Conveyance vehicle system

Abstract

Even if the height of the track changes, the mechanical error of each transport vehicle is measured under the same conditions and quantified, and the teaching information is shared among the plurality of transport vehicles. The transport vehicle system can include a shelf including a shelf plate on which an article is placed. The transport vehicle system can include a plurality of transport vehicles that travel on a track provided on a ceiling and include a moving placement device that moves and places an article on the shelf plate. The transport vehicle system can include a detection device that is supported by the moving placement device and detects the shelf plate. The transport vehicle system can include a teaching information generation device that generates teaching information about a moving placement position in the shelf using a detection result of the shelf plate by the detection device. The transport vehicle system can include a configuration for measuring mechanical errors in the plurality of transport vehicles. The configuration can be suspended from the track or the ceiling and include a mark that can be detected by the detection device.

Description

Technical Field

[0001] This invention relates to a transport vehicle system. Background Technology

[0002] In a conveyor system, in order to correctly move and place items at the moving placement position of a shelf, it is necessary to generate teaching information related to the moving placement position of the shelf and to teach the conveyor system with this teaching information (for example, see Patent Document 1). In the conveyor system described in Patent Document 1, when generating the teaching information, the three-dimensional coordinates of the shelf panels are measured using a shelf installed on the floor.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2018-115062

[0004] In conveyor systems, multiple conveyor vehicles sometimes operate on tracks mounted on the roof of a building. In such systems, one conveyor vehicle can be used to determine the three-dimensional coordinates of the support structure, and teaching information can be generated based on this determination, which is then shared among the multiple conveyor vehicles. Here, the mechanical error of each conveyor vehicle differs. Therefore, in conveyor systems using multiple vehicles, it is necessary to quantify the mechanical error by measuring it for each individual vehicle.

[0005] However, the height of the track varies depending on the condition of the building, such as the expansion and contraction of the steel frame due to seasonal temperature changes and the deflection of the roof due to snow accumulation. On the other hand, the measurement of the mechanical error of each transport vehicle is conducted regardless of the building's condition, such as when a transport vehicle is added to the transport vehicle system or when it is returned to the system for maintenance. In other words, the timing for measuring mechanical error varies for each transport vehicle.

[0006] The conveyor system described in Patent Document 1 uses a frame installed on the floor to measure and quantify the mechanical error of the conveyor. Therefore, if the height of the track varies depending on the building's condition, the positional relationship between the conveyor and the frame will differ for each conveyor. Consequently, the conveyor system described in Patent Document 1 may not be able to measure and quantify the mechanical error of each conveyor under the same conditions if the timing of the measurement varies. Summary of the Invention

[0007] In this invention, a transport vehicle system is provided. The transport vehicle system may include a frame with shelves for holding items. The transport vehicle system may include multiple transport vehicles that travel on tracks provided on a ceiling and have a movable placement device for moving items onto the shelves. The transport vehicle system may include a detection device supported on the movable placement device and for detecting the shelves. The transport vehicle system may include a teaching information generation device that uses the detection results of the detection device on the shelves to generate teaching information related to the movable placement position within the frame. The transport vehicle system may include a structure for measuring mechanical errors in the multiple transport vehicles. The structure may be suspended from the tracks or the aforementioned ceiling and has markings detectable by the detection device.

[0008] According to the method of the present invention, even if the timing of measuring the mechanical error of the transport vehicle is different, and the height of the track varies according to the condition of the building, the mechanical error of each transport vehicle can be measured and quantified under the same conditions.

[0009] The detection device can be detachably supported on the mobile placement device. In this way, the detection device can be removed to operate the transport vehicle.

[0010] The rack can be installed on the floor. This method, compared to suspending the rack from rails or the ceiling, can reduce the load applied to the rails or ceiling.

[0011] The conveyor system can be equipped with an anti-sway mechanism to prevent the lower part of the structure from swaying horizontally. This prevents the detection of markings from being hindered by structural swaying.

[0012] The anti-sway mechanism may include a bracket fixed to the floor. It may also include rollers positioned between the bracket and the structure. The anti-sway mechanism allows the structure to move vertically relative to the bracket. In this way, even if the height of the track changes, unnecessary forces on the structure can be suppressed.

[0013] The detection device is equipped with multiple imaging devices. These devices can capture images of the marker from different positions. Based on this method, calculations using stereoscopic imaging techniques can be performed.

[0014] The teaching information generation device can use mechanical errors in one conveyor vehicle to correct the detection results of the detection device in that conveyor vehicle on the shelf to generate teaching information. According to this method, teaching information that is not affected by mechanical errors in one conveyor vehicle can be used in multiple conveyor vehicles, including one conveyor vehicle.

[0015] The structure may have supports suspended from tracks or a ceiling. The structure may have multiple reference plates extending horizontally from the supports. Each reference plate is positioned at a height corresponding to a shelf. Identification marks may be placed on each of the multiple reference plates. In this manner, teaching information corresponding to each shelf plate can be generated individually.

[0016] The track can have a path for the transport vehicle to move goods, i.e., a transport path. The track can also have a path that deviates from the transport path and extends, i.e., an extension path. Structures can be set up at positions corresponding to a portion of the extension path. In this way, the area where the shelves can be set up is not limited by setting up structures.

[0017] Within a region encompassing a portion of the extended path, a specific area can be designated for the maintenance of the transport vehicle. Structures can be installed within this specific area. In this manner, when the transport vehicle undergoes maintenance, the identified markers can be re-detected within the designated maintenance area.

[0018] Furthermore, the above summary of the invention does not list all the essential features of the invention. Additionally, sub-combinations of these feature groups can also constitute an invention. Attached Figure Description

[0019] Figure 1 This is a diagram illustrating an example of a transport vehicle system 100 according to an embodiment of the present invention.

[0020] Figure 2 This is a diagram illustrating a structural example of frame 120.

[0021] Figure 3 This is a diagram showing a structural example of the transport vehicle 130.

[0022] Figure 4 This is a diagram showing a structural example of the transport vehicle 130.

[0023] Figure 5 This is a diagram showing an example of the structure of the detection device 170.

[0024] Figure 6 This is a diagram showing an example of the structure of the detection device 170.

[0025] Figure 7 This is a diagram showing a structural example of structure 150.

[0026] Figure 8 This is a diagram illustrating a structural example of an anti-sway mechanism 180.

[0027] Figure 9 It means Figure 8 The diagram shows a structural example of the anti-sway mechanism 180 in cross-section A-A.

[0028] Figure 10This is a diagram showing an example of the structure of the transport control unit 134.

[0029] Figure 11 This is a diagram illustrating a structural example of the camera control unit 173.

[0030] Figure 12 This is a diagram illustrating a structural example of the teaching information generation device 140.

[0031] Figure 13 This is a diagram showing a structural example of the layout data related to structure 150.

[0032] Figure 14 This is a diagram illustrating a structural example of mechanical error data.

[0033] Figure 15 This is a diagram representing a structural example of the teaching data.

[0034] Figure 16 This diagram illustrates an example of taking a picture of the markings 152A and 152B on the reference plate 152 set on the structure 150.

[0035] Figure 17 This diagram illustrates an example of taking a picture of the markings 124A and 124B on the shelf 124 set on the shelf 120.

[0036] Figure 18 This is a diagram illustrating an example of an operation that quantifies the mechanical error of the conveyor 130.

[0037] Figure 19 This is a diagram illustrating an example of an action that calculates teaching information related to the movable placement position in shelf 120.

[0038] Figure 20 This is a diagram illustrating an example of an action performed on the three-dimensional coordinates of the frame 124 referenced during the transport of item G. Detailed Implementation

[0039] The present invention will now be described through embodiments thereof, but these embodiments do not limit the invention as described in the claims. Furthermore, not all combinations of features described in the embodiments are necessarily necessary for the solution of the invention.

[0040] Figure 1This diagram illustrates an example of a transport vehicle system 100 according to an embodiment of the present invention. The transport vehicle system 100 is a system that integrates multiple unmanned transport vehicles and devices for managing and controlling the multiple unmanned transport vehicles. The transport vehicle system 100 is also referred to as an unmanned transport vehicle system. The transport vehicle system 100 includes a track 110, multiple frames 120, multiple transport vehicles 130, a teaching information generation device 140, a structure 150, and a ground control device 160. Furthermore, the transport vehicle system 100 includes... Figure 5 and Figure 6 The detection device 170 is shown. Additionally, the transport vehicle system 100 includes... Figure 8 and Figure 9 The anti-sway mechanism 180 is shown.

[0041] Track 110 is the guide path for the transport vehicle 130. For example... Figures 3-7 As shown, track 110 is suspended from the ceiling C by a hanger H. Track 110 has a conveying path 111 and an extension path 112. Conveying path 111 is the path for the conveyor 130 to transport items G. Extension path 112 is a path that extends from conveying path 111. A specific area A for maintenance of the conveyor 130 is provided in extension path 112.

[0042] Figure 2 This is a diagram illustrating a structural example of shelf 120. Shelf 120 is installed on the floor F and is a device for placing items G. In the following description, the surface of shelf 120 facing the track 110 is referred to as the front of shelf 120. Shelf 120 includes a base plate 121, a back plate 122, side plates 123, and multiple shelf panels 124.

[0043] The base plate 121 is the plate that forms the bottom surface of the shelf 120. The base plate 121 is disposed on the floor F. The back plate 122 is the plate that forms the back of the shelf 120. The back plate 122 is disposed perpendicularly to the base plate 121 on the back of the shelf 120. The side plate 123 is the plate that forms the side of the shelf 120. The side plate 123 is disposed perpendicularly to the base plate 121 on the side of the shelf 120. The shelf panel 124 is the panel for placing items G. The shelf panel 124 is laid flat relative to the side plate 123. The multiple shelf panels 124 are each marked with two labels 124A and 124B.

[0044] Markings 124A and 124B are marks detectable by the detection device 170. Marking 124A is located in the area to the left of the center of the shelf 124 when the structure 150 is viewed from the front, near the front of the shelf 120. Marking 124B is located in the area to the right of the center of the shelf 124 when the structure 150 is viewed from the front, near the front of the shelf 120.

[0045] Figure 3 and Figure 4 This is a diagram illustrating a structural example of a transport vehicle 130. The transport vehicle 130 is a vehicle capable of automatically traveling along track 110 and transporting items G. The transport vehicle 130 includes a traveling device 131, a lifting device 132, and a moving and placing device 133. Furthermore, the transport vehicle 130 also includes... Figure 10 The conveying control unit 134 shown.

[0046] The traveling device 131 is a device for moving the transport vehicle 130. The traveling device 131 is configured to travel on the track 110.

[0047] The lifting device 132 is a device for raising and lowering the movable placement device 133. The lifting device 132 includes a column 132M and a lifting platform 132P. The column 132M is a columnar member located at the lower part of the traveling device 131 and extending in the vertical direction. The lifting platform 132P is a member supported on the column 132M and raised and lowered relative to the column 132M.

[0048] The movable placement device 133 is a device that moves and places items G between a shelf 124 and a conveyor 130 using a multi-jointed arm that supports the items G. Here, movable placement refers to loading and unloading items G. The movable placement device 133 is located above the lifting platform 132P. When not performing movable placement, the movable placement device 133... Figure 3 As shown, the multi-joint arm is folded. Furthermore, when the movable placement device 133 is moved, as... Figure 4 As shown, the multi-joint arm is unfolded.

[0049] Figure 10 This diagram illustrates a structural example of the transport control unit 134. The transport control unit 134 is a device installed on the transport vehicle 130 for controlling the traveling device 131, the lifting device 132, and the moving placement device 133. The transport control unit 134 includes a control device 134A, a computing device 134B, an input / output device 134C, a communication device 134D, and a storage device 134E.

[0050] The control device 134A is primarily responsible for controlling the operation of the computing device 134B, the input / output device 134C, the communication device 134D, and the storage device 134E. For example, when calculating the three-dimensional coordinates of the shelf 124 referenced during the transport of the item G, the control device 134A controls the operation of the computing device 134B. Additionally, for example, when outputting control signals related to the driving action to the driving device 131, the control device 134A controls the input / output device 134C. Additionally, for example, when outputting control signals related to the lifting action to the lifting device 132, the control device 134A controls the input / output device 134C. Additionally, for example, when outputting control signals related to the moving and placing action to the moving and placing device 133, the control device 134A controls the input / output device 134C. Furthermore, for example, when sending command data for the shooting action to... Figure 11 When the shooting control unit 173 is shown, it controls the communication device 134D. Additionally, for example, when the control device 134A sends feedback data related to the operation and control of the transport vehicle 130 to the ground control device 160, it controls the communication device 134D.

[0051] The arithmetic unit 134B is a device that performs calculations such as arithmetic and logical operations. For example, the arithmetic unit 134B calculates the three-dimensional coordinates of the shelf 124 referenced when transporting the item G.

[0052] Input / output device 134C is a device that receives signals from the driving device 131, the lifting device 132, and the movable placement device 133. Additionally, input / output device 134C is a device that outputs signals to the driving device 131, the lifting device 132, and the movable placement device 133. For example, input / output device 134C outputs control signals related to driving actions to the driving device 131 and receives feedback signals related to the driving actions from the driving device 131. Similarly, input / output device 134C outputs control signals related to lifting actions to the lifting device 132 and receives feedback signals related to the lifting actions from the lifting device 132. Finally, input / output device 134C outputs control signals related to movable placement actions to the movable placement device 133 and receives feedback signals related to the movable placement actions from the movable placement device 133.

[0053] The communication device 134D connects to the end of the network in the communication system, thus becoming a communication device with... Figure 11The illustrated device is a main unit that communicates with the shooting control unit 173, the teaching information generation device 140, and the ground control device 160. For example, the communication device 134D sends command data that commands the shooting action to the teaching information generation device 140 and receives feedback data related to the shooting action from the teaching information generation device 140. Additionally, for example, the communication device 134D receives mechanical error data related to the mechanical error of the transport vehicle 130 from the teaching information generation device 140. Additionally, for example, the communication device 134D receives teaching data related to the movable placement position in the frame 120 from the teaching information generation device 140. Additionally, for example, the communication device 134D receives control data related to the operation and control of the transport vehicle 130 from the ground control device 160 and sends feedback data related to the operation and control to the ground control device 160.

[0054] Storage device 134E is a device for storing data and programs. For example, storage device 134E stores control data related to the operation and control of the conveyor 130. Additionally, for example, storage device 134E stores control data used for calculating the three-dimensional coordinates of the shelf 124 referenced when conveying the item G. Additionally, for example, storage device 134E stores layout data related to the structure 150, including design values ​​of the three-dimensional coordinates of the reference plate 152 in the structure 150. Additionally, for example, storage device 134E stores layout data related to the shelf 120, including design values ​​of the three-dimensional coordinates of the shelf 124 in the shelf 120. Additionally, for example, storage device 134E stores mechanical error data related to the mechanical errors of the conveyor 130. Additionally, for example, storage device 134E stores teaching data related to the moving placement position in the shelf 120. Additionally, for example, storage device 134E stores application coordinate data related to the application coordinates of the shelf 124. Here, the coordinates used refer to the three-dimensional coordinates of the shelf 124 referenced when transporting item G.

[0055] Figure 5 and Figure 6 This diagram illustrates a structural example of the detection device 170. The detection device 170 is used to detect the shelf 124. The detection device 170 is detachable from the movable placement device 133, and is mounted and supported on the movable placement device 133 during operations to generate teaching information related to the movable placement position within the shelf 120. In this embodiment, the detection device 170 includes a housing 171 and four imaging devices 172A to 172D. Furthermore, the detection device 170 includes... Figure 11 The shooting control unit 173 shown.

[0056] The housing 171 has a facing surface 171S that faces the front of the shelf 120 when the shelf plate 124 is inspected. The housing 171 is supported on the movable placement device 133 such that the facing surface 171S faces the front of the shelf when the shelf plate 124 is inspected.

[0057] Imaging devices 172A to 172D are devices that use a light-responsive semiconductor element to receive light from the outside world through a lens and convert it into digital data, which is then recorded on a storage medium. Imaging devices 172A to 172D are also referred to as digital cameras. Imaging devices 172A to 172D are disposed on an opposing surface 171S within a housing 171. Imaging devices 172A and 172B are positioned at different heights in an area to the left of the center of the opposing surface 171S when viewed from the front. Furthermore, when inspecting the shelf 124, imaging devices 172A and 172B observe the shelf 120 from the inspection device 170 and photograph the mark 124B located on the right side of the shelf 124. Because imaging devices 172A and 172B are positioned at different heights, the mark 124B is photographed from different positions. On the other hand, the imaging devices 172C and 172D are positioned at different heights in the area to the right of the center of the opposing surface 171S when viewed from the front. Furthermore, when inspecting the shelf 124, the imaging devices 172C and 172D observe the shelf 120 from the inspection device 170 and capture images of the marking 124A located on the left side of the shelf 124. Because the imaging devices 172C and 172D are positioned at different heights, the marking 124A is captured from different positions.

[0058] Figure 11 This diagram illustrates a structural example of the imaging control unit 173. The imaging control unit 173 is a device installed in the housing 171 for controlling the imaging devices 172A to 172D. The imaging control unit 173 includes a control device 173A, a processing device 173B, an input / output device 173C, a communication device 173D, and a storage device 173E.

[0059] The control device 173A is primarily responsible for controlling the operation of the computing device 173B, the input / output device 173C, the communication device 173D, and the storage device 173E. For example, the control device 173A controls the input / output device 173C when outputting control signals related to the shooting action to the shooting devices 172A to 172D. Additionally, for example, the control device 173A controls the communication device 173D when sending feedback data related to the shooting action to the transport control unit 134. Furthermore, for example, the control device 173A controls the communication device 173D when sending image data captured by the shooting devices 172A to 172D to the teaching information generation device 140.

[0060] The arithmetic unit 173B is a device for performing arithmetic operations, logical operations, and other calculations.

[0061] Input / output device 173C is a device that inputs signals from imaging devices 172A to 172D. Additionally, input / output device 173C is a device that outputs signals to imaging devices 172A to 172D. For example, input / output device 173C outputs control signals related to the shooting action to imaging devices 172A to 172D, and inputs image data captured by the shooting action from imaging devices 172A to 172D.

[0062] The communication device 173D is connected to the end of the network in the communication system and serves as the main device for communication with the transport control unit 134 and the teaching information generation device 140. For example, the communication device 173D receives command data from the transport control unit 134 to command the shooting action and sends feedback data related to the shooting action to the transport control unit 134. In addition, for example, the communication device 173D sends image data captured by the shooting devices 172A to 172D to the teaching information generation device 140.

[0063] Storage device 173E is a device for storing data and programs. For example, storage device 173E stores image data captured by imaging devices 172A to 172D.

[0064] Figure 7 This is a diagram showing a structural example of structure 150. Structure 150 is an object used to measure and quantify the mechanical errors of the transport vehicle 130. Structure 150 is suspended from track 110 at a position corresponding to a portion of the extended path 112. Figure 1The structure 150 shown is located in a specific region A within the extended path 112. In the following description, the face of the structure 150 facing the track 110 is referred to as the front of the structure 150. The structure 150 includes a support column 151 and a plurality of reference plates 152.

[0065] The support column 151 is a column member that supports multiple reference plates 152. The support column 151 is suspended from the track 110. The reference plates 152 are horizontal members extending horizontally from the support column 151. The multiple reference plates 152 are respectively positioned at positions corresponding to movable placement positions in the frame 120. The positions corresponding to the movable placement positions are positions corresponding to the height of the multiple shelf plates 124 in the frame 120. Each of the multiple reference plates 152 has two markings 152A and 152B.

[0066] Markers 152A and 152B are marks detectable by the detection device 170. Marker 152A is located in the area to the left of the center of the reference plate 152 when the structure 150 is viewed from the front. Marker 152B is located in the area to the right of the center of the reference plate 152 when the structure 150 is viewed from the front. The imaging devices 172A and 172B of the detection device 170 capture images of marker 152B located in the right-hand area of ​​the reference plate 152. Since the imaging devices 172A and 172B are positioned at different heights, marker 152B is captured from different positions. On the other hand, the imaging devices 172C and 172D of the detection device 170 capture images of marker 152A located in the left-hand area of ​​the reference plate 152. Since the imaging devices 172C and 172D are positioned at different heights, marker 152A is captured from different positions.

[0067] Figure 8 This is a diagram illustrating a structural example of an anti-sway mechanism 180. Figure 9 It means Figure 8 This diagram shows a structural example of the anti-sway mechanism 180 along cross-section A-A. The anti-sway mechanism 180 is a mechanism that prevents the lower part of the structure 150 from swaying in the horizontal direction. The anti-sway mechanism 180 includes a bracket 181, multiple rollers 153, and multiple rollers 182.

[0068] The bracket 181 is a structure fixed to the floor F near the structure 150. Rollers 153 and 182 are cylindrical rotating objects that allow the structure 150 to move vertically relative to the bracket 181. Rollers 153 and 182 are disposed between the bracket 181 and the structure 150.

[0069] A plate portion 154 supporting a roller 153 is provided on the support column 151 of the structure 150, opposite to the bracket 181. The plate portion 154 has plate surfaces on the front and back sides of the structure 150. A rotating shaft 153A is provided on the plate portion 154 to axially support the roller 153 in the front-rear direction of the structure 150. The position of the rotating shaft 153A is set such that when the roller 153 is axially supported, the roller 153 abuts against the bracket 181.

[0070] Here, the height of track 110 sometimes varies depending on the condition of the building, such as the expansion and contraction of the steel frame due to seasonal temperature changes, or the deflection of the roof due to snow accumulation. Since structure 150 is suspended from track 110, it moves downward when the height of track 110 decreases, and moves upward when the height of track 110 returns from the decreased position to its original position.

[0071] In the anti-sway mechanism 180, when a force is applied that causes the structure 150 to move vertically, the roller 153 abuts against the bracket 181 and rotates. This allows the structure 150 to move vertically relative to the bracket 181.

[0072] Furthermore, in the anti-sway mechanism 180, the roller 153 abuts against the bracket 181. Therefore, the swaying of the lower part of the structure 150 in the left-right direction D1 of the structure 150 is restricted.

[0073] A plate portion 155, held by a plurality of rollers 182, is provided on the support column 151 of the structure 150, opposite to the bracket 181. The plate portion 155 has plate surfaces on both the front and back sides of the structure 150. The bracket 181 is provided with a plurality of rotating shafts 182A that axially support the rollers 182 in the left-right direction of the structure 150. The positions of the rotating shafts 182A are configured such that, when the rollers 182 are axially supported, the rollers 182 abut against the plate surfaces of the plate portion 155.

[0074] In the anti-sway mechanism 180, when a force is applied that causes the structure 150 to move in the vertical direction, the roller 182 abuts against the plate portion 155 and rotates. Therefore, the structure 150 is allowed to move in the vertical direction relative to the bracket 181.

[0075] Furthermore, in the anti-sway mechanism 180, the plate 155 is held by multiple rollers 182. Therefore, the swaying of the lower part of the structure 150 in the front-rear direction D2 of the structure 150 is restricted.

[0076] Return to Figure 1 The ground control device 160 is a device installed on the ground side for the management and control of the operation of the transport vehicle 130.

[0077] The teaching information generation device 140 is a device installed on the ground side for generating teaching information related to the movable placement position of the shelf 120 using the detection results of the detection device 170 on the shelf 120. The teaching information generation device 140 uses the mechanical error in one of the conveyor cars 130 to correct the detection results of the shelf 120 by the detection device 170 on one of the multiple conveyor cars 130 to generate teaching information.

[0078] Figure 12 This is a diagram illustrating a structural example of a teaching information generation device 140. The teaching information generation device 140 includes a control device 140A, a calculation device 140B, an input device 140C, an output device 140D, a communication device 140E, and a storage device 140F.

[0079] Control device 140A is primarily responsible for controlling the operation of computing device 140B, input device 140C, output device 140D, communication device 140E, and storage device 140F. For example, when performing calculations to quantify the mechanical errors of the conveyor 130, control device 140A controls the operation of computing device 140B. Additionally, for example, when performing calculations to compute teaching information related to the moving placement position in shelf 120, control device 140A controls the operation of computing device 140B. Furthermore, for example, when sending mechanical error data related to the mechanical errors of the conveyor 130 to the conveying control unit 134, control device 140A controls the communication device 140E. Additionally, for example, when sending teaching data related to the moving placement position in shelf 120 to the conveying control unit 134, control device 140A controls the communication device 140E.

[0080] The arithmetic unit 140B is a device for performing calculations such as arithmetic and logical operations. For example, the arithmetic unit 140B performs calculations to determine the three-dimensional coordinates of the reference plate 152 on which the markers 152A and 152B are set, based on captured image data of the markers 152A and 152B. Additionally, for example, the arithmetic unit 140B performs calculations to quantify the mechanical errors of the transport vehicle 130. Furthermore, for example, the arithmetic unit 140B performs calculations to determine teaching information related to the moving placement position within the shelf 120.

[0081] The input device 140C is a device for providing data, information and instructions to the teaching information generation device 140.

[0082] The output device 140D is a device that physically displays data received from the teaching information generation device 140 to the outside in a form that can be recognized by a human.

[0083] The communication device 140E is connected to the end of the network in the communication system and serves as the main device for communicating with the transport control unit 134 and the imaging control unit 173. For example, the communication device 140E receives image data captured by the imaging devices 172A to 172D from the imaging control unit 173. Additionally, for example, the communication device 140E transmits mechanical error data related to the mechanical errors of the transport vehicle 130 to the transport control unit 173. Furthermore, for example, the communication device 140E transmits teaching data related to the movable placement position in the frame 120 to the transport control unit 134.

[0084] Storage device 140F is a device for storing data and programs. For example, storage device 140F stores control data for calculating the three-dimensional coordinates of the reference plate 152 on which the labels 152A and 152B are set, based on image data of the labels 152A and 152B captured. For example, storage device 140F stores control data for quantifying the mechanical errors of the transport vehicle 130. Additionally, for example, storage device 140F stores control data for calculating teaching information related to the moving placement position in the shelf 120. Additionally, for example, storage device 140F stores coordinate data related to the three-dimensional coordinates of the reference plate 152 on which the labels 152A and 152B are set, calculated based on the captured image data of the labels 152A and 152B. Additionally, for example, storage device 140F stores layout data related to the structure 150, including design values ​​of the three-dimensional coordinates of the reference plate 152 in the structure 150. Additionally, for example, storage device 140F stores image data captured by imaging devices 172A to 172D. Additionally, for example, storage device 140F stores mechanical error data related to the mechanical errors of the transport vehicle 130. Additionally, for example, storage device 140F stores teaching data related to the movable placement position within the shelf 120.

[0085] Figure 13 This is a diagram illustrating a structural example of layout data related to the structure 150 stored in the storage device 140F of the teaching information generation device 140 and the storage device 134E of the transport control unit 134. The layout data related to the structure 150 corresponds the information I1 of the reference plate ID to the information I2 of the design value of the three-dimensional coordinates of the reference plate.

[0086] The reference plate ID information I1 is a symbol used for identifying multiple reference plates 152. The reference plate's three-dimensional coordinate design value information I2 represents the design values ​​of the three-dimensional coordinates of the reference plate 152 identified by its reference plate ID. For example, in Figure 13In the example shown, the design values ​​of the three-dimensional coordinates of the reference plate 152, identified by the reference plate ID "B001", are "X11, Y11, Z11".

[0087] In addition, as layout data related to the shelf 120, the storage device 134E of the transport control unit 134 stores data of the same structure as the layout data related to the structure 150.

[0088] Figure 14 This diagram illustrates a structural example of mechanical error data stored in the storage device 140F of the teaching information generation device 140 and the storage device 134E of the transport control unit 134. The storage device 140F of the teaching information generation device 140 stores multiple sets of mechanical error data corresponding to multiple transport vehicles 130. Figure 14 The mechanical error data shown is the mechanical error data corresponding to one conveyor vehicle 130 from among the multiple mechanical error data corresponding to multiple conveyor vehicles 130 stored in the storage device 140F of the teaching information generation device 140. The mechanical error data corresponding to this vehicle is stored in the storage device 134E of the conveying control unit 134. The mechanical error data makes the information I1 of the reference plate ID correspond to the information I3 of the mechanical error of the conveyor vehicle relative to the reference plate.

[0089] The information I3 regarding the mechanical error of the conveyor vehicle relative to the reference plate is information that quantifies the mechanical error of the conveyor vehicle 130 when the lifting platform 132P is at the height corresponding to the reference plate 152 identified by the reference plate ID, into three-dimensional coordinates in the same coordinate system as the three-dimensional coordinates of the reference plate 152. For example, in Figure 14 In the example shown, the mechanical error of the conveyor 130 when the lifting platform 132P is at the height corresponding to the reference plate 152 identified by the reference plate ID "B001" is "X21, Y21, Z21".

[0090] Figure 15 This diagram illustrates a structural example of the teaching data stored in the storage device 140F of the teaching information generation device 140 and the storage device 134E of the transport control unit 134. The teaching data corresponds the information I4 of the shelf ID to the teaching information I5 of the three-dimensional coordinates of the shelf.

[0091] The shelf ID information I4 is a symbol used for identifying multiple shelves 124. The shelf's three-dimensional coordinate teaching information I5 is information used to teach the three-dimensional coordinates of the shelf 124 identified by its shelf ID. For example, in... Figure 15 In the example shown, the three-dimensional coordinates of the shelf 124 identified by shelf ID "S001" are "X31, Y31, Z31".

[0092] Figure 16 This diagram illustrates an example of photographing markings 152A and 152B on a reference plate 152 installed on structure 150. To obtain the measured values ​​of the three-dimensional coordinates of the reference plate 152 as information for calculating the mechanical error of the vehicle, multiple transport vehicles 130 respectively perform... Figure 16 The action shown is performed with the detection device 170 installed on the moving placement device 133 of the conveyor 130.

[0093] First, the transport control unit 134 of the transport vehicle 130 controls the vehicle's driving device 131 to move the transport vehicle 130 to the position of the structure 150 (step S101). In step S101, the control device 134A of the transport control unit 134 reads the layout data related to the structure 150 stored in the storage device 134E. Based on the layout data related to the structure 150, the control device 134A generates control data for driving to the position of the structure 150 and stores it in the storage device 134E. Then, the input / output device 134C reads the control data stored in the storage device 134E and outputs the control signal corresponding to the content of the control data to the vehicle's driving device 131.

[0094] If the driving device 131 travels to the position of the structure 150 according to the control signal output from the transport control unit 134, it outputs a feedback signal related to the driving action to the transport control unit 134.

[0095] If the input / output device 134C inputs a feedback signal, the arithmetic unit 134B of the transport control unit 134 sets the maximum value of the reference board counter "L" used to count the number of reference boards 152 (step S102). In step S102, the arithmetic unit 134B reads the layout data related to the structure 150 stored in the storage device 134E. Then, based on the layout data related to the structure 150, the arithmetic unit 134B sets the reference board counter "L" to the maximum value, which is the same as the number of reference boards 152 in the structure 150.

[0096] Then, the transport control unit 134 controls the lifting device 132 of the transport vehicle 130 to move the movable placement device 133 to the height corresponding to the "L"th reference plate 152 (step S103). In step S103, the control device 134 of the transport control unit 134A reads the layout data related to the structure 150 stored in the storage device 134E. Based on the layout data related to the structure 150, the control device 134 generates control data to move the movable placement device 133 to the height corresponding to the "L"th reference plate 152 and stores it in the storage device 134E. Here, the height corresponding to the "L"th reference plate 152 is the height of the movable placement device 133 when the item G is moved and placed on the shelf 124 located at the height corresponding to the height of the "L"th reference plate 152. Then, the input / output device 134C reads the control data stored in the storage device 134E and outputs the control signal corresponding to the content of the control data to the lifting device 132 of the transport vehicle 130.

[0097] If the lifting device 132 lifts or lowers to the height corresponding to the “L”th reference plate 152 according to the control signal output from the conveying control unit 134, it will output a feedback signal related to the lifting action to the conveying control unit 134.

[0098] If the input / output device 134C inputs a feedback signal, the control device 134A of the transmission control unit 134 generates command data to command the shooting action and stores it in the storage device 134E. Then, the communication device 134D reads the command data stored in the storage device 134E and sends it to the shooting control unit 173 of the detection device 170.

[0099] If the shooting control unit 173 receives command data from the transmission control unit 134, it controls the shooting devices 172A to 172D to capture images of the markers 152A and 152B set on the "L"th reference plate 152 (step S104). In step S104, if the communication device 173D receives command data, the control device 173A of the shooting control unit 173 generates control data to control the shooting action and stores it in the storage device 173E. Then, the input / output device 173C reads the control data stored in the storage device 173E and outputs the control signal corresponding to the content of the control data to the shooting devices 172A to 172D.

[0100] If the imaging devices 172A to 172D capture images of the markers 152A and 152B set on the “L”th reference plate 152, the captured image data is output to the imaging control unit 173.

[0101] If image data is input into the input / output device 173C of the image capture control unit 173, the image data is stored in the storage device 173E.

[0102] Then, the image capture control unit 173 sends the image data of the markers 152A and 152B captured on the reference board 152 to the teaching information generation device 140 (step S105). In step S105, the communication device 173D of the image capture control unit 173 reads the image data stored in the storage device 173E and sends the image data to the teaching information generation device 140. In addition, the communication device 173D sends feedback data related to the shooting action to the transport control unit 134.

[0103] If the communication device 140E of the teaching information generation device 140 receives image data from the shooting control unit 173, it stores the image data in the storage device 140F.

[0104] If the communication device 134D receives feedback data, the arithmetic unit 134B of the transmission control unit 134 subtracts "1" from the value of the reference board counter "L" (step S106).

[0105] Then, the arithmetic unit 134B of the transport control unit 134 determines whether the value of the reference plate counter "L" is "0" (step S107). Here, the value of the reference plate counter "L" being "0" means that the markings 152A and 152B set on all the reference plates 152 in the structure 150 have been captured.

[0106] If the value of the reference board counter "L" is not "0" (step S107: No), in this action example, the processing after step S103 is executed again.

[0107] If the value of the reference board counter "L" is "0" (step S107: Yes), the transport control unit 134 ends. Figure 16 The processing related to the action example is shown.

[0108] Figure 17 This diagram illustrates an example of photographing markings 124A and 124B on a shelf plate 124 mounted on a shelf 120. To obtain the detected values ​​of the three-dimensional coordinates of the shelf plate 124 as information for calculating teaching data related to its movable placement position within the shelf 120, one of the multiple conveyor vehicles 130 performs the following action: Figure 17 The action shown is performed with the detection device 170 installed on the mobile placement device 133 of a conveyor 130.

[0109] First, the arithmetic unit 134B of the transport control unit 134 sets the shelf column counter "M", which is used to count the number of columns of shelf panels 124 in the shelf 120, to a maximum value (step S201). In step S201, the arithmetic unit 134B reads the layout data related to the shelf 120 stored in the storage device 134E. Then, based on the layout data related to the shelf 120, the arithmetic unit 134B sets the shelf column counter "M" to the maximum value, which is the same as the number of columns of shelf panels 124 in the shelf 120.

[0110] Then, the arithmetic unit 134B of the transport control unit 134 sets the shelf layer counter "N", which is used to count the number of layers of the shelf 124 in the "M"th column, to a maximum value (step S202). In step S202, the arithmetic unit 134B reads the layout data related to the shelf 120 stored in the storage device 134E. Then, based on the layout data related to the shelf 120, the arithmetic unit 134B sets the shelf layer counter "N" to a value that is the same as the number of layers of the shelf 124 in the "M"th column as the maximum value.

[0111] Then, the conveying control unit 134 controls the driving device 131 of the conveyor 130, causing one conveyor 130 to move to the position corresponding to the shelf 124 in the "M"th column (step S203). In step S203, the control device 134A of the conveying control unit 134 reads the layout data related to the shelf 120 stored in the storage device 134E. Based on the layout data related to the shelf 120, the control device 134A generates control data for moving to the position corresponding to the shelf 124 in the "M"th column and stores it in the storage device 134E. Then, the input / output device 134C reads the control data stored in the storage device 134E and outputs the control signal corresponding to the content of the control data to the driving device 131 of the conveyor 130.

[0112] If the driving device 131 travels to the position corresponding to the shelf 124 of the “M” column according to the control signal output from the transport control unit 134, it will output a feedback signal related to the driving action to the transport control unit 134.

[0113] If the input / output device 134C inputs a feedback signal, the transport control unit 134 controls the lifting device 132 of the transport vehicle 130 to move the movable placement device 133 to the height corresponding to the shelf 124 of the "N"th layer (step S204). In step S204, the control device 134A of the transport control unit 134 reads the layout data related to the shelf 120 stored in the storage device 134E. Then, based on the layout data related to the shelf 120, the control device 134A generates control data to move the movable placement device 133 to the height corresponding to the shelf 124 of the "N"th layer and stores it in the storage device 134E. Here, the height corresponding to the shelf 124 of the "N"th layer is the height of the movable placement device 133 when the item G is moved and placed on the shelf 124 of the "N"th layer. Then, the input / output device 134C reads the control data stored in the storage device 134E and outputs a control signal corresponding to the content of the control data to the lifting device 132.

[0114] If the lifting device 132 lifts or lowers to the height corresponding to the shelf 124 of the “N”th layer according to the control signal output from the conveying control unit 134, it will send a feedback signal related to the lifting action to the conveying control unit 134.

[0115] If the input / output device 134C inputs a feedback signal, the control device 134A of the transmission control unit 134 generates command data to command the shooting action and stores it in the storage device 134E. Then, the communication device 134D reads the command data stored in the storage device 134E and sends it to the teaching information generation device 140. If the teaching information generation device 140 receives the command data from the control device 134A of the transmission control unit 134, it sends the command data to the shooting control unit 173.

[0116] If the shooting control unit 173 receives command data from the teaching information generation device 140, it controls the shooting devices 172A to 172D to capture images of the labels 124A and 124B on the shelf 124 located in the "M" column and "N" layer (step S205). In step S205, if the communication device 173D receives command data, the control device 173A of the shooting control unit 173 generates control data to control the shooting action and stores it in the storage device 173E. Then, the input / output device 173C reads the control data stored in the storage device 173E and outputs the control signal corresponding to the content of the control data to the shooting devices 172A to 172D.

[0117] If the imaging devices 172A to 172D capture images of labels 124A and 124B on the shelf 124 located on the Nth layer of the Mth column, the captured image data is output to the imaging control unit 173. If image data is input to the input / output device 173C of the imaging control unit 173, the image data is stored in the storage device 173E.

[0118] Then, the image control unit 173 sends the image data of the labels 124A and 124B captured on the frame 124 to the teaching information generation device 140 (step S206). In step S206, the communication device 173D of the image control unit 173 reads the image data stored in the storage device 173E and sends the image data to the teaching information generation device 140.

[0119] If the communication device 140E of the teaching information generation device 140 receives image data from the shooting control unit 173, it stores the image data in the storage device 140F. Additionally, the communication device 140E of the teaching information generation device 140 sends feedback data related to the shooting action to the transport control unit 134.

[0120] If the communication device 134D receives feedback data, the arithmetic unit 134B of the transmission control unit 134 subtracts "1" from the value of the shelf counter "N" (step S207).

[0121] Then, the arithmetic unit 134B of the transport control unit 134 determines whether the value of the shelf counter "N" is "0" (step S208). Here, the value of the shelf counter "N" being "0" means that the labels 124A and 124B of the "M" column, which are set on all the shelves 124, have been photographed.

[0122] If the value of the shelf layer counter "N" is not "0" (step S208: No), in this action example, the processing after step S204 will be executed again.

[0123] If the value of the shelf counter "N" is "0" (step S208: Yes), the arithmetic unit 134B of the transport control unit 134 subtracts "1" from the value of the shelf column counter "M" (step S209).

[0124] Then, the arithmetic unit 134B of the transport control unit 134 determines whether the value of the shelf column counter "M" is "0" (step S210). Here, the value of the shelf column counter "M" being "0" means that the labels 124A and 124B of the shelf panels 124 set in all columns of the shelf 120 have been photographed.

[0125] If the value of the shelf column counter "M" is not "0" (step S210: No), in this action example, the processing after step S202 will be executed again.

[0126] If the value of the shelf column counter "M" is "0" (step S210: Yes), the transport control unit 134 ends. Figure 17 The processing related to the action example is shown.

[0127] Figure 18 This diagram illustrates an example of an operation that quantifies the mechanical errors of the conveyor 130. This operation is performed by the teaching information generation device 140. To quantify the mechanical errors of multiple conveyor 130s individually, the teaching information generation device 140 performs the following steps for each of the multiple conveyor 130s: Figure 18 The following description will illustrate an example of performing a calculation to quantify the mechanical errors of a specified transport vehicle 130 among multiple transport vehicles 130.

[0128] First, the arithmetic unit 140B of the teaching information generation device 140 sets the maximum value of the reference board counter "L" used to count the number of reference boards 152 (step S301). In step S301, the arithmetic unit 140B reads the layout data related to the structure 150 stored in the storage device 140F. Then, based on the layout data related to the structure 150, the arithmetic unit 140B sets the reference board counter "L" to the maximum value, which is the same as the number of reference boards 152 in the structure 150.

[0129] Then, the computing device 140B reads the image data of the identifiers 152A and 152B of the “L”th reference plate 152 captured by the specified transport vehicle 130 from the storage device 140F (step S302).

[0130] Then, the computing device 140B calculates the detection value C1 of the three-dimensional coordinates of the reference plate 152 based on the image data of the identifiers 152A and 152B of the "L"th reference plate 152 (step S303). In step S303, the computing device 140B calculates the detection value C1 of the three-dimensional coordinates of the reference plate 152, for example, by using a stereoscopic image method.

[0131] Then, the computing device 140B reads the design value C2 of the three-dimensional coordinates of the "L"th reference plate 152 (step S304). In step S304, the computing device 140B reads the layout data related to the structure 150 stored in the storage device 140F. Then, the computing device 140 determines the design value C2 of the three-dimensional coordinates of the "L"th reference plate 152 based on the layout data related to the structure 150.

[0132] Then, the computing device 140B performs a calculation to quantify the mechanical error F of the specified transport vehicle 130 relative to the "L"th reference plate 152 (step S305). In step S305, the computing device 140B subtracts the design value C2 of the three-dimensional coordinates of the "L"th reference plate 152 from the detection value C1 of the reference plate 152, and uses this value as the mechanical error F of the specified transport vehicle 130. Then, based on the mechanical error data related to the mechanical error of the specified transport vehicle 130 stored in the storage device 140F, the computing device 140B updates the value of the mechanical error F relative to the "L"th reference plate 152.

[0133] Then, the arithmetic unit 140B subtracts "1" from the value of the reference board counter "L" (step S306).

[0134] Then, the arithmetic unit 140B determines whether the value of the reference plate counter "L" is "0" (step S307). Here, the value of the reference plate counter "L" being "0" means that the mechanical error of the specified transport vehicle 130 relative to all the reference plates 152 in the structure 150 has been quantified.

[0135] If the value of the reference board counter "L" is not "0" (step S307: No), in this action example, the processing after step S302 will be executed again.

[0136] When the value of the reference plate counter "L" is "0" (step S307: Yes), the communication device 140E of the teaching information generation device 140 sends mechanical error data to the designated transport vehicle 130 (step S308). In step S308, the communication device 140E reads the mechanical error data related to the mechanical error of the designated transport vehicle 130 stored in the storage device 140F. Then, the communication device 140E sends the mechanical error data related to the mechanical error of the designated transport vehicle 130 to the transport control unit 134 of the designated transport vehicle 130.

[0137] Then, the teaching information generation device 140 ends. Figure 18 The processing related to the action example is shown.

[0138] Figure 19 This diagram illustrates an example of an operation that calculates teaching information related to the movable placement position within the shelf 120. To calculate the teaching information related to the movable placement position within the shelf 120, referenced in multiple transport vehicles 130 respectively, the teaching information generation device 140 performs... Figure 19 The actions shown. The teaching information generation device 140 is used in... Figure 17The teaching information is calculated using images of markers 124A and 124B captured by one of the multiple transport vehicles 130.

[0139] First, the arithmetic unit 140B of the teaching information generation device 140 sets the shelf column counter "M", which is used to count the number of columns of shelf panels 124 in the shelf 120, to a maximum value (step S401). In step S401, the arithmetic unit 140B reads the layout data related to the shelf 120 stored in the storage device 140F. Then, based on the layout data related to the shelf 120, the arithmetic unit 140B sets the shelf column counter "M" to the maximum value, which is the same as the number of columns of shelf panels 124 in the shelf 120.

[0140] Then, the arithmetic unit 140B sets the shelf layer counter "N", which is used to count the number of layers of the shelf 124 in the "M"th column, to a maximum value (step S402). In step S402, the arithmetic unit 140B reads the layout data related to the shelf 120 stored in the storage device 140F. Then, based on the layout data related to the shelf 120, the arithmetic unit 140B sets the shelf layer counter "N" to a value that is the same as the number of layers of the shelf 124 in the "M"th column as the maximum value.

[0141] Then, the processing unit 140B reads the image data of the labels 124A and 124B of the shelf 124 in the “M” column and the “N” layer captured by the storage unit 140F (step S403).

[0142] Then, the computing device 140B calculates the detection value C3 of the three-dimensional coordinates of the shelf 124 based on the image data of the identifiers 124A and 124B of the shelf 124 in the "M" column and "N" layer (step S404). In step S404, the computing device 140B calculates the detection value C3 of the three-dimensional coordinates of the shelf 124 in the "M" column and "N" layer, for example, using a stereoscopic image method.

[0143] Then, the processing unit 140B reads the mechanical error F1 of the conveyor 130 relative to the reference plate 152 at the height corresponding to the shelf 124 in the "M"th column and "N"th layer (step S405). Here, the conveyor 130 is used to photograph the markings 124A and 124B on the shelf 124. In step S405, the processing unit 140B reads the mechanical error data related to the mechanical error F1 of the conveyor 130 stored in the storage device 140F. Then, the processing unit 140B determines the mechanical error F1 of the conveyor 130 relative to the reference plate 152 at the height corresponding to the shelf 124 in the "M"th column and "N"th layer based on the mechanical error data related to the mechanical error F1 of the conveyor 130.

[0144] Then, the computing device 140B calculates the teaching value T of the three-dimensional coordinates of the shelf 124 in the "M" column and "N" layer (step S406). The computing device 140B subtracts the mechanical error F1 of the conveyor 130 relative to the reference plate 152 at the height corresponding to the shelf 124 from the detected value C3 of the three-dimensional coordinates of the shelf 124 in the "M" column and "N" layer as the teaching value T. Then, based on the teaching data stored in the storage device 140F, the computing device 140B updates the teaching value T of the three-dimensional coordinates of the shelf 124 in the "M" column and "N" layer.

[0145] Then, the arithmetic unit 140B subtracts "1" from the value of the shelf counter "N" (step S407).

[0146] Then, the arithmetic unit 140B determines whether the value of the shelf counter "N" is "0" (step S408). Here, a value of "0" for the shelf counter "N" means that the teaching value T of the three-dimensional coordinates of all the shelves 124 in the "M"th column has been calculated.

[0147] If the value of the shelf layer counter "N" is not "0" (step S408: No), in this action example, the processing after step S403 will be executed again.

[0148] If the value of the shelf counter "N" is "0" (step S408: Yes), the arithmetic unit 140B subtracts "1" from the value of the shelf column counter "M" (step S409).

[0149] Then, the arithmetic unit 140B determines whether the value of the shelf column counter "M" is "0" (step S410). Here, a value of "0" for the shelf column counter "M" means that the teaching value T of the three-dimensional coordinates of the shelf plates 124 in all columns of the shelf 120 has been calculated.

[0150] If the value of the shelf column counter "M" is not "0" (step S410: No), in this action example, the processing after step S402 will be executed again.

[0151] When the value of the shelf column counter "M" is "0" (step S410: Yes), the communication device 140E of the teaching information generation device 140 sends teaching data to the transport vehicle 130 (step S411). In step S411, the communication device 140E reads the teaching data related to the movable placement position in the shelf 120 stored in the storage device 140F. Then, the communication device 140E sends the teaching data related to the movable placement position in the shelf 120 to the transport control unit 134 of all transport vehicles 130.

[0152] Then, the teaching information generation device 140 ends. Figure 19 The processing related to the action example is shown.

[0153] Figure 20 This diagram illustrates an example of the operation of calculating the three-dimensional coordinates of the support plate 124 referenced during the transport of item G. When the transport control unit 134 of the transport vehicle 130 receives a transport command for item G from the ground control device 160, it executes... Figure 20 The actions shown are performed, and the three-dimensional coordinates of the frame 124 specified in the transport command are calculated.

[0154] If the communication device 134D receives a transport command from the ground control device 160, the computing device 134B of the transport control unit 134 reads the taught value T of the three-dimensional coordinates of the shelf 124 specified in the transport command (step S501). In step S501, the computing device 134B reads the taught data related to the movable placement position in the shelf 120 stored in the storage device 134E. Then, the computing device 134B determines the taught value T of the three-dimensional coordinates of the shelf 124 specified in the transport command based on the taught data related to the movable placement position in the shelf 120.

[0155] Then, the arithmetic unit 134B reads the mechanical error Fo of the conveyor 130 relative to the reference plate 152 at the height corresponding to the shelf 124 specified in the conveying command (step S502). In step S502, the arithmetic unit 134B reads the mechanical error data related to the mechanical error Fo of the conveyor 130 stored in the storage device 134E. Then, the arithmetic unit 134B determines the mechanical error Fo of the conveyor 130 relative to the reference plate 152 at the height corresponding to the shelf 124 specified in the conveying command based on the mechanical error data related to the mechanical error Fo of the conveyor 130.

[0156] Then, for the rack 124 specified in the transport command, the calculation unit 134B calculates the application coordinates C4 referenced when transporting the item G (step S503), and ends the process. Figure 20 The processing related to the action example is shown. The computing device 134B adds the taught value T of the three-dimensional coordinates of the frame 124 specified in the transport command to the mechanical error Fo of the reference plate 152 at the height of the transport vehicle 130 relative to the frame 124, and uses the result as the applied coordinate C4.

[0157] The conveying control unit 134 of the conveyor vehicle 130 uses the calculated operating coordinates C4 to perform conveying control according to the conveying command.

[0158] As described above, the transport vehicle system 100 includes a shelf 120 with a shelf plate 124 for placing items G. The transport vehicle system 100 also includes multiple transport vehicles 130 that travel on a track 110 provided on the ceiling C and are equipped with a moving placement device 133 for moving items G onto the shelf plate 124. Furthermore, the transport vehicle system 100 includes a detection device 170 supported on the moving placement device 133 and for detecting the shelf 120. Additionally, the transport vehicle system 100 includes a teaching information generation device 140 that uses the detection results of the detection device 170 on the shelf plate 124 to generate teaching information related to the moving placement position on the shelf plate 124. Finally, the transport vehicle system 100 includes a structure 150 for measuring the mechanical errors of the multiple transport vehicles 130. Furthermore, the structure 150 is suspended from the track 110 and is equipped with markings 152A and 152B that can be detected by the detection device 170. According to this embodiment, the timing for measuring mechanical errors varies for each transport vehicle 130, and even if the height of the track 110 varies depending on the condition of the building at each time, the mechanical errors of each transport vehicle 130 can be measured and quantified under the same conditions.

[0159] Additionally, the detection device 170 can be detachably supported on the movable placement device 133. According to this embodiment, the detection device 170 can be removed to operate the transport vehicle 130.

[0160] Additionally, the shelf 120 is mounted on the floor F. According to this embodiment, compared with the embodiment in which the shelf 120 is suspended from the track 110 or the ceiling C, the load applied to the track 110 or the ceiling C can be suppressed.

[0161] In addition, the transport vehicle system 100 includes an anti-sway mechanism 180 to prevent the lower part of the structure 150 from swaying in the horizontal direction. According to this embodiment, it is possible to prevent the detection of markers 152A and 152B from being hindered due to the swaying of the structure 150.

[0162] Furthermore, the anti-sway mechanism 180 includes brackets 181A and 181B fixed to the floor F. The anti-sway mechanism 180 also includes rollers 182 disposed between brackets 181A and 181B and the structure 150. Moreover, the anti-sway mechanism 180 allows the structure 150 to move vertically relative to brackets 181A and 181B. According to this embodiment, even if the height of the track 110 changes, unnecessary forces applied to the structure 150 can be suppressed.

[0163] Furthermore, the detection device 170 includes multiple imaging devices 172A to 172D. Moreover, the multiple imaging devices 172A to 172D capture images of the markers 152A and 152B from different positions. According to this embodiment, calculations using a stereoscopic imaging method can be performed.

[0164] Furthermore, the teaching information generation device 140 uses the mechanical errors in one conveyor 130 to correct the detection results of the detection device 170 in one conveyor 130 on the shelf 124 to generate teaching information. According to this embodiment, teaching information that is not affected by the mechanical errors in one conveyor 130 can be used in multiple conveyor 130s including one conveyor 130.

[0165] Furthermore, the structure 150 includes a support column 151 suspended from the track 110. Additionally, the structure 150 includes a plurality of reference plates 152 extending horizontally from the support column 151. Moreover, the plurality of reference plates 152 are each positioned at a height corresponding to the shelf 124. Furthermore, labels 152A and 152B are provided on each of the plurality of reference plates 152. According to this embodiment, teaching information corresponding individually to each shelf 124 can be generated.

[0166] Furthermore, the track 110 has a transport path 111 for the transport vehicle 130 to transport the item G. Additionally, the track 110 has an extension path 112 that deviates from the transport path 111. Moreover, the structure 150 is positioned corresponding to a portion of the extension path 112. According to this embodiment, the area where the shelf 120 is installed is not limited by the installation of the structure 150.

[0167] Furthermore, a specific area A for maintenance of the transport vehicle 130 is provided in the area including a portion of the extended path 112. Moreover, a structure 150 is provided in the specific area A. According to this embodiment, when maintenance of the transport vehicle 130 is performed, the markings 152A and 152B can be re-detected in the specific area A where maintenance was performed.

[0168] The present invention has been described above using embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. As can be seen from the claims, such modifications or improvements can also be included within the technical scope of the present invention. To the extent permitted by law, all disclosures in Japanese Patent Application No. 2021-104694 and the above embodiments, etc., are incorporated herein by reference.

[0169] For example, in the above embodiment, the structure 150 is suspended from the track 110. Alternatively, the structure 150 can be suspended from the ceiling C. In this case, the support column 151 of the structure 150 can be suspended from the ceiling C.

[0170] Explanation of reference numerals in the attached figures:

[0171] 100…Conveyor system; 110…Rail; 111…Conveyor path; 112…Extension path; 120…Shelf; 121…Base plate; 122…Back plate; 123…Side plate; 124…Shelf plate; 124A…Marking; 124B…Marking; 130…Conveyor; 131…Traveling device; 132…Lifting device; 132M…Column; 132P…Lifting platform; 133…Moving placement device; 134…Conveyor control unit; 134 A…Control device; 134B…Arithmetic device; 134C…Input / output device; 134D…Communication device; 134E…Storage device; 140…Teaching information generation device; 140A…Control device; 140B…Arithmetic device; 140C…Input device; 140D…Output device; 140E…Communication device; 140F…Storage device; 150…Structure; 151…Support; 152…Base plate; 153…Roller; 153 A… Rotating axis; 154… Plate; 155… Plate; 152A… Marking; 152B… Marking; 160… Ground control device; 170… Detection device; 171… Housing; 171S… Opposing surface; 172A… Imaging device; 172B… Imaging device; 172C… Imaging device; 172D… Imaging device; 173… Imaging control unit; 173A… Control device; 173B… Computing device; 173C… Input / output device ; 173D…Communication device; 173E…Storage device; 180…Anti-sway mechanism; 181…Bracket; 182…Roller; 182A…Rotating shaft; A…Specific area; C…Canopy; F…Floor; G…Item; H…Hanging component; I1…Information on the reference plate ID; I2…Information on the design value of the reference plate coordinates; I3…Information on the mechanical error of the conveyor relative to the reference plate; I4…Information on the shelf ID; I5…Teaching information on the coordinates of the shelf.

Claims

1. A conveyor system, wherein, have: A shelf, which has shelves for holding items; Multiple transport vehicles travel on tracks set on the ceiling and are equipped with mobile placement devices for moving items onto the shelves; A detection device, supported on the movable placement device, is used to detect the shelf. A teaching information generation device that uses the detection results of the detection device on the shelf to generate teaching information related to the movable placement position in the shelf; as well as A structure used to measure mechanical errors in the multiple conveyor vehicles. The structure is suspended from the track or the ceiling and has markings that can be detected by the detection device.

2. The conveyor system according to claim 1, wherein, The detection device can be detachably supported on the movable placement device.

3. The conveyor system according to claim 1, wherein, The shelf is mounted on the floor.

4. The conveyor system according to any one of claims 1 to 3, wherein, It has an anti-sway mechanism to prevent the lower part of the structure from swaying in the horizontal direction.

5. The conveyor system according to claim 4, wherein, The anti-sway mechanism has the following features: Bracket, which is fixed to the floor; and A roller, which is disposed between the bracket and the structure. The anti-sway mechanism allows the structure to move up and down relative to the bracket.

6. The conveyor system according to any one of claims 1 to 3, wherein, The detection device is equipped with multiple imaging devices. The multiple camera devices capture images of the sign from different positions.

7. The conveyor system according to any one of claims 1 to 3, wherein, The teaching information generation device uses the mechanical error in one conveyor vehicle to correct the detection result of the detection device in the one conveyor vehicle on the shelf to generate the teaching information.

8. The conveyor system according to any one of claims 1 to 3, wherein, The structure has: Supports, which are suspended from the track or the ceiling; and Multiple reference plates extend horizontally from the support pillar. The plurality of reference plates are respectively set at positions corresponding to the height of the frame plate. The identifier is set on each of the plurality of reference plates.

9. The conveyor system according to any one of claims 1 to 3, wherein, The track has the following features: The transport path is the route along which the transport vehicle transports the items; and An extended path is a path that deviates from the transport path and extends from it. The structure is positioned at a location corresponding to a portion of the extended path.

10. The conveyor system according to claim 9, wherein, Within the area encompassing a portion of the extended path, a specific area is designated for the maintenance of the transport vehicle. The structure is located in the specific area.

Images