Traveling vehicle system

Abstract

The vehicle system (1) of the present invention comprises: sensors (61, 63) for detecting at least one of vibration of the track (4) in the inspection section (S3) and sound generated in the inspection section (S3); a storage unit (75A) for storing the detection results detected by the sensors (61, 63); an evaluation unit (75B) for evaluating the state of the target vehicle (6); and a communication unit (75C) for sending the evaluation results evaluated by the evaluation unit (75B) to a controller (90). The controller (90) controls multiple vehicles (6) in such a way that only one target vehicle (6) exists in the inspection section (S3), and makes the target vehicle (6) drive in a predetermined driving mode in the inspection section (S3). The evaluation unit (75B) evaluates the state of the target vehicle (6) based on the detection results of the target vehicle (6) stored in the storage unit (75A) and the detection results of other vehicles (6) besides the target vehicle.

Description

Technical Field

[0001] One aspect of the present invention relates to a vehicle system. Background Technology

[0002] Known vehicles transport goods along tracks. The goods transport device described in Patent Document 1 can acquire information indicating the status of such vehicles (transport vehicles) to determine their maintenance period. More specifically, in the goods transport device of Patent Document 1, each vehicle is equipped with a sensor that can detect the behavior of its own vehicle while in motion. Furthermore, a control device controls multiple vehicles in such a way that only one vehicle exists in an inspection zone, and acquires inspection data based on sensor detection results from the vehicles while they are traveling in a pre-defined mode within the inspection zone.

[0003] Existing technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2021-185353 Summary of the Invention

[0004] The problem the invention aims to solve However, in the existing material conveying equipment described above, since each of the vehicles is equipped with a sensor, differences in sensor sensitivity may lead to vehicles failing to obtain accurate inspection results. Furthermore, the communication load increases because the sensors on each vehicle transmit inspection results to the control unit.

[0005] One objective of this invention is to reduce fluctuations in inspection results caused by differences in sensor sensitivity, while also reducing communication load.

[0006] Technical means to solve problems (1) A vehicle system according to one aspect of the present invention comprises: multiple vehicles traveling along a track and a controller for controlling the travel of the vehicles, wherein an inspection zone is set in a portion of the track, and an object vehicle designated as an inspection target from among the multiple vehicles enters the inspection zone, the vehicle system further comprises: a sensor for detecting at least one of vibration of the track in the inspection zone and sound generated in the inspection zone; a storage unit for storing the detection results detected by the sensor; an evaluation unit for evaluating the state of the object vehicle; and a communication unit for sending the evaluation results evaluated by the evaluation unit to the controller; the controller controls the multiple vehicles in such a way that only one object vehicle exists in the inspection zone, and causes the object vehicle to travel in a predetermined travel mode in the inspection zone, and the evaluation unit evaluates the state of the object vehicle based on the detection results of the object vehicle stored in the storage unit and the detection results of the vehicles other than the object vehicle.

[0007] With this vehicle system structure, multiple vehicles constituting the system can be inspected using sensors mounted on the inspection track, thus obtaining inspection results unaffected by differences in sensor sensitivity. Furthermore, since only the evaluation results processed by the evaluation department are sent to the controller, the data volume is smaller compared to sending the inspection results (sensor-acquired values) from multiple vehicles individually, thereby reducing communication load. Moreover, because the comparison objects for the detection results include vehicles other than the current vehicle, multiple sets of data for comparison can be acquired more quickly.

[0008] (2) The driving system described in (1) above may also be configured such that the driving mode is composed of at least two of acceleration, deceleration and constant speed driving. In this configuration, abnormalities corresponding to the driving state (acceleration, deceleration and constant speed driving) can be detected.

[0009] (3) The vehicle system described in (1) or (2) above may also be configured such that the track comprises a main track constituting the section for transporting goods, i.e., the main line section, and a separation track constituting a separation section that branches off from the main line section and rejoins the main line section, with the inspection section located in at least a portion of the separation track. In this configuration, the possibility of the vehicle inspecting the goods obstructing the normal movement of other vehicles transporting the goods can be reduced. Furthermore, in this configuration, compared to the case where the inspection section is located on the main line track, the impact of other vehicles on the inspection (at least one of vibration and sound) can be reduced.

[0010] (4) The vehicle system described in (3) above can also be configured as an inspection unit comprising: a branching section from the main track that branches off into separate tracks, a merging section that merges the separated tracks that have branched off through the branching section, a separate track, and a sensor located on the separate track. The inspection unit can be detachably mounted on the main track. In this configuration, an inspection section can be easily added to the track of an existing vehicle system. Furthermore, in a vehicle system without a separate track, it is also possible to have a configuration in which an inspection section is provided on the separate track.

[0011] (5) The vehicle system described in (1) or (2) above may also have a curved section set in the track, the curved section being controlled so that one vehicle passes through at a time, and the inspection section being set in the curved section. In this configuration, the above-mentioned inspection section can be constructed at low cost by simply adding sensors, storage units, evaluation units, and communication units to the curved section of the existing vehicle system.

[0012] The effects of the invention According to one aspect of the present invention, fluctuations in inspection results caused by differences in sensor sensitivity can be reduced, while communication load is also reduced. Attached Figure Description

[0013] Figure 1 This is a schematic top view showing the configuration of a vehicle system according to one embodiment.

[0014] Figure 2 This is a front view of the vehicle viewed from the front in the direction of travel.

[0015] Figure 3 This is a side view of the inspection area observed from the side.

[0016] Figure 4 This is a top view of the inspection area from above.

[0017] Figure 5 This is a block diagram illustrating the configuration of a vehicle system according to one embodiment. Detailed Implementation

[0018] Hereinafter, a vehicle system according to one embodiment will be described with reference to the drawings. In the description of the drawings, the same reference numerals are used for the same elements, and repeated descriptions are omitted.

[0019] like Figure 1 and Figure 2As shown, the vehicle system 1 is a system that uses elevated vehicles 6 (hereinafter referred to as "vehicle 6") capable of moving along the track 4 to transport articles 10. Articles 10 include, for example, containers such as front-opening unified pods (FOUPs) for holding multiple semiconductor wafers, reticle pods for holding glass substrates, and general components. The vehicle system 1 includes the track 4, multiple vehicles 6, multiple loading units 9, an inspection system 100, and a zone controller (controller) 90.

[0020] Track 4 is, for example, laid near the ceiling above the workers' heads. Track 4 is, for example, suspended from the ceiling. Track 4 is a predetermined travel path for the traveling vehicle 6. Track 4 is supported by supports 40A, 40A. The track 4 of the traveling vehicle system 1 has: a main track 4A, on which the traveling vehicle 6 circulates in a predetermined direction D1 within a designated area; and a separation track 4B, on which an inspection section S3 for inspecting the traveling vehicle 6 is partially provided. In addition, on the separation track 4B, the traveling vehicle 6 also moves in a predetermined direction D1.

[0021] The track 4 includes: a partially open cylindrical track body 40, a power supply unit 40E, and a magnetic plate 40F. The track body 40 has a pair of lower surface portions 40B, 40B, a pair of side surface portions 40C, 40C, and a top surface portion 40D. The track body 40 forms an internal space A1 separated from the external space A2. The internal space A1 extends along the extension direction of the track 4. The track body 40 accommodates the travel unit 50 of the traveling vehicle 6, which will be described in detail later. The lower surface portion 40B extends along the travel direction D1 of the traveling vehicle 6, forming the lower surface of the track body 40. The lower surface portion 40B is a plate-shaped member on which the travel roller 51 of the traveling vehicle 6 rolls (the traveling vehicle 6 travels on this plate-shaped member). The side surface portions 40C extend along the travel direction D1 of the traveling vehicle 6, forming the side surface of the track body 40. The top surface portion 40D extends along the travel direction D1 of the traveling vehicle 6, forming the upper surface of the track body 40.

[0022] The power supply unit 40E supplies power to the power supply core 57 of the vehicle 6 and transmits and receives signals with the power supply core 57. The power supply unit 40E is fixed to each of a pair of side surfaces 40C, 40C and extends along the travel direction D1. The power supply unit 40E supplies power to the power supply core 57 in a non-contact manner. The magnetic plate 40F is used to generate magnetic force for driving or stopping the linear DC motor (LDM) 59 of the vehicle 6. The magnetic plate 40F is fixed to the top surface 40D and extends along the travel direction D1.

[0023] The traveling vehicle 6 travels along track 4, transporting item 10. The traveling vehicle 6 is configured to carry item 10. The traveling vehicle 6 is an elevated, unmanned traveling vehicle. There is no particular limit to the number of traveling vehicles 6 equipped in the traveling vehicle system 1; multiple vehicles are allowed. The traveling vehicle 6 has a main body 7, a traveling unit 50, and a main body controller 35. The main body 7 has a main frame 22, a transverse conveying unit 24, a theta drive unit 26, a lifting drive unit 28, a lifting platform 30, and a cover 33.

[0024] The main frame 22 is connected to the traveling unit 50 and supports the transverse conveying unit 24, the θ drive unit 26, the lifting drive unit 28, the lifting platform 30, and the cover 33. The transverse conveying unit 24 transports the θ drive unit 26, the lifting drive unit 28, and the lifting platform 30 as a whole in a direction perpendicular to the extension direction of the track 4. The θ drive unit 26 causes at least one of the lifting drive unit 28 and the lifting platform 30 to rotate within a predetermined angle range in the horizontal plane. The lifting drive unit 28 raises and lowers the lifting platform 30 by winding or unwinding lifting components such as steel wires, ropes, and belts. The lifting platform 30 is equipped with a chuck that can freely hold or release the item 10. A pair of covers 33 are provided, for example, at the front and rear of the traveling vehicle 6 in the traveling direction D1. The covers 33 prevent the item 10 from falling during transport by extending or retracting claws (not shown).

[0025] As described above, the traveling unit 50 travels within the internal space A1 formed by the track 4. The traveling unit 50 mainly includes a traveling roller 51, a side roller 52, a power supply core 57, and an LDM 59. The traveling roller 51 is a roller pair consisting of an outer wheel that serves as the traveling wheel and an inner wheel that serves as the traveling auxiliary wheel. The traveling roller 51 is disposed at the left and right ends of the traveling unit 50 in the front-rear direction. The traveling roller 51 rolls on a pair of lower surface portions 40B, 40B of the track 4.

[0026] Side rollers 52 are configured to clamp the outer wheels of each travel roller 51 from the front-to-back direction. Side rollers 52 are configured to contact the side surface 40C of the track 4. Power supply cores 57 are positioned in the front-to-back direction of the travel unit 50 and are configured to clamp LDM 59 in the left-to-right direction. Power supply units 40E and power supply cores 57 provide contactless power supply and various signal transmissions and receptions. Power supply cores 57 also exchange signals with the main controller 35. LDM 59s are positioned at the front and rear of the travel unit 50. LDM 59s generate magnetic force for travel or stopping via an electromagnet and a magnetic plate 40F disposed on the upper surface of the track 4.

[0027] The driving unit 50 is controlled by the area controller (controller) 90, which will be described in detail later, via the main controller 35. Specifically, instructions from the area controller 90 are sent to the main controller 35, and the main controller 35, upon receiving the instructions, controls the driving unit 50.

[0028] The placement section 9 is arranged along the track 4 and is positioned at a location where the traveling vehicle 6 can transfer the item 10. The placement section 9 includes a buffer section and a transfer port. The buffer section is a placement section for temporarily placing the item 10. For example, when the traveling vehicle 6 cannot transfer the item 10 to the target transfer port due to reasons such as other items 10 already being placed there, the buffer section is a placement section for temporarily placing the item 10. The transfer port is a placement section for transferring the item 10 to a semiconductor processing apparatus (not shown), which includes, for example, a cleaning apparatus, a film deposition apparatus, a photolithography apparatus, an etching apparatus, a heat treatment apparatus, a planarization apparatus, etc. Furthermore, the processing apparatus is not particularly limited and can be various other apparatuses.

[0029] For example, the loading section 9 is positioned to the side of the track 4. In this case, the traveling vehicle 6 uses the transverse conveyor 24 to transport the lifting drive 28, etc., and slightly raises and lowers the lifting platform 30, thereby transferring the item 10 between itself and the loading section 9. Although not shown, the loading section 9 may also be positioned directly below the track 4. In this case, the traveling vehicle 6 transfers the item 10 between itself and the loading section 9 by raising and lowering the lifting platform 30.

[0030] The main controller 35 is an electronic control unit composed of a central processing unit (CPU), read-only memory (ROM), and random access memory (RAM). The main controller 35 controls various actions of the traveling vehicle 6. Specifically, the main controller 35 controls the traveling unit 50, the lateral conveyor 24, the θ drive unit 26, the lifting drive unit 28, and the lifting platform 30. The main controller 35 can be configured as software, where a program stored in ROM is loaded into RAM and executed by the CPU. The main controller 35 can also be configured as hardware, consisting of electronic circuits. The main controller 35 communicates with the area controller 90 via the power supply unit 40E (power supply line) of the track 4.

[0031] like Figures 3-5 As shown, the inspection system 100 includes a vibration sensor 61, a sound sensor 63, an access permission sensor 65, an area detection sensor 67, a relay box 71, a sensor controller 73, and an inspection unit controller 75.

[0032] return Figure 1 Track 4 includes: a main track 4A, which constitutes the section for transporting the item 10, i.e., the main section S1; and a separation track 4B, which constitutes the separation section S2 that branches off from the main section S1 and then rejoins the main section S1. For example... Figure 2As shown, the separation track 4B has the same structure as track 4 described above. In the separation section S2, the traveling vehicle 6 moves along a predetermined direction D1.

[0033] like Figure 3 and Figure 4 As shown, in at least a portion of the separation track 4B, namely the inspection section S3, a vibration sensor 61, a sound sensor 63, an entry permission sensor 65, a zone detection sensor 67, and a relay box 71, which constitute part of the inspection system 100, are arranged. The inspection section S3 is the section that the vehicle 6 to be inspected by the inspection system 100 enters. In this embodiment, the inspection system 100 is the section that one vehicle 6 designated as the inspection target from among multiple vehicles 6 (hereinafter also referred to as "target vehicle 6") enters.

[0034] Vibration sensor 61 detects vibrations generated in the inspection zone S3. Vibration sensor 61 is disposed in the external space A2 of the separation track 4B (see...). Figure 2 The vibration sensor 61 is disposed on the upper surface of, for example, the top surface 40D, which constitutes the separation track 4B. The vibration sensor 61 is connected to the sensor controller 73 via the relay box 71, and the vibration sensor 61 is controlled by the sensor controller 73.

[0035] A sound sensor 63 detects the sound generated in the inspection section S3. The sound sensor 63 is disposed within the internal space A1 of the separation track 4B. The sound sensor 63 is positioned on the inner surface of, for example, the top surface 40D of the separation track 4B to avoid interference with the traveling unit 50 that travels within the internal space A1. The sound sensor 63 is connected to a sensor controller 73 via a relay box 71, and is controlled by the sensor controller 73.

[0036] Entry permission sensor 65 detects whether a vehicle 6 intends to enter inspection section S3. Entry permission sensor 65 is positioned upstream of inspection section S3 in direction D1, on a frame-shaped gantry 80A that allows the vehicle 6 traveling on separation track 4B to pass through. Entry permission sensor 65 detects a vehicle 6 approaching gantry 80A. More specifically, entry permission sensor 65 detects a vehicle 6 present within a specified distance upstream of entry permission sensor 65. Entry permission sensor 65 is connected to sensor controller 73 via relay box 71 and is controlled by sensor controller 73.

[0037] A zone detection sensor 67 detects whether a vehicle 6 is present within the inspection zone S3. The zone detection sensor 67 has a light-projecting part 67A and a light-receiving part 67B. The light-projecting part 67A is mounted on the aforementioned gantry 80A. The light-receiving part 67B is positioned downstream of the inspection zone S3 in one direction D1, mounted on a frame-shaped gantry 80B that allows the vehicle 6 traveling on the separation track 4B to pass through. The light-projecting part 67A and the light-receiving part 67B are connected to a sensor controller 73 via a relay box 71 and are controlled by the sensor controller 73. The presence of the vehicle 6 within the inspection zone S3 is determined by the sensor controller 73 based on information sent from the light-projecting part 67A and the light-receiving part 67B. Alternatively, the light-projecting part 67A may also be mounted on the gantry 80B, and the light-receiving part 67B may be mounted on the gantry 80A.

[0038] In this embodiment, the inspection system 100 comprises a branching guide rail forming the branching section BP from the main track 4A to the separation track 4B, a merging guide rail forming the merging section CP that causes the separation track 4B to merge with the main track 4A, the separation track 4B, and a vibration sensor 61 and a sound sensor 63 mounted on the separation track 4B, all integrally formed into an inspection unit 100A. The inspection unit 100A is provided in a manner that allows it to be detached from the main track 4A.

[0039] The sensor controller 73 is an electronic control unit composed of a CPU, ROM, and RAM. The sensor controller 73 controls various actions of the vibration sensor 61, sound sensor 63, access permission sensor 65, and area detection sensor 67, and receives information regarding whether these sensors have detected anything. The sensor controller 73 sends the detection results from the vibration sensor 61 and sound sensor 63 to the inspection unit controller 75.

[0040] If the light projected from the light-projecting unit 67A is received by the light-receiving unit 67B, the sensor controller 73 determines that a vehicle 6 exists in the inspection interval S3; if the light projected from the light-projecting unit 67A is not received by the light-receiving unit 67B, the sensor controller 73 determines that a vehicle 6 does not exist in the inspection interval S3. The sensor controller 73 sends the determined information regarding the presence or absence of the vehicle 6 to the area controller 90 via the inspection unit controller 75.

[0041] The inspection unit controller 75 can be configured as software, whereby a program stored in ROM is loaded into RAM and executed by the CPU. Alternatively, the inspection unit controller 75 can be configured as hardware, consisting of electronic circuitry or the like. The inspection unit controller 75 has a storage unit 75A for storing the inspection results of the vibration sensor 61 and the sound sensor 63 sent from the sensor controller 73. The storage unit 75A can be configured as a solid-state drive (SSD), a hard disk drive (HDD), or the like. The storage unit 75A stores the inspection results of the vibration sensor 61 and the sound sensor 63 of multiple vehicles 6 in a time-series manner. The inspection results of the vibration sensor 61 and the sound sensor 63 can be stored as waveform data or as text data.

[0042] Furthermore, the inspection unit controller 75 has an evaluation unit 75B as a functional structure. The evaluation unit 75B is configured as software, for example, that is, a program stored in ROM is loaded into RAM and executed by the CPU. The evaluation unit 75B evaluates the state of the target vehicle 6. In this embodiment, the evaluation unit 75B evaluates the state of the target vehicle 6 based on both the detection results of the vibration sensor 61 and the sound sensor 63 of the target vehicle 6 stored in the storage unit 75A, and the detection results of the vibration sensor 61 and the sound sensor 63 of all vehicles 6 other than the target vehicle 6.

[0043] This section describes an example of the evaluation method used by the evaluation unit 75B to evaluate the target vehicle 6. As preprocessing, the evaluation unit 75B decomposes the input waveform (waveform data) of the target vehicle 6 stored in the storage unit 75A into trend waveforms, seasonal waveforms, and residual waveforms. The evaluation unit 75B then fixes each waveform as needed (downsampling). Next, the evaluation unit 75B performs dimensionality transformation using algorithms such as matrix profile, fast Fourier transform (TFT), and approximate distance. Furthermore, the transformed waveform can be converted not only to units but also to vectors or scalars.

[0044] Next, the evaluation unit 75B extracts common singularities in the waveforms of all the traveling vehicles 6. This allows the evaluation unit 75B to eliminate singularities caused by the structure of the separating track 4B (e.g., seams). Furthermore, the evaluation unit 75B can extract abnormal traveling vehicles 6 (i.e., vehicles 6 with malfunctions or about to malfunction) from the waveform data of each of the n traveling vehicles 6 stored in the storage unit 75A, or it can extract abnormal traveling vehicles 6 (i.e., vehicles 6 with malfunctions or about to malfunction) from the waveform data of each of the n traveling vehicles 6 stored in the storage unit 75A. The evaluation unit 75B can use, for example, pattern analysis, correlation analysis, machine learning models, etc., to extract vehicles 6 with malfunctions or about to malfunctions (in other words, the time of occurrence of the anomaly).

[0045] Next, the evaluation unit 75B determines whether an anomaly exists based on a predetermined threshold for the extracted abnormal driving vehicle 6 or the abnormal time (time point). The threshold used to determine whether an anomaly exists can be set based on values ​​selected through statistical methods, heuristic settings, etc.

[0046] The inventors of this application discovered that, based on the waveform data of each of the n traveling vehicles 6 stored in the storage unit 75A, the number or proportion of changes in the diameter of the traveling roller 51 can be calculated, and based on these number or proportions of changes in the diameter of the traveling roller 51, abnormal vibrations and abnormal sounds caused by partial peeling of the roller can be extracted. Furthermore, the inventors of this application also discovered that, starting from the moment the traveling roller 51 is replaced, the number or proportion of these abnormal vibrations and abnormal sounds caused by partial peeling of the roller remains below a predetermined threshold for an initial fixed period. After a predetermined time, the number of times ...

[0047] When the evaluation unit 75B determines that there is an abnormal driving vehicle 6, it can display this situation on a display unit (not shown) or send it to a terminal held by the operator or manager to notify the operator or manager.

[0048] The communication unit 75C sends the evaluation results from the evaluation unit 75B to the area controller 90. For example, the communication unit 75C sends information about the occurrence of the abnormal vehicle 6 and the information used to identify the abnormal vehicle 6 to the area controller 90.

[0049] like Figure 5 As shown, the area controller 90 controls multiple vehicles 6 traveling along the track 4 via the main controller 35. Furthermore, the area controller 90 is communicatively connected to the inspection unit controller 75.

[0050] The area controller 90 triggers the traveling vehicle 6 to enter the separation track 4B under specified conditions. These specified conditions include, for example, when an operator inputs an inspection start command via an input unit (not shown), when a traveling vehicle 6 has been present for a specified time since the last inspection, or when a traveling vehicle 6 has traveled a specified distance since the last inspection. The area controller 90 then moves the traveling vehicle 6, which meets the above specified conditions, to the upstream side of the gantry 80A.

[0051] The area controller 90 controls multiple vehicles 6 to ensure that only one target vehicle 6 exists within the inspection zone S3. In this embodiment, the area controller 90 determines whether the vehicle 6 has reached the upstream side of the gantry 80A based on whether the entry permission sensor 65 detects it. Then, when the area detection sensor 67 detects the presence of the vehicle 6, the area controller 90 keeps the vehicle 6 in standby mode on the upstream side of the gantry 80A. Conversely, when the area detection sensor 67 detects the absence of the vehicle 6, the area controller 90 allows the vehicle 6 to enter the inspection zone S3.

[0052] Next, the area controller 90 causes the target vehicle 6 to travel within the inspection section S3 in a pre-defined driving mode. This driving mode can be configured by combining at least two of acceleration, deceleration, and constant speed driving. In this embodiment, the area controller 90 controls the vehicle 6 based on the following driving mode: after stopping at the entrance of the inspection section S3, it accelerates to a predetermined speed with a predetermined acceleration, then travels at a fixed speed (with zero acceleration), then decelerates with a predetermined deceleration, and stops at the exit of the inspection section S3. Afterward, the area controller 90 causes the target vehicle 6 to exit the inspection section S3.

[0053] When the area controller 90 receives information from the inspection unit controller 75 that the object vehicle 6 that has traveled through the inspection section S3 has been determined to be an abnormal vehicle 6, it can cause the object vehicle 6 determined to be abnormal to stop after leaving the inspection section S3, limit its travel speed after returning to the main track 4A, cause it to enter a section equipped with other inspection devices (such as camera devices, size measuring devices, etc.), or shorten its cycle until the next inspection, etc.

[0054] The effects of the vehicle system 1 described in the above embodiment are explained. In the vehicle system 1 described in the above embodiment, since multiple vehicles 6 constituting the vehicle system 1 can be inspected using a vibration sensor 61 and a sound sensor 63 installed on the separation track 4B in the inspection section S3, inspection results unaffected by differences in sensor sensitivity can be obtained. Furthermore, in the vehicle system 1 described in the above embodiment, since multiple vehicles 6 are controlled so that only one target vehicle 6 exists in the inspection section S3, vibration of the separation track 4B constituting the inspection section S3 or sound generation around the separation track 4B caused by the movement of vehicles 6 other than the target vehicle 6 can be suppressed. As a result, in the vehicle system 1 described in the above embodiment, even for inspections (vibration and sound) that are easily affected by the movement of other vehicles 6 on the track 4, accurate inspection data can be obtained.

[0055] Furthermore, in the aforementioned vehicle system 1, since all vehicles 6 travel in the same driving mode within the inspection zone S3, inspection results can be accurately compared among multiple vehicles 6. Moreover, in the aforementioned vehicle system 1, since only the evaluation results evaluated by the evaluation unit 75B are sent to the area controller 90, the data capacity is smaller compared to the case where the raw data acquired by the vibration sensor 61 and the sound sensor 63 are directly transmitted, thus reducing the communication load.

[0056] In the aforementioned vehicle system 1, since the driving mode is composed of a combination of acceleration, deceleration, and constant speed driving, it is possible to detect abnormalities corresponding to the driving state (acceleration, deceleration, and constant speed driving).

[0057] In the aforementioned vehicle system 1, since the inspection section S3 is set within a portion of the separation track 4B, which is separated from the main track 4A, the possibility of the vehicle 6 inspecting the object obstructing the movement of other vehicles 6 transporting the goods 10 normally is reduced. Furthermore, in the aforementioned vehicle system 1, compared to the case where the inspection section S3 is set on the main track 4A, the impact of the movement of other vehicles 6 on the inspection (vibration and noise) is reduced.

[0058] In the aforementioned vehicle system 1, the inspection system 100 integrates the branching guide rail constituting the branching section BP, the merging guide rail constituting the merging section CP, the separation track 4B, and the vibration sensor 61 and sound sensor 63 mounted on the separation track 4B into an inspection unit 100A, which is detachable from the main track 4A. This structure allows for easy retrofitting of the inspection section S3 onto the existing track 4 of the vehicle system 1. Furthermore, even in vehicle systems that did not originally have the separation track 4B structure, it is possible to modify them into vehicle system 1 with an inspection section S3 on the separation track 4B.

[0059] The above describes one embodiment, but one aspect of the present invention is not limited to the above embodiment. Various modifications can be made without departing from the spirit of the invention.

[0060] In the vehicle system 1 of the above embodiment, an example was described where the inspection system 100 is located in a section of the separation track 4B. However, the inspection system 100 can also be located in a section of the main track 4A. In this case, as a method for controlling multiple vehicles 6 so that only one target vehicle 6 exists in the inspection section S3, in addition to the method described above of setting up an entry permission sensor 65 and a region detection sensor 67, the inspection section S3 can be set in a known section for block control (restricting the vehicle 6 from entering a designated section). In the main track 4A, sections for such block control include curved sections. According to the structure of this modified example, the inspection section S3 can be constructed at low cost simply by adding sensors (e.g., vibration sensor 61 and sound sensor 63), a storage unit 75A, an evaluation unit 75B, and a communication unit 75C to the curved section of the existing vehicle system.

[0061] In the vehicle system 1 of the above embodiment, an example was described in which both a vibration sensor 61 and a sound sensor 63 were configured as sensors to check the vehicle 6, but only one of them may be configured.

[0062] The evaluation unit 75B of the vehicle system 1 in the above-described embodiment and variation 1 has been described as evaluating the state of the target vehicle 6 based on the detection results of the target vehicle 6 stored in the storage unit 75A and the detection results of all other vehicles 6, but it is not limited to this. For example, the evaluation unit 75B may also evaluate the state of the target vehicle 6 based on the detection results of the target vehicle 6 stored in the storage unit 75A and the detection results of a portion of the other vehicles 6. The portion of the other vehicles 6 stored in the storage unit 75A referred to here means the group of vehicles 6 remaining after removing vehicles 6 determined as abnormal by the evaluation unit 75B or vehicles 6 extracted based on predetermined rules (such as earlier data acquisition time) from all vehicles 6 other than the target vehicle 6.

[0063] The evaluation unit 75B of the vehicle system 1 in the above embodiment and modified example 1 has been described to evaluate the vehicle 6 by obtaining abnormal vibration and abnormal sound caused by the peeling of the roller portion. However, for example, it is also possible to evaluate the vehicle 6 by obtaining at least one of abnormal vibration and abnormal sound caused by gearbox abnormality.

[0064] In the above embodiments and variations, the inspection interval S3 may also be disconnected from intervals other than the inspection interval S3 (i.e., not formed as a single unit). In this case, the vibration sensor 61 installed in the inspection interval S3 becomes less likely to pick up (less likely to detect) the vibrations of other vehicles 6 traveling in intervals other than the inspection interval S3. Furthermore, when the inspection interval S3 is disconnected from intervals other than the inspection interval S3, a situation can be formed as follows: Figure 4 The connecting portion 4C is shown. This inclined connecting portion 4C reduces vibrations when the vehicle 6 passes over the disconnected connecting portion 4C. Furthermore, the disconnection point could be, for example, the junction of the main track 4A and the separation track 4B.

[0065] In the above embodiments and variations, the example of the area controller 90 stopping the vehicle 6 at the entrance and exit of the inspection section S3 has been described. However, the area controller 90 may also allow the vehicle 6 to enter and exit without stopping it at the entrance and exit of the inspection section S3.

[0066] Explanation of reference numerals in the attached figures 1…Traveling vehicle system, 4…track, 4A…mainline track, 4B…separation track, 6…elevated traveling vehicle (traveling vehicle / object traveling vehicle), 51…traveling roller, 61…vibration sensor (sensor), 63…sound sensor (sensor), 65…entry permission sensor, 67…area detection sensor, 73…sensor controller, 75…inspection unit controller, 75A…storage unit, 75B…evaluation unit, 75C…communication unit, 90…area controller (controller), 100…inspection system, 100A…inspection unit, BP…branching section, CP…merging section, S1…mainline section, S2…separation section, S3…inspection section.

Claims

1. A vehicle system comprising: a plurality of vehicles traveling along a track, and a controller for controlling the travel of the vehicles, wherein a section of the track is provided with an inspection zone, the inspection zone allowing an object vehicle designated as an inspection target from among the plurality of vehicles to enter. Its features are, The vehicle system also features: A sensor that detects at least one of the vibration of the track in the inspection interval and the sound generated in the inspection interval; The storage unit stores the detection results detected by the sensor; The evaluation department evaluates the state of the vehicle being driven. as well as The communication unit sends the evaluation results obtained through the evaluation unit to the controller; The controller controls multiple vehicles in such a manner that only one of the target vehicles exists in the inspection interval, and causes the target vehicle to drive in a pre-defined driving mode within the inspection interval. The evaluation unit evaluates the state of the target vehicle based on the detection results of the target vehicle stored in the storage unit and the detection results of other vehicles besides the target vehicle.

2. The vehicle driving system according to claim 1, wherein, The driving mode is constituted by combining at least two of acceleration, deceleration, and constant speed driving.

3. The vehicle driving system according to claim 1 or 2, wherein, The track consists of a main track that forms the section for transporting goods, i.e., the main line section, and a separation track that forms the separation section that branches off from the main line section and then merges back into the main line section. The inspection interval is set within at least a portion of the separation track.

4. The vehicle driving system according to claim 3, wherein, The inspection unit integrally comprises: a branching section from the main track that causes the separation track to diverge, a merging section that causes the diverged separation tracks to merge again, the separation track, and the sensor disposed on the separation track. The inspection unit can be detached and installed on the main track.

5. The vehicle driving system according to claim 1 or 2, wherein, The track has a curved section, which is controlled to allow one vehicle to pass through at a time, and the inspection section is located within the curved section.

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