control device determines the vertical distance between the ceiling transport vehicle and the photographed object based on the photographed image, and adjusts the vertical position of the holding portion by controlling the lifting drive portion in each of the first adjustment control and the second adjustment control.

5. The article handling equipment according to claim 1 or 2, wherein: The roof transport vehicle is arranged in plurality along the travel track. Each of the plurality of ceiling transport vehicles includes a storage unit that stores the first reference image data and the second reference image data.

6. The article handling equipment according to claim 1 or 2, wherein: One of the plurality of loading platforms is designated as a specific loading platform, the first adjustment control for adjusting the relative position of the holding portion relative to the article placed on the specific loading platform is designated as the specific first adjustment control, and the second adjustment control for adjusting the relative position of the holding portion relative to the specific loading platform is designated as the specific second adjustment control. The control device: After the specific first adjustment control, updating the first reference image data used in the next specific first adjustment control based on the first captured image used in the specific first adjustment control; After the specific second adjustment control, the second reference image data used in the next specific second adjustment control is updated based on the second captured image used in the specific second adjustment control.

7. The article handling equipment according to claim 1 or 2, wherein: The article is a container having a flange portion held by the holding portion provided on the upper portion of the article, The placing table includes a plurality of protrusions formed to protrude from the upper surface of the placing table and respectively engage with a plurality of recesses provided on the bottom surface of the article. The upper surface of the article as the photographed object includes the upper surface of the flange portion, The upper surface of the mounting table serving as the imaging target includes a plurality of the protrusions.

Images