Article carrying facility

Abstract

To realize an article carrying facility that facilitates a maintenance of an environment in which a carrier vehicle can operate appropriately.SOLUTION: A carrier vehicle comprises a vehicle-sided control unit 14 for performing motion control of each unit of the carrier vehicle, and a detection unit for detecting a detected body, and is configured to move along a moving path while sequentially detecting a plurality of detected bodies using the detection unit. A management device Ct is configured to cause the vehicle-sided control unit 14 to selectively execute a normal mode and an inspection mode. In the inspection mode, each time the detection unit detects a detected body, the vehicle-sided control unit 14 transmits identification information I4 of the detected body detected by the detection unit, and detection level information IL indicating a detection level of the detected body by the detection unit to the management device Ct.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to an item transport facility comprising a transport vehicle for transporting items, a management device communicatively connected to the transport vehicle and controlling the transport vehicle, and a plurality of detectable objects, each of which has unique identification information. [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 arranged dotted on the floor surface. Each mark (9) is configured to be identifiable by the 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). In other words, the marks (9) form part of the travel path of the transport vehicle (4) and have the function of supporting the travel of the transport vehicle (4). [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, a detectable object detected by a traveling transport vehicle, such as the mark (9) in Patent Document 1, may need to be replaced or repaired due to dirt or damage. If the degree of dirt or damage is high, the function of the detectable object to support the transport vehicle's travel along the travel route may be impaired. In that case, the transport vehicle will not be able to travel properly along the travel route. In this way, a detectable object such as the mark (9) in Patent Document 1 is likely to affect the travel environment of the transport vehicle.

[0006] In view of the above circumstances, it is desirable to realize an article transport facility that makes it easy to create an environment in which transport vehicles can travel appropriately. [Means for solving the problem]

[0007] A transport vehicle for transporting an article; A management device that is communicatively connected to the transport vehicle and controls the transport vehicle; An article transport facility including a plurality of detectable objects, each of which has unique identification information, A travel path of the transport vehicle is set so as to connect a plurality of the detection 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 along the travel path while sequentially detecting a plurality of the detectable objects by the detection unit; the management device is configured to selectively cause the vehicle-side control unit to execute a normal mode and an inspection mode; The vehicle-side control unit In the normal mode, each time the detection unit detects the detectable object, the identification information of the detectable object detected by the detection unit and positional relationship information indicating a relative positional relationship between the detectable object and a reference position of the transport vehicle at the time when the identification information was detected by the detection unit are transmitted to the management device; In the inspection mode, each time the detection unit detects the detectable object, the identification information of the detectable object detected by the detection unit and detection level information indicating the detection level of the detectable object by the detection unit are transmitted to the management device.

[0008] According to this configuration, in the normal mode, the management device can grasp the identification information and the positional relationship information for each of the multiple detectable objects that constitute the moving path of the transport vehicle, so that the control of the transport vehicle can be easily optimized. In addition, in the inspection mode, the management device can obtain the detection level information in addition to the identification information for each detectable object. If the detection level indicated in the detection level information is high, it can be determined that the condition of the detectable object is good. On the other hand, if the detection level indicated in the detection level information is low, it can be estimated that the detectable object is highly necessary to be replaced or repaired. Therefore, it is easy to take measures such as replacing or repairing the detectable object before the condition of the detectable object deteriorates and becomes unsuitable for use. As described above, according to this configuration, it is easy to prepare an environment in which the transport vehicle can run properly.

[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] FIG. 1 shows the configuration of a detection object. [Figure 6] FIG. 13 is a diagram showing the relative positional relationship between the reference position of the transport vehicle and the detection target when detecting identification information. [Figure 7] FIG. 13 is a diagram showing the contents of transmission from the transport vehicle to the management device in each of the normal mode and the inspection mode. [Figure 8] FIG. 1 is a diagram illustrating an example of a display unit of a terminal device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of an article transport facility will be described with reference to the drawings.

[0012] 1, an article transport facility 100 includes a transport vehicle 1 that transports an article 9, a management device Ct (see FIG. 3) that is communicatively connected to the transport vehicle 1 and controls the transport vehicle 1, and a plurality of detectable objects 4 each having unique identification information I4 (see FIG. 4). In this embodiment, the management device Ct includes a host control device 2 and a terminal device 3, the details of which will be described later.

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

[0014] The moving route R of the transport vehicle 1 is set to connect the multiple detectable objects 4. In this embodiment, the multiple detectable objects 4 are distributed and arranged at multiple locations on the travel surface F. The moving route R is set so that an arbitrary number of the multiple detectable objects 4 are selected from the multiple detectable objects 4 and the selected multiple detectable objects 4 are connected. The interval between the adjacent detectable objects 4 is a predetermined set interval. As a result, for example, the transport vehicle 1 that detects a specific detectable object 4 travels a set interval toward the next detectable object 4 and detects the next detectable object 4. The transport vehicle 1 is configured to travel to the destination by repeating this. In this example, the multiple detectable objects 4 are arranged at equal intervals in a part or all of the area on the travel surface F.

[0015] In this embodiment, the movement route R of the transport vehicle 1 is set by a combination of a plurality of detectable objects 4 arranged continuously along the X direction and a plurality of detectable objects 4 arranged continuously along the Y direction. In other words, the movement route R of the transport vehicle 1 is configured by a combination of a route extending along the X direction and a route extending along the Y direction.

[0016] For example, Fig. 1 shows a movement route R when a transport vehicle 1 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 higher-level control device 2 (see Fig. 3). The higher-level control 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] The transport vehicle 1 is equipped with a vehicle-side control unit 14 that controls the operation of each part of the transport vehicle 1, and a detection unit 13 that detects detectable objects 4, and is configured to move along a travel path R while sequentially detecting multiple detectable objects 4 using the detection unit 13.

[0022] In this embodiment, the detection unit 13 includes an imaging unit 130 that captures an image of the detectable object 4. The detection unit 13 is configured to acquire various pieces of information regarding the detectable object 4 based on the recognition result of the image of the detectable object 4 captured by the imaging unit 130.

[0023] The imaging unit 130 is directed toward the traveling surface F and configured to capture an image of the traveling surface F. In this embodiment, the imaging unit 130 is configured to continuously capture an image of the traveling surface F at a preset cycle. This cycle is appropriately determined depending on the performance of the transport vehicle 1, etc. The cycle can also be set as short as possible so that the imaging unit 130 constantly captures the traveling surface F. For example, while the transport vehicle 1 is traveling, the detectable object 4 falls within an imaging range A based on the angle of view of the imaging unit 130, and thus the detectable object 4 is detected (see FIG. 6).

[0024] FIG. 3 shows a control block diagram of the article conveying facility 100.

[0025] As shown in Fig. 3, the article transport facility 100 includes a host controller 2 and a transport vehicle 1. The host controller 2 and the transport vehicle 1 are configured to be able to communicate with each other. For example, the host controller 2 transmits a transport command specifying the origin and destination of an article 9 to the transport vehicle 1. The transport vehicle 1 responds to the command from the host controller 2 and transmits its own current position to the host controller 2. The transport vehicle 1 is configured to perform the above-mentioned exchanges (sending and receiving signals) with the host controller 2 using a vehicle-side control unit 14 mounted on the transport vehicle 1.

[0026] The upper control device 2 and the vehicle-side control unit 14 each include, for example, a processor such as a microcomputer, a peripheral circuit such as a memory, etc. Each process or function is realized by cooperation between this hardware and a program executed on a processor such as a computer.

[0027] In this embodiment, the article transport facility 100 further includes a terminal device 3 communicatively connected to the upper control device 2. In this example, the upper control device 2 and the terminal device 3 are communicatively connected by wireless. The upper control device 2 and the terminal device 3 are included in the management device Ct. The terminal device 3 is a device operated by an operator. For example, the operator can operate the terminal device 3 to input commands to the transport vehicle 1. The command input by the operator is indirectly transmitted to the transport vehicle 1 via the upper control device 2. However, the present invention is not limited to this configuration, and the terminal device 3 and the transport vehicle 1 may be communicatively connected to each other, and commands may be transmitted directly from the terminal device 3 to the transport vehicle 1.

[0028] The terminal device 3 includes an information acquisition unit 30 that acquires information, a storage unit 31 that stores information, a display unit 32 that displays information, and a display control unit 33. For example, the terminal device 3 is configured using a personal computer, a tablet, or a smartphone.

[0029] 4, the upper control device 2 has map information Im as map data, which indicates a map of a movable area of ​​the transport vehicle 1. Alternatively, the upper control device 2 is configured to be able to acquire the map data from a database held in a server (including a cloud server).

[0030] 4 shows an image of the map data. The map information Im is information that visualizes the map, and includes at least information on the traveling surface F and the detection object 4.

[0031] Position information Ip indicating the position on the map of each of the plurality of detectable objects 4 and identification information I4 of each of the plurality of detectable objects 4 are associated with each other and reflected in map information Im as map data.

[0032] The position information Ip is information indicating the position of the detectable object 4, and indicates the position of the detectable object 4 in the XY coordinate system (the position in the X direction and the position in the Y direction). The identification information I4 is information unique to each detectable object 4. In this example, the identification information I4 is a number given to each of the multiple detectable objects 4.

[0033] 4, for example, a detectable object 4 whose identification information I4 is "No. 11" is located at a position of "X1, Y1" in the XY coordinate system. Also, for example, a detectable object 4 whose identification information I4 is "No. 12" is located at a position of "X2, Y1" in the XY coordinate system. In this way, the identification information I4 and position information Ip for each detectable object 4 are shown in the map data.

[0034] The host control device 2 is configured to refer to the map data and set a moving route R for the transport vehicle 1. The transport vehicle 1 is configured to move while sequentially detecting a plurality of detectable objects 4 that constitute the moving route R.

[0035] 5, in this embodiment, one detectable object 4 has a mark group 4G which is a collection of a plurality of marks 4a. The detectable object 4 has a plate 40 to which the mark group 4G is attached.

[0036] In this embodiment, each of the marks 4a is a two-dimensional code having predetermined information. Each mark 4a has a plurality of pieces of information. In this example, all the marks 4a belonging to the same mark group 4G have the same identification information I4 and different mark information I4a.

[0037] FIG. 5 shows a detectable object 4 whose identification information I4 is "No. 12". In the illustrated example, one of the multiple marks 4a belonging to the mark group 4G of this detectable object 4 has information "0100012" in which multiple digits are arranged. The last two digits of this information, "12", represent "No. 12", which is the identification information I4 of the detectable object 4 to which the mark 4a having this information is attached. In FIG. 5, the other marks 4a have information "0400012", and the last two digits of this information, "12", represent "No. 12", which is the identification information I4 of the detectable object 4. In this way, each of the multiple marks 4a belonging to the mark group 4G of the detectable object 4 has the identification information I4 of the detectable object 4. Therefore, the transport vehicle 1 can obtain the identification information I4 of the detectable object 4 by detecting at least one of the multiple marks 4a belonging to the mark group 4G. In addition, since the identification information I4 of the detection target object 4 is associated with the position information Ip (see FIG. 4), the transfer vehicle 1 can also acquire the position information Ip of the detection target object 4.

[0038] On the other hand, each of the marks 4a belonging to the mark group 4G has unique information. For example, for a mark 4a having information "0100012", the first two digits of this information, "01", represent the unique mark information I4a of the mark 4a. Also, for a mark 4a having information "0400012", the first two digits of this information, "04", represent the unique mark information I4a of the mark 4a. In this way, each of the marks 4a belonging to one mark group 4G has unique mark information I4a, and when these marks 4a are detected by the transport vehicle 1, the transport vehicle 1 recognizes these marks 4a as different marks 4a. That is, the detection unit 13 of the transport vehicle 1 is configured to be able to detect the entire mark group 4G and to be able to detect each of the marks 4a constituting the mark group 4G.

[0039] The transfer vehicle 1 is configured to travel along the travel route R while correcting its own position with respect to the detection target 4 based on the recognition result of the image captured by the imaging unit 130.

[0040] 6 shows an imaging range A based on the angle of view of the imaging unit 130. When the detectable object 4 falls within the imaging range A while the transport vehicle 1 is traveling, the identification information I4 of the detectable object 4 is detected. In this embodiment, the transport vehicle 1 travels while correcting its own position based on positional relationship information Id indicating the relative positional relationship between the detectable object 4 and a reference position C1 of the transport vehicle 1 at the time of identification information detection when the detection unit 13 detects the identification information I4 of the detectable object 4 (hereinafter, may be simply referred to as "reference position C1 of the transport vehicle 1").

[0041] In this embodiment, the positional relationship information Id includes the relative distances in the X and Y directions between the reference position C1 of the transport vehicle 1 and the detectable object 4 when the identification information is detected, and the relative angle around the Z axis perpendicular to both the X and Y directions between the transport vehicle 1 and the detectable object 4 when the identification information is detected.

[0042] As shown in FIG. 6, the positional relationship information Id includes the relative distance Dx in the X direction and the relative distance Dy in the Y direction between the reference position C1 of the transport vehicle 1 and the center position C4 of the detection target 4. For example, when the transport vehicle 1 travels along the Y direction, the transport vehicle 1 corrects its own position so that the relative distance Dx in the X direction (left and right directions with respect to the travel direction) becomes zero. In this case, the relative distance Dy in the Y direction is not corrected because it is an element that constantly changes with the travel of the transport vehicle 1. In this case, the relative distance Dy in the Y direction is used by the transport vehicle 1 to recognize its own current position. On the other hand, when the transport vehicle 1 travels along the X direction, the transport vehicle 1 corrects its own position so that the relative distance Dy in the Y direction (left and right directions with respect to the travel direction) becomes zero. In this case, the relative distance Dx in the X direction is not corrected because it is an element that constantly changes with the travel of the transport vehicle 1. However, the relative distance Dx in the X direction is used by the transport vehicle 1 to recognize its own current position.

[0043] The positional relationship information Id also includes a relative angle θ between the transport vehicle 1 and the object to be detected 4 around the Z axis. For example, the relative angle θ around the Z axis is calculated from the angle between a line parallel to a reference line L1 of the transport vehicle 1 and a line parallel to a reference line L4 of the object to be detected 4. In the illustrated example, the reference line L1 of the transport vehicle 1 is set to a part of the outer edge of the imaging range A, and the reference line L4 of the object to be detected 4 is set to a part of the outer edge of a rectangular plate 40 provided on the object to be detected 4. The transport vehicle 1 corrects its own position while traveling so that the relative angle θ becomes zero.

[0044] When the detection unit 13 detects a detectable object 4, it acquires identification information I4 and positional relationship information Id related to the detectable object 4. Then, the detection unit 13 acquires detection level information IL (see FIG. 7) indicating the detection level of the detectable object 4 at the time of detection. In this embodiment, the detection unit 13 is configured to acquire the identification information I4, positional relationship information Id, and detection level information IL based on the recognition result of the image of the detectable object 4 captured by the imaging unit 130.

[0045] As described above with reference to FIG. 5, in this embodiment, one detectable object 4 has a mark group 4G which is a collection of multiple marks 4a. In this embodiment, the detection level of the detectable object 4 by the detection unit 13 is an index representing the proportion of the number of marks 4a that the detection unit 13 was able to detect among all the marks 4a belonging to the mark group 4G of one detectable object 4. In the example shown in FIG. 5, 16 marks 4a constitute one mark group 4G. The detection level is represented based on the number of marks 4a that the detection unit 13 was able to detect among the 16 marks 4a.

[0046] In this embodiment, the detection level is set in a plurality of stages. For example, the detection level is set in three stages: a high level, a low level, and a medium level that is a level between the high level and the low level.

[0047] For example, when the detection level is high, it can be determined that the detection sensitivity of the detection unit 13 for the detectable object 4 is good. In this case, it can be determined that there is currently no need to replace or repair the detected detectable object 4. For example, when the number of marks 4a belonging to one mark group 4G is 16 and the number detected by the detection unit 13 is 10 to 16, the detection level is determined to be high.

[0048] For example, when the detection level is medium, it can be determined that the detection sensitivity of the detection unit 13 to the detectable object 4 is not good. In this case, replacement or repair of the detected detectable object 4 is not necessarily required, but replacement or repair is recommended. For example, when the number of marks 4a belonging to one mark group 4G is 16 and the number detected by the detection unit 13 is 5 to 9, the detection level is determined to be medium.

[0049] For example, when the detection level is low, it can be determined that the detection sensitivity of the detection unit 13 to the detectable object 4 is poor. In this case, it can be determined that the detected object 4 needs to be replaced or repaired. For example, when the number of marks 4a belonging to one mark group 4G is 16 and the number detected by the detection unit 13 is 0 to 4, the detection level is determined to be low.

[0050] As shown in Fig. 7, the upper control device 2 is configured to cause the vehicle-side control unit 14 to selectively execute a normal mode or an inspection mode. That is, the upper control device 2 causes the vehicle-side control unit 14 to execute the normal mode, or causes the vehicle-side control unit 14 to execute the inspection mode. When the normal mode is executed, the transport vehicle 1 transports the article 9 in response to a command from the upper control device 2. When the inspection mode is executed, the transport vehicle 1 inspects the object 4 to be detected.

[0051] In normal mode, the vehicle-side control unit 14 is configured to transmit, each time the detection unit 13 detects a detectable object 4, the identification information I4 of the detectable object 4 detected by the detection unit 13 and positional relationship information Id indicating the relative positional relationship between the reference position C1 of the transport vehicle 1 and the detectable object 4 at the time the identification information I4 was detected by the detection unit 13, to the higher-level control device 2.

[0052] The identification information I4 of the detectable object 4 is associated with the position information Ip of the detectable object 4. Therefore, when the transport vehicle 1 transmits the identification information I4 of the detectable object 4 detected by the detector 13 to the upper control device 2, the upper control device 2 can grasp the current position of the transport vehicle 1. Furthermore, the upper control device 2 can grasp the detailed current position of the transport vehicle 1 based on the positional relationship information Id transmitted from the transport vehicle 1. Furthermore, for example, by accumulating the positional relationship information Id as data, it becomes possible to use the data to analyze the detectable object 4 that is likely to deviate from the transport vehicle 1.

[0053] In the inspection mode, each time the detection unit 13 detects a detectable object 4, the vehicle-side control unit 14 transmits to the upper control device 2 identification information I4 of the detectable object 4 detected by the detection unit 13 and detection level information IL indicating the detection level of the detectable object 4 by the detection unit 13.

[0054] When the detection level indicated in the detection level information IL is high, it can be determined that the condition of the detectable object 4 is good. On the other hand, when the detection level indicated in the detection level information IL is low, it can be estimated that the detectable object 4 is highly in need of replacement or repair. Therefore, it becomes easier to take measures such as replacing or repairing the detectable object 4 before the condition of the detectable object 4 deteriorates and becomes unsuitable for use. As described above, in this embodiment, the detection level is set in a plurality of stages. Therefore, it becomes possible to take appropriate measures according to the stage of the detection level.

[0055] In this embodiment, the upper control device 2 recognizes the detectable object 4 whose detection level indicated in the detection level information IL received from the vehicle-side control unit 14 is equal to or lower than a preset threshold as a defective detectable object. As described above, in this embodiment, the detection level is set in three stages, namely, high level, medium level, and low level. When the detection level indicated in the detection level information IL received from the vehicle-side control unit 14 is a low level, the upper control device 2 recognizes the detectable object 4 as a defective detectable object. When the number of marks 4a detected by the detection unit 13 is 0 to 4 out of 16 marks 4a (see FIG. 5) that the detectable object 4 has as in this example, the detection level is determined to be a low level, and the detectable object 4 is recognized as a defective detectable object. In other words, in this embodiment, the above-mentioned preset threshold is "4", and the detectable object 4 whose number of marks 4a detected by the detection unit 13 is "4" or less is recognized as a defective detectable object.

[0056] For example, when the upper control device 2 determines that the detectable object 4 is a defective detectable object, it may be configured to notify the terminal device 3 of the identification information I4 and position information Ip of the detectable object 4, and information that the detectable object 4 is a defective detectable object. This makes it possible to urge the worker operating the terminal device 3 to replace or repair the defective detectable object.

[0057] In this embodiment, the upper control device 2 is configured to set part or all of the area in which the transport vehicle 1 can move as an inspection area, and to cause the vehicle-side control unit 14 of the transport vehicle 1 located in the inspection area to execute the inspection mode.

[0058] When a part of the movable area is set as an inspection area, the inspection of the object 4 is carried out only in the inspection area, and the transport of the article 9 can be carried out in an area other than the inspection area.

[0059] The upper control device 2 may set the entire movable area as the inspection area when the article transport facility 100 is not operating, for example, at night. In this way, by utilizing the state in which the article transport facility 100 is not operating, the detection object 4 can be inspected in the entire movable area of ​​the transport vehicle.

[0060] In this embodiment, the host control device 2 is configured to designate some or all of the multiple transport vehicles 1 provided in the article transport equipment 100, and cause the vehicle-side control units 14 of the designated some or all of the transport vehicles 1 to execute the inspection mode. The more transport vehicles 1 are designated, the sooner the inspection of the objects 4 to be detected in the inspection area can be completed. The fewer the number of transport vehicles 1 designated, the more the number of transport vehicles 1 responsible for transporting the articles 9 can be, and the higher the utilization rate of the equipment can be ensured.

[0061] In this embodiment, the maximum speed limit of the transport vehicle 1 in the inspection mode is set lower than the maximum speed limit of the transport vehicle in the normal mode. In the inspection mode, the transport vehicle 1 needs to acquire the detection level information IL about the object to be detected 4, and if the moving speed of the transport vehicle 1 is too fast, it is difficult to properly acquire the detection level information IL. In this embodiment, the detection level information IL about the object to be detected 4 is acquired by detecting 16 marks 4a provided on the object to be detected 4. Therefore, if the speed of the transport vehicle 1 during detection is too fast, it is difficult to detect all of these 16 marks 4a. For example, the maximum speed limit of the transport vehicle 1 in the inspection mode may be set to 10% to 20% of the maximum speed limit of the transport vehicle in the normal mode.

[0062] Fig. 8 shows an example of the terminal device 3. In the illustrated example, the terminal device 3 is configured using a tablet.

[0063] As described above, the terminal device 3 includes the information acquisition unit 30 that acquires information, the storage unit 31 that stores information, the unit 32 that displays information, and the display control unit 33 (see also FIG. 3).

[0064] In this embodiment, the information acquiring unit 30 is configured to acquire at least detection level information IL for a plurality of detectable objects 4 from the upper control device 2. That is, the detection level information IL for the detectable objects 4 detected by the transport vehicle 1 is transmitted to the upper control device 2 in the inspection mode. Then, the detection level information IL is transmitted from the upper control device 2 to the terminal device 3.

[0065] The storage unit 31 stores map information Im, which indicates a map of an area where the transport vehicle 1 can move, as map data. The map data is stored in advance in the storage unit 31. Alternatively, the terminal device 3 may be configured to be able to acquire map data from a database held in the upper control device 2 or a server (including a cloud server), and the acquired map data may be stored in the storage unit 31.

[0066] In this embodiment, the storage unit 31 stores position information Ip indicating the position on the map of each of the multiple detectable objects 4 and identification information I4 of each of the multiple detectable objects 4 as map data in association with each other. For example, map data as shown in Fig. 4 is stored in the storage unit 31. The storage unit 31 is also configured to store detection level information IL acquired by the information acquisition unit 30.

[0067] The display unit 32 is configured to display the information stored in the storage unit 31. The display unit 32 is controlled by a display control unit 33, and is configured to display information designated by the display control unit 33.

[0068] The display control unit 33 is configured to control the display unit 32. In this embodiment, the display control unit 33 is configured to display a map of the movable area of ​​the transport vehicle 1 on the display unit 32, and to display the detection level information IL of each of the plurality of detectable objects 4 at the position of each of the plurality of detectable objects 4 on the map. In addition, the display control unit 33 is configured to display the identification information I4 and position information Ip for each of the plurality of detectable objects 4 on the display unit 32. In the example shown in FIG. 8, for convenience of explanation, the identification information I4 and position information Ip for each of the detectable objects 4 are omitted.

[0069] As shown in FIG. 8, in this embodiment, the display control unit 33 is configured to display the detection level information IL in different modes depending on the high or low detection level of each detectable object 4. As described above, in this embodiment, the detection level is set to three levels: high level, medium level, and low level. In the example of FIG. 8, the detection level information IL indicating a high detection level is shown by a white circle. The detection level information IL indicating a medium detection level is shown by a hatched circle. The detection level information IL indicating a low detection level is shown by a finely hatched circle. With this configuration, the operator operating the terminal device 3 can easily recognize the state of each of the multiple detectable objects 4 placed on the traveling surface F by checking the display unit 32.

[0070] The detection level information IL may be displayed on the display unit 32 in a manner different from that described above. For example, the detection level information IL may be displayed in different colors such as "green", "yellow", and "red" depending on the high or low of the detection level, or may be displayed with different symbols such as "o", "△", and "x", or may be displayed with different characters such as "good", "caution", and "bad". These displays may be performed by the worker operating the terminal device 3, or may be automatically displayed by the display control unit 33.

[0071] According to the article conveying facility 100 described above, it is possible to obtain the detection level information IL for the detectable object 4 in the inspection mode. This makes it easier to take measures such as replacing or repairing the detectable object 4 before the condition of the detectable object 4 deteriorates and becomes unsuitable for use. This makes it easier to maintain an environment in which the conveying vehicle 1 can travel appropriately.

[0072] Other embodiments Next, other embodiments will be described.

[0073] (1) In the above embodiment, an example has been described in which the detectable object 4 has a plurality of marks 4a configured using a two-dimensional code. However, the present invention is not limited to such an example, and the marks 4a on the detectable object 4 may be characters or symbols that are displayed in a manner that can be identified by the detection unit 13. Alternatively, the detectable object 4 may have an IC tag. The configuration of the detection unit 13 corresponds to the configuration of the detectable object 4 to be detected.

[0074] (2) In the above embodiment, an example has been described in which the detection level of the detectable object 4 by the detection unit 13 is an index representing the proportion of the number of marks 4a that the detection unit 13 was able to detect among all the marks 4a belonging to the mark group 4G of one detectable object 4. However, without being limited to such an example, for example, in the case where the detectable object 4 is configured using an IC tag, the detection level may be an index representing the radio wave intensity.

[0075] (3) In the above embodiment, an example has been described in which the display control unit 33 is configured to display a map of the movable area of ​​the transport vehicle 1 on the display unit 32, and to display the detection level information IL of each of the multiple detectable objects 4 at the position of each of the detectable objects 4 on the map. However, without being limited to such an example, the display control unit 33 may, for example, display a graph on the display unit 32 showing the relationship between each of the detectable objects 4 and the detection level information IL.

[0076] (4) In the above embodiment, an example has been described in which the transport vehicle 1 is configured as a floor transport vehicle that travels on the floor surface. However, without being limited to such an example, the transport vehicle 1 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, a plurality of detectable objects 4 are installed at intervals along the rail, and the transport vehicle 1 travels along the rail while sequentially detecting the plurality of detectable objects 4.

[0077] (5) In the above embodiment, an example has been described in which the management device Ct includes a higher-level control device 2 and a terminal device 3 that are configured as separate devices. However, the present invention is not limited to this example, and the management device Ct does not need to include a terminal device 3. In this case, the terminal device 3 and the higher-level control device 2 included in the management device Ct may be configured as an integrated device. For example, the terminal device 3 is configured as a personal computer or a monitor connected to the higher-level control device 2 by a wire.

[0078] (6) The configurations disclosed in the above-described embodiments can be combined 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.

[0079] [Summary of this embodiment] The following is a summary of this embodiment.

[0080] A transport vehicle for transporting an article; A management device that is communicatively connected to the transport vehicle and controls the transport vehicle; An article transport facility including a plurality of detectable objects, each of which has unique identification information, A travel path of the transport vehicle is set so as to connect a plurality of the detection 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 along the travel path while sequentially detecting a plurality of the detectable objects by the detection unit; the management device is configured to selectively cause the vehicle-side control unit to execute a normal mode and an inspection mode; The vehicle-side control unit In the normal mode, each time the detection unit detects the detectable object, the identification information of the detectable object detected by the detection unit and positional relationship information indicating a relative positional relationship between the detectable object and a reference position of the transport vehicle at the time when the identification information was detected by the detection unit are transmitted to the management device; In the inspection mode, each time the detection unit detects the detectable object, the identification information of the detectable object detected by the detection unit and detection level information indicating the detection level of the detectable object by the detection unit are transmitted to the management device.

[0081] According to this configuration, in the normal mode, the management device can grasp the identification information and the positional relationship information for each of the multiple detectable objects that constitute the moving path of the transport vehicle, so that the control of the transport vehicle can be easily optimized. In addition, in the inspection mode, the management device can obtain the detection level information in addition to the identification information for each detectable object. If the detection level indicated in the detection level information is high, it can be determined that the condition of the detectable object is good. On the other hand, if the detection level indicated in the detection level information is low, it can be estimated that the detectable object is highly necessary to be replaced or repaired. Therefore, it is easy to take measures such as replacing or repairing the detectable object before the condition of the detectable object deteriorates and becomes unsuitable for use. As described above, according to this configuration, it is easy to prepare an environment in which the transport vehicle can run properly.

[0082] the detection unit includes an imaging unit that images the detection object, It is preferable that the detection section is configured to acquire the identification information, the positional relationship information, and the detection level information based on a recognition result of an image of the object to be detected captured by the imaging section.

[0083] According to this configuration, it is possible to obtain the identification information, the positional relationship information, and the detection level information relatively easily using the imaging section.

[0084] The transport vehicle is configured to travel on a travel surface that extends along an X direction that is a predetermined direction and a Y direction that is perpendicular to the X direction, The plurality of detection objects are disposed at a plurality of locations on the travel surface, an arbitrary number of the plurality of detectable objects are selected from the plurality of detectable objects, and the movement path is set so as to connect the selected plurality of detectable objects; Preferably, the positional relationship information includes a relative distance in each of the X direction and the Y direction between the reference position of the transport vehicle and the detectable object when the identification information is detected, and a relative angle around a Z direction axis perpendicular to both the X direction and the Y direction between the transport vehicle and the detectable object when the identification information is detected.

[0085] 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.

[0086] One of the detection objects includes a mark group that is a collection of a plurality of marks, the detection unit is capable of detecting the entire group of marks and is also capable of detecting each of the plurality of marks constituting the group of marks, The detection level is preferably an index representing the proportion of the number of the marks that the detection unit was able to detect to all of the marks belonging to the mark group that one of the detectable objects has.

[0087] According to this configuration, the detection level can be expressed based on the number of marks that the detection unit can detect, which makes it easy to appropriately define the detection level.

[0088] Each of the plurality of marks is a two-dimensional code having predetermined information, It is preferable that all the marks belonging to the same mark group have the same identification information and different mark information from one another.

[0089] According to this configuration, since all the marks belonging to the same mark group have the same identification information, if any one of the marks belonging to the mark group of one detectable object can be detected, the identification information of the detectable object can be obtained. Furthermore, since all the marks belonging to the same mark group have different mark information, it is possible to easily identify which of the marks can be detected and which cannot be detected.

[0090] The management device includes: an information acquiring unit that acquires the detection level information for the plurality of objects to be detected; a storage unit that stores map information indicating a map of a movable area of ​​the transport vehicle, position information indicating the position of each of the plurality of detectable objects on the map, and the identification information of each of the plurality of detectable objects as map data in association with each other; A display unit that displays the information stored in the storage unit; A display control unit that controls the display unit, It is preferable that the display control unit is configured to display the map on the display unit and to display the detection level information of each of the detectable objects at the position of each of the detectable objects on the map.

[0091] According to this configuration, an operator can easily recognize the state of each of the multiple detectable objects placed on the traveling surface by checking the display unit of the terminal device. [Industrial Applicability]

[0092] The technology disclosed herein can be utilized in an item transport facility that includes a transport vehicle for transporting items, a management device that is communicatively connected to the transport vehicle and controls the transport vehicle, and a plurality of detectable objects, each of which has unique identification information. [Explanation of symbols]

[0093] 100: Goods transport equipment 1: Transport vehicle 13: Detection section 130: Imaging unit 14: Vehicle side control unit Ct: Management device 2: Upper control device 3: Terminal device 30: Information acquisition department 31: Storage section 32: Display section 33: Display control section 4: Object to be detected 4G: Mark group 4a: Mark 9: Goods F: Running surface R: Travel route C1: Reference position Dx: relative distance Dy: Relative distance θ: Relative angle I4: Identification information I4a: Mark information IL: Detection level information Id: Location information Im: Map information Ip:location information

Claims

1. A transport vehicle for transporting an article; A management device that is communicatively connected to the transport vehicle and controls the transport vehicle; An article transport facility including a plurality of detectable objects, each of which has unique identification information, A travel path of the transport vehicle is set so as to connect a plurality of the detection 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 along the travel path while sequentially detecting a plurality of the detectable objects by the detection unit; the management device is configured to selectively cause the vehicle-side control unit to execute a normal mode and an inspection mode; The vehicle-side control unit In the normal mode, each time the detection unit detects the detectable object, the identification information of the detectable object detected by the detection unit and positional relationship information indicating a relative positional relationship between the detectable object and a reference position of the transport vehicle at the time when the identification information was detected by the detection unit are transmitted to the management device; In the inspection mode, each time the detection unit detects the detectable object, the item transport equipment transmits to the management device the identification information of the detectable object detected by the detection unit and detection level information indicating the detection level of the detectable object by the detection unit.

2. the detection unit includes an imaging unit that images the detection object, The item transport facility according to claim 1 , wherein the detection unit is configured to acquire the identification information, the positional relationship information, and the detection level information based on a recognition result of an image of the object to be detected captured by the imaging unit.

3. The transport vehicle is configured to travel on a travel surface that extends along an X direction that is a predetermined direction and a Y direction that is perpendicular to the X direction, The plurality of detection objects are disposed at a plurality of locations on the travel surface, an arbitrary number of the plurality of detectable objects are selected from the plurality of detectable objects, and the movement path is set so as to connect the selected plurality of detectable objects; 2. The article transport equipment according to claim 1, wherein the positional relationship information includes a relative distance in each of the X direction and the Y direction between the reference position of the transport vehicle and the detectable object when the identification information is detected, and a relative angle around a Z direction axis perpendicular to both the X direction and the Y direction between the transport vehicle and the detectable object when the identification information is detected.

4. One of the detection objects includes a mark group which is a collection of a plurality of marks, the detection unit is capable of detecting the entire group of marks and is also capable of detecting each of the plurality of marks constituting the group of marks, 2. The article transport facility according to claim 1, wherein the detection level is an index representing a proportion of the number of marks that the detection unit is able to detect out of all the marks belonging to the group of marks that one of the detection targets has.

5. Each of the marks is a two-dimensional code having predetermined information, The article transport facility according to claim 4 , wherein all of the marks belonging to the same mark group have the same identification information and different mark information from one another.

6. The management device includes: an information acquiring unit that acquires the detection level information for the plurality of objects to be detected; a storage unit that stores map information indicating a map of a movable area of ​​the transport vehicle, position information indicating the position of each of the plurality of detectable objects on the map, and the identification information of each of the plurality of detectable objects as map data in association with each other; A display unit that displays the information stored in the storage unit; A display control unit that controls the display unit, The item transport equipment according to any one of claims 1 to 5, wherein the display control unit is configured to display the map on the display unit and to display the detection level information of each of the plurality of detectable objects at the respective positions of the detectable objects on the map.

Images