Aerial vehicle stopping device and traveling vehicle system

Abstract

A stopping device for an aerial vehicle is attached to a rail provided on a ceiling, and stops an aerial vehicle traveling along a travel path formed by the rail. An overhead vehicle stopping device is provided with an engagement part capable of engaging with a rail, and a main body part including a long member extending downward from the engagement part. The main body portion includes: a first detected portion that is detected by an obstacle sensor of an aerial vehicle that travels along a first travel path among the travel paths; and a second detection target unit that is detected by an obstacle sensor of an aerial vehicle that travels along a second travel path that is parallel to the first travel path among the travel paths.

Description

Technical Field

[0001] One aspect of the present invention relates to an aerial vehicle stopping device and a vehicle system. Background Art

[0002] A known aerial vehicle stopping device is installed on a track provided on a ceiling and stops an aerial vehicle traveling along a travel path formed by the track. As a technique of this type, for example, Patent Document 1 describes a stopping device that stops the aerial vehicle by detecting an obstacle using an obstacle sensor of the aerial vehicle. The stopping device described in Patent Document 1 includes: an engaging portion that can engage with the track; and an operating rod that extends downward from the engaging portion and sets the engaging portion to one of an engaged state and a disengaged state relative to the track.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2015-131502 Summary of the invention

[0006] In the above technology, when there are multiple locations in the driving path where the aerial vehicle should be prohibited from passing, multiple stopping devices need to be prepared and installed at each of the multiple locations. Therefore, it is not easy to prohibit the aerial vehicle from passing at multiple locations in the driving path.

[0007] One aspect of the present invention has been made in view of the above circumstances, and an object of the present invention is to provide an aerial vehicle stopping device and a traveling vehicle system that can easily prohibit the passage of an aerial vehicle at multiple locations on a traveling path.

[0008] (1) An aerial vehicle stopping device according to one aspect of the present invention is a stopping device that is installed on a track provided on a ceiling and that stops an aerial vehicle traveling along a travel path formed by the track, and comprises: an engaging portion that can engage with the track; and a main body portion that includes a long strip extending downward from the engaging portion, the main body portion including: a first detected portion that is detected by an obstacle sensor of the aerial vehicle traveling along a first travel path in the travel path; and a second detected portion that is detected by an obstacle sensor of the aerial vehicle traveling along a second travel path in the travel path that is parallel to the first travel path.

[0009] In the aerial vehicle stopping device, the engaging portion is engaged with the track, and when the aerial vehicle is traveling along the first travel path, the obstacle sensor of the aerial vehicle detects the first detected portion and stops the travel, and when the aerial vehicle is traveling along the second travel path, the obstacle sensor of the aerial vehicle detects the second detected portion and stops the travel. Thus, even if a plurality of stopping devices are not prepared and installed, the passage of the first and second parallel travel paths can be prohibited at the prohibited locations. That is, the passage of the aerial vehicle can be easily prohibited at multiple locations of the travel path.

[0010] (2) In the aerial vehicle stopping device described in (1), the long member may be rod-shaped, and the first and second detected portions may be flat-plate-shaped. In this case, the long member, the first and second detected portions may be simply constructed.

[0011] (3) In the above-mentioned aerial vehicle stopping device described in (1) or (2), the main body may include a first arm member and a second arm member extending from the elongated member in a direction intersecting the elongated member, the first detected portion is provided on the first arm member, and the second detected portion is provided on the second arm member. In this case, the first detected portion and the second detected portion can be arranged using the first arm member and the second arm member.

[0012] (4) In the aerial vehicle stopping device described in any one of (1) to (3) above, the main body may be deformable between an expanded state and a retracted state, wherein the expanded state is a state in which an obstacle sensor of the aerial vehicle traveling along the second travel path can detect the second detected portion, and the retracted state is a state in which the obstacle sensor of the aerial vehicle traveling along the second travel path cannot detect the second detected portion. In this case, the portion where the aerial vehicle is prohibited from passing can be easily adjusted.

[0013] (5) In the above-mentioned aerial vehicle stopping device according to any one of (1) to (4), the main body may include a pressing part, and when the pressing part contacts the aerial vehicle, the power switch of the aerial vehicle is pressed. In this case, the pressing part can be used to disconnect the power of the aerial vehicle in contact with the main body, thereby forcibly stopping the aerial vehicle.

[0014] (6) In the above-mentioned aerial vehicle stopping device described in any one of (1) to (5), at least one of the first detected portion and the second detected portion may be configured to be removable from the main body. In this case, the portion where the aerial vehicle is prohibited from passing can be easily adjusted based on the detection result of the obstacle sensor.

[0015] (7) A vehicle system according to one aspect of the present invention comprises: a track provided on a ceiling and at least a portion of which is arranged in a grid pattern; an aerial vehicle that travels along a travel path formed by the track; and an aerial vehicle stopping device according to any one of (1) to (6) above, the aerial vehicle stopping device stopping the aerial vehicle traveling along the travel path. In the vehicle system, the aerial vehicle stopping device can be used to easily prohibit the aerial vehicle from passing through multiple locations on the travel path.

[0016] (8) In the vehicle system described in (7) above, the track may include a plurality of first linear tracks extending in a first direction being a horizontal direction, and a plurality of second linear tracks extending in a second direction being a horizontal direction orthogonal to the first direction, and when a rectangular area enclosed by a pair of first linear tracks and a pair of second linear tracks is set as a grid in a plan view, the first detected portion is detected by an obstacle sensor of an aerial vehicle traveling along a first driving path, wherein the first driving path is a driving path passing through the first grid, and the second detected portion is detected by an obstacle sensor of the aerial vehicle traveling along the second driving path. The main body includes: a third detected part, which is detected by an obstacle sensor of an aerial vehicle traveling along the third driving path, wherein the third driving path is a driving path passing through a third grid adjacent to the first grid on the opposite side of the second grid; and a fourth detected part, which is detected by an obstacle sensor of an aerial vehicle traveling along a fourth driving path, wherein the fourth driving path is a driving path passing through a fourth grid adjacent to the second grid on the opposite side of the first grid. In this case, in the so-called grid system, the first to fourth driving paths in parallel can be set as prohibited passage by using the aerial vehicle stopping device.

[0017] (9) In the vehicle system described in (8) above, the main body may be deformable between a first unfolded state, a second unfolded state, and a stowed state, wherein the first unfolded state is a state in which the obstacle sensor of the aerial vehicle traveling along the third travel path can detect the third detected portion and the obstacle sensor of the aerial vehicle traveling along the fourth travel path can detect the fourth detected portion; the second unfolded state is a state in which the obstacle sensor of the aerial vehicle traveling along the third travel path cannot detect the third detected portion and the obstacle sensor of the aerial vehicle traveling along the fourth travel path can detect the fourth detected portion; and the stowed state is a state in which the obstacle sensor of the aerial vehicle traveling along the third travel path cannot detect the third detected portion and the obstacle sensor of the aerial vehicle traveling along the fourth travel path cannot detect the fourth detected portion. In this case, the portion where the aerial vehicle is prohibited from passing can be easily adjusted.

[0018] (10) In the vehicle system described in (9) above, the main body may include a first arm member and a second arm member extending from the long member in a direction intersecting the long member, the first arm member includes a first fixed portion and a first movable portion foldably connected to the top end side of the first fixed portion via a first hinge, the second arm member includes a second fixed portion and a second movable portion foldably connected to the top end side of the second fixed portion via a second hinge, the first detected portion is provided at the first fixed portion, the second detected portion is provided at the second fixed portion, the third detected portion is provided at the first movable portion, and the fourth detected portion is provided at the second movable portion. In this case, the folding structure can be used to specifically realize easy adjustment of the portion where the aerial vehicle is prohibited from passing.

[0019] (11) In the vehicle system described in (10) above, the first movable portion may rotate in either a clockwise or counterclockwise direction in a plan view around the first hinge, the second movable portion may rotate in either a clockwise or counterclockwise direction in a plan view around the second hinge, and the connection portion of the first arm portion in the long member may be separated from the connection portion of the second arm portion in the long member in the longitudinal direction of the long member. In this case, the first movable portion and the second movable portion may be folded so as to overlap in a plan view.

[0020] (12) In the vehicle system described in any one of (7) to (11) above, the track may include: a plurality of linear tracks; and an intersecting track, the intersecting track being arranged adjacent to the ends of the linear tracks in the horizontal direction with a gap therebetween, the engaging portion engaging with a pair of linear tracks extending in the same direction and arranged close to or in contact with each other, being able to pass through the gap in the vertical direction, and being in a C-shape open upward when viewed from the direction along the pair of linear tracks, and including an abutting portion abutting against the upper surface of each of the pair of linear tracks. In this case, in the so-called grid system, the engaging portion can be specifically implemented to engage with the track.

[0021] (14) In the vehicle system described in any one of (7) to (11) above, the track may include a plurality of linear tracks, the engaging portion may engage with a pair of linear tracks extending in the same direction and arranged close to each other, and the engaging portion may include: an insertion portion inserted between the pair of linear tracks; and a contact portion connected to the upper side of the insertion portion and contacting with the upper surface of each of the pair of linear tracks. In this case, in a so-called grid system, the engagement of the engaging portion with respect to the track can be specifically achieved.

[0022] Effects of the Invention

[0023] According to one aspect of the present invention, it is possible to provide an aerial vehicle stopping device and a traveling vehicle system that can easily prohibit the passage of an aerial vehicle at a plurality of locations along a traveling path. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a perspective view showing a traveling vehicle system according to the embodiment.

[0025] Figure 2 Yes means Figure 1 Side view of an aerial vehicle.

[0026] Figure 3 It is a front view showing the fully deployed state of the aerial vehicle stopping device according to the embodiment.

[0027] Figure 4 Yes means Figure 3 A cross-sectional view of the engaging portion.

[0028] Figure 5 It is used to illustrate Figure 3 A top view of the engagement portion of the grid-shaped track.

[0029] Figure 6 middle, Figure 6 (a) is along Figure 3 A cross-sectional view taken along line VI-VI. Figure 6 (b) is to Figure 3A front view showing an enlarged portion of the aerial vehicle stopping device.

[0030] Figure 7 It is a front view showing a semi-expanded state of the aerial vehicle stopping device according to the embodiment.

[0031] Figure 8 middle, Figure 8 (a) is Figure 7 The aerial vehicle stopping device Figure 6 The cross-sectional view corresponding to the cross section of (a). Figure 8 (b) is to Figure 7 A front view showing an enlarged portion of the aerial vehicle stopping device.

[0032] Fig. 9 It is a front view showing the storage state of the aerial vehicle stopping device according to the embodiment.

[0033] Fig.10 middle, Fig.10 (a) is Fig. 9 The aerial vehicle stopping device Figure 6 The cross-sectional view corresponding to the cross section of (a). Fig.10 (b) is to Fig. 9 A front view showing an enlarged portion of the aerial vehicle stopping device.

[0034] Fig.11 middle, Fig.11 (a) is a top view of the grid-shaped track for explaining the fully deployed state of the aerial vehicle stopping device. Fig.11 (b) is a top view of the grid-shaped track for explaining the semi-expanded state of the aerial vehicle stopping device. Fig.11 (c) is a top view of the grid-shaped track for explaining the storage state of the aerial vehicle stopping device.

[0035] Fig.12 middle, Fig.12 (a) is a top view of a grid-shaped track for explaining an example of use of the aerial vehicle stopping device. Fig.12 (b) is a top view of a grid-shaped track for illustrating another use example of the aerial vehicle stopping device. Fig.12 (c) is a top view of a grid-shaped track for illustrating another use example of the aerial vehicle stopping device.

[0036] Fig.13 middle, Fig.13 (a) is a front view of a cart that accommodates the aerial vehicle stopping device. Fig.13 (b) is a side view of the cart that accommodates the aerial vehicle stopping device.

[0037] Fig.14 It is along Fig.13 (b) A cross-sectional view taken along line XIV-XIV.

[0038] Fig.15 It is a cross-sectional view showing an engaging portion of a modified example.

[0039] Fig.16 middle, Fig.16 (a) means Fig.15 A front view of the engaging portion. Fig.16 (b) means Fig.15 A top view of the engaging portion. Fig.16 (c) means Fig.15 A side view of the engaging portion.

[0040] Fig.17 It is a front view showing a fully deployed state of the aerial vehicle stopping device according to a modified example. DETAILED DESCRIPTION

[0041] Hereinafter, the implementation mode will be described with reference to the accompanying drawings. In the following description, the same or equivalent elements are marked with the same figure numbers, and repeated descriptions are omitted. In the accompanying drawings, for the convenience of description, the scales of the various structures of the implementation mode are appropriately changed to express them. In some drawings, the XYZ orthogonal coordinate system is also recorded. Hereinafter, a direction along the horizontal plane is set as the X direction (the first direction), a direction orthogonal to the X direction and along the horizontal plane is set as the Y direction (the second direction), and a vertical direction is set as the Z direction for description.

[0042] like Figure 1 As shown, the vehicle system 1 of the embodiment is a grid system for conveying articles M using aerial vehicles 2 in a clean room of a semiconductor manufacturing plant, for example. The vehicle system 1 includes, for example, a plurality of aerial vehicles 2, a system controller 5 for controlling the plurality of aerial vehicles 2, and a grid-shaped track (track) R for the plurality of aerial vehicles 2 to travel. Article M is, for example, a FOUP (Front Opening Unified Pod) for accommodating semiconductor wafers or a reticle Pod for accommodating reticles. The aerial vehicle 2 may also be referred to as a trolley, a transport vehicle, a transport trolley, or a travel trolley, etc.

[0043] The grid track R is provided on the ceiling or near the ceiling of a building such as a clean room. The grid track R extends in the horizontal direction and is formed in a grid shape when viewed from above. The grid track R includes a plurality of first tracks R1 extending in the X direction, a plurality of second tracks R2 extending in the Y direction, and an intersection track R3 arranged at a portion corresponding to the intersection of the first track R1 and the second track R2. The upper surface of the first track R1, the upper surface of the second track R2, and the upper surface of the intersection track R3 constitute a flat and horizontal running surface. The first track R1 constitutes a first linear track (linear track), and the second track R2 constitutes a second linear track (linear track).

[0044] In the grid-shaped track R, a plurality of first tracks R1 extend in a manner of being connected at intervals in the X direction, and a plurality of second tracks R2 extend in a manner of being connected at intervals in the Y direction. On the X-direction line, two intersection tracks R3 are arranged between one first track R1 and another first track R1. On the Y-direction line, two intersection tracks R3 are arranged between one second track R2 and another second track R2. The plurality of first tracks R1, the plurality of second tracks R2, and the plurality of intersection tracks R3 are arranged with a predetermined gap G between them. That is, the intersection track R3 is arranged so as to be adjacent in the horizontal direction with a gap G between the end of the first track R1 and the end of the second track R2.

[0045] In this embodiment, a grid-shaped track R is constructed by arranging a plurality of track units 100 in the X direction and the Y direction. Each of the plurality of track units 100 is rectangular in a plan view. Each track unit 100 includes a pair of first tracks R1, R1 constituting opposite sides of the rectangle, a pair of second tracks R2, R2 constituting the other opposite sides of the rectangle, and four intersection tracks R3 constituting the four corners of the rectangle. In each track unit 100, the first track R1, the second track R2, and the intersection track R3 are supported by supporting walls, supporting columns, and the like.

[0046] The plurality of rail units 100 are connected to each other by connecting members 140, and are suspended from a ceiling (not shown) by a plurality of suspension members H. In each rail unit 100, a rectangular area (grid) that is rectangular in a plan view and is surrounded by a pair of opposing first rails R1, R1 and a pair of opposing second rails R2, R2 constitutes a cell C.

[0047] The shape and range (layout) of the grid-shaped track R can be appropriately adjusted or changed by arranging a plurality of track units 100 in an arbitrary layout. The grid-shaped track R constitutes a travel path for the aerial vehicle 2 to travel. The travel path is set to pass through (connect) a plurality of grids C in a top view. In the grid system, a plurality of travel paths corresponding to the number of grids C can be set.

[0048] like Figure 1 and Figure 2 As shown, the aerial vehicle 2 is connected to the system controller 5 so as to be communicable via a communication system (not shown). The aerial vehicle 2 travels along a travel path formed by a grid-shaped track R. The aerial vehicle 2 has a travel trolley 20 that travels on the grid-shaped track R, and a main body 10 that is mounted on the lower part of the travel trolley 20 and is rotatable relative to the travel trolley 20. The travel trolley 20 includes a trolley unit 50 arranged below the grid-shaped track R, and a travel section 30 provided at four corners of the trolley unit 50 in a plan view. The trolley unit 50 is suspended from the grid-shaped track R via the travel section 30. A trolley controller (control section) 8 is provided inside the trolley unit 50.

[0049] The main body 10 is rotatable relative to the carriage unit 50 around the rotation axis L10 in the Z direction. The main body 10 has a main frame 12 formed, for example, in a cylindrical shape. The main frame 12 includes a disc-shaped top plate 12a and a cylindrical frame 12b hanging from the peripheral edge of the top plate 12a. The main frame 12 has a shape with an open lower surface. The main body 10 is provided with a transfer device 18 arranged inside the main frame 12.

[0050] The transfer device 18 moves in the horizontal direction relative to the travel portion 30, for example, to transfer the article M between the loading port (loading platform). The transfer device 18 can rotate around the rotation axis L10. The transfer device 18 includes an article holding portion 13 that holds the article M, a lifting drive portion 14 that lifts and lowers the article holding portion 13 in the Z direction, and a transverse movement mechanism 11 that slides the lifting drive portion 14 in the horizontal direction. Between the transverse movement mechanism 11 and the lifting drive portion 14, a rotation drive portion 16 is provided that rotates the lifting drive portion 14 around the rotation axis along the Z direction relative to the transverse movement mechanism 11.

[0051] The travel unit 30 has four travel wheels 31. Two auxiliary wheels 32 are provided on each of the travel wheels 31. The travel wheels 31 are driven to rotate by the driving force of a travel drive motor (not shown). The travel wheels 31 roll on a grid-shaped track R. One auxiliary wheel 32 is disposed in front of and behind the travel direction of the travel wheels 31. The four travel wheels 31 are turned by a wheel turning mechanism (not shown). Thus, the travel direction of the aerial vehicle 2 can be switched between the X direction and the Y direction.

[0052] The trolley controller 8 controls the aerial vehicle 2 in a comprehensive manner. The trolley controller 8 is provided, for example, in the trolley unit 50. The trolley controller 8 controls the travel of the aerial vehicle 2 based on the transport instruction. The trolley controller 8 controls the transfer action of the aerial vehicle 2 based on the transport instruction. The system controller 5 selects one of the plurality of aerial vehicles 2 capable of transporting the article M, and assigns the transport instruction to the selected aerial vehicle 2. The transport instruction includes a travel instruction for causing the aerial vehicle 2 to execute travel to the loading port, and a grabbing instruction for the article M arranged at the loading port or an unloading instruction for the held article M to the loading port.

[0053] like Figure 2 As shown, the aerial vehicle 2 has an obstacle sensor S1. The aerial vehicle 2 is configured to be able to stop the aerial vehicle 2 based on the detection result of the obstacle sensor S1. The obstacle sensor S1 detects an obstacle located in front of the aerial vehicle 2 in the travel direction. The obstacle sensor S1 is provided at the lower part of the cylindrical frame 12b. The obstacle sensor S1 is, for example, an optical sensor that detects an obstacle by emitting a detection light. The emission area of ​​the detection light may be linear, strip-shaped, or radial. The obstacle sensor S1 may also be a sensor that can detect the distance from the obstacle sensor S1. The detection result of the obstacle sensor S1 is obtained by the trolley controller 8. When an obstacle whose distance to the aerial vehicle 2 is less than a specified distance is detected by the obstacle sensor S1, the trolley controller 8 stops the aerial vehicle 2.

[0054] The aerial vehicle 2 has a belt switch (power switch) 12c. The belt switch 12c is a contact sensor that detects contact with the aerial vehicle 2. The belt switch 12c outputs a signal when, for example, contact with a pusher 80 described later is detected. When contact with the pusher 80 is detected by the belt switch 12c, the aerial vehicle 2 stops traveling by, for example, cutting off the power supply.

[0055] like Figure 3 As shown, the traveling vehicle system 1 of the present embodiment includes an aerial traveling vehicle stopping device 60. Hereinafter, the aerial traveling vehicle stopping device 60 will be described in detail.

[0056] The aerial vehicle stopping device 60 is a stopping device for stopping the aerial vehicle 2 traveling along the travel path. The aerial vehicle stopping device 60 is detachably mounted on the grid-shaped rail R. The aerial vehicle stopping device 60 includes an engaging portion 61 and a main body 62. In addition, the following description is made by setting the vertical direction as the "up-down direction", one horizontal direction as the "left-right direction", and another horizontal direction perpendicular to the left-right direction as the "front-back direction".

[0057] like Figure 4As shown, the engaging portion 61 is a component that can engage with the grid-shaped rail R. In the example shown in the figure, the engaging portion 61 engages with a pair of first rails R1, R1 (hereinafter, also simply referred to as "a pair of first rails R1, R1") extending along the same X direction and arranged in the Y direction in a manner close to each other. The pair of first rails R1, R1 close to each other in the Y direction are the first rail R1 included in the rail unit 100 of one of a pair of rail units 100 adjacent to each other in the Y direction, and the first rail R1 included in the rail unit 100 of the other side. The pair of first rails R1, R1 may also contact each other in the Y direction.

[0058] The engaging portion 61 is a C-shaped hook that opens upward when viewed from the front-to-back direction along the first rail R1. The engaging portion 61 is in the shape of a curved plate formed by bending a plate material. The engaging portion 61 includes an abutting portion 61A that abuts (contacts) the outer side in the width direction of the upper surface of each of the pair of first rails R1, R1. The abutting portion 61A is composed of the upper portion of the engaging portion 61 and includes a plane that is in contact with the upper surface of each of the first rails R1. Figure 5 As shown, the engagement portion 61 has a width shorter than the gap G in the front-rear direction and can pass through the gap G in the up-down direction. The engagement portion 61 is engaged so as to be suspended from the center of the pair of first rails R1 , R1 in the longitudinal direction.

[0059] like Figure 3 , Figure 6 (a) and Figure 6 As shown in (b), the main body 62 includes a rod (long strip component) 71, a first beam (first arm component) 72, a second beam (second arm component) 73, a first reflecting plate (first detected portion) 74, a second reflecting plate (second detected portion) 75, a third reflecting plate (third detected portion) 76, a fourth reflecting plate (fourth detected portion) 77 and a plurality of pushing members (pressing portions) 80.

[0060] The rod 71 is in the shape of a rod extending downward from the engaging portion 61. The rod 71 is a circular tubular member with the vertical direction as the axial direction. The rod 71 is set to be, for example, about 2 meters long. The upper end of the rod 71 is fixed to the center of the left-right direction and the center of the front-back direction on the lower surface of the engaging portion 61. The axial direction of the rod 71 is orthogonal to the lower surface of the engaging portion 61.

[0061] like Figure 3 , Figure 7 , Figure 8 (a) and Figure 8As shown in (b), the first beam 72 and the second beam 73 are in the shape of a rod extending from the rod 71 in the left-right direction. The first beam 72 extends from the rod 71 to one side in the left-right direction. The first beam 72 includes a first fixed beam (first fixed portion) 72A connected to the rod 71 and a first movable beam (first movable portion) 72B connected to the top end side of the first fixed beam 72A.

[0062] The first fixed beam 72A is a circular tubular member with the left-right direction as the axial direction. The first fixed beam 72A extends from the rod 71 toward one side in the left-right direction. The base end side of the first fixed beam 72A is fixed to the rod 71 via a connecting portion (connecting part) 91. The first fixed beam 72A is located directly below the first grid C1, which is a grid C formed by either one of a pair of first rails R1, R1 engaged with the engaging portion 61.

[0063] The first movable beam 72B is a circular tubular member that is the same as the first fixed beam 72A. The base end side of the first movable beam 72B is connected to the top end side of the first fixed beam 72A via a hinge (first hinge) 72C. The first movable beam 72B operates in the following manner, that is, it swings with the axis along the up-down direction in the hinge 72C as the base axis. Specifically, the first movable beam 72B is movable in a manner that its top end faces the front side and moves counterclockwise and counterclockwise when viewed from above. In other words, the first movable beam 72B rotates in a clockwise and counterclockwise rotation direction when viewed from above, with the hinge 72C as the center.

[0064] Thus, the first beam 72 is configured such that the first movable beam 72B on the tip side can be folded relative to the first fixed beam 72A on the base side via the hinge 72C. In addition, hereinafter, the state in which the first movable beam 72B extends in parallel with the first fixed beam 72A (the state in which the first movable beam 72B is not folded relative to the first fixed beam 72A) is also referred to as the open state of the first beam 72. When the first beam 72 is in the open state, the first movable beam 72B is located directly below the third lattice C3, which is the lattice C adjacent to the side away from the rod 71 in the left-right direction with respect to the first lattice C1. The hinge 72C is not particularly limited, and a torque hinge (free stop hinge), for example, can be used.

[0065] like Figure 3 , Fig. 9 , Fig.10 (a) and Fig.10As shown in (b), the second beam 73 extends from the rod 71 to the other side in the left-right direction. The second beam 73 includes a second fixed beam (second fixed portion) 73A connected to the rod 71, and a second movable beam (second movable portion) 73B connected to the top end side of the second fixed beam 73A. The second fixed beam 73A is a tubular member with the left-right direction as the axial direction. The second fixed beam 73A extends from the rod 71 toward the other side in the left-right direction. The base end side of the second fixed beam 73A is fixed to the rod 71 via a connecting portion (connecting part) 92. The second fixed beam 73A is located directly below the second lattice C2, which is a lattice C formed by any other of a pair of first rails R1, R1 engaged with the engaging portion 61.

[0066] The second movable beam 73B is a circular tubular member that is the same as the second fixed beam 73A. The base end side of the second movable beam 73B is connected to the top end side of the second fixed beam 73A via a hinge (second hinge) 73C. The second movable beam 73B moves in the following manner, that is, it swings with the axis along the up-down direction in the hinge 73C as the base axis. Specifically, the second movable beam 73B is movable in a manner that its top end faces the front side and moves clockwise and counterclockwise when viewed from above. In other words, the second movable beam 73B rotates in a rotation direction of either clockwise or counterclockwise when viewed from above, with the hinge 73C as the center.

[0067] Thus, the second beam 73 is configured such that the second movable beam 73B on the tip side can be folded relative to the second fixed beam 73A on the base side via the hinge 73C. In addition, hereinafter, the state in which the second movable beam 73B extends in parallel with the second fixed beam 73A (the state in which the second movable beam 73B is not folded relative to the second fixed beam 73A) is also referred to as the open state of the second beam 73. When the second beam 73 is in the open state, the second movable beam 73B is located directly below the fourth lattice C4, which is the lattice C adjacent to the side away from the rod 71 in the left-right direction relative to the second lattice C2. The hinge 73C is not particularly limited, and a torque hinge, for example, can be used.

[0068] The connection portion 91 of the first beam 72 in the rod 71 is separated from the connection portion 92 of the first beam 72 in the rod 71 by a predetermined length in the vertical direction. The predetermined length is set to be greater than the outer diameters of the first beam 72 and the second beam 73 .

[0069] like Figure 3 , Figure 6 (a) and Figure 6 As shown in (b), the first reflector 74 and the third reflector 76 are provided on the first beam 72. The second reflector 75 and the fourth reflector 77 are provided on the second beam 73. The first to fourth reflectors 74 to 77 are rectangular flat plates with a color (for example, white) having a reflectivity greater than a fixed value for the light of the obstacle sensor S1.

[0070] The first reflector 74 is provided on the first fixed beam 72A. The front-to-back direction of the first reflector 74 is set as the thickness direction, and the upper end portion thereof is detachably fixed to the rear side of the first fixed beam 72A by means of screws or the like. The first reflector 74 is arranged directly below the first lattice C1. The first reflector 74 is detected by the obstacle sensor S1 of the aerial vehicle 2 traveling along the first travel path, wherein the first travel path is a travel path passing through the first lattice C1 in the front-to-back direction. The front-to-back direction corresponds to the extension direction of the first rail R1 to which the engaging portion 61 engages.

[0071] The second reflector 75 is provided on the second fixed beam 73A. The second reflector 75 is removably fixed to the rear side of the second fixed beam 73A by screws or the like, with the front-to-back direction being the thickness direction. The second reflector 75 is arranged to be at the same position as the first reflector 74 in the up-down direction. The second reflector 75 is arranged directly below the second lattice C2. The second reflector 75 is detected by the obstacle sensor S1 of the aerial vehicle 2 traveling along the second travel path, wherein the second travel path is a travel path parallel to the first travel path and passing through the second lattice C2 in the front-to-back direction.

[0072] The third reflector 76 is provided on the first movable beam 72B. The third reflector 76 is removably fixed to the front side of the first movable beam 72B when the first beam 72 is in the open state by screws or the like, with the front-to-back direction as the thickness direction. The third reflector 76 is arranged to be at the same position as the first reflector 74 and the second reflector 75 in the up-down direction. The third reflector 76 is arranged directly below the third lattice C3. The third reflector 76 is detected by the obstacle sensor S1 of the aerial vehicle 2 traveling along the third travel path, wherein the third travel path is a travel path parallel to the first travel path and passing through the third lattice C3 in the front-to-back direction.

[0073] The fourth reflector 77 is provided on the second movable beam 73B. The fourth reflector 77 is removably fixed to the rear side of the second movable beam 73B when the second beam 73 is in the open state by screws or the like, with the front-to-back direction as the thickness direction. The fourth reflector 77 is arranged to be at the same position as the first to third reflectors 74 to 76 in the up-down direction. The fourth reflector 77 is arranged directly below the fourth lattice C4. The fourth reflector 77 is detected by the obstacle sensor S1 of the aerial vehicle 2 traveling along the fourth travel path, wherein the fourth travel path is a travel path parallel to the second travel path and passing through the fourth lattice C4 in the front-to-back direction.

[0074] The pusher 80 is a component that presses the belt switch 12c of the aerial vehicle 2 when it contacts the aerial vehicle 2. The pusher 80 is a cylindrical member with the vertical direction as the axial direction. The pusher 80 is detachably fixed to the first beam 72 and the second beam 73 via a mounting portion. The pusher 80 is arranged at a position farther from the first beam 72 and the second beam 73 than the first to fourth reflectors 74 to 77 in the front-to-back direction. The pusher 80 includes a first pusher 81 and a second pusher 82 that is longer than the first pusher 81.

[0075] The first pusher 81 is provided on both sides of the rear side of the top end portion (the end portion on the side away from the rod 71) of the first fixed beam 72A, the rear side of the base end portion of the first movable beam 72B, and the front side and the rear side of the top end portion of the first movable beam 72B when the first beam 72 is in the open state. The lower end of the first pusher 81 provided on the first beam 72 is located above the second beam 73. In addition, the first pusher 81 is provided on both sides of the rear side of the top end portion of the second fixed beam 73A, the rear side of the base end portion of the second movable beam 73B, and the front side and the rear side of the top end portion of the second movable beam 73B when the second beam 73 is in the open state. The upper end of the first pusher 81 provided on the second beam 73 is located below the first beam 72.

[0076] The second pusher 82 is provided at the front side of the top end of the first fixed beam 72A and the front side of the top end of the second fixed beam 73A. The lower end of the second pusher 82 provided at the first beam 72 is located below the second beam 73. The second pusher 82 functions as a stopper (see Fig.10 (a)), the stopper prevents the first movable beam 72B of the first beam 72 in the closed state from moving to contact the first fixed beam 72A. The upper end of the second pusher 82 provided on the second beam 73 is located above the first beam 72. The second pusher 82 functions as a stopper (refer to Fig.10 (a)), the stopper prevents the second movable beam 73B of the second beam 73 in the closed state from moving to contact the second fixed beam 73A.

[0077] In the above structure, if Figure 3 , Figure 6 (a) and Figure 6As shown in (b), by not folding the first movable beam 72B but setting the first movable beam 72B to an open state extending along the first fixed beam 72A, and not folding the second movable beam 73B but setting the second movable beam 73B to an open state extending along the second fixed beam 73A, the main body 62 can be set to the next fully extended state (first extended state: 4-grid type). In the fully extended state, the obstacle sensor S1 of the aerial vehicle 2 traveling along the first to fourth travel paths passing through the first to fourth grids C1 to C4 can detect each of the first to fourth reflectors 74 to 77. In addition, in the fully extended state, when the aerial vehicle 2 contacts the main body 62, the pusher 80 presses the belt switch 12c of the aerial vehicle 2 to make the aerial vehicle 2 stop in an emergency.

[0078] In addition, if Figure 7 , Figure 8 (a) and Figure 8 As shown in (b), by rotating the first movable beam 72B counterclockwise around the hinge 72C in a plan view, the first movable beam 72B is set to a folded closed state, so that the main body 62 can be deformed from the fully expanded state to the next semi-expanded state (second expanded state: three-grid type). In the semi-expanded state, the obstacle sensor S1 of the aerial vehicle 2 traveling along the first, second and fourth travel paths passing through the first, second and fourth grids C1, C2, C4 can detect the first, second and fourth reflectors 74, 75, 77, respectively, and the obstacle sensor S1 of the aerial vehicle 2 traveling along the third travel path passing through the third grid C3 cannot detect the third reflector 76. In addition, in the semi-expanded state, when the aerial vehicle 2 contacts the main body 62, the pusher 80 presses the belt switch 12c of the aerial vehicle 2, so that the aerial vehicle 2 can be stopped in an emergency. In the semi-expanded state, the second pusher 82 of the first fixed beam 72A functions as a stopper to prevent the first movable beam 72B from excessively rotating counterclockwise in a plan view.

[0079] In addition, if Fig. 9 , Fig.10 (a) and Fig.10As shown in (b), by rotating the second movable beam 73B clockwise around the hinge 73C in a plan view, the second movable beam 73B is set to a folded closed state, so that the main body 62 can be deformed from the semi-expanded state to the next storage state (two-grid type). In the storage state, the obstacle sensor S1 of the aerial vehicle 2 traveling along the first travel path and the second travel path passing through the first grid C1 and the second grid C2 can detect the first reflector 74 and the second reflector 75, respectively, and the obstacle sensor S1 of the aerial vehicle 2 traveling along the third travel path and the fourth travel path passing through the third grid C3 and the fourth grid C4 cannot detect the third reflector 76 and the fourth reflector 77.

[0080] In addition, in the stowed state, when the aerial vehicle 2 is in contact with the main body 62, the pusher 80 presses the belt switch 12c of the aerial vehicle 2, and the aerial vehicle 2 can be stopped urgently. In the stowed state, the second pusher 82 of the first fixed beam 72A functions as a stopper to prevent the first movable beam 72B from rotating excessively counterclockwise in a plan view, and the second pusher 82 of the second fixed beam 73A functions as a stopper to prevent the second movable beam 73B from rotating excessively clockwise in a plan view. In the stowed state, the first movable beam 72B and the second movable beam 73B are arranged in an overlapping manner in a plan view, and the width in the front-rear direction is reduced.

[0081] Next, an example of using the aerial vehicle stopping device 60 is described. First, for example, a user holds the lower end of the rod 71, and causes the engaging portion 61 to enter the gap G between the first rail R1 and the intersection rail R3, so that the contact portion 61A of the engaging portion 61 is located above the pair of first rails R1, R1. In this state, after the rod 71 is moved along the first rail R1 so that the engaging portion 61 is located in the center of the pair of first rails R1, R1, the contact portion 61A is brought into contact with and engaged with the upper surface of the pair of first rails R1, R1, so that the aerial vehicle stopping device 60 is suspended from the pair of first rails R1, R1.

[0082] Then, if Fig.11 As shown in (a), for example, when the four parallel first to fourth travel paths K1 to K4 are blocked, the first beam 72 and the second beam 73 are not folded and the main body 62 is in a fully unfolded state. In this way, the travel of the aerial vehicle 2 along the first to fourth travel paths can be stopped. On the other hand, Fig.11As shown in (b), for example, when the three parallel first travel paths K1, second travel paths K2, and fourth travel paths K4 are blocked, the first beam 72 is folded and the second beam 73 is not folded, so that the main body 62 is in a semi-expanded state. In this way, the aerial vehicle 2 can stop traveling along the first travel path K1, the second travel path K2, and the fourth travel path K4. On the other hand, Fig.11 As shown in (c), for example, when the two parallel first travel paths K1 and second travel paths K2 are blocked, the first beam 72 and the second beam 73 are folded to put the main body 62 in the storage state. In this way, the aerial vehicle 2 can stop traveling along the first travel path K1 and the second travel path K2.

[0083] As described above, in the aerial vehicle stopping device 60, by engaging the engaging portion 61 with the grid-shaped track R, when the aerial vehicle 2 is traveling along the first travel path K1, the first reflector 74 is detected by the obstacle sensor S1, and the travel is stopped based on the detection result. When the aerial vehicle 2 is traveling along the second travel path K2, the second reflector 75 is detected by the obstacle sensor S1, and the travel is stopped based on the detection result. Thus, even if a plurality of stop devices are not prepared and installed on the grid-shaped track R, the passage of the first travel path K1 and the second travel path K2 in parallel can be prohibited at the prohibited position. That is, the passage of the aerial vehicle 2 can be easily prohibited at multiple positions of the travel path.

[0084] In the aerial vehicle stopping device 60, the rod 71 is in a rod shape, and the first to fourth reflectors 74 to 77 are in a flat plate shape. In this case, the rod 71 and the first to fourth reflectors 74 to 77 can be configured simply (easily).

[0085] In the aerial vehicle stopping device 60, the main body 62 includes a first beam 72 and a second beam 73. The first reflector 74 is provided on the first beam 72. The second reflector 75 is provided on the second beam 73. In this case, the first reflector 74 and the second reflector 75 can be arranged using the first beam 72 and the second beam 73.

[0086] In the aerial vehicle stopping device 60, the main body 62 includes a pusher 80. Thus, even if the first to fourth reflectors 74 to 77 cannot be detected due to a malfunction of the obstacle sensor S1 or the like, and the aerial vehicle 2 cannot be stopped, the pusher 80 can be used to disconnect the power supply of the aerial vehicle 2 in contact with the main body 62 and forcibly stop the aerial vehicle 2. The aerial vehicle 2 can be reliably prohibited from passing at multiple locations on the travel path.

[0087] In the aerial vehicle stopping device 60, at least one of the first to fourth reflectors 74 to 77 is configured to be detachable from the main body 62. Thus, the portion where the aerial vehicle 2 is prohibited from passing based on the detection result of the obstacle sensor S1 can be easily adjusted. It is also possible to adjust the portion where the aerial vehicle 2 is prohibited from passing based on the detection result of the obstacle sensor S1 by directly attaching and detaching at least one of the first to fourth reflectors 74 to 77 to the main body 62.

[0088] The vehicle system 1 includes a grid-shaped rail R, an aerial vehicle 2 that travels along a travel path formed by the grid-shaped rail R, and an aerial vehicle stopping device 60. In the vehicle system 1 as well, the aerial vehicle stopping device 60 can easily prohibit the aerial vehicle 2 from passing at multiple locations on the travel path.

[0089] In the vehicle system 1, when the aerial vehicle 2 is traveling along the first travel path K1 passing through the first grid C1 of the grid track R, the first reflector 74 is detected by the obstacle sensor S1 of the aerial vehicle 2. When the aerial vehicle 2 is traveling along the second travel path K2 passing through the second grid C2 of the grid track R, the second reflector 75 is detected by the obstacle sensor S1 of the aerial vehicle 2. When the aerial vehicle 2 is traveling along the third travel path K3 passing through the third grid C3 of the grid track R, the third reflector 76 is detected by the obstacle sensor S1 of the aerial vehicle 2. When the aerial vehicle 2 is traveling along the fourth travel path K4 passing through the fourth grid C4 of the grid track R, the fourth reflector 77 is detected by the obstacle sensor S1 of the aerial vehicle 2. In this case, in the so-called grid system, the passage of each of the first to fourth travel paths K1 to K4 in parallel can be easily prohibited by the aerial vehicle stopping device 60.

[0090] In the traveling vehicle system 1, the main body 62 can be deformed between the fully extended state, the semi-extended state, and the retracted state. In this case, the portion where the aerial traveling vehicle 2 is prohibited from passing can be easily adjusted.

[0091] In the traveling vehicle system 1, the main body 62 includes a first beam 72 and a second beam 73 extending from a rod 71 in the left-right direction. The first beam 72 includes a first fixed beam 72A and a first movable beam 72B foldably connected to the top end side of the first fixed beam 72A via a first hinge 72C. The second beam 73 includes a second fixed beam 73A and a second movable beam 73B foldably connected to the top end side of the second fixed beam 73A via a second hinge 73C. The first reflector 74 is provided on the first fixed beam 72A, the second reflector 75 is provided on the second fixed beam 73A, the third reflector 76 is provided on the first movable beam 72B, and the fourth reflector 77 is provided on the second movable beam 73B. In this case, by means of the folding structure, it is possible to specifically realize easy adjustment of the portion where the aerial traveling vehicle 2 is prohibited from passing. Furthermore, the aerial vehicle stopping device 60 can be folded and carried, so that the aerial vehicle stopping device 60 can be easily handled.

[0092] In the traveling vehicle system 1, the first movable beam 72B rotates counterclockwise in a plan view around the first hinge 72C, and the second movable beam 73B rotates clockwise in a plan view around the second hinge 73C. The connecting portion 91 of the first beam 72 in the rod 71 is separated from the connecting portion 92 of the second beam 73 in the rod 71 in the up-down direction. In this case, the first movable beam 72B and the second movable beam 73B can be folded so as to overlap in a plan view. The thickness of the aerial traveling vehicle stopping device 60 in the stored state in the front-back direction can be reduced.

[0093] In the traveling vehicle system 1, the engaging portion 61 engages with a pair of first rails R1, R1. The engaging portion 61 can pass through the gap G in the up-down direction, and is in a C-shape that opens upward when viewed from the direction along the pair of first rails R1, R1. The engaging portion 61 includes a contact portion 61A that abuts against the upper surface of the pair of first rails R1, R1. In this case, in the so-called grid system, the engagement of the engaging portion 61 with respect to the grid-shaped rail R can be specifically achieved. The aerial traveling vehicle stopping device 60 can be installed on the grid-shaped rail R simply by hooking the engaging portion 61 on the pair of first rails R1, R1.

[0094] In the aerial vehicle stopping device 60, in the fully extended state, the third reflector 76 is provided on the front side of the first movable beam 72B, and the fourth reflector 77 is provided on the rear side of the second movable beam 73B. Thus, when the aerial vehicle stopping device 60 is folded from the fully extended state to the stowed state, when the first movable beam 72B is folded first, the third reflector 76 and the fourth reflector 77 can be prevented from interfering with other components and being damaged.

[0095] Fig.12 (a) Fig.12 (b) and Fig.12(c) is a top view of the grid-shaped track R for explaining an example of using the aerial vehicle stopping device 60. In each figure, one grid corresponds to one grid C in the grid-shaped track R. Fig.12 As shown in (a), when the area Z1 where eight grids C are arranged front and back and four grids C are arranged left and right is set as a no-traffic zone, it can be handled by using six fully deployed aerial vehicle stopping devices 60. Fig.12 As shown in (b), when the area Z2 where seven grids C are arranged front to back and four grids C are arranged left to right is set as a no-traffic zone, it can be handled by using two fully deployed aerial vehicle stopping devices 60 and four half-deployed aerial vehicle stopping devices 60. Fig.12 As shown in (c), even when the complicated area Z3 is set as a no-traffic zone, it is possible to cope with it by appropriately using the aerial vehicle stopping device 60 in the fully deployed state, the semi-deployed state, and the stored state.

[0096] Fig.13 (a) Fig.13 (b) and Fig.14 The figures show a cart 201 that accommodates the aerial vehicle stopping device 60. The cart 201 is a transporting device that transports a plurality of aerial vehicle stopping devices 60 in an upright state. The cart 201 includes a rectangular plate-shaped base 210, a plurality of rod seats 220 arranged in two rows along a predetermined direction on the base 210, a plurality of casters 230 fixed to the lower surface of the base 210, pillars 240 erected at four corners of the base 210, a beam member 250 connected to the upper portions of a pair of pillars 240 facing each other in a predetermined direction, and a spacing member 260 extending in a manner of being mounted on the pair of beam members 250 and arranged in parallel with a spacing in a predetermined direction.

[0097] The rod seat 220 can be inserted with the lower part of the rod 71 of the aerial vehicle stopping device 60. The rod seat 220 supports the rod 71. In a plan view, the plurality of rod seats 220 in one row and the plurality of rod seats 220 in another row are arranged staggered in a predetermined direction. The intervals between the plurality of spacing members 260 correspond to the intervals between the plurality of rod seats 220 in the predetermined direction.

[0098] In such a cart 201, the lower part of the rod 71 of the aerial vehicle stopping device 60 in the stored state is inserted into the rod seat 220 and supported. At the same time, the folded first beam 72 and the second beam 73 are arranged between the pair of spacer members 260, and the first beam 72 and the second beam 73 are restricted from moving in a predetermined direction. Thus, the aerial vehicle stopping device 60 is stored in the cart 200 in a transportable manner.

[0099] As mentioned above, although embodiment was described, one aspect of the present invention is not limited to the above-mentioned embodiment, and various changes can be made within the scope not departing from the gist of the invention.

[0100] In the above embodiment, the engaging portion 61 of a C-shaped hook is used, but the form of the engaging portion 61 is not particularly limited. Fig.15 , Fig.16 (a) Fig.16 (b) and Fig.16 The engaging portion 361 of the T-hook shown in (c). The engaging portion 361 engages with a pair of first rails R1, R1 extending in the same direction and arranged in a manner close to each other. The engaging portion 361 includes an insertion portion 361X inserted between the pair of first rails R1, R1, and a contact portion 361Y connected to the upper side of the insertion portion 361X and contacting with the upper surface of each of the pair of first rails R1, R1, and the insertion portion 361X is a rectangular parallelepiped component. The contact portion 361Y is a rectangular plate-shaped component. The insertion portion 361X is provided at both ends of the lower surface of the contact portion 361Y in the length direction. The upper end of the rod 71 is fixed to the central portion of the lower surface of the contact portion 361Y. The axial direction of the rod 71 is orthogonal to the lower surface of the contact portion 361Y.

[0101] In the above embodiment or modified example, the four parallel first to fourth travel paths K1 to K4 can be blocked, but the present invention is not limited to this. In the above embodiment, as long as a plurality of parallel travel paths can be blocked, for example, Fig.17 As shown in the figure, the two parallel first travel paths K1 and second travel paths K2 can be blocked.

[0102] The aerial vehicle stopping device 360 ​​replaces the main body 62 (see Figure 3 ) and has a main body 362. The main body 362 and the main body 62 include a first beam (first arm member) 372, a second beam (second arm member) 373, a first reflector (first detected portion) 74, a second reflector (second detected portion) 75, and a plurality of pushers (pressing portions) 80.

[0103] The first beam 372 is a circular tubular member extending from one side of the rod 71 in the left-right direction. The base end side of the first beam 372 is fixed to the rod 71 via the connecting portion 91. The first beam 372 is located directly below the first grid C1. The first beam 372 is provided with a first reflector 74 and a plurality of pushers 80. The second beam 373 is a circular tubular member extending from the other side of the rod 71 in the left-right direction. The base end side of the second beam 373 is fixed to the rod 71 via the connecting portion 92 and the hinge 373C.

[0104] The second beam 373 moves in the following manner, i.e., swings with the axis in the hinge 373C along the up-down direction as the base axis. Specifically, the second beam 373 is movable in a manner of moving counterclockwise and clockwise with its top end facing the front side when viewed from above. Thus, the second beam 373 is configured to be foldable via the hinge 373C. The second beam 373 is located directly below the second grid C2 in a state where it extends in parallel with the first beam 372 (a state where the second beam 373 is not folded), i.e., in an open state. The second beam 373 is provided with a second reflector 75 and a plurality of pushers 80. There is no particular limitation on the hinge 372C, and for example, a torque hinge can be used.

[0105] The main body 362 is in the open state, so that the obstacle sensor S1 of the aerial vehicle 2 traveling along the second travel path can detect the unfolded state of the second reflector 75. On the other hand, the main body 362 is in the retracted state, so that the obstacle sensor S1 of the aerial vehicle 2 traveling along the second travel path cannot detect the second reflector 75, by folding the second beam 373. In this way, the aerial vehicle stopping device 360 ​​can be deformed between the unfolded state and the retracted state. As described above, according to the aerial vehicle stopping device 360, the portion where the aerial vehicle 2 is prohibited from passing can be adjusted.

[0106] In the above-mentioned embodiments or variations, the layout of the first rail R1, the second rail R2, and the intersection rail R3 is not particularly limited, and various layouts can be adopted. In the above-mentioned embodiments or variations, the engaging portion 61 is engaged with a pair of first rails R1 and R1 arranged in a manner close to or in contact with each other, but it is not limited to this. For example, a pattern of engaging portions can engage with a pair of second rails R2 arranged in a manner close to or in contact with each other, can engage with the intersection rail R3, or can engage with one first rail R1 or second rail R2.

[0107] In the above-mentioned embodiments or variations, the first to fourth detected parts are set as the first to fourth reflecting plates 74 to 77, but the present invention is not limited thereto. The first to fourth detected parts may also be, for example, block-shaped objects. At least two of the first to fourth detected parts may also be integrally formed with each other. In the above-mentioned embodiments or variations, a tubular member is used as the pusher 80, but the shape of the pusher 80 is not limited and may be various shapes.

[0108] In the above embodiments or modifications, a plurality of rail units 100 are connected and suspended from the ceiling to form a grid-shaped rail R, but the present invention is not limited thereto. For example, the first rail R1, the second rail R2, and the intersection rail R3 may be directly suspended from the ceiling by a suspension member or the like without being unitized.

[0109] In the above-mentioned embodiment or modification, in the aerial vehicle stopping device 60, at least the first travel path and the second travel path corresponding to the track (here, a pair of first tracks R1, R1) engaged with the engaging portion 61 are set as prohibited passage, but the present invention is not limited thereto. For example, the travel path corresponding to the first track R1 or the second track R2 not engaged with the engaging portion 61 may be set as prohibited passage.

[0110] In the above-mentioned embodiment or modification, a grid system is adopted as the vehicle system 1, but the vehicle system 1 is not limited to the grid system. The vehicle system may also include a one-way track pre-set for the aerial vehicle to travel. In this case, for example, the aerial vehicle stopping device is installed on the one-way first track or the one-way second track parallel to the first track, so that the aerial vehicle stops traveling along the first travel path and the second travel path formed by the first track and the second track.

[0111] Each structure in the above-mentioned embodiment or modification example can be arbitrarily applied to each structure in other embodiments or modification examples. A part of each structure in the above-mentioned embodiment or modification example can be appropriately omitted within the scope of the gist of one aspect of the present invention. The present invention is not limited to the above-mentioned embodiment, and various changes can be made within the scope of the gist of the invention.

[0112] Description of Reference Numerals

[0113] 1: Traveling vehicle system, 2: Aerial traveling vehicle, 12c: Belt switch (power switch), 60, 360: Aerial traveling vehicle stopping device, 61A: Abutment portion, 61, 361: Engaging portion, 62, 362: Main body, 71: Rod (long strip member), 72, 372: First beam (first arm member), 72A: First movable beam (first movable portion), 72B: First fixed beam (first fixed portion), 72C: Hinge (first hinge), 73, 373: First beam (second arm member), 73A: Second movable beam (second movable portion), 73B: Second fixed beam (second fixed portion), 73C: Hinge (second hinge), 74: First reflector (first reflected plate) Detection part), 75: second reflector (second detected part), 76: third reflector (third detected part), 77: fourth reflector (fourth detected part), 80: pushing member (pressing part), 91: connecting part (connecting part), 92: connecting part (connecting part), 361X: insertion part, 361Y: abutment part, C: grid, G: gap, K1: first travel path, K2: second travel path, K3: third travel path, K4: fourth travel path, R: grid-shaped track (track), R1: first track (first straight track, straight track), R2: second track (second straight track, straight track), R3: intersection track, S1: obstacle sensor.

Claims

1. A device for stopping an aerial vehicle, which is installed on a track provided on a ceiling and stops an aerial vehicle traveling along a travel path formed by the track, wherein: The aerial vehicle stopping device comprises: an engaging portion, the engaging portion being capable of engaging with the track; and The main body includes a long strip extending downward from the engaging portion. The main body comprises: a first detected portion, the first detected portion being detected by an obstacle sensor of the aerial vehicle traveling along a first traveling path among the traveling paths; and A second detected portion is detected by the obstacle sensor of the aerial vehicle traveling along a second traveling path parallel to the first traveling path among the traveling paths.

2. The aerial vehicle stopping device according to claim 1, wherein: The long strip member is in the shape of a rod, The first detection portion is in the shape of a plate with the travel direction of the first travel path being the thickness direction. The second detection target portion has a plate shape with a thickness direction being the traveling direction of the first traveling path.

3. The aerial vehicle stopping device according to claim 1 or 2, wherein: The main body includes a first arm member and a second arm member extending from the elongated member in a direction intersecting the elongated member. The first detected portion is provided on the first arm member, The second detected portion is provided on the second arm member.

4. The aerial vehicle stopping device according to claim 1 or 2, wherein: The main body is deformable between an expanded state and a retracted state. Among them, the deployed state is a state in which the obstacle sensor of the aerial vehicle traveling along the second driving path can detect the second detected part; the stowed state is a state in which the obstacle sensor of the aerial vehicle traveling along the second driving path cannot detect the second detected part.

5. The aerial vehicle stopping device according to claim 1 or 2, wherein: The main body includes a pressing portion configured to press a power switch of the aerial vehicle when the pressing portion comes into contact with the aerial vehicle.

6. The aerial vehicle stopping device according to claim 1 or 2, wherein: At least one of the first detection target portion and the second detection target portion is configured to be detachable from the main body portion.

7. A driving vehicle system, wherein: have: A track, the track is arranged on the ceiling and at least a portion of the track is configured in a grid shape; an aerial vehicle, the aerial vehicle traveling along a travel path formed by the track; and The aerial vehicle stopping device according to claim 1 or 2, wherein the aerial vehicle stopping device stops the aerial vehicle traveling along the travel path.

8. The traveling vehicle system according to claim 7, wherein: The track includes a plurality of first linear tracks extending in a first direction which is a horizontal direction, and a plurality of second linear tracks extending in a second direction which is a horizontal direction orthogonal to the first direction. When a rectangular area surrounded by the pair of first linear rails and the pair of second linear rails is defined as one grid in a plan view, The first detected portion is detected by the obstacle sensor of the aerial vehicle traveling along a first traveling path, wherein the first traveling path is the traveling path passing through a first grid. The second detected portion is detected by the obstacle sensor of the aerial vehicle traveling along a second traveling path, wherein the second traveling path is the traveling path passing through a second grid adjacent to the first grid, The main body comprises: a third detected portion, the third detected portion being detected by the obstacle sensor of the aerial vehicle traveling along a third traveling path, wherein the third traveling path is the traveling path passing through a third grid adjacent to the first grid on the side opposite to the second grid; and The fourth detected portion is detected by the obstacle sensor of the aerial vehicle traveling along a fourth traveling path, wherein the fourth traveling path is the traveling path passing through a fourth grid adjacent to the second grid on the opposite side of the first grid.

9. The traveling vehicle system according to claim 8, wherein: The main body is deformable between a first unfolded state, a second unfolded state and a stowed state. Among them, the first deployed state is a state in which the obstacle sensor of the aerial vehicle traveling along the third driving path can detect the third detected part and the obstacle sensor of the aerial vehicle traveling along the fourth driving path can detect the fourth detected part; the second deployed state is a state in which the obstacle sensor of the aerial vehicle traveling along the third driving path cannot detect the third detected part and the obstacle sensor of the aerial vehicle traveling along the fourth driving path can detect the fourth detected part; the stowed state is a state in which the obstacle sensor of the aerial vehicle traveling along the third driving path cannot detect the third detected part and the obstacle sensor of the aerial vehicle traveling along the fourth driving path cannot detect the fourth detected part.

10. The traveling vehicle system according to claim 9, wherein: The main body includes a first arm member and a second arm member extending from the elongated member in a direction intersecting the elongated member. The first arm member includes a first fixed portion and a first movable portion foldably connected to a distal end side of the first fixed portion via a first hinge. The second arm member includes a second fixed portion and a second movable portion foldably connected to the distal end side of the second fixed portion via a second hinge. The first detected portion is provided on the first fixed portion, The second detected portion is provided on the second fixed portion, The third detected portion is provided on the first movable portion, The fourth detected portion is provided on the second movable portion.

11. The traveling vehicle system according to claim 10, wherein: The first movable portion rotates in either a clockwise or counterclockwise direction in a plan view around the first hinge. The second movable portion rotates in either a clockwise or counterclockwise direction in a plan view around the second hinge. A connection portion of the first arm member in the elongated member is spaced apart from a connection portion of the second arm member in the elongated member in the longitudinal direction of the elongated member.

12. The traveling vehicle system according to claim 7, wherein: The track contains: multiple linear tracks; and an intersecting rail, the intersecting rail being arranged adjacent to the end of the linear rail with a gap therebetween in the horizontal direction, The engaging portion engages with a pair of the linear rails extending in the same direction and arranged in a manner close to or in contact with each other. The engaging portion can pass through the gap in the vertical direction. The engaging portion is in a C-shape opening upward when viewed from a direction along the pair of linear rails. The engaging portion includes a contact portion that contacts the upper surface of each of the pair of linear rails.

13. The traveling vehicle system according to claim 7, wherein: The track comprises a plurality of straight tracks, The engaging portion engages with a pair of the linear rails extending in the same direction and arranged in a manner close to each other. The engaging portion includes: an inserting portion inserted between the pair of linear rails; and a contacting portion connected to an upper side of the inserting portion and contacting with upper surfaces of the pair of linear rails.

Images