Conveyance facility

Abstract

To provide a conveyance facility that comprises an intrusion detection part, and easily realize a miniaturization in a conveyance direction.SOLUTION: A conveyance facility 10 comprises: an intrusion detection part 15; and an invalid device that disables the intrusion detection part 15. In the case where at least one of a first detection part 21 and a second detection part 22 detects a transportation object W, a third detection part 23 does not detect the transportation object W, the invalid device disables the intrusion detection part 15. In the case where both of the first detection part 21 and the second detection part 22 do not detect the transportation object W, and the case where both of the second detection part 22 and the third detection part 23 detect the transportation object, the intrusion detection part 15 is validated.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a conveying facility provided with an intrusion detection unit.

Background Art

[0002] In FIG. 1 of Japanese Patent Application Laid-Open No. 2003-218679 (Patent Document 1), there is disclosed a conveying facility including an intrusion detection unit (2, 3) and a sensor (4) for detecting a conveyance object (W) at detection positions before and after a detection surface (light curtain) by the intrusion detection unit (2, 3). In this conveying facility, when the conveyance object (W) is detected at the detection position of the sensor (4), the intrusion detection unit (2, 3) is disabled.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above-described conveying facility, when the conveyance object is detected at the detection positions before and after the detection surface, the intrusion detection unit is disabled. For this reason, when the conveyance object is stopped at the detection position, the intrusion detection unit remains disabled, so that the conveyance object cannot be stopped at the detection position, and a sufficient conveyance distance for the entire conveyance object to move out of the detection position is required before and after the detection surface of the intrusion detection unit, resulting in a problem that the conveying facility tends to be large in the conveying direction.

[0005] Therefore, it is desired to realize a conveying facility that includes an intrusion detection unit and is easily miniaturized in the conveying direction.

Means for Solving the Problems

[0006] The conveying facility according to the present disclosure includes a conveying device that conveys an object to be conveyed along a predetermined conveying direction, an intrusion detection unit that detects an object passing through a detection surface set to intersect the movement locus of the object to be conveyed by the conveying device, and a disabling device that disables the intrusion detection unit while the object to be conveyed is passing through the detection surface. One side of the conveying direction is defined as the first side in the conveying direction, and the other side of the conveying direction is defined as the second side in the conveying direction. The disabling device includes a first detection unit that detects the object to be conveyed at a first detection position set on the first side in the conveying direction with respect to the detection surface, a second detection unit that detects the object to be conveyed at a second detection position set on the second side in the conveying direction with respect to the detection surface, and a third detection unit that detects that the object to be conveyed is disposed at a standby position set on the second side in the conveying direction with respect to the detection surface. The standby position is set such that the entire object to be conveyed is on the second side in the conveying direction from the detection surface and a part of the object to be conveyed is at the second detection position. The disabling device disables the intrusion detection unit when at least one of the first detection unit and the second detection unit detects the object to be conveyed and the third detection unit does not detect the object to be conveyed, and enables the intrusion detection unit when both the first detection unit and the second detection unit do not detect the object to be conveyed and when both the second detection unit and the third detection unit detect the object to be conveyed.

[0007] According to this configuration, even if the second detection unit detects the object to be conveyed and the third detection unit also detects the object to be conveyed, the intrusion detection unit is enabled. Therefore, even if the entire object to be conveyed is not on the second side in the conveying direction from the second detection position, the intrusion detection unit becomes enabled when the object to be conveyed is disposed at the standby position. For this reason, the intrusion detection unit can be quickly enabled after the object to be conveyed has passed. Further, compared with the case where the standby position is set such that the entire object to be conveyed is on the second side in the conveying direction from the detection surface of the intrusion detection unit, it is easy to keep the distance from the detection surface of the intrusion detection unit to the end on the second side in the conveying direction at the standby position short. Therefore, it is easy to reduce the size of the conveying facility including the intrusion detection unit in the conveying direction.

Brief Description of the Drawings

[0008]

Figure 1

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Figure 8

Figure 9

[0009] [First embodiment] Hereinafter, an embodiment of the conveying facility 10 will be described with reference to the drawings.

[0010] 1 is a perspective view showing a schematic diagram of a conveying facility 10 according to the present embodiment. The conveying facility 10 includes a conveying device 11 that conveys an object W to be conveyed along a predetermined conveying direction Y. Examples of the conveying device 11 include a roller conveyor, a belt conveyor, a track-guided vehicle, a trackless vehicle, and the like. Examples of the object W to be conveyed include an article such as a commodity or processed product, a conveying container in which an article is stored, a conveying table on which an article is placed, a cart equipped with a conveying container or a conveying table, and the like.

[0011] Here, one side of the conveyance direction Y is defined as the first conveyance side Y1, and the other side of the conveyance direction Y is defined as the second conveyance side Y2. Also, the direction along the direction orthogonal to the vertical direction Z and the conveyance direction Y is defined as the width direction X. Further, one side of the width direction X is defined as the first width side X1, and the other side of the width direction X is defined as the second width side X2. In the illustrated example, the width direction X is the direction orthogonal to the vertical direction Z and the conveyance direction Y.

[0012] The conveying facility 10 includes an intrusion detection unit 15 that detects an object passing through a detection surface S1 set so as to intersect the movement locus of the object W to be conveyed by the conveying device 11. Examples of the intrusion detection unit 15 include a distance measuring sensor using ultrasonic waves, millimeter waves, etc., an optical sensor such as a transmissive type or a mirror reflection type, and an imaging device equipped with an image recognition system. Examples of the "object" include the object W to be conveyed, a human body, a part of a human body (such as an arm or a head), a foreign object, etc. In the present embodiment, the object includes the object W to be conveyed. Also, the object is a physical entity.

[0013] The detection surface S1 may be set so as to intersect the conveyance direction Y, but in the illustrated example, the detection surface S1 is set so as to be orthogonal to the conveyance direction Y. Also, the detection surface S1 may be formed from a plurality of lines, and for example, it may be two lines irradiated from the light projecting unit to the light receiving unit of an optical sensor. In the present embodiment, the detection surface S1 is a surface called a light curtain formed by a plurality of optical sensors arranged at different positions in the vertical direction Z.

[0014] In this embodiment, in the conveying facility 10, a general area E1 and a management area E2 are provided. The general area E1 and the management area E2 are predefined areas. In the management area E2, for example, a warehouse for storing articles, production facilities for performing production using the articles, and the like are installed. The warehouse is equipped with, for example, an automatic transfer machine for transferring articles between the warehouse and the automatic guided vehicle. The production facilities are equipped with, for example, a numerically controlled machine tool. Therefore, generally, entry of physical objects into the management area E2 is restricted, including operators. If a physical object accidentally enters the management area E2, it is preferable to stop the operations of the automatic transfer machine, the numerically controlled machine tool, and the like in consideration of safety. For this reason, the detection surface S1 is set at the boundary between the general area E1 and the management area E2. In this embodiment, at the boundary between the general area E1 and the management area E2 where the detection surface S1 is not set, intrusion prevention objects 13 (see FIG. 3), such as fences, walls, walls, and doors, are provided.

[0015] FIG. 2 is a diagram showing the invalidation device 20 of this embodiment. FIG. 3 is a top view of the conveying facility 10 of this embodiment. In the example shown in FIG. 3, at the detection surface S1 on the first side X1 in the width direction, the conveying device 11 conveys the object to be conveyed W from the second side Y2 in the conveying direction to the first side Y1 in the conveying direction. Also, at the detection surface S1 on the second side X2 in the width direction, the conveying device 11 conveys the object to be conveyed W from the first side Y1 in the conveying direction to the second side Y2 in the conveying direction, but they may be conveyed in the reverse direction respectively. A work area 41 is provided in the conveying facility 10. Examples of the work performed in the work area 41 include picking work, assorting work, processing work, and the like. In this embodiment, these operations are performed by a work robot (not shown).

[0016] The conveying device 10 is provided with a disabling device 20 that disables the intrusion detection unit 15 while the object W to be conveyed is passing through the detection surface S1. The disabling device 20 includes a first detection unit 21 that detects the object W to be conveyed at a first detection position P1 set on the first side Y1 in the conveying direction with respect to the detection surface S1. Further, the disabling device 20 includes a second detection unit 22 that detects the object W to be conveyed at a second detection position P2 set on the second side Y2 in the conveying direction with respect to the detection surface S1. Further, the disabling device 20 includes a third detection unit 23 that detects that the object W to be conveyed is arranged at a standby position P3m set on the second side Y2 in the conveying direction with respect to the detection surface S1. Examples of each of the first detection unit 21, the second detection unit 22, and the third detection unit 23 include non-contact detection units such as optical sensors of the transmissive type or mirror reflection type, imaging devices equipped with an image recognition system, and contact detection units such as limit switches, and the like.

[0017] In the present embodiment, the upper end of the first detection position P1 is lower than the upper end of the detection surface S1. Further, the upper end of the first detection position P1 is lower than the center in the vertical direction Z of the detection surface S1. In the illustrated example, the first detection position P1 is a detection line along the width direction X, and the first detection unit 21 detects the presence or absence of the object W on the detection line.

[0018] In the present embodiment, the upper end of the second detection position P2 is lower than the upper end of the detection surface S1. Further, the upper end of the second detection position P2 is lower than the center in the vertical direction Z of the detection surface S1. In the illustrated example, the second detection position P2 is a detection line along the width direction X, and the second detection unit 22 detects the presence or absence of the object W on the detection line.

[0019] In this embodiment, the standby position P3m is set such that the entire conveyance target W is on the second side Y2 in the conveyance direction from the detection surface S1, and a part of the conveyance target W is at the second detection position P2. Further, the third detection unit 23 is configured to detect the end portion W2 on the second side Y2 in the conveyance direction of the conveyance target W disposed at the standby position P3m. The end portion W2 may be the edge on the second side Y2 in the conveyance direction of the conveyance target W, or may be a region having a certain extent in the conveyance direction Y including the edge. In the latter case, the above-mentioned extent is set to be at least greater than the maximum error in the stop position of the conveyance target W in the conveyance direction Y.

[0020] In this embodiment, the standby position P3m is a position for waiting for the conveyance target W. Further, the standby position P3m is a position where the conveyance target W is received or delivered. Further, the standby position P3m is a stop position where the conveyance of the conveyance target W stops, but it may also be a position where waiting or work is performed while the conveyance target W is being conveyed.

[0021] In this embodiment, the third detection unit 23 detects the presence or absence of the conveyance target W disposed at the standby position P3m by detecting the presence or absence of the conveyance target W on the detection line P3 along the width direction X. The upper end of the detection line P3 is lower than the upper end of the detection surface S1. Further, the upper end of the detection line P3 is lower than the center in the vertical direction Z of the detection surface S1. In the illustrated example, the detection line P3 is set on the second side Y2 in the conveyance direction from the second detection position P2.

[0022] In this embodiment, the upper ends of the first detection position P1 and the second detection position P2 are set lower than the upper end of the detection surface S1. Further, the upper ends of the first detection position P1 and the second detection position P2 are set lower than the upper ends of, for example, a conveyance container, a conveyance table, etc. The upper ends of the first detection position P1 and the second detection position P2 are set to be less than or equal to 1 / 2, 1 / 4, 1 / 10, etc. of the width in the vertical direction Z of the detection surface S1. It is desirable that the upper ends of the first detection position P1 and the second detection position P2 be as low as possible.

[0023] As shown in FIG. 2, in the present embodiment, the disabling device 20 includes a control unit 25 that controls the operation of the intrusion detection unit 15. The control unit 25 performs control to switch the intrusion detection unit 15 between enabled and disabled based on the detection results of the first detection unit 21, the second detection unit 22, and the third detection unit 23. In the present embodiment, each function of the control unit 25 is realized by cooperation between hardware such as an arithmetic processing unit and a program executed on the hardware. The control unit 25 may all be provided adjacent to the conveying device 11, or part of it may be provided adjacent to the conveying device 11 and part of it may be provided in a control device installed outside such as a centralized management room. Also, all of the control unit 25 may be provided in a control device installed outside. In the present embodiment, the control unit 25 is configured to be capable of wireless communication with a management device (Material Control Processor) that controls the later-described transfer device 30.

[0024] The disabling device 20 disables the intrusion detection unit 15 when at least one of the first detection unit 21 and the second detection unit 22 detects the object to be conveyed W and the third detection unit 23 does not detect the object to be conveyed W. Also, the disabling device 20 enables the intrusion detection unit 15 when both the first detection unit 21 and the second detection unit 22 do not detect the object to be conveyed, and when both the second detection unit 22 and the third detection unit 23 detect the object to be conveyed W.

[0025] In the present embodiment, the distance in the conveying direction Y between the first detection position P1 and the second detection position P2 is set to be equal to or less than the dimension in the conveying direction Y of the object to be conveyed W. When there are multiple types of sizes of the object to be conveyed W, the distance in the conveying direction Y between the first detection position P1 and the second detection position P2 is set to be equal to or less than the dimension in the conveying direction Y of the type of object to be conveyed W with the shortest dimension in the conveying direction Y. Also, the distance in the conveying direction Y between the first detection position P1 and the second detection position P2 is set to be, for example, equal to or greater than the dimension in the conveying direction Y of a human body. Examples of the distance in the conveying direction Y between the first detection position P1 and the second detection position P2 are, for example, 0.5 m or more, 0.75 m or more, 1.0 m or more, etc.

[0026] In this embodiment, the distance in the transport direction Y between the detection surface S1 and the detection line P3 is set to be longer than the dimension of the object to be transported W in the transport direction Y. When there are multiple types of sizes of the object to be transported W, for the type of the object to be transported W with the longest dimension in the transport direction Y, the distance in the transport direction Y between the detection surface S1 and the detection line P3 is set to be longer than the dimension of the object to be transported W in the transport direction Y.

[0027] In this embodiment, the distance in the transport direction Y between the second detection position P2 and the detection line P3 is set to be equal to or less than the dimension of the object to be transported W in the transport direction Y. When there are multiple types of sizes of the object to be transported W, for the type of the object to be transported W with the shortest dimension in the transport direction Y, the distance in the transport direction Y between the second detection position P2 and the detection line P3 is set to be equal to or less than the dimension of the object to be transported W in the transport direction Y.

[0028] The invalidation device 20 may be configured such that the above-mentioned foreign matter and the object to be transported W cannot be distinguished from each other at each of the first detection position P1, the second detection position P2, and the standby position P3m. Further, the invalidation device 20 may be configured such that the object to be transported W and the physical object other than the object to be transported W are distinguished and recognized by an imaging device, a wireless tag, etc. at each of the first detection position P1, the second detection position P2, and the standby position P3m. Further, in the transport facility 10, for example, the physical object detected by the first detection unit 21 or the second detection unit 22 may be recognized as the object to be transported W. Further, the physical object that is not detected by the first detection unit 21 or the second detection unit 22 but is detected by the detection surface S1 may be recognized as a physical object other than the object to be transported W.

[0029] The invalidation device 20 may be configured such that the above-mentioned foreign matter and the object to be transported W cannot be distinguished from each other at the third detection position P3m. In this embodiment, the upper end of the third detection position P3m is set lower than the upper end of the detection surface S1. Further, the upper end of the third detection position P3 is set lower than the upper end of, for example, a transport container, a transport table, etc. The upper end of the third detection position P3 is set to be equal to or less than 1 / 2, 1 / 4, 1 / 10, etc. of the width of the detection surface S1 in the vertical direction Z. It is desirable that the third detection position P3 be as low as possible.

[0030] The transfer device 10 further includes a transfer device 30 for transferring the object to be transferred W. The standby position P3m is a position where at least one of receiving the object to be transferred W and delivering the object to be transferred W is performed by the operation of the transfer device 30. The transfer device 30 is configured to stop operating when the intrusion detection unit 15 in an effective state detects an object passing through the detection surface S1. In the illustrated example, the transfer device 30 includes a fork 31 capable of both receiving the object to be transferred W and delivering the object to be transferred W.

[0031] In the present embodiment, the reception of the object to be transferred W by the transfer device 30 is permitted on the condition that the third detection unit 23 detects the object to be transferred W. Also, in the present embodiment, the delivery of the object to be transferred W by the transfer device 30 is permitted on the condition that the third detection unit 23 does not detect the object to be transferred W. In the illustrated example, the reception of the object to be transferred W is permitted at the standby position P3m on the first side X1 in the width direction, and the delivery of the object to be transferred W is permitted at the standby position P3m on the second side X2 in the width direction.

[0032] In the present embodiment, the transfer device 30 includes a traveling unit 32 and is configured to move along a preset path 33. The traveling unit 32 is configured to stop traveling when the intrusion detection unit 15 in an effective state detects an object passing through the detection surface S1. Examples of the transfer device 30 include a rail-mounted cart, a non-rail-mounted cart, a stacker crane, a forklift, a robot arm, and the like. Also, the path 33 may be a rail-guided path formed by rails or the like, or may be a non-rail-guided path set based on coordinates on, for example, the floor surface without having rails or the like.

[0033] FIG. 4 is a diagram showing a state where the object to be conveyed W is on the first side Y1 in the conveyance direction from the first detection position P1. FIG. 5 is a diagram showing a state where the first detection unit 21 is detecting the object to be conveyed W. FIG. 6 is a diagram showing a state where the second detection unit 22 is detecting the object to be conveyed W. FIG. 7 is a diagram showing a state where both the second detection unit 22 and the third detection unit 23 are detecting the object to be conveyed W. FIG. 8 is a diagram showing a state where the object to be conveyed W is being transferred by the transfer device 30. In FIGS. 4 to 8, the detection surface S1 of the intrusion detection unit 15 in the effective state is shown by a solid line, and the detection surface S1 of the intrusion detection unit 15 in the invalid state is shown by a broken line.

[0034] An example of the conveyance in which the object to be conveyed W passes through the detection surface S1 from the first side Y1 in the conveyance direction to the second side Y2 in the conveyance direction in the conveyance facility 10 will be described below with reference to FIGS. 4 to 8 in order.

[0035] In the state shown in FIG. 4, since neither the first detection unit 21 nor the second detection unit 22 is detecting the object to be conveyed W, the detection on the detection surface S1 by the intrusion detection unit 15 is valid. Also, in this state, the third detection unit 23 is not detecting the object to be conveyed W either.

[0036] When the object to be conveyed W is conveyed to the second side Y2 in the conveyance direction from the state shown in FIG. 4, as in the state shown in FIG. 5, the first detection unit 21 detects the object to be conveyed W at the first detection position P1, and the third detection unit 23 is not detecting the object to be conveyed W. In this state, the detection on the detection surface S1 by the intrusion detection unit 15 is invalidated.

[0037] When the object to be conveyed W is conveyed to the second side Y2 in the conveyance direction from the state shown in FIG. 5 and passes through the detection surface S1, as in the state shown in FIG. 6, the second detection unit 22 detects the object to be conveyed W at the second detection position P2, and the third detection unit 23 is not detecting the object to be conveyed W. In this state, the detection on the detection surface S1 by the intrusion detection unit 15 is invalidated.

[0038] When the object W to be conveyed is conveyed to the second conveyance side Y2 in the conveyance direction from the state shown in FIG. 6, as shown in the state shown in FIG. 7, the second detection unit 22 and the third detection unit 23 detect the object W to be conveyed. In this state, the detection on the detection surface S1 by the intrusion detection unit 15 is made effective. Further, when the third detection unit 23 detects the object W to be conveyed, the transfer device 30 is permitted to receive the object W to be conveyed, and the receiving operation of the object W to be conveyed is performed as shown in FIG. 8. In the state shown in FIG. 8, since both the first detection unit 21 and the second detection unit 22 do not detect the object W to be conveyed, the detection on the detection surface S1 by the intrusion detection unit 15 is made effective.

[0039] An example of the conveyance in which the object W to be conveyed passes through the detection surface S1 from the second conveyance side Y2 to the first conveyance side Y1 in the conveyance equipment 10 will be described below in order using FIGS. 8 to 4.

[0040] When the third detection unit 23 does not detect the object W to be conveyed, the transfer device 30 is permitted to deliver the object W to be conveyed, and the delivery operation of the object W to be conveyed is performed as shown in FIG. 8. When the delivery operation of the object W to be conveyed is completed, as shown in the state shown in FIG. 7, the second detection unit 22 and the third detection unit 23 detect the object W to be conveyed. In this state, the detection on the detection surface S1 by the intrusion detection unit 15 is made effective.

[0041] When the object W to be conveyed is conveyed to the first conveyance side Y1 in the conveyance direction from the state shown in FIG. 7, as shown in the state shown in FIG. 6, the second detection unit 22 detects the object W to be conveyed at the second detection position P2, and the third detection unit 23 does not detect the object W to be conveyed. In this state, the detection on the detection surface S1 by the intrusion detection unit 15 is made ineffective.

[0042] When the object W to be conveyed is conveyed to the first conveyance side Y1 in the conveyance direction from the state shown in FIG. 6 and passes through the detection surface S1, as shown in the state shown in FIG. 5, the first detection unit 21 detects the object W to be conveyed at the first detection position P1, and the third detection unit 23 does not detect the object W to be conveyed. In this state, the detection on the detection surface S1 by the intrusion detection unit 15 is made ineffective.

[0043] When the object W to be conveyed is conveyed to the first side Y1 in the conveying direction from the state shown in FIG. 5, as in the state shown in FIG. 4, since neither the first detection unit 21 nor the second detection unit 22 detects the object W to be conveyed, the detection on the detection surface S1 by the intrusion detection unit 15 is made effective.

[0044] Although not shown, in the present embodiment, when both the first detection unit 21 and the third detection unit 23 detect the object W to be conveyed, the detection on the detection surface S1 by the intrusion detection unit 15 is made effective. Also, when all of the first detection unit 21, the second detection unit 22, and the third detection unit 23 detect the object W to be conveyed, the detection on the detection surface S1 by the intrusion detection unit 15 is made effective. When both the first detection unit 21 and the second detection unit 22 detect the object W to be conveyed, the detection on the detection surface S1 by the intrusion detection unit 15 is made invalid.

[0045] 〔Second Embodiment〕 Hereinafter, the conveying equipment 10 according to the second embodiment will be described with reference to the drawings. Hereinafter, the description will focus on the differences from the first embodiment described above. For points not particularly described, the same applies as in the first embodiment above.

[0046] FIG. 9 is a top view of the conveying device 11 of the present embodiment and corresponds to FIG. 3. In the present embodiment, the conveying device 11 can convey the object W to be conveyed both from the first side Y1 in the conveying direction to the second side Y2 in the conveying direction and from the second side Y2 in the conveying direction to the first side Y1 in the conveying direction. Also, the control unit 25 performs control to switch the intrusion detection unit 15 between being enabled and disabled based on the detection results of the first detection unit 21, the second detection unit 22, the third detection unit 23, and a fourth detection unit 24 described later.

[0047] In this embodiment, the invalidation device 20 further includes a fourth detection unit 24 that detects the object to be conveyed W at a fourth detection position P4m set on the first side Y1 in the conveyance direction with respect to the first detection position P1. Examples of the fourth detection unit 24 include an optical sensor such as a transmissive type or a mirror reflection type, and an imaging device equipped with an image recognition system. Further, a physical detection unit such as a limit switch may be used as the fourth detection unit 24.

[0048] In this embodiment, the fourth detection position P4m is set such that the entire object to be conveyed W is on the first side Y1 in the conveyance direction from the detection surface S1, and a part of the object to be conveyed W is at the first detection position P1. Further, the fourth detection unit 24 is configured to detect the end portion W1 on the first side Y1 in the conveyance direction of the object to be conveyed W disposed at the fourth detection position P4m. In this way, the fourth detection unit 24 can be easily configured simply, and as a result, it is easy to reduce the size and cost of the conveyance facility 10. The end portion W1 may be the edge on the first side Y1 in the conveyance direction of the object to be conveyed W, or may be a region having a certain extent in the conveyance direction Y including the edge. In the latter case, the above-mentioned extent is set to be at least greater than the maximum error of the stop position of the object to be conveyed W in the conveyance direction Y.

[0049] In this embodiment, the fourth detection position P4m is a work position where work is performed on the object to be conveyed W by the work subject 40. Examples of the work subject 40 include a worker, a work robot, and the like. Note that the fourth detection position P4m may be a standby position for waiting for the object to be conveyed W. Further, in this embodiment, the fourth detection position P4m is a stop position where the conveyance of the object to be conveyed W stops, but it may also be a position where work is performed or standby is performed while the object to be conveyed W is being conveyed.

[0050] In the present embodiment, the fourth detection unit 24 detects the presence or absence of the object to be conveyed W on the detection line P4 along the width direction X, thereby detecting the presence or absence of the object to be conveyed W disposed at the fourth detection position P4m. The upper end of the detection line P4 is lower than the upper end of the detection surface S1. Further, the upper end of the detection line P4 is lower than the center in the vertical direction Z of the detection surface S1. In the illustrated example, the detection line P4 is set on the first side Y1 in the conveyance direction with respect to the first detection position P1.

[0051] The invalidation device 20 invalidates the intrusion detection unit 15 when at least one of the first detection unit 21 and the second detection unit 22 detects the object to be conveyed W and the fourth detection unit 24 does not detect the object to be conveyed W. Further, the invalidation device 20 validates the intrusion detection unit 15 when both the first detection unit 21 and the second detection unit 22 do not detect the object to be conveyed W, and when both the first detection unit 21 and the fourth detection unit 24 detect the object to be conveyed W. In this way, even if the first detection unit 21 detects the object to be conveyed W and the fourth detection unit 24 also detects the object to be conveyed W, the intrusion detection unit 15 is validated. Therefore, even if the entire object to be conveyed W is not on the first side Y1 in the conveyance direction with respect to the first detection position P1, when the object to be conveyed W is disposed at the fourth detection position P4m, the intrusion detection unit 15 is validated.

[0052] In the present embodiment, the distance in the conveyance direction Y between the detection surface S1 and the detection line P4 is set to be longer than the dimension of the object to be conveyed W in the conveyance direction Y. When there are multiple types of sizes of the object to be conveyed W, for the type of object to be conveyed W having the longest dimension in the conveyance direction Y, the distance in the conveyance direction Y between the detection surface S1 and the detection line P4 is set to be longer than the dimension of the object to be conveyed W in the conveyance direction Y.

[0053] In the present embodiment, the distance in the conveyance direction Y between the first detection position P1 and the detection line P4 is set to be equal to or less than the dimension of the object to be conveyed W in the conveyance direction Y. When there are multiple types of sizes of the object to be conveyed W, for the type of object to be conveyed W having the shortest dimension in the conveyance direction Y, the distance in the conveyance direction Y between the first detection position P1 and the detection line P4 is set to be equal to or less than the dimension of the object to be conveyed W in the conveyance direction Y.

[0054] The invalidation device 20 may be configured such that the foreign object and the object to be conveyed W cannot be distinguished at the fourth detection position P4m. In the present embodiment, the upper end of the fourth detection position P4m is set lower than the upper end of the detection surface S1. Also, the upper end of the fourth detection position P4 is set lower than the upper end of, for example, a conveyance container, a conveyance table, or the like. The upper end of the fourth detection position P4 is set to be equal to or less than 1 / 2, 1 / 4, 1 / 10, etc. of the width in the vertical direction Z of the detection surface S1. It is desirable that the fourth detection position P4 be as low as possible.

[0055] In the present embodiment, when both the second detection unit 22 and the fourth detection unit 24 detect the object to be conveyed W, the detection on the detection surface S1 by the intrusion detection unit 15 is made valid. Also, when all of the first detection unit 21, the second detection unit 22, and the fourth detection unit 24 detect the object to be conveyed W, the detection on the detection surface S1 by the intrusion detection unit 15 is made valid.

[0056] 〔Other Embodiments〕 Next, other embodiments of the conveyance facility 10 will be described.

[0057] (1) In the above embodiment, the configuration in which the invalidation device 20 invalidates the entire detection surface S1 by the intrusion detection unit 15 has been described as an example. However, the present invention is not limited to such an example. For example, a plurality of intrusion detection units 15 may be provided such that one detection surface S1 can be divided into a plurality, and the invalidation device 20 may be configured to invalidate at least one of the intrusion detection units 15 so as to invalidate only a part of the divided detection surface S1.

[0058] (2) In the above embodiment, the configuration in which the third detection unit 23 detects the end portion W2 on the second side Y2 in the conveyance direction of the object to be conveyed W disposed at the standby position P3m has been described as an example. However, the present invention is not limited to such an example. For example, the standby position P3m may be imaged from above, and the object to be conveyed W disposed at the standby position P3m may be detected by image recognition.

[0059] (3) In the above-described embodiment, the configuration in which the transfer device 30 stops operating when the intrusion detection unit 15 in the effective state detects an object passing through the detection surface S1 has been described as an example. However, without being limited to such an example, for example, when the intrusion detection unit 15 in the effective state detects an object, an alarm may sound. Also, for example, all functions of the transfer device 30 may stop, or only some functions may stop. Further, for example, a configuration may be adopted in which the traveling speed of the traveling unit 32 of the transfer device 30 is restricted. Also, for example, the transfer facility 10 may not include the transfer device 30, and at the standby position P3m, the loading and unloading operations of the articles on the transfer object W by an operator or a picking robot may be performed.

[0060] (4) In the above-described embodiment, the configuration in which the transfer device 30 is permitted to receive the transfer object W on the condition that the third detection unit 23 detects the transfer object W has been described as an example. However, without being limited to such an example, for example, the transfer device 30 may receive the transfer object W regardless of the detection by the third detection unit 23.

[0061] (5) In the above-described embodiment, the configuration in which the transfer device 30 includes the fork 31 and the traveling unit 32 has been described as an example. However, without being limited to such an example, for example, the transfer device 30 may be a transfer robot that does not include the traveling unit 32 and is fixed to the floor. Also, for example, a belt conveyor, a roller conveyor, an extrusion device, etc. may be provided on the traveling unit 32 instead of the fork 31, and a belt conveyor, a roller conveyor, an extrusion device, etc. may be provided on the transfer device 11 side to configure the transfer device 30.

[0062] (6) In the above-described embodiment, the standby position P3m is a position where the object to be conveyed W is made to standby, and the configuration where the object to be conveyed W is received or delivered has been described as an example. However, without being limited to such an example, for example, the standby position P3m may be a working position where work on the object to be conveyed W is performed by the working entity 40. Further, the standby position P3m may not be a position where the object to be conveyed W is made to standby, but may be a passing position or a branching position through which the object to be conveyed W passes in order to be made to standby at another location.

[0063] (7) In the above-described embodiment, the configuration where detection on the detection surface S1 by the intrusion detection unit 15 is made effective when both the first detection unit 21 and the third detection unit 23 detect the object to be conveyed W has been described as an example. However, without being limited to such an example, for example, when both the first detection unit 21 and the third detection unit 23 detect the object to be conveyed W, the detection by the intrusion detection unit 15 may be made ineffective. Further, for example, when both the first detection unit 21 and the fourth detection unit 24 detect the object to be conveyed W, the detection by the intrusion detection unit 15 may be made ineffective. Further, for example, when all of the first detection unit 21, the second detection unit 22, and the third detection unit 23 detect the object to be conveyed W, the detection by the intrusion detection unit 15 may be made ineffective. Further, for example, when all of the first detection unit 21, the second detection unit 22, and the fourth detection unit 24 detect the object to be conveyed W, the detection by the intrusion detection unit 15 may be made ineffective.

[0064] (8) Note that the configurations disclosed in the above-described embodiments can also be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. Regarding other configurations as well, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope not departing from the gist of the present disclosure.

[0065] 〔Outline of the above embodiment〕 Hereinafter, the conveying equipment described above will be described.

[0066] The conveying facility according to the present disclosure includes a conveying device that conveys an object to be conveyed along a predetermined conveying direction, an intrusion detection unit that detects an object passing through a detection surface set so as to intersect the movement locus of the object to be conveyed by the conveying device, and a disabling device that disables the intrusion detection unit while the object to be conveyed is passing through the detection surface. One side of the conveying direction is defined as the first side in the conveying direction, and the other side of the conveying direction is defined as the second side in the conveying direction. The disabling device includes a first detection unit that detects the object to be conveyed at a first detection position set on the first side in the conveying direction with respect to the detection surface, a second detection unit that detects the object to be conveyed at a second detection position set on the second side in the conveying direction with respect to the detection surface, and a third detection unit that detects that the object to be conveyed is disposed at a standby position set on the second side in the conveying direction with respect to the detection surface. The standby position is set such that the entire object to be conveyed is on the second side in the conveying direction from the detection surface, and a part of the object to be conveyed is at the second detection position. The disabling device disables the intrusion detection unit when at least one of the first detection unit and the second detection unit detects the object to be conveyed and the third detection unit does not detect the object to be conveyed, and enables the intrusion detection unit when both the first detection unit and the second detection unit do not detect the object to be conveyed and when both the second detection unit and the third detection unit detect the object to be conveyed.

[0067] According to this configuration, even if the second detection unit detects the object to be conveyed and the third detection unit also detects the object to be conveyed, the intrusion detection unit is enabled. Therefore, even if the entire object to be conveyed is not on the second side in the conveying direction from the second detection position, the intrusion detection unit is enabled when the object to be conveyed is disposed at the standby position. For this reason, the intrusion detection unit can be quickly enabled after the object to be conveyed has passed. In addition, compared with the case where the standby position is set such that the entire object to be conveyed is on the second side in the conveying direction from the detection surface of the intrusion detection unit, it is easy to keep the distance from the detection surface of the intrusion detection unit to the end on the second side in the conveying direction at the standby position short. Therefore, it is easy to reduce the size of the conveying facility provided with the intrusion detection unit in the conveying direction.

[0068] As one aspect, it is preferable that the third detection unit is configured to detect an end portion on the second side in the transport direction of the object to be transported disposed at the standby position.

[0069] According to this configuration, the third detection unit can be easily configured simply, and as a result, it is easy to reduce the size and cost of the transport facility.

[0070] As one aspect, it is preferable that the apparatus further includes a transfer device that transfers the object to be transported, the standby position is a position where at least one of receiving the object to be transported and delivering the object to be transported is performed by the operation of the transfer device, and the transfer device is configured to stop the operation when detecting an object passing through the detection surface by the effective intrusion detection unit.

[0071] According to this configuration, when a human body, foreign matter, etc. other than the object to be transported invade the second side in the transport direction with respect to the detection surface of the intrusion detection unit, the operation of the transfer device can be stopped. Therefore, it is easy to avoid the safety of the human body and malfunctions of the transfer device due to foreign matter, etc. Further, according to this configuration, since the intrusion detection unit is enabled when the object to be transported is in the standby position, the intrusion detection unit can function appropriately.

[0072] As one aspect, it is preferable that the reception of the object to be transported by the transfer device is permitted on the condition that the third detection unit detects the object to be transported.

[0073] According to this configuration, since it is not necessary to separately provide a detection unit for detecting that the object to be transported is in a position where it can be received by the transfer device, it is easy to keep the cost increase due to providing the third detection unit low.

Explanation of Reference Numerals

[0074] 10: Transport facility 11: Transport device 15: Intrusion detection unit 20: Invalidation device 21: First detection unit 22: Second detection unit 23: Third Detection Unit 30: Transfer Device P1: First Detection Position P2: Second Detection Position P3m: Standby Position S1: Detection Surface W: Object to be Conveyed

Claims

1. A conveying device for conveying an object to be conveyed along a predetermined conveying direction, An intrusion detection unit for detecting an object passing through a detection surface set so as to intersect the movement locus of the object to be conveyed by the conveying device, An invalidation device for invalidating the intrusion detection unit while the object to be conveyed is passing through the detection surface, A conveying facility comprising: With one side of the conveying direction being the first conveying side and the other side of the conveying direction being the second conveying side, The invalidation device is: A first detection unit for detecting the object to be conveyed at a first detection position set on the first conveying side with respect to the detection surface, A second detection unit for detecting the object to be conveyed at a second detection position set on the second conveying side with respect to the detection surface, A third detection unit for detecting that the object to be conveyed is arranged at a standby position set on the second conveying side with respect to the detection surface, Comprising: The standby position is set such that the whole of the object to be conveyed is on the second conveying side of the detection surface and a part of the object to be conveyed is at the second detection position, The invalidation device is: When at least one of the first detection unit and the second detection unit detects the object to be conveyed and the third detection unit does not detect the object to be conveyed, the intrusion detection unit is invalidated, When both the first detection unit and the second detection unit do not detect the object to be conveyed, and when both the second detection unit and the third detection unit detect the object to be conveyed, the intrusion detection unit is made effective. A conveying facility.

2. The third detection unit is configured to detect an end portion on the second conveying side of the object to be conveyed arranged at the standby position. The conveying facility according to claim 1.

3. The conveying facility further comprises a transfer device for transferring the object to be conveyed, The standby position is a position where at least one of receiving the object to be conveyed and delivering the object to be conveyed is performed by the operation of the transfer device, The transfer device is configured to stop the operation when the intrusion detection unit in an effective state detects the object passing through the detection surface. The conveying facility according to claim 1 or 2.

4. The receiving of the object to be conveyed by the transfer device is permitted on the condition that the third detection unit detects the object to be conveyed. The conveying facility according to claim 3.

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