Article transport installation

Abstract

To update map data appropriately.SOLUTION: An article transport installation includes a processing section configured to execute acceptance processing, confirmation processing and update processing. In the acceptance processing, if part of a plurality of to-be-detected objects is exchanged, an input of position information of a post-exchange to-be-detected object which is the exchanged to-be-detected object is accepted. In the confirmation processing, a carrier vehicle is traveled to the post-exchange to-be-detected object according to a command to a vehicle-sided control section, to detect the post-exchange to-be-detected object by a detecting section and send identification information of the post-exchange to-be-detected object acquired as a detection result to an administrative device. In the update processing, map data is updated based on the identification information of the post-exchange to-be-detected object detected by the confirmation processing.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to an item transport facility comprising a transport vehicle that travels along a traveling surface to transport items, a plurality of detectable objects that are placed on the traveling surface and each have unique identification information, and a management device that is communicatively connected to the transport vehicle, controls the transport vehicle, and manages the plurality of detectable objects. [Background technology]

[0002] An example of such an article transport facility is disclosed in Japanese Patent No. 7076935 (Patent Document 1). In the following description of the background art, the reference numerals in parentheses refer to those in Patent Document 1.

[0003] In the facility disclosed in Patent Document 1, a number of marks (9) are dotted and arranged on the floor surface. Each mark (9) is configured to be identifiable by a transport vehicle (4). An overall control computer (5) instructs the transport vehicle (4) on the number of marks (9) that the transport vehicle (4) should follow. The transport vehicle (4) travels while sequentially detecting the number of marks (9) using a mark sensor (48). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7076935 Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, in such technical fields, marks may be replaced due to deterioration over time, damage, or the like. In this case, information on the replaced mark is replaced with information on the mark before the replacement in the map data. That is, the map data is updated based on the information on the replaced mark. In general, information on the replaced mark is often input by an operator into a management device to update the map data. However, if a human error such as an input error occurs, the map data will not be updated appropriately.

[0006] In view of the above circumstances, it is desirable to realize an article transport facility that is capable of appropriately updating map data. [Means for solving the problem]

[0007] A transport vehicle that travels along a travel surface to transport an article; A plurality of objects to be detected, each of which has unique identification information; A management device that is communicably connected to the transport vehicle, controls the transport vehicle, and manages a plurality of the detectable objects, the transport vehicle includes a vehicle-side control unit that controls the operation of each unit of the transport vehicle, and a detection unit that detects the detectable objects, and is configured to move while sequentially detecting a plurality of the detectable objects by the detection unit; The management device includes a storage unit and a processing unit that performs arithmetic processing. The storage unit stores, as map data, position information indicating positions of the plurality of detectable objects on a map and the identification information of each of the plurality of detectable objects in association with each other; The processing unit is configured to execute a reception process, a confirmation process, and an update process; In the reception process, when a part of the plurality of detectable objects is replaced, an input of the position information of a replaced detectable object which is the replaced detectable object is received; In the confirmation process, a command is sent to the vehicle-side control unit to drive the transport vehicle to the replaced detectable object received in the reception process, the detection unit detects the replaced detectable object, and the identification information of the replaced detectable object obtained as a detection result is transmitted to the management device. In the update process, the map data is updated based on the identification information of the replaced object detected in the confirmation process.

[0008] According to this configuration, the confirmation process causes the transport vehicle to move to detect the replaced detectable object, and transmits the identification information of the replaced detectable object obtained by the detection to the management device. In this configuration, the reception process accepts the input of the position information of the replaced detectable object, but the update process that updates the map data uses the identification information of the replaced detectable object detected by the confirmation process. Therefore, the map data is updated based on the result of the transport vehicle actually detecting the replaced detectable object. This reduces the possibility of human error in the update process. As described above, according to this configuration, it is possible to appropriately update the map data.

[0009] Further features and advantages of the techniques disclosed herein will become more apparent from the following description of exemplary and non-limiting embodiments, which proceeds with reference to the drawings. [Brief description of the drawings]

[0010] [Figure 1] Plan view of the goods transport facility [Diagram 2] Front view of the transport vehicle [Diagram 3] Control Block Diagram [Figure 4] Diagram showing map data [Diagram 5] Flowchart showing the processing steps for updating map data [Figure 6] Diagram explaining map data updates [Figure 7] A flowchart showing a processing procedure for updating map data in the second embodiment. [Figure 8] FIG. 11 is a diagram for explaining updating of map data in the second embodiment; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] [First embodiment] First, a first embodiment of an article transport facility will be described.

[0012] As shown in Figure 1, the item conveying equipment 100 includes a transport vehicle 1 that travels along a traveling surface F to convey an item 9, a plurality of detectable objects 3 that are placed on the traveling surface F and each have unique identification information In (see Figure 4), and a management device 2 (see Figure 3) that is communicatively connected to the transport vehicle 1 and controls the transport vehicle 1 and manages the plurality of detectable objects 3.

[0013] In this embodiment, the running surface F is a surface that spreads along the X direction, which is a predetermined direction, and the Y direction perpendicular to the X direction. The running surface F is formed on the floor of the article conveying facility 100. The conveying vehicle 1 is configured to travel on the running surface F along the X direction or the Y direction, and transfer the article 9 between the conveying vehicle 1 and the transfer target location 8. In this example, the conveying vehicle 1 is configured as a floor surface conveying vehicle that travels on the floor surface.

[0014] In this embodiment, the article 9 includes a pallet 90 and a single or multiple loads 91 to be placed on the pallet 90. In this example, the transport vehicle 1 is configured to transport the pallet 90 on which the loads 91 are placed, or the empty pallet 90 on which no loads 91 are placed. The transfer target location 8 is configured to directly place the pallet 90 thereon.

[0015] In this embodiment, the article conveying facility 100 includes a storage unit 81 for temporarily storing articles 9, an automated warehouse (not shown) for storing the articles 9, an input unit 82 for storing the articles 9 into the automated warehouse, and an output unit 83 for removing the articles 9 from the automated warehouse. For example, the storage unit 81 is adjacent to a work area. In the work area, work on the articles 9 stored in the storage unit 81 is performed by a worker or a robot. For example, picking work, packing work, and the like may be performed in the work area.

[0016] At least a portion of each of the storage section 81, the receiving section 82, and the discharging section 83 is a transfer target location 8. The transport vehicle 1 is configured to transfer an article 9 between these transfer target locations 8.

[0017] As shown in FIG. 2, the transport vehicle 1 includes a cart body 10, a plurality of wheels 11, and a transfer section 12 for transferring an article 9 between a transfer target location 8. In this example, the plurality of wheels 11 includes at least a pair of wheels 11 arranged spaced apart in the width direction. Each of the pair of wheels 11 is independently driven by a separate motor or the like. The pair of wheels 11 are driven to rotate in opposite directions, so that the transport vehicle 1 can rotate on the spot around a vertical axis. The transport vehicle 1 is configured to change its own traveling direction to the X direction or the Y direction by the rotational movement.

[0018] The transport vehicle 1 includes a vehicle-side control unit 14 that controls the operation of each unit included in the transport vehicle 1, and a detection unit 13 that detects detectable objects 3, and is configured to move while sequentially detecting multiple detectable objects 3 using the detection unit 13. The transport vehicle 1 is configured to move while recognizing its own current position based on the identification information In (see FIG. 4) held by the detected detectable objects 3. In this example, the transport vehicle 1 includes a travel distance detection unit (not shown) and is configured to be able to grasp the distance it has traveled. The transport vehicle 1 is configured to move on the travel surface F based on the detection result by the travel distance detection unit.

[0019] As shown in FIG. 1, a plurality of detectable objects 3 are distributed and disposed at a plurality of locations on the travel surface F. In this embodiment, the plurality of detectable objects 3 are disposed side by side along each of the X direction and the Y direction. The interval between adjacent detectable objects 3 is a predetermined set interval. As a result, for example, the transport vehicle 1 that has detected a specific detectable object 3 travels toward the next detectable object 3 at a set interval and detects the next detectable object 3. The transport vehicle 1 is configured to travel to the destination by repeating this process. In this example, the plurality of detectable objects 3 are disposed at equal intervals in a part or all of the area of ​​the travel surface F.

[0020] The movement path R of the transport vehicle 1 is set so that an arbitrary number of detectable objects 3 are selected from the multiple detectable objects 3 and the selected multiple detectable objects 3 are connected. In this embodiment, the movement path R of the transport vehicle 1 is set by a combination of multiple detectable objects 3 arranged consecutively along the X direction and multiple detectable objects 3 arranged consecutively along the Y direction. In other words, the movement path R of the transport vehicle 1 is configured by a combination of a path extending along the X direction and a path extending along the Y direction.

[0021] For example, Fig. 1 shows a movement route R taken by a transport vehicle 1 that receives an item 9 at an unloading section 83 and transports the item 9 to one of a plurality of storage sections 81. In this embodiment, the movement route R of the transport vehicle 1 is set by a management device 2 (see Fig. 3). The management device 2 is configured to set, for each transport vehicle 1, the movement route R from the source of the item 9 to the destination.

[0022] As shown in FIG. 2, the detectable object 3 is placed on the travel surface F. In this example, the detectable object 3 is configured using an identification code such as a one-dimensional code or a two-dimensional code. The detection unit 13 of the transport vehicle 1 is configured using a code reader that reads the identification code. However, without being limited to this configuration, for example, the detectable object 3 may be configured using an IC tag, and the detection unit 13 may be configured using an IC tag reader. Alternatively, the detectable object 3 may be configured using a mark, and the detection unit 13 may be configured using an imaging device that images the mark.

[0023] 3, the article transport facility 100 includes a management device 2 that controls the transport vehicle 1 and manages a plurality of detectable objects 3. The management device 2 is configured to be able to communicate with the transport vehicle 1.

[0024] The management device 2 includes a storage unit 21 and a processing unit 20 that performs arithmetic processing. In this embodiment, the management device 2 includes an input operation unit 22 that is operated by an operator to input information. For example, the input operation unit 22 is configured using a keyboard, a mouse, a switch, a tablet terminal, or the like. Note that the management device 2 may be configured not as a single piece of hardware, but as a collection of multiple pieces of hardware that can communicate with each other.

[0025] The storage unit 21 stores map information Im indicating a map of an area where the transport vehicle 1 can move. The storage unit 21 stores position information Ip indicating the positions of the multiple detectable objects 3 on the map and identification information In of each of the multiple detectable objects 3 in association with each other as map data (see FIG. 4).

[0026] FIG. 4 shows an image of map data. Map information Im is information that visualizes the map, and includes at least information on the traveling surface F and the detectable objects 3. Position information Ip is information indicating the position of the detectable object 3, and indicates the position of the detectable object 3 in the XY coordinate system (the position in the X direction and the position in the Y direction). Identification information In is unique information that each detectable object 3 has. In this example, the identification information In is a number given to each of the multiple detectable objects 3.

[0027] 4, for example, a detectable object 3 whose identification information In is "No. 1001" is located at a position of "X1, Y1" in the XY coordinate system. Also, for example, a detectable object 3 whose identification information In is "No. 1002" is located at a position of "X2, Y1" in the XY coordinate system. In this way, the identification information In and position information Ip for each detectable object 3 are shown in the map data.

[0028] As described above, this map data is stored in the storage unit 21 (see FIG. 3) of the management device 2. The management device 2 is configured to refer to the map data and set a moving route R for each transport vehicle 1 so as to connect a plurality of detectable objects 3 existing between the transport origin and the transport destination.

[0029] Here, the detectable object 3 may be replaced due to deterioration over time, damage, or the like. In general, the detectable object 3 is replaced by an operator, and the information on the detectable object 3 before replacement and the information on the detectable object 3 after replacement on the map data are also replaced by inputting information by the operator. The map data is then updated based on the input contents by the operator. However, if a human error such as an input error occurs, the map data will not be updated appropriately. The article conveying facility 100 according to the present disclosure aims to appropriately update the map data by reducing the possibility of human error being involved in the update process.

[0030] The processing unit 20 (see FIG. 3) in the management device 2 is configured to execute a reception process, a confirmation process, and an update process. The processing unit 20 executes the reception process, the confirmation process, and the update process when at least a part of the detectable objects 3 among the multiple detectable objects 3 installed on the traveling surface F is replaced.

[0031] 5, the reception process is a process that is executed prior to the confirmation process and the update process when a part of the plurality of detectable objects 3 is replaced (step #11). In the reception process, when a part of the plurality of detectable objects 3 is replaced, the processing unit 20 receives input of position information Ip of the replaced detectable object 3, which is the replaced detectable object 3.

[0032] The confirmation process is executed after the reception process and before the update process (step #12). In the confirmation process, the processing unit 20 instructs the vehicle-side control unit 14 (see FIG. 3) to drive the transport vehicle 1 to the replaced detectable object 3, cause the detection unit 13 to detect the replaced detectable object, and transmits the identification information In of the replaced detectable object 3 acquired as a detection result to the management device 2. That is, by executing the confirmation process, the replaced detectable object 3 is detected by the transport vehicle 1, and the identification information In of the replaced detectable object 3 is transmitted to the management device 2.

[0033] In the case where a detectable object 3 that holds rewritable position information Ip is used and the position information Ip held by the replaced detectable object 3 is rewritten in advance to information on the replacement position of the detectable object 3, the following configuration can also be used. In the confirmation process, the processing unit 20 causes the transport vehicle 1 that has traveled to the replaced detectable object 3 to detect the position information Ip by the detection unit 13 in addition to the identification information In of the replaced detectable object 3, and transmits the position information Ip of the replaced detectable object 3 obtained as a detection result together with the identification information In to the management device 2. That is, by executing the confirmation process, the replaced detectable object 3 is detected by the transport vehicle 1, and the identification information In and position information Ip of the replaced detectable object 3 are transmitted to the management device 2.

[0034] The update process is executed after the confirmation process (step #13). In the update process, the processing unit 20 updates the map data based on the identification information In of the replaced detectable object 3 detected by the confirmation process. That is, in the update process, the identification information In of the detectable object 3 before replacement stored in the map data is replaced with the identification information In of the replaced detectable object 3, thereby updating the identification information In of the detectable object 3 in the map data.

[0035] When a detectable object 3 that holds rewritable position information Ip is used, and the position information Ip held by the replaced detectable object 3 is rewritten in advance to information on the replacement position of the detectable object 3, the following configuration can be used. In the update process, the processing unit 20 updates the map data based on the position information Ip of the replaced detectable object 3, in addition to the identification information In of the replaced detectable object 3 detected by the confirmation process. However, the replaced detectable object 3 is placed in the same position as the detectable object 3 before replacement. Therefore, the position information Ip of the detectable object 3 before replacement and the position information Ip of the replaced detectable object 3 basically match.

[0036] As shown in FIG. 4, for example, consider the case where the detectable object 3 "No. 1012" placed at the position "X2, Y2" in the XY coordinate system is replaced with a new detectable object 3. FIG. 6 shows the state after the detectable object 3 has been replaced. In FIG. 6, the detectable object 3 shown in black is the replaced detectable object 3. In this embodiment, a detectable object 3 arbitrarily selected from a plurality of detectable objects 3 stored for replacement is placed on the running surface F in place of the detectable object 3 to be replaced. The management device 2 is in a state where it does not know the identification information In (here, the number) of the replaced detectable object 3.

[0037] The processing unit 20 executes the reception process to receive the input of the position information Ip of the replaced detectable object 3. When the detectable object 3 is replaced, the detectable object 3 to be replaced is replaced with a new detectable object 3. Therefore, the position information Ip of the replaced detectable object 3 is basically the same as the position information Ip of the detectable object 3 to be replaced. As in this example, when the detectable object 3 with "No. 1012" (see FIG. 4) arranged at the position "X2, Y2" in the XY coordinate system is replaced with a new detectable object 3 with an unknown number selected arbitrarily, the position of the replaced detectable object 3 in the XY coordinate system is "X2, Y2". Therefore, the worker inputs the position "X2, Y2" of the replaced detectable object 3 in the XY coordinate system from the input operation unit 22 while the processing unit 20 is executing the reception process. In this way, the input of the position information Ip of the replaced detectable object 3 in the reception process is received by the input operation unit 22.

[0038] For example, the position information Ip of the replaced detectable object 3 may be input by the operator clicking or tapping the position of the replaced detectable object 3 on map data displayed on a tablet screen. Alternatively, if there is list data in which the identification information In and position information Ip for each of a plurality of detectable objects 3 are compiled, the position information Ip of the replaced detectable object 3 may be input by inputting the list data.

[0039] The processing unit 20 executes a confirmation process after executing the reception process. In this embodiment, the processing unit 20 sets the position of the replaced detectable object 3 as a destination based on the input position information Ip of the replaced detectable object 3, and sets a movement route R for the transport vehicle 1 to the destination. In the illustrated example, the movement route R for the transport vehicle 1 is set to connect the detectable object 3 "No. 1001", the detectable object 3 "No. 1011", and the replaced detectable object 3.

[0040] During the confirmation process, the transport vehicle 1 moves along the travel route R set by the processing unit 20 toward the replaced detectable object 3 (see FIG. 6(a)). Then, when the transport vehicle 1 arrives at the position of the replaced detectable object 3, it detects the replaced detectable object 3 using the detection unit 13. In the illustrated example, the transport vehicle 1 detects the replaced detectable object 3 and acquires "No. XXX", which is the identification information In of the replaced detectable object 3. The transport vehicle 1 transmits the acquired identification information In of the replaced detectable object 3 to the management device 2. Note that in a configuration in which the replaced detectable object 3 holds its own position information Ip and the transport vehicle 1 detects the position information Ip, the transport vehicle 1 may transmit the position information Ip to the management device 2 in addition to the identification information In of the replaced detectable object 3.

[0041] Thereafter, the processing unit 20 executes an update process. The processing unit 20 updates the map data based on the position information Ip of the replaced detectable object 3 input in the reception process and the identification information In of the replaced detectable object 3 transmitted to the management device 2 in the confirmation process. In this example, the processing unit 20 updates the identification information In of the detectable object 3 (replaced detectable object 3) installed in the XY coordinate system "X2, Y2" (see FIG. 4) to "No. XXX". Note that when the transport vehicle 1 detects the position information Ip of the replaced detectable object 3 and transmits the position information Ip to the management device 2, the processing unit 20 may compare the position information Ip input by the operator with the position information Ip transmitted by the transport vehicle 1, and perform the update process if they match.

[0042] According to the article conveying equipment 100 described above, it is possible to appropriately update the map data. In addition, in the past, when replacing the detectable object 3, it was necessary to prepare a new detectable object 3 having the same identification information In (here, number) as the detectable object 3 to be replaced. However, each of the multiple detectable objects 3 installed on the traveling surface F has its own identification information In. Therefore, in the past, it was necessary to prepare multiple stocks for each of the multiple detectable objects 3 set on the traveling surface F, which was a factor in increasing costs. According to the article conveying equipment 100 according to the present disclosure, the map data is updated using the identification information In of the replaced detectable object 3 that is actually detected by the confirmation process. Therefore, it is possible to arbitrarily select a new detectable object 3 to be used for replacement from the multiple detectable objects 3 stored for replacement. Therefore, it is not necessary to prepare a new detectable object 3 having the same identification information In as the detectable object 3 to be replaced, and costs can be reduced.

[0043] Second Embodiment Next, a second embodiment of the article conveying equipment 100 will be described with reference mainly to Fig. 7 and Fig. 8. Below, differences from the first embodiment will be mainly described. Points that are not particularly described are the same as those in the first embodiment.

[0044] The processing unit 20 in the management device 2 is configured to execute a reception process, a confirmation process, and an update process. In this embodiment, the processing unit 20 is further configured to execute a temporary reflection process and a determination process.

[0045] 7, the reception process is the first process executed in each of the above processes (step #21). In the reception process according to this embodiment, input of the identification information In of the replaced detectable object 3 is received. Thus, unlike the first embodiment, this embodiment receives the identification information In of the replaced detectable object 3 in addition to the position information Ip of the replaced detectable object 3.

[0046] 8(a), "No.XXX" has been input as the identification information In of the replaced detectable object 3. That is, in this embodiment, the management device 2 knows the identification information In (here, the number) of the replaced detectable object 3 at the stage of the reception process prior to the confirmation process.

[0047] The provisional reflection process is executed after the reception process and before the judgment process (step #22). In this embodiment, the provisional reflection process is also executed before the confirmation process. In the provisional reflection process, the processing unit 20 provisionally reflects the identification information In of the replaced detectable object 3 received in the reception process in the map data. In this specification, "provisional reflection" means that the target data is reflected as provisional data rather than as final data.

[0048] In the example shown in FIG. 8(a), "No.XXX", which is the identification information In of the post-replacement detectable object 3, is provisionally reflected in the map data.

[0049] The confirmation process is executed after the reception process and before the judgment process (step #23). In this embodiment, the confirmation process is also executed after the temporary reflection process. In the confirmation process, the processing unit 20 drives the transport vehicle 1 to the replaced detectable object 3, causes the detection unit 13 to detect the replaced detectable object, and transmits the identification information In of the replaced detectable object 3 acquired as a detection result to the management device 2. That is, by executing the confirmation process, the replaced detectable object 3 is detected by the transport vehicle 1, and the identification information In of the replaced detectable object 3 is transmitted to the management device 2.

[0050] In the example shown in FIG. 8(b), the processing unit 20 sets the movement route R of the transport vehicle 1 to the destination, based on the input position information Ip of the replaced detectable object 3, with the position of the replaced detectable object 3 as the destination. In the illustrated example, the movement route R of the transport vehicle 1 is set to connect the detectable object 3 "No. 1001", the detectable object 3 "No. 1011", and the replaced detectable object 3 expected to be "No. XXX". In the example shown in FIG. 8(c), the replaced detectable object 3 is detected by the transport vehicle 1. The identification information In of the detected replaced detectable object 3 is "No. XXX".

[0051] The determination process is executed after the temporary reflection process and the confirmation process, and before the update process (step #24). In the determination process, the processing unit 20 determines whether the identification information In of the replaced detectable object 3 acquired from the transport vehicle 1 matches the identification information In of the replaced detectable object 3 temporarily reflected by the temporary reflection process.

[0052] After the determination process is performed, the update process is performed (step #25). If the determination process determines that the two match, the processing unit 20 updates the map data after the temporary reflection process to the correct map data.

[0053] In the example shown in FIG. 8(c), the identification information In of the replaced detectable object 3 acquired from the transport vehicle 1 is "No.XXX", and the identification information In of the replaced detectable object 3 provisionally reflected by the provisional reflection process is "No.XXX", so that the two match. In this case, the judgment process judges that they "match". Then, in the update process, the map data is updated with the identification information In of the replaced detectable object 3 being "No.XXX".

[0054] If the confirmation process determines that there is a "mismatch," i.e., if the identification information In of the replaced detectable object 3 acquired from the transport vehicle 1 does not match the identification information In of the replaced detectable object 3 provisionally reflected by the provisional reflection process, the processing unit 20 issues a warning. However, since the detection result by the transport vehicle 1 is basically correct, after issuing the warning, the processing unit 20 updates the map data based on the identification information In of the replaced detectable object 3 detected by the transport vehicle 1, on condition that the processing unit 20 obtains the consent of the worker or the like.

[0055] Other embodiments Next, other embodiments will be described.

[0056] (1) In the above embodiment, the processing unit 20 sets the position of the replaced detectable object 3 as a destination based on the input position information Ip of the replaced detectable object 3, and sets the movement route R of the transport vehicle 1 heading to the destination based on the position information Ip of the replaced detectable object 3. However, without being limited to such an example, the processing unit 20 may set the position of the detected object 3 before replacement as a destination based on the position information Ip of the detected object 3 before replacement, and set the movement route R of the transport vehicle 1 heading to the destination. That is, since the position of the detected object 3 before replacement and the position of the detected object 3 before replacement are the same, the processing unit 20 can move the transport vehicle 1 to the position where the detected object 3 before replacement was located, thereby making it possible to move the transport vehicle 1 to the position of the replaced detectable object 3. Therefore, according to this configuration, the transport vehicle 1 can be moved to the position of the replaced detectable object 3 based on the information before replacement, and the replaced detectable object 3 can be detected. In this case, the position of the detected object 3 before replacement may be automatically input in the reception process.

[0057] (2) In the above embodiment, an example has been described in which at least the reception process, confirmation process, and update process are executed when one of the multiple detectable objects 3 placed on the traveling surface F is replaced. However, without being limited to such an example, even when two or more detectable objects 3 are replaced, the map data can be appropriately updated by executing at least the reception process, confirmation process, and update process. In this case, each process may be executed simultaneously for two or more replaced detectable objects 3, or each process may be executed individually for each of the two or more replaced detectable objects 3.

[0058] (3) In the above embodiment, an example has been described in which the transport vehicle 1 is configured as a transport vehicle that travels on a floor surface. However, the transport vehicle 1 is not limited to this example, and may be configured as a rail-guided transport vehicle that travels on a rail. When the rail is installed near the ceiling, the transport vehicle 1 is configured as a so-called ceiling transport vehicle. In these cases, the running surface F is any surface that extends along the rail, and the detectable object 3 is placed on this running surface F. The transport vehicle 1 is configured to move while sequentially detecting a plurality of detectable objects 3 installed along the rail.

[0059] (4) The configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments, as long as no contradiction occurs. As for other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope of the present disclosure.

[0060] [Summary of this embodiment] The following is a summary of this embodiment.

[0061] A transport vehicle that travels along a travel surface to transport an article; A plurality of objects to be detected, each of which has unique identification information; A management device that is communicably connected to the transport vehicle, controls the transport vehicle, and manages a plurality of the detectable objects, the transport vehicle includes a vehicle-side control unit that controls the operation of each unit of the transport vehicle, and a detection unit that detects the detectable objects, and is configured to move while sequentially detecting a plurality of the detectable objects by the detection unit; The management device includes a storage unit and a processing unit that performs arithmetic processing. The storage unit stores, as map data, position information indicating positions of the plurality of detectable objects on a map and the identification information of each of the plurality of detectable objects in association with each other; The processing unit is configured to execute a reception process, a confirmation process, and an update process; In the reception process, when a part of the plurality of detectable objects is replaced, an input of the position information of a replaced detectable object which is the replaced detectable object is received; In the confirmation process, a command is sent to the vehicle-side control unit to drive the transport vehicle to the replaced detectable object received in the reception process, the detection unit detects the replaced detectable object, and the identification information of the replaced detectable object obtained as a detection result is transmitted to the management device. In the update process, the map data is updated based on the identification information of the replaced object detected in the confirmation process.

[0062] According to this configuration, the confirmation process causes the transport vehicle to move to detect the replaced detectable object, and transmits the identification information of the replaced detectable object obtained by the detection to the management device. In this configuration, the reception process accepts the input of the position information of the replaced detectable object, but the update process that updates the map data uses the identification information of the replaced detectable object detected by the confirmation process. Therefore, the map data is updated based on the result of the transport vehicle actually detecting the replaced detectable object. This reduces the possibility of human error in the update process. As described above, according to this configuration, it is possible to appropriately update the map data.

[0063] The processing unit is configured to further execute a temporary reflection process and a determination process, In the reception process, an input of the identification information of the replaced detection object is received, In the provisional reflection process, the identification information of the replaced detectable object accepted in the acceptance process is provisionally reflected in the map data, In the determination process, it is determined whether or not the identification information of the replaced detectable object acquired from the transport vehicle matches the identification information of the replaced detectable object temporarily reflected by the temporary reflection process; It is preferable that, in the update process, when it is determined in the determination process that there is a match, the map data after the temporary reflection in the temporary reflection process is updated to the correct map data.

[0064] According to this configuration, when some of the multiple detectable objects are replaced, it is possible to use the transport vehicle to check whether the input of the identification information of the replaced detectable object is correct. Then, only when it is determined that the map data is correct as a result of the check, the map data is updated. Therefore, according to this configuration, when the map data is provisionally reflected based on the input of the identification information of the replaced detectable object, it becomes easy to update the map data with the correct content by comparing the input identification information with the identification information actually detected by the transport vehicle.

[0065] The plurality of detection objects are disposed at a plurality of locations on the travel surface, It is preferable that an arbitrary number of the plurality of detectable objects be selected from the plurality of detectable objects, and the movement route of the transport vehicle be set so as to connect the selected plurality of detectable objects.

[0066] According to this configuration, the present invention can be suitably applied to an article transport facility equipped with an automatic guided vehicle capable of traveling along any route set on a traveling surface.

[0067] the management device includes an input operation unit that is operated by an operator to input information; It is preferable that the reception of the input of the position information of the replaced detectable object in the reception process is performed by the input operation unit.

[0068] According to this configuration, after an operator replaces the detectable object, information on the replaced detectable object can be input to the management device. Such information input by an operator may contain errors, but as described above, according to this configuration, the map data is updated based on the result of the transport vehicle actually detecting the replaced detectable object. This reduces the possibility of human error in the update process. This makes it possible to properly update the map data. [Industrial Applicability]

[0069] The technology disclosed herein can be utilized in an item transport facility that includes a transport vehicle that travels along a traveling surface to transport items, a plurality of detectable objects that are placed on the traveling surface and each have unique identification information, and a management device that is communicatively connected to the transport vehicle, controls the transport vehicle, and manages the plurality of detectable objects. [Explanation of symbols]

[0070] 100: Goods transport equipment 1: Transport vehicle 13: Detection section 14: Vehicle side control unit 2: Management device 20: Processing section 21: Storage section 22: Input operation section 3: Object to be detected 9: Goods F: Running surface Im: Map information In:Identification information Ip:location information R: Travel route

Claims

1. A transport vehicle that travels along a travel surface to transport an article; A plurality of objects to be detected, each of which has unique identification information; A management device that is communicably connected to the transport vehicle, controls the transport vehicle, and manages a plurality of the detectable objects, the transport vehicle includes a vehicle-side control unit that controls the operation of each unit of the transport vehicle, and a detection unit that detects the detectable objects, and is configured to move while sequentially detecting a plurality of the detectable objects by the detection unit; The management device includes a storage unit and a processing unit that performs arithmetic processing. The storage unit stores, as map data, position information indicating positions of the plurality of detectable objects on a map and the identification information of each of the plurality of detectable objects in association with each other; The processing unit is configured to execute a reception process, a confirmation process, and an update process; In the reception process, when a part of the plurality of detectable objects is replaced, an input of the position information of a replaced detectable object which is the replaced detectable object is received; In the confirmation process, a command is sent to the vehicle-side control unit to drive the transport vehicle to the replaced detectable object received in the reception process, the detection unit detects the replaced detectable object, and the identification information of the replaced detectable object obtained as a detection result is transmitted to the management device. The article transport facility, in the update process, updates the map data based on the identification information of the post-replacement detection object detected in the confirmation process.

2. The processing unit is configured to further execute a temporary reflection process and a determination process, In the reception process, an input of the identification information of the replaced detection object is received, In the provisional reflection process, the identification information of the replaced detectable object accepted in the acceptance process is provisionally reflected in the map data, In the determination process, it is determined whether or not the identification information of the replaced detectable object acquired from the transport vehicle matches the identification information of the replaced detectable object temporarily reflected by the temporary reflection process; 2 . The article transport facility according to claim 1 , wherein, in the update process, if it is determined in the determination process that there is a match, the map data after the temporary reflection in the temporary reflection process is updated to the correct map data.

3. The plurality of detection objects are disposed at a plurality of locations on the travel surface, 2 . The article transport facility according to claim 1 , wherein an arbitrary number of the plurality of detectable objects are selected from the plurality of detectable objects, and the travel route of the transport vehicle is set to connect the selected plurality of detectable objects.

4. the management device includes an input operation unit that is operated by an operator to input information; The article transport facility according to claim 1 , wherein the input of the position information of the replaced detection object in the reception process is received by the input operation unit.

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