Rail trolley system

Abstract

An overhead vehicle system is provided with: a rail in which a plurality of first guide rails extending in the X direction and a plurality of second guide rails extending in the Y direction are arranged in a lattice; and a traveling vehicle traveling on a pair of first guide rails adjacent to each other in the Y direction and on a pair of second guide rails adjacent to each other in the X direction, the first guide rails and the second guide rails each having a first surface on which a mark for recognizing a grid is disposed and a second surface on which a mark for recognizing a position is disposed, and the first surface and the second surface being disposed on the first guide rails and the second guide rails. And a second surface that is disposed on the outside of the first surface and that is inclined toward the traveling vehicle (2) with respect to the first surface.

Description

Technical Field

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

[0002] As a technology related to the rail-mounted trolley system, an overhead transfer vehicle system is disclosed in Patent Document 1. The overhead transfer vehicle system includes a guide rail and a rail-mounted trolley (aerial transfer vehicle) that moves along the guide rail, wherein the guide rail includes a first guide rail (first track) extending in a first direction and a second guide rail (second track) extending in a second direction orthogonal to the first direction. By configuring the first guide rail and the second guide rail in a grid shape, a plurality of grids (cells) (partitions) are formed in a top view. The rail-mounted trolley moves in the first direction by running on a pair of adjacent first guide rails, and moves in the second direction by running on a pair of adjacent second guide rails. The rail-mounted trolley can move from one cell to other cells adjacent to the one cell by running in the first direction or the second direction.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 7040638 Summary of the invention

[0006] Marks are arranged on the first and second guide rails constituting the guide rails, and the marks represent prescribed information that can be detected by a sensor provided on the rail-guided vehicle. The rail-guided vehicle acquires information by detecting the marks using the sensor, and can be controlled based on the information. Here, there is a case where two marks representing different types of information are arranged at the same position in the travel direction of the guide rail. However, the above-mentioned conventional guide rail has only one surface for arranging marks, so it is impossible to arrange two marks.

[0007] In order to solve such a problem, it is considered to form two surfaces on the guide rail where two types of marks are respectively arranged. In this case, the rail-guided vehicle is configured so that the sensor faces the surface where the marks are arranged, but there is a desire to make the size of the rail-guided vehicle including the structure for arranging such sensors compact.

[0008] Therefore, an object of one aspect of the present disclosure is to provide a rail-guided vehicle system capable of arranging two different types of markings on a guide rail while suppressing an increase in the size of the rail-guided vehicle.

[0009] A rail-guided vehicle system according to one aspect of the present disclosure comprises: a guide rail, the guide rail being arranged in a grid shape with a plurality of first guide rails extending in a first direction and a second guide rail extending in a second direction orthogonal to the first direction; and a rail-guided vehicle, the rail-guided vehicle moving in the first direction by a travel portion traveling on a pair of first guide rails adjacent to each other in the second direction, and moving in the second direction by a travel portion traveling on a pair of second guide rails adjacent to each other in the first direction, the rail-guided vehicle having: a first sensor for acquiring first information from a first marker indicating first information; and a second sensor for obtaining second information from a second mark representing the second information, wherein the second information is information different from the first information, the first guide rail and the second guide rail respectively having: a first surface, which is opposite to the first sensor and is provided with a first mark; and a second surface, which is opposite to the second sensor and is provided with a second mark, and in a top view, when observed from the center of a grid which is a space surrounded by a pair of first guide rails and a pair of second guide rails, the second surface is arranged on the outside of the first surface and is inclined toward the rail vehicle side relative to the first surface.

[0010] In the rail trolley system of this structure, the first guide rail and the second guide rail forming the guide rail each have a first surface and a second surface different from the first surface. Therefore, by arranging two different types of marks on each surface, the two different marks can be arranged at the same position in the travel direction of the guide rail. In addition, in the rail trolley system of this structure, the second surface arranged on the outer side of the first surface when viewed from the center of the grid in a plan view is arranged to be inclined toward the rail trolley side relative to the first surface. As a result, there is no need to set the second sensor to extend from the rail trolley in order to make the second sensor face the second surface, and the enlargement of the rail trolley can be suppressed.

[0011] The rail vehicle system of one aspect of the present disclosure may also be provided with a control unit for controlling the rail vehicle, wherein any one of the first mark and the second mark is a position identification mark indicating position information in the track, and any one of the first sensor and the second sensor opposite to the position identification mark is four position identification sensors that obtain the position information from the position identification mark, and the four position identification sensors are arranged to be respectively opposite to the first surface or the second surface of each of a pair of first guide rails on which the position identification mark is arranged when the rail vehicle moves in the first direction, and are arranged to be respectively opposite to the first surface or the second surface of each of a pair of second guide rails on which the position identification mark is arranged when the rail vehicle moves in the second direction, and the control unit derives the offset between the specified position in the grid and the stop position of the rail vehicle based on the position information obtained by the position identification sensor. In this case, the position offset when the rail vehicle stops can be detected.

[0012] In a rail-mounted trolley system according to one aspect of the present disclosure, the rail-mounted trolley may include a transfer device for transferring an object, and the control unit may control the driving amount of the transfer device when the object is moved in the horizontal direction based on the offset amount. In this case, even when the rail-mounted trolley does not stop at a specified position in the grid, the position of the object transferred by the transfer device can be adjusted, so that the object can be accurately transferred to the specified transfer position.

[0013] In a rail-mounted trolley system according to one aspect of the present disclosure, the rail-mounted trolley may include a transfer device for transferring an object, and a horizontal rotation mechanism for horizontally rotating the object about a third direction orthogonal to both the first direction and the second direction, and the control unit controls the driving amount of the horizontal rotation mechanism when the object is horizontally rotated based on the offset. In this case, even if the rail-mounted trolley does not stop at a specified position in the grid, the horizontal rotation mechanism can be used to adjust the position of the object transferred by the transfer device, so that the object can be transferred more accurately at the specified transfer position.

[0014] In the rail-guided trolley system of one aspect of the present disclosure, the control unit may control the travel unit based on the offset so that the rail-guided trolley moves to a specified position in the grid. In this case, even if the rail-guided trolley does not stop at the specified position in the grid, the position of the rail-guided trolley can be adjusted, so that the object can be transferred to the specified transfer position more accurately.

[0015] Effects of the Invention

[0016] According to one aspect of the present disclosure, it is possible to provide a rail-guided vehicle system capable of arranging two different types of markings on a guide rail while suppressing an increase in the size of the rail-guided vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a perspective view showing an example of an aerial vehicle system according to one embodiment.

[0018] Figure 2 It means composition Figure 1 An exploded perspective view of the four guide rail units of the guide rail assembly and the connecting components connecting them.

[0019] Figure 3 Yes means Figure 1 Side view of a moving car.

[0020] Figure 4 Yes means Figure 1 A three-dimensional image of a moving vehicle.

[0021] Figure 5 This is a perspective view showing only the guide rail portion of the guide rail assembly.

[0022] Figure 6It is a cross-sectional view showing a connection portion between a plurality of rail units.

[0023] Figure 7 Yes means Figure 2 A perspective view of the guide rail unit in FIG.

[0024] Figure 8 This is a schematic cross-sectional view of the first guide rail when cut along a plane perpendicular to the X direction.

[0025] Fig. 9 Yes means Figure 3 A block diagram of the functional composition of a moving vehicle in FIG.

[0026] Fig.10 In the drawings, (a) and (b) are schematic plan views showing an example of the operation of the traveling vehicle when placing articles on the loading port while controlling the driving amount of the slide mechanism.

[0027] Fig.11 In the drawings, (a) and (b) are schematic plan views showing an example of the operation of the traveling vehicle when placing articles on the loading port while controlling the driving amount of the rotary driving unit.

[0028] Fig.12 In the drawings, (a) and (b) are schematic plan views showing an example of the movement of the traveling vehicle when loading articles on the loading port while controlling the driving amount of the traveling driving motor. DETAILED DESCRIPTION

[0029] Hereinafter, an embodiment of one aspect of the present disclosure will be described with reference to the accompanying drawings. It should be noted that, in the description of the accompanying drawings, the same element is marked with the same figure mark, and repeated description is omitted. In the accompanying drawings, for the convenience of explanation, the scale is appropriately changed to express the various components of the embodiment. In some drawings, an XYZ orthogonal coordinate system is recorded together. In the following description, this coordinate system is referred to for the convenience of explanation. 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 orthogonal to both the X direction and the Y direction is set as the Z direction for explanation.

[0030] like Figure 1As shown, the aerial vehicle system (railway trolley system) 1 of the embodiment is a grid system (transportation system) for transporting articles (objects) M using aerial vehicles (railway trolleys) 2, for example, in a clean room of a semiconductor manufacturing plant. The aerial vehicle system 1, for example, includes a plurality of aerial vehicles 2 (hereinafter collectively referred to as "vehicles 2"), a system controller 5 that controls the plurality of vehicles 2, and a track R for the plurality of vehicles 2 to travel. The vehicles 2 move along the track R of the aerial vehicle system 1. The vehicle 2 travels along the track R to transport articles M such as a FOUP (Front Opening Unified Pod) for accommodating semiconductor wafers or a reticle box for accommodating reticles. The vehicle 2 may also be referred to as a trolley, a transport vehicle, a transport trolley, or a driving trolley, etc. By using a plurality of vehicles 2, high-density transport of articles M can be achieved, and the transport efficiency of articles M is improved. In addition, the aerial vehicle system 1 may also include only one vehicle 2.

[0031] The track R is provided on the ceiling or near the ceiling of a building such as a clean room. The track R is provided adjacent to, for example, a processing device, a storage device (automatic warehouse), etc. The processing device is, for example, an exposure device, a coating and developing device, a film forming device, an etching device, etc., and performs various processes on the semiconductor wafers in the article M transported by the traveling vehicle 2. The storage device stores the article M transported by the traveling vehicle 2.

[0032] The rails R are arranged in a grid pattern when viewed from above (see also Figure 5 ). The track R extends in the horizontal direction. In the present embodiment, the track R is constructed by arranging a plurality of rail units 100 including a first rail R1, a second rail R2, and a cross rail R3 in the X direction and the Y direction. The aerial vehicle system 1 includes a plurality of rail units 100 arranged in the X direction and the Y direction, and a plurality of connecting components 140 connecting the plurality of rail units 100 to each other. A rail assembly 200 is formed by the plurality of rail units 100 and the plurality of connecting components 140. The rail assembly 200 is suspended from a ceiling (not shown) or the like by a plurality of suspension components H at a portion where the rail units 100 are connected to each other by the connecting components 140.

[0033] Figure 2 It means composition Figure 1An exploded stereoscopic view of four rail units 100 and a connecting member 140 connecting the rail assembly 200 in FIG. 1 . Each rail unit 100 is a rectangular parallelepiped (frame-shaped) member having the same structure. Each rail unit 100 includes: two first rail members 110 arranged along the X direction; two second rail members 120 arranged along the Y direction; and four intersection rail members 130 arranged in a manner to form gaps on the extension lines of the first rail members 110 and the extension lines of the second rail members 120 (i.e., the positions of the intersection points of the grid). When the rail unit 100 is viewed from above, the two parallel first rail members 110 and the two parallel second rail members 120 are arranged in a square shape, and the four intersection rail members 130 are arranged at the vertices of the square.

[0034] Each guide rail unit 100 is made of metal, for example, and is a unit in which the first guide rail component 110, the second guide rail component 120, and the cross-section guide rail component 130 are integrated after molding. Each first guide rail component 110 includes: a first beam portion 111 arranged at the upper end position of the guide rail unit 100 and extending in the X direction; a first rail R1 arranged at the lower end position of the guide rail unit 100 and extending in the X direction; and a first support wall 113 arranged between the first beam portion 111 and the first rail R1 and connected to the first beam portion 111 and the first rail R1. Each second rail member 120 includes: a second beam 121 disposed at the upper end of the rail unit 100 and extending in the Y direction; a second rail R2 disposed at the lower end of the rail unit 100 and extending in the Y direction; and a second support wall 123 disposed between the second beam 121 and the second rail R2 and joined to the second beam 121 and the second rail R2. A lattice-shaped structure extending along the XY plane is formed at the upper end of the rail assembly 200 by a plurality of first beams 111 and a plurality of second beams 121. The first support wall 113 extends along the XZ plane. The second support wall 123 extends along the YZ plane.

[0035] The intersection rail member 130 includes an intersection support column 133 extending in the Z direction (vertical direction) at a position where the first beam 111 and the second beam 121 are joined at a right angle, and an intersection rail R3 provided at the lower end of the intersection support column 133 .

[0036] like Figure 1 and Figure 5As shown, the plurality of first guide rails R1 extend respectively along the X direction. The plurality of second guide rails R2 extend respectively along the Y direction. In the track R, the plurality of first guide rails R1 and the plurality of second guide rails R2 are arranged in a grid shape when viewed from above. The track R forms a plurality of squares by the plurality of first guide rails R1 and the plurality of second guide rails R2. That is, the track R forms a grid (cell) C which is a space surrounded by a pair of first guide rails R1 and a pair of second guide rails R2 when viewed from above. The intersection rail R3 is arranged in a portion corresponding to the intersection of the first guide rail R1 and the second guide rail R2. The intersection rail R3 is adjacent to the first guide rail R1 in the X direction with a gap therebetween, and has a portion (first guide) extending in the X direction. The intersection rail R3 is adjacent to the second guide rail R2 in the Y direction, and has a portion (second guide) extending in the Y direction. The intersection rail R3 is used at any time when the vehicle 2 travels along the first rail R1, when the vehicle 2 travels along the second rail R2, and when the vehicle 2 travels from the first rail R1 to the second rail R2 or from the second rail R2 to the first rail R1.

[0037] Each guide rail unit 100 forms a square (or rectangular) track R corresponding to one square on its inner side. By arranging a plurality of guide rail units 100 in the X direction and the Y direction, a plurality of first guide rails R1 extend successively in the X direction, and a plurality of second guide rails R2 extend successively in the Y direction. On the X direction line, two intersection rails R3 are arranged at intervals between one first guide rail R1 and another first guide rail R1. On the Y direction line, two intersection rails R3 are arranged at intervals between one second guide rail R2 and another second guide rail R2. The track R is described from another point of view. In the case of focusing on four squares consisting of two squares arranged in the X direction and two squares arranged in the Y direction, four intersection rails R3 adjacent in the X direction and the Y direction are arranged at intervals (relative to the first guide rail R1) between two first guide rails R1 adjacent in the Y direction and two other first guide rails R1 adjacent in the Y direction. Moreover, between two second rails R2 adjacent to each other in the X direction and another two second rails R2 adjacent to each other in the X direction, four intersection rails R3 similar to those described above are arranged at intervals (with respect to the second rails R2).

[0038] In the guide rail assembly 200, a plurality of first guide rails R1, a plurality of second guide rails R2, and a plurality of intersection guide rails R3 are arranged at predetermined intervals from each other, thereby constructing a track R. A gap G corresponding to the above interval is formed between each first guide rail R1 and each intersection guide rail R3. A gap G corresponding to the above interval is formed between each second guide rail R2 and each intersection guide rail R3. The gap G in the track R has a constant size. Each first guide rail R1 includes a flat and horizontal first running surface R1a on the upper surface, and the running wheels 31 of the running vehicle 2 run along the X direction (first running direction D1) on the first running surface R1a. Each second guide rail R2 includes a flat and horizontal second running surface R2a on the upper surface, and the running wheels 31 of the running vehicle 2 run along the Y direction (second running direction D2) on the second running surface R2a. The intersection guide rail R3 includes a flat and horizontal intersection running surface R3a on the upper surface. The first running surface R1a, the second running surface R2a, and the intersecting running surface R3a have the same height in the entire track R. The first running surface R1a, the second running surface R2a, and the intersecting running surface R3a are arranged on the same or substantially the same horizontal plane.

[0039] For example, a gap as large as the gap G is not formed between the four intersection rails R3. When the vehicle 2 passes through the plurality of rail units 100 in a straight line, the wheels 31 of the vehicle 2 travel on the intersection travel surface R3a. At this time, the wheels 31 pass over two of the four intersection rails R3. Alternatively, when the vehicle 2 changes its travel direction between the rail units 100 (changes its travel direction by 90 degrees, i.e., turns), the wheels 31 of the vehicle 2 pass over the intersection travel surface R3a (while changing its direction).

[0040] As described above, in the rail assembly 200, the first rail member 110, the second rail member 120, and the cross rail member 130 constitute the grid-shaped rail R. The layout of the grid-shaped rail R in the aerial vehicle system 1 can be appropriately adjusted or changed by setting the plurality of rail units 100 to any arrangement (including adding or deleting the rail units 100).

[0041] Reference Figure 2 and Figure 6 The connection structure of the guide rail unit 100 using the connection member 140 will be described. Figure 2 and Figure 6As shown, each connecting member 140 includes an upper connecting member 141 and a lower connecting member 142. The upper surface of one of the four corners of a plurality of (typically four) guide rail units 100 is mounted on the upper connecting member 141 which is a plate or frame extending horizontally. The upper connecting member 141 abuts against the vicinity of the intersection of the first beam portion 111 and the second beam portion 121 in each guide rail unit 100. The lower connecting member 142 which is a plate or frame extending horizontally supports the lower surface of one of the four corners of a plurality of (typically four) guide rail units 100. The lower connecting member 142 abuts against the intersection rail R3 in each guide rail unit 100.

[0042] The rod-shaped suspension member H extending in the vertical direction passes through the upper connecting member 141 and the lower connecting member 142. The upper connecting member 141 and / or the lower connecting member 142 are fixed to the guide rail unit 100 by a fastening member not shown in the figure, thereby connecting the guide rail units 100 to each other. It should be noted that a space 100e extending in the Z direction is formed between the guide rail units 100, and a space R3e extending in the Z direction is formed between four adjacent intersection rails R3 in the X direction and the Y direction (the central part when viewed from above). The suspension member H is inserted in the space 100e and the space R3e, and the upper connecting member 141 and / or the lower connecting member 142 are fixed relative to the suspension member H.

[0043] The aerial vehicle system 1 includes a communication system (not shown). The communication system is used for communication between the aerial vehicle 2 and the system controller 5. The aerial vehicle 2 and the system controller 5 are connected to each other via the communication system so as to be able to communicate.

[0044] Next, refer to Figure 1 , Figure 3 and Figure 4 The structure of the traveling vehicle 2 will be described. Figure 1 and Figure 3 As shown, the traveling vehicle 2 is provided so as to be able to travel along the track R. The traveling vehicle 2 includes a traveling trolley 20 that travels on the track R, and a main body 10 that is mounted on the lower part of the traveling trolley 20 and is freely rotatable relative to the traveling trolley 20. The traveling trolley 20 includes, for example, a rectangular trolley unit 50 disposed below the track R, a traveling portion 30 that is provided at the four corners of the trolley unit 50 in a plan view and protrudes upward from the trolley unit 50, and four wheel turning mechanisms 40 that respectively turn four traveling wheels 31 in the traveling portion 30 relative to the trolley unit 50. A trolley controller (control unit) 8 is provided inside the trolley unit 50.

[0045] The main body 10 is disposed below the track R. Figure 3 and Figure 4As shown, the main body 10 has a main frame 12 formed in a cylindrical shape, for example. 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, and has a shape with an open lower surface. The main body 10 is formed into a square (see FIG. 1 ) that is contained in the track R when viewed from above. Figure 1 ) within the dimensions. The traveling vehicle 2 can meet other traveling vehicles 2 traveling on the adjacent first guide rail R1 or second guide rail R2. The main body 10 includes a transfer device 18 arranged inside the main frame 12. The transfer device 18 is, for example, rectangular in a plan view. The cylindrical frame 12b is open in a portion of the circumferential direction. The formation range of the open portion (cutout) is large enough to allow the transfer device 18 to pass through. The transfer device 18 passes through the open portion of the cylindrical frame 12b when moving horizontally.

[0046] The main body 10 is mounted on the lower part of the trolley unit 50 and is free to rotate around the rotation axis L10 in the Z direction relative to the trolley unit 50. The traveling wheels 31 provided at the four corners of the trolley unit 50 are placed on the track R (on the first traveling surface R1a, the second traveling surface R2a or the intersection traveling surface R3a). The trolley unit 50 is suspended on the track R by means of four traveling wheels 31 and four wheel turning mechanisms 40. The trolley unit 50 and the main body 10 can be stably suspended by the four traveling wheels 31, and the main body 10 can be stably driven. That is, the traveling vehicle 2 is suspended and supported by the traveling wheels 31 that travel along the track R, and moves below the track R.

[0047] The transfer device 18 moves in the horizontal direction relative to the main body 10 to transfer the article M between the loading port (loading platform). The transfer device 18 is provided below the top plate 12a of the main frame 12. The main body 10 including the transfer device 18 can rotate around the rotation axis L10 by a rotation drive unit (horizontal rotation device) 12c such as an electric motor provided on the top plate 12a. The transfer device 18 has an article holding portion 13 that holds the article M on the lower side of the track R, a lifting drive unit 14 that lifts and lowers the article holding portion 13 in the vertical direction, and a sliding mechanism 11 that slides and moves the lifting drive unit 14 in the horizontal direction. The sliding mechanism 11 is retained on the lower surface of the top plate 12a. Between the sliding mechanism 11 and the lifting drive unit 14, a rotation drive unit 16 is provided that rotationally drives the lifting drive unit 14 relative to the sliding mechanism 11 around the rotation axis L14. The rotation drive unit 16 is provided below the slide mechanism 11, and the lifting drive unit 14 is provided below the rotation drive unit 16. The article holding unit 13 is provided below the lifting drive unit 14 via a plurality of suspension members 13b. The loading port is a transfer destination or a transfer source of the traveling vehicle 2, and is a place where articles M are transferred to and from the traveling vehicle 2.

[0048] The article holding part 13 suspends and holds the article M by gripping the flange Ma of the article M. The article holding part 13 is, for example, a chuck having a claw 13a that can move in the horizontal direction. The article holding part 13 makes the claw 13a enter under the flange Ma of the article M and raises the article holding part 13, thereby holding the article M. The article holding part 13 is connected to a suspension member 13b such as a wire rope or a belt.

[0049] The lifting drive unit 14 is, for example, a winch, which lowers the article holding unit 13 by releasing the hanging member 13b, and raises the article holding unit 13 by winding up the hanging member 13b. The lifting drive unit 14 is controlled by the carriage controller 8 to lower or raise the article holding unit 13 at a predetermined speed. In addition, the lifting drive unit 14 is controlled by the carriage controller 8 to keep the article holding unit 13 at a target height.

[0050] The sliding mechanism 11 has a plurality of movable plates arranged to overlap each other in the Z direction, for example. By rotating the main body 10, the sliding mechanism 11 moves the rotation drive unit 16, the lifting drive unit 14, and the article holding unit 13 installed on the lowest movable plate in any direction in the horizontal plane. The moving direction of the movable plate in the sliding mechanism 11 is determined by the rotation angle of the main body 10 relative to the trolley unit 50. In the main body 10, the orientation of the transfer device 18 and the main frame 12 is set so that the moving direction of the movable plate coincides with the position of the open part of the cylindrical frame 12b.

[0051] The rotation drive unit 16 includes, for example, an electric motor, etc., which causes the lifting drive unit 14 (and the article holding unit 13) to rotate within a specified angle range around a rotation axis L14 extending in the vertical direction. The angle that can be rotated by the rotation drive unit 16 is, for example, any angle below 180 degrees, but the upper limit is not limited to 180 degrees. The rotation drive unit 16 can make the laterally extended article holding unit 13 (or the article M held by the article holding unit 13) face the desired direction. The sliding mechanism 11 and the rotation drive unit 16 are controlled by the trolley controller 8. It should be noted that even in the state where the movable plate of the sliding mechanism 11 is not moved but is stored ( Figure 3 In the state shown by the solid line in the middle, the lifting drive unit 14 can also be rotated by the rotation drive unit 16. In this case, for example, the rotation axis L14 of the lifting drive unit 14 coincides with the rotation axis L10 of the main body 10.

[0052] The trolley unit 50 has a cylindrical support member (cylindrical member) 52 at the lower end. On the lower surface side of the support member 52, the top plate portion 12a of the main frame 12 is rotatably mounted. For example, a rotation drive unit 12c such as an electric motor is provided on the top plate portion 12a. By transmitting the driving force of the rotation drive unit 12c to the support member 52, the main frame 12 rotates relative to the trolley unit 50 around the rotation axis L10 extending in the vertical direction. The angle at which the main frame 12 can rotate is, for example, any angle between 360 degrees and 540 degrees, but the upper limit is not limited to 540 degrees and the lower limit is not limited to 360 degrees. The sliding mechanism 11 is mounted on the lower surface side of the top plate portion 12a, and the top plate portion 12a supports the sliding mechanism 11. The main frame 12 and the transfer device 18 are integrated, and the main frame 12 and the transfer device 18 rotate together. The traveling vehicle 2 can transfer the article M relative to the loading port by using the transfer device 18.

[0053] It should be noted that a cover (not shown) may be installed on the outer surface side of the cylindrical frame 12b. In this case, the cover surrounds the transfer device 18 and the article M held by the transfer device 18. The cover is a cylindrical shape with an open lower end, and has a shape in which a portion (the above-mentioned open portion) from which the movable plate of the sliding mechanism 11 protrudes is cut off.

[0054] The travel unit 30 has four travel wheels 31. Two auxiliary wheels 32 are provided for each travel wheel 31. Figure 4 As shown, the traveling wheels 31 are arranged at the four corners of the trolley unit 50 in a manner protruding upward from the upper surface cover 51. Each traveling wheel 31 can rotate around a horizontal or substantially horizontal axle along the XY plane. A traveling drive motor 33 is provided on the rotating shaft of each traveling wheel 31. Each traveling wheel 31 is driven to rotate by the driving force of the traveling drive motor 33. The traveling drive motor 33 is configured to be able to switch between forward and reverse rotation, for example. The traveling wheels 31 roll on the rails R respectively. The traveling wheels 31 roll on the traveling surfaces R1a, R2a, and R3a of the first guide rail R1, the second guide rail R2, and the intersection guide rail R3, respectively, so that the traveling vehicle 2 travels. It should be noted that it is not limited to that all four traveling wheels 31 are driven to rotate by the driving force of the traveling drive motor 33, and it can also be a structure that drives some of the four traveling wheels 31 to rotate.

[0055] The traveling wheels 31 of the traveling unit 30 travel on the first traveling surfaces R1a of a pair of first guide rails R1 adjacent to each other in the Y direction, so that the traveling vehicle 2 moves in the X direction. In addition, the traveling wheels 31 of the traveling unit 30 travel on the second traveling surfaces R2a of a pair of second guide rails R2 adjacent to each other in the X direction, so that the traveling vehicle moves in the Y direction.

[0056] Four wheel turning mechanisms 40 are fixed to a frame (not shown) in the carriage unit 50, and a pedestal 34 is connected to each wheel turning mechanism 40 via a turning shaft of the wheel turning mechanism 40. On the pedestal 34, a traveling wheel 31, two auxiliary wheels 32, and a traveling drive motor 33 are mounted via a connecting portion 35 and a supporting member 36. For example, a square upper surface cover 51 is provided on the upper surface of the housing 53, and the pedestal 34 is arranged at the cutouts formed at the four corners of the upper surface cover 51. The connecting portion 35, the traveling wheel 31, the auxiliary wheel 32, and the traveling drive motor 33 are arranged above the upper surface cover 51.

[0057] like Figure 3 and Figure 4 As shown, the connecting portion 35 connects the trolley unit 50 (more specifically, the wheel turning mechanism 40 fixed in the trolley unit 50) and the traveling wheel 31. Due to this connecting structure, the trolley unit 50 and the main body 10 are arranged below the track R, and are suspended from the traveling portion 30. The connecting portion 35 is formed to have a thickness that can pass through the gap G between the first guide rail R1 and the intersection guide rail R3 and the gap G between the second guide rail R2 and the intersection guide rail R3. The supporting member 36 is provided on the upper part of the connecting portion 35, and supports the rotating shaft of the traveling wheel 31 and the rotating shaft of the auxiliary wheel 32 in a rotatable manner. The supporting member 36 maintains the relative position of the traveling wheel 31 and the auxiliary wheel 32.

[0058] like Figure 4 As shown, the traveling wheel 31 is configured to be able to rotate around a rotation axis L30 extending in the vertical direction. The four rotation axes L30 are arranged at the vertices of a square when viewed from above, and the rotation axis L10 is arranged at the center of the rotation axis L30. In other words, the four rotation axes L30 are arranged at positions that are four-fold symmetrical with respect to the rotation axis L10 of the main body 10. When viewed from above, the position of the traveling wheel 31 is different (offset) from the position of the rotation axis L30. The traveling wheel 31 rotates through the wheel turning mechanism 40, as a result of which the traveling direction of the traveling vehicle 2 can be changed.

[0059] The auxiliary wheels 32 are arranged one each in front and behind the traveling direction of the traveling wheel 31. The auxiliary wheels 32 can rotate around a horizontal or substantially horizontal axle along the XY plane. The lower end of the auxiliary wheel 32 is set to be higher than the lower end of the traveling wheel 31, for example. Therefore, when the traveling wheel 31 travels on the traveling surfaces R1a, R2a, and R3a, the auxiliary wheels 32 do not contact the traveling surfaces R1a, R2a, and R3a. In addition, when the traveling wheel 31 passes through the gap G between the first guide rail R1 and the intersection guide rail R3 and the gap G between the second guide rail R2 and the intersection guide rail R3, the auxiliary wheels 32 contact the auxiliary components (not shown) provided on the first guide rail R1 and the second guide rail R2, thereby preventing the traveling wheel 31 from falling in. It should be noted that it is not limited to providing two auxiliary wheels 32 for one traveling wheel 31. For example, one auxiliary wheel 32 may be provided for one traveling wheel 31, or no auxiliary wheel 32 may be provided.

[0060] The four wheel turning mechanisms 40 are arranged, for example, at the four corners of the housing 53 of the trolley unit 50. Each wheel turning mechanism 40 has a steering motor 43 and a driving force transmission unit 42 provided between the steering motor 43 and the traveling wheel 31. The driving force transmission unit 42 is fixed to a frame (not shown) in the trolley unit 50. The driving force transmission unit 42 is connected to the pedestal 34 via a rotating shaft. Each wheel turning mechanism 40 causes the pedestal 34, the connecting part 35, the supporting member 36, the traveling wheel 31, the auxiliary wheel 32 and the traveling drive motor 33 to rotate integrally around the rotation axis L30. When the traveling vehicle 2 is located at the center of each guide rail unit 100, each traveling wheel 31 is rotated 90 degrees around each rotation axis L30 as the center. As a result, the traveling wheel 31 rotates on the intersection guide rail R3. As a result, the traveling vehicle 2 can turn. The so-called turning means that the vehicle 2 switches from the first state of traveling in the first traveling direction D1 to the second state of traveling in the second traveling direction D2, or the vehicle 2 switches from the second state of traveling in the second traveling direction D2 to the first state of traveling in the first traveling direction D1. The turning of the vehicle 2 is performed, for example, when the vehicle 2 is stopped. The turning of the vehicle 2 can also be performed when the vehicle 2 is stopped but the object M is moving (for example, rotating). The driving of the wheel rotating mechanism 40 is controlled by the trolley controller 8.

[0061] As described above, a gap G is formed in the rail R. When the vehicle 2 travels on the first rail R1 and crosses the second rail R2, or when the vehicle 2 travels on the second rail R2 and crosses the first rail R1, a portion of the vehicle 2 (specifically, for example, the connection portion 35) passes through the gap G.

[0062] It should be noted that guide rollers that contact the side surfaces of the intersection rail R3 may be provided between the travel wheel 31 and the wheel turning mechanism 40 (for example, near the connection portion 35). The guide rollers prevent the travel vehicle 20 (travel vehicle 2) from being displaced relative to the rail R.

[0063] The traveling vehicle 2 includes one grid recognition sensor (first sensor) S1 and four position recognition sensors (second sensors) S2. Figure 4 In the example, only three of the four position recognition sensors S2 are shown. The grid recognition sensor S1 and the position recognition sensor S2 are housed in the housing 53 of the carriage unit 50. The grid recognition sensor S1 is configured so that the detection direction is oriented toward an upper direction substantially perpendicular to the upper surface cover 51. The position recognition sensor S2 is configured so that the detection direction is oriented toward a substantially upper direction. In more detail, the position recognition sensor S2 is configured so that the detection direction is oriented in a direction that is inclined toward the outside when viewed from the center of the grid C relative to the Z direction.

[0064] A grid recognition mark (first mark) M1 and a position recognition mark (second mark) M2 are arranged on the track R (see Figure 7 ). The grid recognition sensor S1 detects the grid recognition mark M1 arranged on the track R in a non-contact manner. The position recognition sensor S2 detects the position recognition mark M2 arranged on the track R in a non-contact manner. The position recognition sensor S2 detects the position recognition mark M2 through the cutout portion 51a provided in the upper surface cover 51. The details of the grid recognition mark M1 and the position recognition mark M2 will be described later.

[0065] When the traveling vehicle 2 is located at a predetermined position in the grid C (while parked or traveling), the grid recognition sensor S1 faces the grid recognition mark M1. At this time, the grid recognition sensor S1 acquires information (first information) of the grid C from the grid recognition mark M1.

[0066] The position recognition sensor S2 is arranged so as to contact the second surface 62 (see FIG. 1 ) on which the position recognition mark M2 is arranged in each of the pair of first rails R1 included in the rail unit 100 when the traveling vehicle 2 moves in the X direction. Figure 8 ) are respectively opposite. In addition, the position recognition sensor S2 is configured to be respectively opposite to the second surface 62 on which the position recognition mark M2 is configured in each of a pair of second rails R2 included in the rail unit 100 when the traveling vehicle 2 moves in the Y direction. The position recognition sensor S2 obtains the position information (second information) in the rail R from the position recognition mark M2.

[0067] The S trolley controller 8 generally controls the traveling vehicle 2. The trolley controller 8 is a computer composed of a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The trolley controller 8 can be configured as software that loads the program stored in the ROM onto the RAM and is executed by the CPU, for example. The trolley controller 8 can also be configured as hardware based on electronic circuits, etc. The trolley controller 8 can be composed of either one device or multiple devices. In the case of being composed of multiple devices, these devices are connected via a communication network such as the Internet or an intranet, thereby logically constructing one trolley controller 8. The trolley controller 8 is, for example, provided in the trolley unit 50.

[0068] The trolley controller 8 controls the travel of the traveling vehicle 2 based on the transport instruction. The trolley controller 8 controls the travel of the traveling vehicle 2 by controlling the travel drive motor 33 and the steering motor 43, etc. The trolley controller 8 controls, for example, the travel speed, the action related to stopping, and the action related to the direction change. The trolley controller 8 controls the transfer action of the traveling vehicle 2 based on the transport instruction. The trolley controller 8 controls the transfer direction of the transfer device 18 by controlling the rotation (rotation) of the main body 10 (main body frame 12 and transfer device 18). The trolley controller 8 controls the transfer action of the traveling vehicle 2 by controlling the transfer device 18, etc. The trolley controller 8 controls the loading action of the article M held and arranged at the specified loading port, and the unloading action of unloading the held article M to the specified loading port.

[0069] The system controller 5 is a computer composed of a CPU, a ROM, a RAM, and the like. The system controller 5 can be configured as software that loads a program stored in the ROM into the RAM and is executed by the CPU, for example. The system controller 5 can also be configured as hardware based on an electronic circuit or the like. The system controller 5 can be configured as either a single device or a plurality of devices. In the case of being configured as a plurality of devices, these devices are connected via a communication network such as the Internet or an intranet, thereby logically constructing a single system controller 5. At least a portion of the various controls of the system controller 5 can also be executed by the trolley controller 8.

[0070] The system controller 5 selects one of the multiple vehicles 2 that can transport the article M, and assigns a transport instruction to the selected vehicle 2. The transport instruction includes a travel instruction for causing the vehicle 2 to travel to the loading port, a loading instruction for the article M placed at the loading port, or an unloading instruction for the held article M to the loading port.

[0071] Figure 7 Yes means Figure 2A perspective view of the guide rail unit 100 in FIG. Figure 8 2 is a schematic cross-sectional view of the first guide rail R1 when cut along a plane perpendicular to the X direction. Figure 7 In the example of FIG. 1 , the figure shows a state where one rail unit 100 is viewed from the negative side in the Z direction. The first rail R1 and the second rail R2 included in the rail unit 100 have a first surface 61 and a second surface 62 , respectively.

[0072] First, the first guide rail R1 is described. In the present embodiment, the first surface 61 is orthogonal to the Z direction. The first surface 61 is parallel to the first travel surface R1a in the Z direction. The shape of the first surface 61 is a rectangular shape extending in the X direction when viewed from above. The first surface 61 is formed to be opposite to the grid recognition sensor S1 of the traveling vehicle 2. The first surface 61 is formed so that the traveling vehicle 2 can travel in the X direction in a state where the grid recognition sensor S1 of the traveling vehicle 2 is opposite to the first surface 61.

[0073] A grid identification mark M1 indicating information of the grid C is disposed on the first surface 61. The grid identification mark M1 may also indicate information of which grid C is one of the plurality of grids C formed by the track R. The information of the grid C may be an ID that uniquely identifies the grid C or information related to the position of the grid C. In the present embodiment, the grid identification mark M1 is composed of a barcode Ba. Figure 7 In the example of , the barcode Ba is arranged at the center of the first rail R1 (first surface 61) in the X direction. The grid recognition mark M1 faces the grid recognition sensor S1 when the traveling vehicle 2 is located at a predetermined position in the grid C. The grid recognition sensor S1 obtains information of the grid C from the grid recognition mark M1.

[0074] In the present embodiment, the predetermined position refers to the center of the grid. The state in which the traveling vehicle 2 is located at the center of the grid in the grid C refers to the state in which the trolley unit 50 is not offset in the horizontal direction relative to the grid C, and the trolley unit 50 is not offset in the rotational direction relative to the grid C. "The trolley unit 50 is not offset in the horizontal direction relative to the grid C" means that, in a plan view, the center of the trolley unit 50 is consistent with the center of the grid C. "The trolley unit 50 is not offset in the rotational direction relative to the grid C" means that, in a plan view, two of the four sides of the rectangular trolley unit 50 extending in the X direction are respectively parallel to a pair of first guide rails R1 constituting the grid C, and the two sides extending in the Y direction are respectively parallel to a pair of second guide rails R2 constituting the grid C. It should be noted that the center of the first guide rail R1 or the center of the grid C does not need to be strictly the center or the center, and may also have a certain width.

[0075] When viewed from the center of the grid C, the second surface 62 is arranged outside the first surface 61. The second surface 62 is disposed toward the traveling vehicle 2 side (at the Figure 7 The second surface 62 is shaped like a rectangle extending in the X direction when viewed from a direction perpendicular to the second surface 62. The second surface 62 is formed so as to face the position recognition sensor S2 of the traveling vehicle 2. The second surface 62 is formed so as to enable the traveling vehicle 2 to travel in the X direction in a state where the position recognition sensor S2 of the traveling vehicle 2 faces the second surface 62.

[0076] A position identification mark M2 indicating position information in the track R (first guide rail R1) is disposed on the second surface 62. The position information in the first guide rail R1 may be information related to the position in the X direction in the first guide rail R1, or may be information related to the distance from the center of the first guide rail R1 in the X direction (the center of the grid). The information shown by the position identification mark M2 is different from the information shown by the grid identification mark M1. In the present embodiment, the position identification mark M2 is composed of a plurality of (14 as an example) bar codes Bb arranged in the X direction. The plurality of bar codes Bb are arranged on the second surface 62 without gaps along the X direction. The position identification mark M2 is opposite to the position identification sensor S2 when the traveling vehicle 2 is traveling or stopped along the first guide rail R1. The position identification sensor S2 obtains the position information in the first guide rail R1 from the position identification mark M2.

[0077] Next, the second guide rail R2 will be described. In the present embodiment, the configuration of the second guide rail R2 is the same as that of the first guide rail R1. Therefore, the description overlapping with the above-mentioned first guide rail R1 will be appropriately omitted.

[0078] In the second guide rail R2, the first surface 61 is aligned with the second travel surface R2a (see Figure 1 , Figure 2 and Figure 5 ) is parallel to the first surface 61. The shape of the first surface 61 is a rectangle extending in the Y direction when viewed from above. The first surface 61 is formed so that the traveling vehicle 2 can travel in the Y direction in a state where the grid recognition sensor S1 is opposite to the first surface 91. A barcode Ba as a grid recognition mark M1 is arranged on the first surface 61. Figure 7 In the example of , the barcode Ba is arranged at the center of the second guide rail R2 (first surface 61) in the Y direction.

[0079] The shape of the second surface 62 is a rectangular shape extending in the Y direction when viewed from a direction orthogonal to the second surface 62. The second surface 62 is formed so that the traveling vehicle 2 can be driven in the Y direction when the position recognition sensor S2 of the traveling vehicle 2 is opposite to the second surface 62. A position recognition mark M2 is arranged on the second surface 62. The position information in the second guide rail R2 can be information related to the position in the Y direction in the second guide rail R2, or information related to the distance from the center of the second guide rail R2 in the Y direction (the center of the grid). In the present embodiment, the position recognition mark M2 is composed of a plurality of (14 as an example) bar codes Bb arranged in the Y direction. The plurality of bar codes Bb are arranged on the second surface 62 without gaps along the Y direction. The position recognition mark M2 is opposite to the position recognition mark M2 when the traveling vehicle 2 is traveling or stopped along the second guide rail R2. The position recognition sensor S2 obtains the position information in the second guide rail R2 from the position recognition mark M2.

[0080] Fig. 9 Yes means Figure 3 The block diagram of the functional configuration of the traveling vehicle 2 in FIG. The vehicle controller 8 obtains the detection result of the grid recognition sensor S1. Specifically, the vehicle controller 8 obtains the information of the grid C obtained by the grid recognition sensor S1. In addition, the vehicle controller 8 determines the grid C where the traveling vehicle 2 is located based on the information of the grid C.

[0081] The trolley controller 8 obtains the detection result of the position recognition sensor S2. Specifically, the trolley controller 8 obtains the position information obtained by the position recognition sensor S2. In addition, based on the position information, the trolley controller 8 derives the offset between the specified position in the grid C and the stop position of the traveling vehicle 2. This offset includes the offset in the horizontal direction (X direction and Y direction) and the offset in the rotation direction around the Z direction.

[0082] The offset in the X direction can be derived, for example, by performing a predetermined calculation process using the position information obtained by at least one of the two position recognition sensors S2 facing the second surface 62 of the first guide rail R1 and the pre-stored position information of the center of the grid C. In addition, regarding the offset in the X direction, the offset in the X direction can be derived by pre-storing a table in which the position information indicated by the position recognition mark M2 and the above-mentioned offset are stored in correspondence with each other, and performing a readout process of reading the above-mentioned offset corresponding to the position information indicated by the position recognition mark M2 obtained by the position recognition sensor S2 from the table. The offset in the Y direction can also be derived by the above-mentioned calculation process or readout process in the same manner as the offset in the X direction.

[0083] The amount of displacement in the rotational direction around the Z direction can be derived, for example, by performing a prescribed calculation process using four position information obtained from two position identification sensors S2 relative to the second surface 62 of the first guide rail R1 and two position identification sensors S2 relative to the second surface 62 of the second guide rail R2. In addition, the amount of displacement in the rotational direction around the Z direction can be derived by performing a prescribed calculation process using at least the above three position information. In addition, regarding the amount of displacement in the rotational direction around the Z direction, a table is pre-stored in which the relationship between each position information and the amount of displacement in the four guide rails constituting a grid C is correspondingly stored, and a read-out process of the above-mentioned amount of displacement corresponding to the three position information obtained by the position identification sensor S2 is performed from the table, thereby being able to derive the amount of displacement in the rotational direction around the Z direction.

[0084] The carriage controller 8 moves the article M in the horizontal direction by controlling the sliding mechanism 11 included in the transfer device 18. Specifically, the carriage controller 8 controls the movement amount of the article M by controlling the movement amount of the movable plate of the sliding mechanism 11. The carriage controller 8 controls the driving amount of the sliding mechanism 11 when moving the article M in the horizontal direction based on the horizontal deviation amount.

[0085] use Fig.10 An example of the operation of the traveling vehicle 2 when placing the article M on the loading port LP while controlling the driving amount of the slide mechanism 11 will be described in more detail. Fig.10 In (a), the figure shows a state where the vehicle 2, which is transporting an article M along the first travel direction D1, stops at a position that is offset in the horizontal direction relative to a predetermined position in the grid C. Specifically, the stop position of the vehicle 2 is offset in the X direction relative to the predetermined position. As a result, the position of the article M is offset in the X direction relative to the loading port LP where the article M is transferred when viewed from above. Fig.10 In the example shown in FIG. 1 , the loading port LP is located directly below the center of the grid C in the vertical direction.

[0086] First, two position recognition sensors S2 facing the second surface 62 of the pair of first guide rails R1 obtain position information in the first guide rail R1 from the position recognition mark M2. Next, the vehicle controller 8 derives the offset between the specified position in the grid C and the stop position of the traveling vehicle 2 based on the position information obtained by the two position recognition sensors S2.

[0087] Next, the carriage controller 8 moves the article M in the horizontal direction (X direction) by driving the slide mechanism 11. At this time, the carriage controller 8 controls the movement amount of the movable plate of the slide mechanism 11 based on the offset amount in the horizontal direction. As a result, the article M moves in the X direction based on the offset amount derived by the carriage controller 8. Therefore, Fig.10As shown in (b), the position of the article M relative to the position of the loading port LP is adjusted.

[0088] In addition, the carriage controller 8 controls the rotation drive unit 12c provided on the top plate portion 12a to horizontally rotate the transfer device 18 and the article M held by the transfer device 18 around the Z direction. Specifically, the carriage controller 8 controls the horizontal rotation amount of the transfer device 18 and the article M held by the transfer device 18 by controlling the driving amount of the rotation drive unit 12c. The carriage controller 8 controls the driving amount of the rotation drive unit 12c when rotating the article M horizontally based on the offset amount in the rotation direction derived as described above.

[0089] use Fig.11 Another example of the operation of the traveling vehicle 2 when placing the article M on the loading port LP while controlling the driving amount of the rotation driving unit 12c will be described in more detail. Fig.11 In (a), the diagram shows a state where the vehicle 2, which is transporting an article M, stops at a position offset in the rotation direction relative to a predetermined position in the grid C. Specifically, the stop position of the vehicle 2 is offset in the clockwise direction relative to the predetermined position. As a result, the position of the article M is offset in the clockwise direction relative to the loading port LP. Fig.11 In the example shown in FIG. 1 , the loading port LP is located directly below the center of the grid C in the vertical direction.

[0090] First, the four position recognition sensors S2 acquire position information from the position recognition marker M2. Next, the vehicle controller 8 derives the amount of deviation between a predetermined position in the grid C and the stop position of the traveling vehicle 2 based on the position information acquired by the four position recognition sensors S2.

[0091] Next, the carriage controller 8 drives the rotation drive unit 12c provided on the top plate 12a, thereby causing the object M to rotate horizontally in the counterclockwise direction around the Z direction. At this time, the carriage controller 8 controls the driving amount of the rotation drive unit 12c based on the offset in the rotation direction. As a result, the object M rotates horizontally in the counterclockwise direction based on the offset derived by the carriage controller 8. Therefore, Fig.11 As shown in (b), the position of the article M relative to the position of the loading port LP is adjusted.

[0092] Next, the effects of the aerial vehicle system 1 of the present embodiment will be described. In the aerial vehicle system 1 of the above-mentioned embodiment, the first guide rail R1 and the second guide rail R2 forming the track R are each provided with a first surface 61 and a second surface 62 different from the first surface 61. Therefore, by arranging one of at least two different kinds of marks on each surface, at least two different marks can be arranged at the same position in the travel direction of the track R. In addition, in the aerial vehicle system 1 of this structure, the second surface 62 arranged on the outer side of the first surface 61 when viewed from the center of the grid C in a plan view is arranged to be inclined toward the traveling vehicle 2 side relative to the first surface 61. As a result, it is not necessary to set the position recognition sensor S2 to extend from the traveling vehicle 2 in order to make the position recognition sensor S2 face the second surface 62, and the enlargement of the traveling vehicle 2 can be suppressed.

[0093] The aerial vehicle system 1 of the above-mentioned embodiment further includes a trolley controller 8 for controlling the traveling vehicle 2, and either of the two different marks is a position identification mark M2 indicating position information in the track R, and the position identification sensor S2 relative to the position identification mark M2 is configured to be relative to each position identification mark M2 configured on each of a pair of first guide rails R1 when the traveling vehicle 2 moves in the X direction. In addition, the position identification sensor S2 is configured to be relative to each position identification mark M2 configured on each of a pair of second guide rails R2 when the traveling vehicle 2 moves in the Y direction. In addition, the position identification sensors S2 are four position identification sensors S2 that obtain position information from the position identification mark M2. The trolley controller 8 derives the offset between the specified position in the grid C and the stop position of the traveling vehicle 2 based on the position information obtained by the position identification sensor S2. In this case, the trolley controller 8 can detect the position offset when the traveling vehicle 2 stops.

[0094] In the above-mentioned aerial vehicle system 1, the vehicle 2 has a transfer device 18 for transferring the article M, and the vehicle controller 8 controls the driving amount of the transfer device 18 when the article M is moved in the horizontal direction (X direction and Y direction) based on the offset amount. In this case, even if the vehicle 2 does not stop at a predetermined position in the grid C, the position of the article M transferred by the transfer device 18 can be adjusted, so that the article M can be accurately transferred to the predetermined transfer position.

[0095] In the aerial vehicle system 1 of the above-mentioned embodiment, the vehicle 2 has a transfer device 18 for transferring an article M. The vehicle 2 has a top plate portion 12a and a rotation drive portion 16 for horizontally rotating the article M around the Z direction. The trolley controller 8 controls the driving amount of the rotation drive portion 12c provided on the top plate portion 12a when rotating the article M horizontally, and the driving amount of the rotation drive portion 16 included in the transfer device 18 based on the offset amount. In this case, even if the vehicle 2 does not stop at a specified position in the grid C, the top plate portion 12a and the rotation drive portion 16 can be used to adjust the position of the article M transferred by the transfer device 18, so that the article M can be transferred to the specified transfer position more accurately.

[0096] In the aerial vehicle system 1 of the above-described embodiment, the vehicle controller 8 controls the travel unit 30 based on the offset so that the travel vehicle 2 moves to a predetermined position in the grid C. In this case, even when the travel vehicle 2 does not stop at the predetermined position in the grid C, the position of the travel vehicle 2 can be adjusted, so that the article M can be transferred to the predetermined transfer position more accurately.

[0097] As mentioned above, the embodiment of one aspect of the present disclosure has been described, but one aspect of the present disclosure is not limited to the above embodiment.

[0098] In the above-mentioned embodiment, the following example is cited for explanation, that is, in a structure in which the loading port LP is arranged directly below the center of the grid C in the vertical direction, when the traveling vehicle 2 stops at a position offset from the center of the grid C, the article M is transferred to a specified position of the loading port LP by controlling the movement amount of the movable plate of the sliding mechanism 11 and / or the driving amount of the rotation drive unit 12c, 16, but it is not limited to this. The trolley controller 8 can also control the movement amount of the traveling vehicle 2 along the X direction and the Y direction by controlling the traveling unit 30. Specifically, the trolley controller 8 can also control the driving amount of the traveling drive motor 33 that drives the traveling wheels 31 included in the traveling unit 30. The trolley controller 8 controls the traveling unit 30 based on the offset in the horizontal direction and the rotation direction so that the traveling vehicle 2 moves to the specified position.

[0099] use Fig.12 An example of the operation of the traveling vehicle 2 when placing the article M on the loading port LP while controlling the driving amount of the traveling driving motor 33 will be described in more detail. Fig.12 In (a), the figure shows a state where the vehicle 2, which is transporting the article M in the first travel direction D1, stops at a position that is offset in the horizontal direction relative to a predetermined position in the grid C. Specifically, the stop position of the vehicle 2 is offset in the X direction relative to the predetermined position. As a result, the position of the article M is offset in the X direction relative to the loading port LP. Fig.12In the example, the loading port LP is located directly below the center of the grid C in the vertical direction.

[0100] First, two position recognition sensors S2 facing the second surfaces 62 of the pair of first guide rails R1 obtain position information from the position recognition mark M2. Next, the vehicle controller 8 derives the offset between the predetermined position in the grid C and the stop position of the traveling vehicle 2 based on the position information obtained by the two position recognition sensors S2.

[0101] Next, the vehicle controller 8 drives the travel unit 30 to move the vehicle 2 in the horizontal direction (X direction). At this time, the vehicle controller 8 controls the driving amount of the travel unit 30 based on the offset in the horizontal direction. As a result, the object M moves in the X direction based on the offset derived by the vehicle controller 8. Fig.12 As shown in (b), the position of the article M relative to the position of the loading port LP is adjusted.

[0102] In the above-mentioned embodiment and modification, an example of transferring the article M to the loading port LP in a structure in which the loading port LP is provided directly below the center of the grid C in the vertical direction is described, but the invention is not limited thereto. For example, even in a case where the loading port LP is provided at a position offset from the center of the grid C in a plan view, the article M can be transferred to a predetermined position of the loading port LP by controlling the driving amount of the transfer device 18 when the article M is moved in the horizontal direction (X direction and Y direction) or controlling the driving amount of the horizontal rotation mechanism when the article M is horizontally rotated based on the offset as shown in the above-mentioned embodiment and modification.

[0103] In addition, when the loading port LP is arranged at a position offset relative to the center of the grid C when viewed from above, the trolley controller 8 can move the article M in the horizontal direction by controlling the sliding mechanism 11 included in the transfer device 18, and then rotate the article M horizontally by controlling the rotating drive unit 16 included in the transfer device 18 based on the derived offset amount as described above.

[0104] In the above-mentioned embodiment and modification examples, an example in which the traveling vehicle 2 holds the article M on the lower side of the track R is described. However, the traveling vehicle 2 may also hold the article M on the upper side of the track R. In this case, the trolley unit 50 is arranged on the upper side of the traveling portion 30. The grid recognition sensor S1 is, for example, arranged to face downward approximately perpendicularly with respect to the lower surface of the trolley unit 50. The position recognition sensor S2 is, for example, arranged to face approximately in the downward direction. The position recognition sensor S2 is arranged to face a direction inclined toward the outside when viewed from the center of the grid C relative to the Z direction. In addition, the first surface 61 is arranged to be orthogonal to the Z direction and face upward, and the second surface 62 is arranged to face the traveling vehicle 2 side relative to the first surface 61 (for example, at Figure 7 Thus, the grid recognition sensor S1 is opposite to the grid recognition mark M1 arranged on the first surface 61, and the position recognition sensor S2 is opposite to the position recognition mark M2 arranged on the second surface 62.

[0105] In the above embodiment, the four rotation axes L30 in the travel unit 30 and the wheel turning mechanism 40 are arranged at the vertices of a square in a plan view. However, the arrangement of the rotation axes L30 may not be a square. Alternatively, the position of the travel wheel 31 may coincide with the position of the rotation axis L30 in a plan view.

[0106] In the above-mentioned embodiment, the case where the running wheels 31 rotate on the intersection guide rail R3 is described, but it is also possible that when the rotation is performed based on each wheel turning mechanism 40, each running wheel 31 switches from the first running surface R1a to the second running surface R2a or from the second running surface R2a to the first running surface R1a.

[0107] In the above-mentioned embodiment and modification, the case where the grid recognition mark M1 is set at the center of the first guide rail R1 in the X direction and the center of the second guide rail R2 in the Y direction is described. However, the position of the grid recognition mark M1 can also be arranged along the extension direction in the same way as the position recognition mark M2, and the setting position of the grid recognition mark M1 is not particularly limited as long as it can be detected by the grid recognition sensor S1.

[0108] In the above-mentioned embodiment and modification, the case where the grid recognition mark M1 is arranged on the first surface 61 and the position recognition mark M2 is arranged on the second surface 62 is described, but the arrangement relationship of the marks may be reversed. That is, the grid recognition mark M1 may be arranged on the second surface 62 and the position recognition mark M2 may be arranged on the first surface 61.

[0109] In the above-described embodiment and modified example, a case where four position recognition sensors S2 are provided on the traveling vehicle 2 has been described, but the number of the position recognition sensors S2 can be changed as appropriate.

[0110] In the above-mentioned embodiments and variations, bar codes are cited as examples of grid recognition marks M1 and position recognition marks M2, but they may also be two-dimensional codes such as QR codes (registered trademarks). In this case, it is sufficient to replace the bar code reader capable of reading bar codes used as grid recognition sensors S1 and position recognition sensors S2 with a bar code reader capable of reading two-dimensional bar codes. In addition, as grid recognition marks M1 and position recognition marks M2, it is also possible to replace the above-mentioned codes or use text, symbols, graphics, colors, etc. that can be recognized by grid recognition sensors S1 and position recognition sensors S2 on the basis of the above-mentioned codes. In this case, a camera or the like can be used as the grid recognition sensor S1 and the position recognition sensor S2.

[0111] Description of Reference Numerals

[0112] 1: Aerial vehicle system (rail-mounted trolley system), 2: Aerial vehicle (rail-mounted trolley), 8: Trolley controller (control unit), 12c, 16: Rotation drive unit (horizontal rotation mechanism), 18: Transfer device, 30: Traveling unit, 61: First surface, 62: Second surface, C: Grid, M: Article (object), M1: Grid identification mark (First mark), M2: Position identification mark (Second mark), R: Track, R1: First guide rail, R2: Second guide rail, S1: Grid identification sensor (First sensor), S2: Position identification sensor (Second sensor).

Claims

1. A rail trolley system, wherein: have: a track including a plurality of first guide rails extending in a first direction and a plurality of second guide rails extending in a second direction orthogonal to the first direction, arranged in a grid pattern; as well as a rail-guided vehicle that moves in the first direction by having a travel portion travel on a pair of first rails adjacent to each other in the second direction, and that moves in the second direction by having the travel portion travel on a pair of second rails adjacent to each other in the first direction, The rail trolley has: a first sensor for acquiring the first information from a first mark indicating the first information; and a second sensor for acquiring second information from a second tag indicating second information, wherein the second information is information different from the first information; The first guide rail and the second guide rail each have: a first surface, the first surface being opposite to the first sensor and having the first mark disposed thereon; and The second surface is opposite to the second sensor and is provided with the second mark. When viewed from the center of a grid which is a space surrounded by a pair of the first guide rails and a pair of the second guide rails in a plan view, the second surface is arranged on the outside of the first surface and is inclined toward the rail vehicle side relative to the first surface.

2. The rail-guided trolley system according to claim 1, wherein: It also includes a control unit for controlling the rail-guided vehicle. Either the first mark or the second mark is a position identification mark indicating position information in the track. Any one of the first sensor and the second sensor opposite to the position identification mark is four position identification sensors that obtain the position information from the position identification mark, and the four position identification sensors are arranged to be respectively opposite to the first surface or the second surface of each of a pair of first guide rails on which the position identification mark is arranged when the rail-guided trolley moves along the first direction, and are arranged to be respectively opposite to the first surface or the second surface of each of a pair of second guide rails on which the position identification mark is arranged when the rail-guided trolley moves along the second direction. The control unit derives a deviation amount between a predetermined position in the grid and a stop position of the rail-guided vehicle based on the position information acquired by the position recognition sensor.

3. The rail-guided trolley system according to claim 2, wherein: The rail-mounted trolley has a transfer device for transferring objects. The control unit controls a driving amount of the transfer device when moving the object in the horizontal direction based on the offset amount.

4. The rail-guided trolley system according to claim 2, wherein: The rail-guided vehicle includes a transfer device for transferring an object, and a horizontal rotation mechanism for horizontally rotating the object around a third direction that is orthogonal to both the first direction and the second direction. The control unit controls a driving amount of the horizontal rotation mechanism when horizontally rotating the object based on the offset amount.

5. The rail-guided trolley system according to any one of claims 2 to 4, wherein: The control unit controls the travel unit based on the offset so that the rail-guided vehicle moves to a predetermined position in the grid.

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