Rail trolley system

Abstract

A rail vehicle system (1) includes: a detection unit (70, 84, 85) arranged in front of a vehicle (6) located at a predetermined position (P1) in a travel direction (D1) and detected by an obstacle detection unit (54A, 34A, 34B); and a controller (90) that determines the state of the obstacle detection unit (54A, 34A, 34B) based on the detection result of the detection unit (70, 84, 85) obtained by the obstacle detection unit (54A, 34A, 34B). The detection unit (70, 84, 85) is movably provided so as to enter the travel space of the vehicle (6) when checking the operation of the obstacle detection unit (54A, 34A, 34B) and to retreat from the travel space of the vehicle (6) when the vehicle (6) passes through the entry position of the detection unit (70, 84, 85).

Description

Technical Field

[0001] One aspect of the present invention relates to a rail-mounted trolley system. Background Art

[0002] A known vehicle that transports items while traveling on rails is known. The vehicle is equipped with obstacle detection sensors that detect obstacles that could become obstacles while traveling on the rails. The vehicle's movement is sometimes controlled based on the presence or absence of detection results from the obstacle detection sensors. However, to maintain proper operation of the vehicle, it is necessary to regularly check whether the obstacle detection sensors are functioning properly. For example, Patent Document 1 discloses an automatic operation verification device that moves a vehicle in automated driving to a starting position and automatically performs an obstacle detection sensor check at the starting position.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 10-124146 Summary of the Invention

[0006] The automatic operation confirmation device of Patent Document 1 is intended to inspect an obstacle detection unit provided on a vehicle traveling on the ground, and does not envision inspecting an obstacle detection unit provided on a vehicle traveling on tracks.

[0007] Therefore, an object of one aspect of the present invention is to provide a rail-guided vehicle system capable of automatically confirming the operation of an obstacle detection unit provided on a vehicle traveling on a track.

[0008] In a rail trolley system according to one aspect of the present invention, a plurality of trolleys are provided with an obstacle detection unit for detecting obstacles located in front of the traveling direction, and the rail trolley system comprises: a detected unit, which is arranged in front of the trolley located at a specified position and is detected by the obstacle detection unit; and a controller, which determines the state of the obstacle detection unit based on the detection result of the detected unit obtained by the obstacle detection unit. The detected unit is movably arranged in a manner such that it enters the traveling space of the trolley when checking to confirm the action of the obstacle detection unit and retreats from the traveling space of the trolley when the trolley passes through the entry position of the detected unit.

[0009] In this configuration, when confirming the status of a vehicle's obstacle detection unit at a specified position (during inspection), the detected unit is moved forward into the vehicle's travel space, and the obstacle detection unit's status is determined based on the detection result obtained by the obstacle detection unit at that time. Furthermore, when the vehicle passes through the detected unit's entry position (during passage), the detected unit is retracted from the vehicle's travel space, thereby preventing the vehicle from interfering with its movement. This allows for automatic confirmation of the operation of the obstacle detection unit installed on a vehicle traveling on a track.

[0010] In the rail-guided vehicle system according to one aspect of the present invention, the obstacle detector may be a light receiver, and the detected part may be a light projector mounted on a plate-shaped member. In this configuration, the operation of the light receiver provided on the vehicle can be automatically checked.

[0011] In one aspect of the rail-guided vehicle system of the present invention, the track may have an interior space defined along the track's extension direction relative to the exterior space, the vehicle may include a traveling portion configured to travel within the interior space, the obstacle detection portion may be mounted on the traveling portion, and the light projector may be movably mounted between the interior space and the exterior space, and may be configured to enter the interior space during inspection and retract to the exterior space during passage. In this configuration, the operation of the light projector mounted on the traveling portion traveling within the interior space of the track may be automatically confirmed.

[0012] In one aspect of the rail-guided vehicle system of the present invention, a notch may be formed in the track to allow the light projector and the plate-shaped member to move between the interior space and the exterior space. A cover may be formed on the plate-shaped member to cover the area of ​​the notch through which the light projector passes when the light projector enters the interior space. In this configuration, the notch is covered by the cover when the light projector enters the interior space, preventing interference light from the exterior space from entering the interior space. This allows for more reliable confirmation of light projector operation without being affected by interference light.

[0013] In one aspect of the present invention, a track-guided vehicle system may include a vehicle equipped with a rear light projector that enables a vehicle located behind the vehicle to detect the presence of the vehicle. The track-guided vehicle system may further include a light projector detection unit located behind the vehicle at a predetermined position and detecting light projected from the rear light projector. The light projector detection unit is movably arranged so as to enter the vehicle's travel space when checking the operation of the rear light projector and to retreat from the vehicle's travel space when the vehicle passes through the entry position of the light projector detection unit. The controller determines the status of the rear light projector based on the detection result obtained by the light projector detection unit. When checking the status of the rear light projector of the vehicle located at the predetermined position (checking), the light projector detection unit is positioned behind the vehicle and the status of the rear light projector is determined based on the detection result obtained by the light projector detection unit at that time. Thus, the operation of the rear light projector provided on the vehicle traveling on the track can be automatically confirmed.

[0014] In one aspect of the rail-guided vehicle system of the present invention, the obstacle detection unit may include a light receiver and a light projector, and the detected unit may be a reflective component capable of reflecting light projected from the light projector. In this configuration, the operation of the light projector and light receiver provided on the vehicle can be automatically confirmed.

[0015] In one aspect of the rail-guided trolley system of the present invention, the reflective member may be movably mounted relative to a frame-shaped main body portion that surrounds a travel space of the trolley so as to allow the trolley to pass in its travel direction. The reflective member may be movably arranged so as to enter the travel space of the trolley during inspection and retract from the travel space of the trolley during passage. In this configuration, the reflective member can be retracted from the travel space of the trolley so as not to obstruct the travel of the trolley during passage.

[0016] Effects of the Invention

[0017] According to one aspect of the present invention, the operation of the obstacle detection unit provided on the vehicle traveling on the track can be automatically confirmed. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic plan view showing the structure of a rail-guided vehicle system according to one embodiment.

[0019] Figure 2 This is a front view of the moving vehicle as viewed from the front in the direction of travel.

[0020] Figure 3 This is a side view of the inspection unit as seen from the side.

[0021] Figure 4 This is a top view of the inspection unit as seen from above.

[0022] Figure 5 This is a side view of the first inspection device as seen from the side.

[0023] Figure 6 This is a top view of a portion of the first inspection device as viewed from above.

[0024] Figure 7 (A) is a perspective view of the plate-shaped member and the projector in a retracted state. Figure 7 (B) is a three-dimensional diagram of the plate-like component and the projector in the entry state.

[0025] Figure 8 (A) is a cross-sectional view of the track at the arrangement position of the first inspection device, viewed from the front in the traveling direction. Figure 8 (B) is a diagram showing the arrangement of the first guide and the second guide arranged on the rail near the arrangement position of the first inspection device.

[0026] Figure 9 (A) is a perspective view of the third inspection device when the first target plate and the second target plate are in the retracted state. Figure 9 (B) is a perspective view of the third inspection device when the first target plate and the second target plate are in the entering state.

[0027] Figure 10 This is a front view of the third inspection device as seen from the inspection position.

[0028] Figure 11 This is a block diagram showing the functional structure of the rail-guided vehicle system. DETAILED DESCRIPTION

[0029] Hereinafter, a preferred embodiment of one aspect of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and repeated descriptions are omitted.

[0030] like Figure 1 and Figure 2 As shown, rail-mounted vehicle system 1 is a system for transporting objects 10 using an aerial vehicle (trolley) 6 (hereinafter referred to as "trolley 6") that can move along a track 4. Objects 10 include containers such as FOUPs (Front Opening Unified Pods) that store multiple semiconductor wafers and reticle cassettes that store glass substrates, as well as general components. Rail-mounted vehicle system 1 includes track 4, multiple vehicles 6, multiple loading units 9, an inspection unit 100, and a transport controller 90.

[0031] The track 4 is, for example, laid near a ceiling that serves as overhead space for workers. The track 4 is, for example, suspended from the ceiling. The track 4 forms a predetermined travel path for the vehicle 6. The track 4 is supported by pillars 40A, 40A. The track 4 of the rail-guided vehicle system 1 includes a main line portion 4A for the vehicle 6 to travel in a single direction D1 within a predetermined area, and a retreat portion 4B for guiding the vehicle 6 to an inspection unit 100 for inspecting the vehicle 6. Furthermore, within the retreat portion 4B, the vehicle 6 also moves in the predetermined single direction D1.

[0032] The track 4 has a cylindrical track body 40, a power feeder 40E, and a magnetic plate 40F, wherein the track body 40 has a pair of lower surface portions 40B, 40B, a pair of side portions 40C, 40C, and a top surface portion 40D, and is partially open. The track body 40 forms an internal space A1 that is divided relative to the external space A2. The internal space A1 extends along the extension direction of the track 4. The track body 40 is accommodated in the traveling portion 50 of the traveling vehicle 6, which will be described in detail later. The lower surface portion 40B extends along the traveling direction D1 of the traveling vehicle 6 and constitutes the lower surface of the track body 40. The lower surface portion 40B is a plate-shaped component on which the traveling rollers 51 of the traveling vehicle 6 roll to cause the traveling vehicle 6 to travel. The side portion 40C extends along the traveling direction D1 of the traveling vehicle 6 and constitutes the side surface of the track body 40. The top surface portion 40D extends along the traveling direction D1 of the traveling vehicle 6 and constitutes the upper surface of the track body 40.

[0033] The power feeder 40E supplies power to the power feeder core 57 of the vehicle 6 and transmits and receives signals to and from the power feeder core 57. The power feeder 40E is fixed to each of the pair of side surfaces 40C and 40C and extends along the travel direction D1. The power feeder 40E supplies power to the power feeder core 57 in a non-contact manner. The magnetic plate 40F generates a magnetic force for the LDM (Linear DC Motor) 59 of the vehicle 6 to drive or stop. The magnetic plate 40F is fixed to the top surface 40D and extends along the travel direction D1.

[0034] The traveling vehicle 6 travels along the track 4 and transports an article 10. The traveling vehicle 6 is configured to be able to transfer the article 10. The traveling vehicle 6 is an unmanned aerial vehicle. The number of traveling vehicles 6 provided in the rail-guided trolley system 1 is not particularly limited, and a plurality of traveling vehicles 6 may be provided. The traveling vehicle 6 includes a main body 7, a traveling unit 50, and a main body controller 35. The main body 7 includes a main frame 22, a lateral delivery unit 24, a θ drive 26, a lifting drive unit 28, a lifting platform 30, a shield 33, an anti-collision sensor (obstacle detection unit) 34A, and an obstacle sensor (obstacle detection unit) 34B.

[0035] The main frame 22 is connected to the travel section 50 and supports the lateral delivery section 24, theta drive 26, the lift drive 28, the lift platform 30, and the guard 33. The lateral delivery section 24 delivers theta drive 26, the lift drive 28, and the lift platform 30 together laterally in a direction perpendicular to the extension direction of the rail 4. Theta drive 26 rotates at least one of the lift drive 28 and the lift platform 30 within a horizontal plane and within a predetermined angular range. The lift drive 28 raises and lowers the lift platform 30 by winding or unwinding a suspension material such as a wire, rope, or belt. A chuck is provided on the lift platform 30 to allow for the gripping and release of the article 10. For example, a pair of guards 33 are provided at the front and rear of the travel vehicle 6 in the travel direction D1. The guards 33 extend and retract claws (not shown) to prevent the article 10 from falling during transport.

[0036] The anti-collision sensor 34A is located above the front shield 33 of the pair of shields 33, 33. The anti-collision sensor 34A emits light toward the front of the traveling direction D1 and detects the presence of another traveling vehicle 6 located ahead in the traveling direction D1 based on whether the reflected light is detected. That is, the anti-collision sensor 34A includes a light-emitting portion and a light-receiving portion. The obstacle sensor 34B is located below the front shield 33 of the pair of shields 33, 33. The obstacle sensor 34B emits light toward the front of the traveling direction D1 and detects the presence of an obstacle located ahead in the traveling direction D1 based on whether the reflected light is detected. That is, the obstacle sensor 34B includes a light-emitting portion and a light-receiving portion. The detection results obtained by the anti-collision sensor 34A and the obstacle sensor 34B are mainly obtained by the main body controller 35.

[0037] As described above, the traveling unit 50 travels in the inner space A1 formed in the track 4. The traveling unit 50 mainly includes a traveling roller 51, a side roller 52, a light receiver (obstacle detection unit) 54A, and a light projector (rear light projector) 54B (see FIG. Figure 3 and Figure 4 ), feed core 57, and LDM 59. The travel rollers 51 are a pair of rollers consisting of an outer wheel serving as a travel wheel and an inner wheel serving as a travel auxiliary wheel. The travel rollers 51 are located at the front and rear left and right ends of the travel portion 50. The travel rollers 51 roll on the pair of lower surfaces 40B, 40B of the rail 4.

[0038] The side rollers 52 are arranged in a manner that separates the outer wheels of the traveling rollers 51 in the front-to-back direction. The side rollers 52 are configured to be able to contact the side portion 40C of the track 4. The power feeding core 57 is arranged in front and behind the traveling portion 50, and is arranged in a manner that separates the LDM59 in the left-right direction. The power feeding portion 40E arranged on the track 4 performs power feeding based on a non-contact method and transmission and reception of various signals based on a non-contact method with the power feeding core 57. The power feeding core 57 also exchanges signals with the main controller 35. LDM59 is arranged in front and behind the traveling portion 50. LDM59 generates a magnetic force for traveling or stopping between it and the magnetic plate 40F arranged on the upper surface of the track 4 through an electromagnet.

[0039] The light receiver 54A is provided on the front surface of the traveling unit 50. The light receiver 54A receives light projected from the light projector 54B provided on the preceding vehicle 6 within a predetermined distance range from the traveling vehicle 6. In other words, the light receiver 54A cannot receive light projected from the light projector 54B provided on the preceding vehicle 6 outside the predetermined distance range. The detection result obtained by the light receiver 54A is acquired by the main controller 35. Upon receiving light from the light receiver 54A, the main controller 35 determines that a traveling vehicle 6 is present within the predetermined distance range ahead of the traveling vehicle 6.

[0040] A light projector 54B is provided on the rear surface of the traveling unit 50. The light projector 54B projects light toward the rear of the traveling vehicle 6. The light projection distance of the light projector 54B is set so that the light can be received by the light receiver 54A provided on the following traveling vehicle 6 within a predetermined distance from the traveling vehicle 6. The light projection by the light projector 54B is controlled by the main controller 35.

[0041] The travel unit 50 is controlled by a transport controller (controller) 90 described in detail later via the main body controller 35 . Specifically, a command from the transport controller 90 is sent to the main body controller 35 , and the main body controller 35 controls the travel unit 50 upon receiving the command.

[0042] The loading portion 9 is arranged along the track 4 and is located at a position where the traveling vehicle 6 can deliver the article 10. The loading portion 9 includes a buffer zone and a delivery port. The buffer zone is a loading portion for temporarily loading the article 10. The buffer zone is a loading portion for temporarily placing the article 10 when the article 10 being transported by the traveling vehicle 6 cannot be transferred to the delivery port, for example, because other articles 10 are being loaded on the delivery port set as the target. The delivery port is a loading portion for delivering the article 10 relative to a semiconductor processing device (not shown) such as a cleaning device, a film forming device, a photolithography device, an etching device, a heat treatment device, and a flattening device. In addition, the processing device is not particularly limited and can be various devices.

[0043] For example, the loading section 9 is positioned to the side of the track 4. In this case, the traveling vehicle 6 delivers the lifting drive unit 28 and the like laterally using the lateral delivery unit 24, thereby slightly raising and lowering the lifting platform 30, thereby transferring the article 10 to and from the loading section 9. Furthermore, although not shown, the loading section 9 may also be positioned directly below the track 4. In this case, the traveling vehicle 6 transfers the article 10 to and from the loading section 9 by raising and lowering the lifting platform 30.

[0044] The main controller 35 is an electronic control unit composed of a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory). The main controller 35 controls various operations in the traveling vehicle 6. Specifically, the main controller 35 controls the traveling unit 50, the lateral delivery unit 24, the θ drive 26, the lifting drive unit 28, and the lifting platform 30. The main controller 35 can be configured as software, for example, by loading a program stored in the ROM into the RAM and executing it on the CPU. The main controller 35 can also be configured as hardware based on electronic circuits, etc. The main controller 35 communicates with the transport controller 90 using the feeder 40E (feeder line) of the track 4, etc.

[0045] The inspection unit 100 is as follows Figure 1 As shown, it is provided on a part of the retreat portion 4B, and as shown Figure 3 and Figure 4 As shown, the inspection unit 100 is a device group that performs operation verification of the light receiver 54A, light projector 54B, collision avoidance sensor 34A, and obstacle sensor 34B mounted on the traveling vehicle 6. The inspection unit 100 is configured to include a first inspection device 60A, a second inspection device 60B, and a third inspection device 80. The first inspection device 60A and the second inspection device 60B are arranged in the extending direction of the track 4, sandwiching the inspection position (predetermined position) P1, where the traveling vehicle 6 stops when inspected in the inspection unit 100.

[0046] The first inspection device 60A is arranged at a position in front of the traveling direction D1 when viewed from the traveling vehicle 6 stopped at the above-mentioned inspection position P1. The distance between the inspection position P1 and the first inspection device 60A is, for example, about 2m. The first inspection device 60A is a device that confirms the action of the light receiver 54A carried by the traveling vehicle 6 stopped at the inspection position P1. The light projector (detected part) 70 of the first inspection device 60A is configured to move freely in a manner that enters the traveling space of the traveling vehicle 6 when checking the action of the light receiver 54A, and retreats from the traveling space of the traveling vehicle 6 when the traveling vehicle 6 passes through the entry position of the light projector 70 (normally when the action of the light receiver 54A is not confirmed). In more detail, the light projector 70 is provided in a manner that is movable between the internal space A1 and the external space A2, and is configured as follows. Figure 7 As shown in (B), when checking, enter the inner space A1, as shown in (B) Figure 7 As shown in (A) of FIG. 1 , the first drive unit 64 (see FIG. 1 ) is used to retreat to the external space A2 when passing (normally). Figure 5 )drive.

[0047] like Figure 5 and Figure 6 As shown, the first inspection device 60A includes a plate-shaped member 61, a sliding mechanism 63, a first drive unit 64, a lower connecting member 65, an upper connecting member 66, and a projector 70. The following describes in detail the various parts that constitute the first inspection device 60A. The plate-shaped member 61 is formed in a plate shape. The plate-shaped member 61 is arranged in a manner that allows it to pass through the gap portion 40G formed in the X direction of the rail 4. The size of the gap portion 40G is, for example, 5 mm, and the plate-shaped member 61 is formed to a thickness that allows it to be inserted into the gap portion 40G. The gap portion 40G can also be formed, for example, by connecting the rails 4 and 4 in a state where a gap is separated in the X direction. The connection of the rails 4 and 4 is performed, for example, using the lower connecting member 65 and the upper connecting member 66.

[0048] The plate-like member 61 is connected to a sliding mechanism 63 arranged on the top surface portion 40D of the rail 4. The sliding mechanism 63 is, for example, a linear guide, which supports the plate-like member 61 having a main surface in the X direction in a manner that allows it to move in the Y direction. When the plate-like member 61 moves in the Y direction, it is guided (clamped) by a pair of guide rollers 65A, 65A provided on the lower connecting member 65. The guide rollers 65A, 65A are formed of, for example, resin. The lower connecting member 65 having such guide rollers 65A, 65A is provided at three locations along the Y direction, so that the plate-like member 61 that moves in the Y direction through the sliding mechanism 63 can move smoothly in the gap portion 40G of the rail 4. In addition, a lower connecting member 65 that does not have guide rollers 65A, 65A and only has a connection function to the rail 4 is also provided. The sliding mechanism 63 is driven by a first drive unit 64. The first drive unit 64 is capable of communicating with the transport controller 90 (see Figure 11 ) is set up for communication and is controlled by the transport controller 90.

[0049] The projector 70 is mounted on the plate-like member 61 as described above and is movable between the interior space A1 and the exterior space A2. The projector 70 is mounted so as to protrude toward the inspection position P1. The projector 70 is connected to a control box (not shown) disposed on the top surface 40D of the track 4 or the like via a cable 72 housed in a cable guide 75. The control box is arranged so as to be able to communicate with the transport controller 90. The power required for operation is supplied to the projector 70 via the cable 72, and communication with the transport controller 90 is performed via the cable 72.

[0050] like Figure 7 As shown in (A), a notch 40W is provided on the side surface 40C of the rail 4 to allow the projector 70 mounted on the plate member 61 to move between the internal space A1 and the external space A2. Figure 7 As shown in FIG. 1B , the plate-like member 61 is provided with a cover 62 that covers the area of ​​the cutout 40W through which the projector 70 passes when the projector 70 enters the interior space A1. Specifically, when the projector 70 enters the interior space A1, the cover 62 shields the space formed by the cutout 40W, which connects the interior space A1 to the exterior space A2. This prevents external interference light from intruding into the space between the vehicle 6 and the plate-like member 61 (in other words, the space between the projector 70 and the light receiver 54A through which light projected from the projector 70 passes).

[0051] like Figure 8As shown in (A), a first guide 40K and a second guide 40L are provided on the side surface 40C (inner surface) of the rail 4. The first guide 40K has a side surface 40Ka that is contacted by the side roller 52. The first guide 40K is provided on the side surface 40C on the left side facing the travel direction D1. Figure 8 As shown in (B), the side surface 40Ka has a portion that guides the right side roller 52 (i.e., the traveling vehicle 6) toward the gap 40G in the traveling direction D1, and a portion that guides the left side roller 52 toward the traveling direction D1 away from the gap 40G.

[0052] like Figure 8 As shown in (A), the second guide member 40L is formed with a side surface 40La that contacts the side roller 52. The second guide member 40L is provided on the side surface portion 40C on the right side toward the travel direction D1 (X direction). Figure 8 As shown in FIG. 5 (B), the second guide 40L extends from a position where the side roller 52 is guided to the right in the travel direction D1 by the side surface 40Ka to a position where the side roller 52 is guided to the left in the travel direction D1 by the side surface 40Ka.

[0053] The traveling unit 50, traveling on the track 4 having the first guide 40K and the second guide 40L, is guided to the right side of the interior space A1 at the inspection position P1. This prevents the side roller 52 from flying out of the notch 40W provided in the left side surface 40C in the travel direction D1. Furthermore, the first guide 40K and the second guide 40L guide (position) the traveling unit 50 so that light projected from the light projector 70 can be received by the light receiver 54A, and so that light projected from the light projector 54B can be received by the light receiver (light projector detection unit) 70B, which will be described in detail later.

[0054] In the first inspection device 60, in order not to hinder the movement of the plate-shaped member 61 in the internal space A1 of the rail 4, the first guide 40K and the second guide 40L are separated by a gap 40G (see Figure 8 (B)). In addition, the feeder 40E also needs to be configured in the same manner. In this embodiment, the feeder 40E is separated by the gap 40G, and as shown in FIG. Figure 4 As shown, junction boxes 40T are provided before and after the gap 40G in the X direction. Cables C and the like constituting the power feeder 40E are drawn from the junction boxes 40T to the external space A2 of the track 4 and connected in the external space A2.

[0055] like Figure 3 and Figure 4As shown, the second inspection device 60B is arranged at a position that is rearward of the traveling direction D1 when viewed from the traveling vehicle 6 stopped at the above-mentioned inspection position P1. The distance between the inspection position P1 and the second inspection device 60B is, for example, about 2 meters. The second inspection device 60B is a device that confirms the operation of the projector 54B carried by the traveling vehicle 6 stopped at the inspection position P1. The light receiver 70B of the second inspection device 60B is configured to be able to move freely in a manner that enters the traveling space of the traveling vehicle 6 when checking the operation of the projector 54B, and retreats from the traveling space of the traveling vehicle 6 when the traveling vehicle 6 passes through the entry position of the light receiver 70B (when the operation of the projector 54B is not confirmed). In more detail, the light receiver 70B of the second inspection device 60B is arranged in a manner that can move between the internal space A1 and the external space A2, and is driven by the second drive unit 64B in a manner that enters the internal space A1 during inspection and retreats to the external space A2 when passing.

[0056] The structure and main use of the second inspection device 60B Figures 5 to 7 The structure of the first inspection device 60A described is similar. That is, although the second inspection device 60B is different from the first inspection device 60A in that a light receiver 70B is provided instead of the light projector 70, the structure that enables the light receiver 70B to move between the internal space A1 and the external space A2 is equivalent to that of the first inspection device 60A. That is, the second inspection device 60B includes a plate-shaped component 61B, a sliding mechanism 63B, a second drive unit 64B, a lower connecting component 65, and an upper connecting component 66. In addition, the second inspection device 60B also has a cable 72 and a cable guide 75 connected to the light receiver 70B. The first inspection device 60A and the second inspection device 60B differ in that the left and right positional relationships of these structural elements when viewed from the side (Y direction) are opposite (left-right symmetrical with the inspection position P1 as the center line). Here, a detailed description of the various parts that constitute the second inspection device 60B is omitted.

[0057] This structure of the second inspection device 60B can prevent disturbance light from entering the internal space A1 between the traveling vehicle 6 and the plate-shaped member 61B of the second inspection device 60B (in other words, the space in the internal space A1 between the light projector 54B and the light receiver 70B through which light projected from the light projector 54B passes). More specifically, disturbance light can be prevented from entering the internal space A1 between the plate-shaped member 61 of the first inspection device 60A and the plate-shaped member 61B of the second inspection device 60B from the external space A2.

[0058] like Figure 3 and Figure 4As shown, the third inspection device 80 is arranged at a position that is in front of the traveling direction D1 when viewed from the traveling vehicle 6 stopped at the above-mentioned inspection position P1. The distance between the inspection position P1 and the third inspection device 80 is, for example, about 3 meters. The third inspection device 80 is a device that confirms the operation of the anti-collision sensor 34A and the obstacle sensor 34B mounted on the traveling vehicle 6 stopped at the inspection position P1. The first target plate (detected part / reflecting component) 84 of the third inspection device 80 is configured to be movable so as to enter the traveling space of the traveling vehicle 6 when checking the operation of the anti-collision sensor 34A, and to retreat from the traveling space of the traveling vehicle 6 when the traveling vehicle 6 passes through the entry position of the first target plate 84 (normally when the operation of the anti-collision sensor 34A is not confirmed). The second target plate (detected portion / reflecting component) 85 of the third inspection device 80 is constructed to be movable so as to enter the driving space of the traveling vehicle 6 when checking to confirm the operation of the obstacle sensor 34B, and to retreat from the driving space of the traveling vehicle 6 when the traveling vehicle 6 passes through the entry position of the second target plate 85 (normally when the operation of the obstacle sensor 34B is not confirmed).

[0059] like Figure 9 (A) Figure 9 (B) and Figure 10 As shown, the third inspection device 80 includes a fixing portion 81, a frame-shaped main body portion 82, a first target plate 84, a second target plate 85, a left sliding mechanism 87, a third driving portion 88, a right sliding mechanism 87A, a fourth driving portion 88A, and a third target plate 89. Hereinafter, each component constituting the third inspection device 80 will be described in detail.

[0060] The fixing portion 81 is fixed to the ceiling or the rail 4, and supports the frame-shaped main body 82 while the frame-shaped main body 82 is suspended. The frame-shaped main body 82 is formed so as to surround the travel space of the traveling vehicle 6 in a manner that allows the traveling vehicle 6 to pass through when viewed from the X direction of the traveling vehicle 6. A reflective seal similar to the reflective seal attached to at least a portion of the shield 33 on the rear surface of the traveling vehicle 6 is affixed to the first target plate 84. The first target plate 84 reflects the light projected from the anti-collision sensor 34A through the reflective seal. In addition, the light projected from the anti-collision sensor 34A is reflected only by the reflective seal and is not reflected by other components. The second target plate 85 reflects the light projected from the obstacle sensor 34B.

[0061] The first target plate 84 is connected to a left sliding mechanism 87 that is disposed on the left side of the frame-shaped main body 82 when the third inspection device 80 is viewed from the inspection position P1. The left sliding mechanism 87 is, for example, a linear guide that supports the first target plate 84 so that it can move in the Z direction. The left sliding mechanism 87 is driven by a third driving unit 88. The third driving unit 88 is configured to be able to communicate with the transport controller 90 (see FIG. 1 ). Figure 11) is set in a manner of communicating and is controlled by the transport controller 90. The first target plate 84 is mounted on such a left sliding mechanism 87 and can move relative to the travel space of the travel vehicle 6. The first target plate 84 retreats to the bottom of the travel space.

[0062] The second target plate 85 is connected to a right sliding mechanism 87A disposed on the right side of the frame-shaped main body 82 when the third inspection device 80 is viewed from the inspection position P1. The right sliding mechanism 87A is, for example, a linear guide, and supports the second target plate 85 so that it can move in the Z direction. The right sliding mechanism 87A is driven by a fourth driving unit 88A. The fourth driving unit 88A is configured to be able to communicate with the transport controller 90 (see FIG. 1 ). Figure 11 ) is set in a manner of communicating and is controlled by the transport controller 90. The second target plate 85 is installed on such a right sliding mechanism 87A and can move relative to the travel space of the travel vehicle 6. The second target plate 85 retreats to the bottom of the travel space.

[0063] The first target plate 84 and the second target plate 85 are configured to retreat to the bottom of the travel space due to their own weight when a situation occurs in which power is not supplied to the third inspection device 80 due to some reason (such as a power outage). A buffer member is provided at the retreat position of the first target plate 84 and the second target plate 85 to mitigate the impact of the first target plate 84 and the second target plate 85 falling due to their own weight.

[0064] The third target plate 89 is a flat plate-shaped member provided on the side where the traveling vehicle 6 enters. The third target plate 89 is configured to reflect light projected from the anti-collision sensor 34A. A reflective seal is attached to at least a portion of the third target plate 89.

[0065] The position detection sensor 83 detects the positions of the first target plate 84 and the second target plate 85. In other words, the position detection sensor 83 detects whether the first target plate 84 and the second target plate 85 enter the travel space of the travel vehicle 6. The detection result obtained by the position detection sensor 83 is acquired by the transport controller 90.

[0066] like Figure 11 As shown, the transport controller 90 controls the plurality of vehicles 6 traveling on the track 4 via the main body controller 35. Furthermore, the transport controller 90 controls the light projector 70, the light receiver 70B, the position detection sensor 83, the first drive unit 64, the second drive unit 64A, the third drive unit 88, and the fourth drive unit 88A included in the inspection unit 100.

[0067] The transport controller 90 uses a predetermined condition as a trigger to cause the vehicle 6 to travel to the inspection unit 100. The predetermined condition is, for example, when an operator inputs a start inspection command via an input unit (not shown), when a vehicle 6 appears after a predetermined time has passed since the last inspection, or when a vehicle 6 appears after traveling a predetermined distance since the last inspection. The transport controller 90 causes the vehicle 6 that meets the condition to travel to the inspection position P1 of the inspection unit 100.

[0068] When the traveling vehicle 6 reaches inspection position P1, the transport controller 90 controls the first drive unit 64 to cause the light projector 70 of the first inspection device 60A to enter the interior space A1, and controls the second drive unit 64A to cause the light receiver 70B of the second inspection device 60B to enter the interior space A1. The transport controller 90 controls the light projector 70 of the first inspection device 60A to project light. Based on the detection result obtained by the light receiver 54A of the traveling vehicle 6 at this time, the transport controller 90 determines the status of the light receiver 54A. Specifically, if light is detected, the light receiver 54A of the traveling vehicle 6 is determined to be normal; if no light is detected, the light receiver 54A of the traveling vehicle 6 is determined to be abnormal.

[0069] The transport controller 90 controls the light projector 54B of the traveling vehicle 6 via the main controller 35 to project light. The transport controller 90 determines the status of the light projector 54B based on the detection result obtained by the light receiver 70B of the second inspection device 60B at this time. Specifically, if the light receiver 70B of the second inspection device 60B detects light, the transport controller 90 determines that there is no abnormality in the light projector 54B of the traveling vehicle 6. If the light receiver 70B of the second inspection device 60B does not detect light, the transport controller 90 determines that there is an abnormality in the light projector 54B of the traveling vehicle 6.

[0070] The transport controller 90 also controls the third drive unit 88 to move the first target plate 84 into the travel space of the vehicle 6, and controls the fourth drive unit 88A to move the second target plate 85 into the travel space of the vehicle 6. The transport controller 90 also controls the anti-collision sensor 34A of the vehicle 6 to project light. Based on the detection result obtained by the anti-collision sensor 34A at this time, the transport controller 90 determines the status of the anti-collision sensor 34A. Specifically, if light is detected, the anti-collision sensor 34A is determined to be normal; if no light is detected, the anti-collision sensor 34A is determined to be abnormal.

[0071] The amount of light received by the anti-collision sensor 34A changes depending on the amount of light reflected by the first target plate 84 and the third target plate 89 from the light projected from the anti-collision sensor 34A. Based on the amount of light received by the anti-collision sensor 34A, the transport controller 90 determines whether the optical axis of the anti-collision sensor 34A is offset in the left-right direction.

[0072] The transport controller 90 controls the obstacle sensor 34B of the traveling vehicle 6 to project light. Based on the detection result obtained by the obstacle sensor 34B at this time, the transport controller 90 determines the status of the obstacle sensor 34B. Specifically, if light is detected, the obstacle sensor 34B is determined to be normal; if no light is detected, the obstacle sensor 34B is determined to be abnormal.

[0073] When the transport controller 90 determines based on the detection result of the position detection sensor 83 that at least one of the first target plate 84 and the second target plate 85 has entered the travel space of the travel vehicle 6 , it prohibits the travel vehicle 6 from entering the third inspection device 80 .

[0074] The effects of the rail-guided vehicle system 1 according to the above embodiment will now be described. In the rail-guided vehicle system 1 according to the above embodiment, when checking the status of the light receiver 54A of the traveling vehicle 6 at the inspection position P1, the light projector 70 is moved forward into the driving space of the traveling vehicle 6, and the status of the light receiver 54A is determined based on the detection result obtained by the light receiver 54A at that time. Furthermore, when the traveling vehicle 6 passes through the entry position of the light projector 70, the light projector 70 is retracted from the driving space of the traveling vehicle 6, thereby preventing the traveling vehicle 6 from being obstructed.

[0075] Similarly, when checking the anti-collision sensor 34A of the traveling vehicle 6, the first target plate 84 is positioned in front of the travel space of the traveling vehicle 6, and the status of the anti-collision sensor 34A is determined based on the detection result obtained by the anti-collision sensor 34A at this time. Similarly, when checking the obstacle sensor 34B, the second target plate 85 is positioned in front of the travel space of the traveling vehicle 6, and the status of the obstacle sensor 34B is determined based on the detection result obtained by the obstacle sensor 34B at this time. Thus, the operation of the light receiver 54A, light projector 54B, anti-collision sensor 34A, and obstacle sensor 34B provided on the traveling vehicle 6 traveling on the track 4 can be automatically verified.

[0076] In the rail-guided vehicle system 1 of the above-described embodiment, the light projector 70 is arranged to be movable between the interior space A1 and the exterior space A2. It enters the interior space A1 during inspection and retreats to the exterior space A2 during passage. This configuration allows the light projector 70, even when mounted on the travel unit 50 while traveling within the interior space A1 of the track 4, to automatically confirm its operation.

[0077] In the rail-guided vehicle system 1 of the above embodiment, when the light projector 70 enters the interior space A1 of the track 4, the notch 40W is covered by the cover 62, thereby preventing disturbance light and the like from entering the interior space A1 from the exterior space A2. This allows for more reliable confirmation of the operation of the light projector 70 without being affected by disturbance light.

[0078] In the rail-guided vehicle system 1 of the above-described embodiment, when checking the status of the light projector 54B of the traveling vehicle 6 at the inspection position P1, the light receiver 70B is positioned behind the traveling vehicle 6, and the status of the light projector 54B is determined based on the detection result obtained by the light receiver 70B at that time. This allows automatic operation confirmation of the light projector 54B provided on the traveling vehicle 6 traveling on the track 4.

[0079] Although one embodiment has been described above, one aspect of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the invention.

[0080] In the rail-guided vehicle system 1 of the above-mentioned embodiment, an example is given in which a light receiver 54A that receives light projected from the front traveling vehicle 6 is provided on the front surface of the traveling portion 50. However, a front sensor having a light receiver and a light projector may be provided instead of the light receiver 54A. In this case, a target plate capable of reflecting light projected from the front sensor is provided instead of the light projector 70 provided by the first inspection device 60A. In addition, a sensor having the same structure as the front sensor may be provided on the rear surface of the traveling portion 50. In addition, a distance sensor or the like may be provided on the traveling portion 50 instead of the above-mentioned sensor. In this case as well, a target plate is applied to the first inspection device 60A.

[0081] In the rail-guided vehicle system 1 of the above-described embodiment and modified example, the traveling unit 50 travels in the internal space A1 of the track 4 . However, the traveling unit 50 may travel on the track 4 exposed to the external space A2 .

[0082] In the rail guided vehicle system 1 of the above-described embodiment and modified example, the inspection unit 100 is described as being provided in the retreat portion 4B retreated from the main line portion 4A. However, the inspection unit 100 may be provided in the main line portion 4A.

[0083] In the rail trolley system 1 of the above-mentioned embodiment and modified example, an example of controlling the traveling vehicle 6 when the inspection is performed by the transport controller 90, including the control of each structure of the inspection unit 100, is given for explanation, but for example, a dedicated controller for controlling the traveling vehicle 6 when the inspection is performed, including the control of each structure of the inspection unit 100, may also be provided.

[0084] In the rail-guided vehicle system 1 of the above-described embodiment and modified example, the aerial vehicle 6 is described as an example of a vehicle. However, other examples of the vehicle include unmanned vehicles that travel on rails 4 arranged on a floor or a platform.

[0085] Description of Reference Numerals

[0086] 1…Trolley system, 4…Track, 6…Aerial vehicle (trolley), 34A…Collision avoidance sensor (obstacle detection unit), 34B…Obstacle sensor (obstacle detection unit), 35…Main controller, 40W…Notch portion, 50…Travel portion, 54A…Light receiver (obstacle detection unit), 54B…Light projector (rear light projector), 60A…First inspection device, 60B…Second inspection device, 61…Plate-shaped member, 62…Lid, 70…Light projector (detected portion), 70B…Light receiver (light projector detection unit), 80…Third inspection device, 82…Frame-shaped main body, 84…First target plate (detected portion / reflecting member), 85…Second target plate (detected portion / reflecting member), 90…Transport controller (controller), 100…Inspection unit, A1…Interior space, A2…Exterior space, D1…Travel direction, P1…Inspection position (predetermined position).

Claims

1. A rail-guided vehicle system, wherein a plurality of vehicles each equipped with an obstacle detection unit for detecting a vehicle ahead in a travel direction travel along a track, the rail-guided vehicle system comprising: a detected portion disposed in front of the vehicle at a predetermined position and detected by the obstacle detecting portion; and a controller that determines a state of the obstacle detection unit based on a detection result of the detected unit obtained by the obstacle detection unit, The detected portion is movably provided so as to enter the travel space of the vehicle when checking the operation of the obstacle detection portion and to retreat from the travel space of the vehicle when the vehicle passes through the entry position of the detected portion. The track has an inner space defined relative to the outer space along an extending direction of the track, and a notch portion is formed to allow the detected portion to move between the inner space and the outer space. The trolley includes a travel portion that travels in the internal space. The obstacle detection unit is installed on the traveling unit. The detected part is movably arranged between the internal space and the external space, and is movably arranged in a manner of entering the internal space during the inspection and retreating to the external space during the passage, and is provided with a cover part, which covers the area of ​​the notch part through which the detected part passes when the detected part enters the internal space.

2. The rail-guided trolley system according to claim 1, wherein: The detected portion is a light projector mounted on a plate-shaped member, and the obstacle detection portion is a light receiver that receives light projected from the light projector mounted on the plate-shaped member and light projected from a rear light projector provided on a front trolley located in front of the travel direction. The controller determines whether there is a trolley located in front of the driving direction based on the detection result of the light from the projector provided on the front trolley obtained by the light receiver, and determines the state of the light receiver based on the detection result of the light from the projector provided on the plate-shaped component obtained by the light receiver.

3. The rail-guided trolley system according to claim 1 or 2, wherein: The vehicle includes a rear light projector for allowing the vehicle located behind the track to detect the presence of the vehicle. The rail-guided vehicle system further includes a light projector detection unit provided behind the vehicle located at the predetermined position and configured to detect light projected from the rear light projector. The projector detection unit is movably provided so as to enter the travel space of the vehicle when checking the operation of the rear projector and to retreat from the travel space of the vehicle when the vehicle passes through the entry position of the projector detection unit. The controller determines the state of the rear light projector based on the detection result obtained by the light projector detection unit.

4. The rail-guided trolley system according to claim 1, wherein: The obstacle detection unit is configured to include a light receiver and a light projector, and the detected unit is a reflective member capable of reflecting light projected from the light projector.

5. The rail-guided trolley system according to claim 4, wherein: The reflecting member is movably mounted on a frame-shaped main body portion that surrounds a travel space of the vehicle so that the vehicle can pass in the travel direction. The reflecting member is movably provided so as to enter the travel space of the vehicle during the inspection and to retreat from the travel space of the vehicle during the passage.

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