Conveying facility

Abstract

To provide a conveying facility capable of increasing the possibility of recovery of a conveying vehicle in which a malfunction has occurred.SOLUTION: A conveying facility includes a conveying vehicle 1 that conveys a conveyed object along a moving path P, a moving body 2 that includes a communication device for performing wireless communication with the conveying vehicle 1 located within a communication possible range R, and that moves separately from the conveying vehicle 1, and a moving body control device that controls the moving body 2. When the moving body control device determines that a malfunction has occurred in the conveying vehicle 1, the moving body control device positions the moving body 2 within the communication possible range R for the conveying vehicle 1, and causes the communication device to transmit a recovery command to recover the conveying vehicle 1 to the conveying vehicle 1.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a conveying facility provided with a conveying vehicle that conveys a conveyed object along a moving path.

Background Art

[0002] Patent Document 1 below discloses a conveying facility including a conveying vehicle (12) that conveys a conveyed object, a conveying vehicle control device (18) that controls the conveying vehicle (12), and a wireless communication device that performs communication between the conveying vehicle (12) and the conveying vehicle control device (18). Note that the reference numerals shown in parentheses in the description of the background art are those of Patent Document 1.

[0003] The wireless communication device includes a plurality of wireless transmission / reception units (8) that perform wireless communication with the conveying vehicle (12). The plurality of wireless transmission / reception units (8) are distributed and arranged. The conveying vehicle (12) travels while switching the wireless transmission / reception unit (8) that performs wireless communication according to the position of the conveying vehicle.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, in the above-described conveying facility, the conveying vehicle (12) may stop due to some malfunction. In such a case, it may be considered to transmit a recovery command such as restarting the control unit of the conveying vehicle (12) from the conveying vehicle control device (18) to the conveying vehicle (12) via the wireless transmission / reception unit (8). However, depending on the communication environment around the conveying vehicle (12) and the like, there is a possibility that the conveying vehicle (12) may not be able to appropriately receive the recovery command.

[0006] Therefore, it is desired to realize a conveying facility capable of increasing the possibility of recovering a malfunctioning carrier vehicle.

Means for Solving the Problem

[0007] In view of the above, the characteristic configuration of the conveying facility is a conveying facility including a carrier vehicle that conveys a conveyed object along a moving path, including a communication device that performs wireless communication with the carrier vehicle within a communicable range, a moving body that moves separately from the carrier vehicle, and a movement control device that controls the movement of the moving body. When the movement control device determines that a malfunction has occurred in the carrier vehicle, the movement control device positions the moving body within the communicable range with respect to the carrier vehicle and causes the communication device to transmit a recovery command for recovering the carrier vehicle to the carrier vehicle.

[0008] According to this characteristic configuration, since the moving body is configured to move separately from the carrier vehicle, when a malfunction occurs in the carrier vehicle, the moving body can be appropriately positioned within the communicable range with respect to the carrier vehicle. Thereby, while suppressing the influence of the communication environment around the carrier vehicle and the like, a recovery command can be transmitted from the moving body to the carrier vehicle. Therefore, the possibility of recovering a malfunctioning carrier vehicle can be increased.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Best Mode for Carrying Out the Invention

[0010] 1. First Embodiment Hereinafter, the conveying facility 100 according to the first embodiment will be described with reference to FIGS. 1 to 6. As shown in FIG. 1, the conveying facility 100 includes a carrier 1 and a moving body 2. In this embodiment, the conveying facility 100 includes a plurality of carriers 1 and a plurality of moving bodies 2.

[0011] The carrier 1 is configured to convey a conveyed object W (see FIG. 2) along a moving path P. The conveyed object W is, for example, a FOUP (Front Opening Unified Pod) that houses semiconductor wafers.

[0012] In this embodiment, the moving path P includes one main path Pa formed in a ring shape, a plurality of sub-paths Pb formed in a ring shape each passing through a plurality of processing apparatuses 5, and a plurality of connection paths Pc connecting the main path Pa and the plurality of sub-paths Pb.

[0013] The processing apparatus 5 is an apparatus for performing a predetermined process on the conveyed object W (or the object accommodated in the conveyed object W). For example, the conveyed object W to be processed by the processing apparatus 5 is carried into the processing apparatus 5 by the carrier 1, and the conveyed object W for which the processing by the processing apparatus 5 has been completed is carried out of the processing apparatus 5 by the carrier 1.

[0014] The moving body 2 is configured to move separately from the carrier vehicle 1. In the present embodiment, the moving body 2 is an unmanned aerial vehicle. That is, the moving body 2 is configured to be able to move along a path different from the movement path P. In this example, the moving body 2 is configured to fly within a preset flight area A. In this example, at least one flight area A is set in the conveying facility 100 so that at least one moving body 2 corresponds to one flight area A. Further, in this example, a standby unit 20 where the moving body 2 as an unmanned aerial vehicle takes off and lands and the landed moving body 2 waits is provided in the conveying facility 100. It is preferable that a charging device for charging the battery included in the moving body 2 is provided in the standby unit 20.

[0015] As shown in FIG. 2, in the present embodiment, the conveying facility 100 further includes a rail 4 extending along the movement path P. And the carrier vehicle 1 is configured to travel on the rail 4. In the example shown in FIG. 2, a pair of rails 4 are suspended and supported from the ceiling at intervals in the horizontal direction. That is, in this example, the carrier vehicle 1 is a ceiling carrier vehicle.

[0016] In the present embodiment, the carrier vehicle 1 includes a traveling unit 11 that travels along the movement path P, and a main body unit 12 connected to the traveling unit 11.

[0017] The traveling unit 11 includes traveling wheels 11a that roll on the traveling surface (here, the upper surface) of the rail 4. The traveling wheels 11a are rotationally driven by a traveling drive unit (for example, an electric motor such as a servo motor) (not shown).

[0018] The main body unit 12 is suspended and supported by the traveling unit 11 while being positioned below the rail 4. The main body unit 12 includes a support unit that is supported by the traveling unit 11 so as to be able to move up and down and suspends and supports the conveyed object W, and a lifting unit that raises and lowers the support unit (not shown).

[0019] In the example shown in FIG. 2, the carrier vehicle 1 is an overhead carrier vehicle that travels along a rail 4 suspended and supported from the ceiling. However, the type of the carrier vehicle 1 is not limited to this. For example, the carrier vehicle 1 may be a rail-guided vehicle that travels along a rail provided on the floor surface. Further, the carrier vehicle 1 may be an unguided carrier vehicle such as an AGV (Automated Guided Vehicle) or an AMR (Autonomous Mobile Robot). When the carrier vehicle 1 is an unguided carrier vehicle, the carrier vehicle 1 travels along a virtual movement path P instead of a physically formed movement path P using a rail or the like. In this case, the movement path P is virtually formed so as to connect a plurality of detected objects (for example, two-dimensional codes, RF (Radio Frequency) tags, etc.) installed on the floor surface. Note that such detected objects may not be provided on the floor surface, and the movement path P may be virtually formed by a route calculated based on the recognition result of the surrounding environment.

[0020] As shown in FIG. 3, in the present embodiment, the conveying facility 100 further includes a wireless communication device 3. The wireless communication device 3 is a device that performs wireless communication with the carrier vehicle 1. In the present embodiment, the wireless communication device 3 includes a plurality of wireless transmission / reception units 31 that are distributedly arranged (see also FIG. 1). The wireless transmission / reception unit 31 functions as an access point in wireless communication.

[0021] In the present embodiment, the carrier vehicle 1 further includes a carrier vehicle communication device 13 that performs wireless communication with the wireless communication device 3.

[0022] The transport vehicle communication device 13 functions as a wireless station that performs wireless transmission and reception with the wireless transmission / reception unit 31. The transport vehicle communication device 13 is communicably connected to the selected wireless transmission / reception unit 31 (for example, the wireless transmission / reception unit 31 with the strongest radio wave intensity) from among the plurality of wireless transmission / reception units 31 by establishing a communication link therewith. As the transport vehicle 1 travels, switching (roaming) of the wireless transmission / reception unit 31 that becomes the partner for establishing the communication link by the transport vehicle communication device 13 provided on the transport vehicle 1 is performed. For example, roaming is performed when the reception intensity of the radio wave from the connected wireless transmission / reception unit 31 becomes equal to or less than a specified value.

[0023] The moving body 2 is provided with a moving body communication device 21. The moving body communication device 21 is a "communication device" that performs wireless communication with the transport vehicle 1 within the communicable range R (see FIG. 4). In the present embodiment, the moving body communication device 21 performs wireless communication with the transport vehicle communication device 13. Further, in the present embodiment, the moving body communication device 21 is configured to be capable of performing wireless communication with the wireless transmission / reception unit 31. Here, in the present application, "wireless communication" refers to communication based on a predetermined wireless communication standard (for example, Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), etc.).

[0024] As shown in FIG. 3, the transport facility 100 is provided with a movement control device 7. In the present embodiment, the transport facility 100 further includes a transport vehicle control device 6.

[0025] The transport vehicle control device 6 is a device that communicates with the transport vehicle 1 via the wireless communication device 3 and controls the transport vehicle 1. In the present embodiment, the transport vehicle control device 6 is connected to a plurality of wireless transmission / reception units 31 via the communication network N. The communication network N may be wired, wireless, or any combination thereof.

[0026] In addition, in the present embodiment, the transport vehicle 1 is provided with a control unit (not shown) for controlling its operations (for example, running operation, delivery operation of the transported object W, etc.). Then, the transport vehicle control device 6 communicates with the transport vehicle communication device 13 of the transport vehicle 1 via the wireless communication device 3, and issues a command regarding the above operations to the control unit of the transport vehicle 1.

[0027] In addition, in the present embodiment, the transport vehicle 1 is configured to recognize its current position. For example, information holders such as two-dimensional codes and RF tags are installed at multiple locations on the movement path P. The information holder holds information indicating the arrangement position of the information holder. The transport vehicle 1 includes a reading device that reads the information held by the information holder, and a travel distance detection device (for example, a rotary encoder) that detects the travel distance of the transport vehicle 1. The transport vehicle 1 recognizes its current position based on the information read by the reading device and the travel distance detected by the travel distance detection device after the reading device reads the information. In the present embodiment, the transport vehicle control device 6 acquires position information indicating the current position of the transport vehicle 1 from the transport vehicle 1.

[0028] The movement control device 7 is a device that controls the movement of the moving body 2. In the present embodiment, the moving body 2 is provided with a control unit (not shown) for controlling its operations (for example, flight operation, etc.). Then, the movement control device 7 performs wireless communication with the moving body communication device 21 of the moving body 2, and issues a command regarding the above operations to the control unit of the moving body 2. In addition, in the present embodiment, the moving body 2 is configured to recognize its current position. Then, the movement control device 7 acquires position information indicating the current position of the moving body 2 from the moving body 2.

[0029] When the movement control device 7 determines that a malfunction has occurred in the transport vehicle 1, it executes a recovery process. For example, the movement control device 7 determines whether a malfunction has occurred in the transport vehicle 1 based on the position information of the transport vehicle 1 acquired by the transport vehicle control device 6.

[0030] As shown in FIG. 4, in the recovery process, the movement control device 7 positions the moving body 2 within the communication range R with respect to the recovery target vehicle 1T, which is the carrier vehicle 1 targeted for the recovery process. At this time, if the moving body 2 is already positioned within the communication range R with respect to the recovery target vehicle 1T, it is preferable not to move the moving body 2. Thereafter, the movement control device 7 causes the mobile communication device 21 to transmit a recovery command for recovering the recovery target vehicle 1T to the recovery target vehicle 1T. The communication range R is a range in which wireless communication can be performed between the mobile communication device 21 and the carrier vehicle 1 (here, the carrier vehicle communication device 13). The communication range R varies according to the configurations of the carrier vehicle communication device 13 and the mobile communication device 21, the type of the above wireless communication standard, the presence or absence of obstacles, etc.

[0031] In this embodiment, the recovery command corresponds to a command that was not transmitted from the carrier vehicle control device 6 to the carrier vehicle 1 due to poor communication via the wireless communication device 3. For example, when a command for delivering the conveyed item W is not transmitted from the carrier vehicle control device 6 to the carrier vehicle 1 due to poor communication via the wireless communication device 3, a command similar to the command for delivering the conveyed item W is set as the recovery command. Note that the recovery command may be a command to restart the control unit of the recovery target vehicle 1T. Thereby, when a malfunction of the recovery target vehicle 1T is caused by a malfunction of the control unit, the possibility of recovering the recovery target vehicle 1T can be increased.

[0032] As shown in FIG. 5, in this embodiment, the movement control device 7 executes a following process in which the moving body 2 follows the carrier vehicle 1 while the carrier vehicle 1 is moving. The moving body 2 monitors the state of the carrier vehicle 1 while following the carrier vehicle 1 by the following process. In this application, "following" means that the moving body 2 moves at the same speed as the carrier vehicle 1 while keeping the distance from the carrier vehicle 1 within a predetermined range.

[0033] In this embodiment, the moving body 2 further includes a camera 22. The camera 22 is configured to be able to photograph the moving carrier vehicle 1 and acquire photographed data such as images and videos. That is, in this embodiment, the state monitoring of the carrier vehicle 1 refers to photographing the carrier vehicle 1 by the camera 22.

[0034] In this embodiment, the movement control device 7 uses the imaging data acquired by the camera 22 to determine whether or not a malfunction has occurred in the carrier vehicle 1. For example, the movement control device 7 determines whether the carrier vehicle 1 has stopped abnormally or whether abnormal noise is generated during the running of the carrier vehicle 1 based on the video acquired by the camera 22. Further, a high-speed camera may be adopted as the camera 22, and the movement control device 7 may determine the quality of the movement of the running wheels 11a of the carrier vehicle 1 based on the high frame rate video acquired by the camera 22. Note that the imaging data acquired by the camera 22 may be stored in a storage unit (not shown) provided in the moving body 2 or may be stored in a storage unit (not shown) provided in the movement control device 7. By storing the imaging data, it can be used for analyzing the cause of a malfunction occurring in the carrier vehicle 1 and the like.

[0035] As shown in FIG. 6, in this embodiment, the moving body 2 further includes a coupling mechanism 23 that couples to the carrier vehicle 1. When the malfunction of the recovery target vehicle 1T is not resolved even if a recovery command is transmitted to the recovery target vehicle 1T, the movement control device 7 executes a towing process. In the towing process, the movement control device 7 couples the coupling mechanism 23 to the recovery target vehicle 1T, and the moving body 2 tows the recovery target vehicle 1T to move the recovery target vehicle 1T to a retreat position.

[0036] In this embodiment, the coupling mechanism 23 includes a robot arm. In this embodiment, a gripped portion 12a is provided on the main body portion 12 of the carrier vehicle 1. Then, the moving body 2 and the carrier vehicle 1 are coupled by gripping the gripped portion 12a with the robot arm of the coupling mechanism 23.

[0037] In this embodiment, a brake (negative brake such as a non-excited brake) is provided in the power transmission path between the running wheels 11a of the carrier vehicle 1 and the above-described running drive unit, and the braking state of the running wheels 11a is released when a release signal is input (not shown). And a terminal for inputting the above-described release signal is provided on the side surface of the main body portion 12 of the carrier vehicle 1.

[0038] In this embodiment, the above terminal and the gripped portion 12a are provided on the same side surface of the main body portion 12 (one side surface in the direction along the movement path P, or both side surfaces in the direction along the movement path P). And the robot arm of the connection mechanism 23 is configured to be able to grip the gripped portion 12a with a release signal input to the above terminal. Thus, in the traction process, the moving body 2 rotates the traveling wheels 11a of the vehicle 1T to be recovered into a rotatable state, and moves the vehicle 1T to be recovered to the retracted position along the rail 4.

[0039] 2. Second Embodiment Hereinafter, the transport facility 100 according to the second embodiment will be described with reference to FIG. 7. This embodiment is different from the first embodiment in that the moving body 2 includes a holding mechanism 24 instead of the connection mechanism 23. Hereinafter, the description will focus on the differences from the first embodiment. For points not particularly described, the same applies as in the first embodiment.

[0040] As shown in FIG. 7, in this embodiment, when the malfunction of the vehicle 1T to be recovered is not eliminated even though the recovery command is transmitted to the vehicle 1T to be recovered, the movement control device 7 executes an alternative transport process. In the alternative transport process, the movement control device 7 causes the vehicle 1T to be recovered to hold the transported object W being transported by the holding mechanism 24, and the moving body 2 transports the transported object W to the destination. Note that the movement control device 7 can acquire information on the destination of the transported object W from the transport vehicle control device 6.

[0041] In this embodiment, the holding mechanism 24 includes a tray on which the transported object W can be placed. In this embodiment, the moving body 2 is moved so that the tray of the holding mechanism 24 is located below the transported object W suspended and supported by the support portion of the vehicle 1T to be recovered. Then, by releasing the support of the transported object W by the support portion of the vehicle 1T to be recovered, the transported object W is placed on the tray of the holding mechanism 24.

[0042] 3. Other Embodiments (1) In the above-described embodiment, the mobile body 2 is an unmanned aerial vehicle that can move along a path different from the movement path P of the carrier vehicle 1, which has been described as an example. However, the configuration is not limited to such a case, and the mobile body 2 may be configured to move along the movement path P of the carrier vehicle 1 (for example, a vehicle that travels on the rail 4). Such a mobile body 2 may be configured to carry the conveyed object W in the same manner as the carrier vehicle 1 during normal times when the vehicle 1T to be recovered does not exist, or may be a dedicated one that does not carry the conveyed object W but transmits a recovery command to the vehicle 1T to be recovered.

[0043] (2) In the above-described embodiment, the movement control device 7 commands the control unit of the mobile body 2, which has been described as an example. However, the configuration is not limited to such a case, and for example, the movement control device 7 may be incorporated into each of the plurality of mobile bodies 2, and the plurality of mobile bodies 2 may operate independently of each other or cooperate with each other.

[0044] (3) In the above-described first embodiment, the coupling mechanism 23 includes a robot arm, which has been described as an example. However, the configuration is not limited to such a case, and for example, the coupling mechanism 23 may include a hook that can be hooked to a hooked portion provided on the main body portion 12 of the carrier vehicle 1, a wire connected to the hook, and a winding device that can wind up the wire. Alternatively, the coupling mechanism 23 may include a suction portion such as a magnet that can be adsorbed to the adsorbed portion provided on the main body portion 12 of the carrier vehicle 1, a wire connected to the suction portion, and a winding device that can wind up the wire.

[0045] (4) In the above-described second embodiment, the holding mechanism 24 includes a tray on which the conveyed object W can be placed, which has been described as an example. However, the configuration is not limited to such a case, and for example, the holding mechanism 24 may include a gripping device that can grip the conveyed object W. The operation of causing the vehicle 1T to be recovered to hold the conveyed object W being conveyed by the holding mechanism 24 may be automatically performed by controlling the mobile body 2 by the movement control device 7, or may be manually performed by an operator.

[0046] (5) In addition, the configurations disclosed in the above-described embodiments can be applied in combination with the configurations disclosed in other embodiments as long as there is no contradiction. Regarding other configurations as well, all 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.

[0047] 4. Summary of this embodiment Hereinafter, an overview of the conveyance equipment described above will be described.

[0048] The conveyance equipment is a conveyance equipment including a conveyance vehicle that conveys a conveyed object along a movement path, including a communication device that performs wireless communication with the conveyance vehicle within a communicable range, a moving body that moves separately from the conveyance vehicle, and further including a movement control device that controls the moving body. When the movement control device determines that a malfunction has occurred in the conveyance vehicle, the movement control device positions the moving body within the communicable range with respect to the conveyance vehicle and causes the communication device to transmit a recovery command for recovering the conveyance vehicle to the conveyance vehicle.

[0049] According to this configuration, since the moving body is configured to move separately from the conveyance vehicle, when a malfunction occurs in the conveyance vehicle, the moving body can be appropriately positioned within the communicable range with respect to the conveyance vehicle. Thereby, while suppressing the influence of the communication environment around the conveyance vehicle, etc., a recovery command can be transmitted from the moving body to the conveyance vehicle. Therefore, the possibility of recovering the conveyance vehicle with a malfunction can be increased.

[0050] Here, during the movement of the conveyance vehicle, the movement control device executes a following process for causing the moving body to follow the conveyance vehicle. During the following of the conveyance vehicle by the following process, it is preferable that the moving body monitors the state of the conveyance vehicle.

[0051] According to this configuration, the information obtained by monitoring the state of the carrier vehicle can be used for analyzing the cause of the malfunction of the carrier vehicle. Therefore, an appropriate recovery command corresponding to the cause of the malfunction can be transmitted to the carrier vehicle.

[0052] Further, the moving body further includes a coupling mechanism for coupling with the carrier vehicle. When the malfunction of the carrier vehicle is not eliminated even if the recovery command is transmitted to the carrier vehicle, it is preferable that the movement control device executes a towing process of coupling the coupling mechanism to the carrier vehicle and towing the carrier vehicle by the moving body to move the carrier vehicle to a retreat position.

[0053] According to this configuration, even when the malfunction of the carrier vehicle is not eliminated by transmitting a recovery command to the carrier vehicle, the carrier vehicle can be moved to a retreat position. Therefore, when a plurality of carrier vehicles are provided, it is possible to avoid the malfunctioning carrier vehicle from obstructing the movement of other carrier vehicles, and it is possible to suppress a decrease in the conveyance efficiency in the conveyance facility.

[0054] Further, the conveyance facility further includes a wireless communication device that performs wireless communication with the carrier vehicle, and a carrier vehicle control device that communicates with the carrier vehicle via the wireless communication device and controls the carrier vehicle. It is preferable that the recovery command corresponds to a command that has not been transmitted from the carrier vehicle control device to the carrier vehicle due to a communication failure via the wireless communication device.

[0055] According to this configuration, when a command from the carrier vehicle control device is not transmitted to the carrier vehicle due to a communication failure via the wireless communication device, the moving body can transmit a recovery command corresponding to the command to eliminate the malfunction of the carrier vehicle.

[0056] Further, the moving body further includes a holding mechanism for holding the conveyed object. When the malfunction of the carrier vehicle is not eliminated even if the recovery command is transmitted to the carrier vehicle, it is preferable to execute an alternative conveyance process in which the carrier vehicle holds the conveyed object being conveyed by the holding mechanism and the moving body conveys the conveyed object to the destination.

[0057] According to this configuration, even when the malfunction of the carrier vehicle is not eliminated by transmitting the recovery command to the carrier vehicle, the conveyed object that the carrier vehicle was conveying can be conveyed to the destination.

[0058] In addition, the conveyance facility further includes a rail extending along the movement path, the carrier vehicle is configured to travel on the rail, the moving body is preferably an unmanned aerial vehicle.

[0059] According to this configuration, since the moving body can fly in the air regardless of the shape of the movement path of the carrier vehicle, even when it is at a position away from the malfunctioning carrier vehicle, it can quickly move within the communicable range with respect to the carrier vehicle. Therefore, it is possible to quickly transmit the recovery command from the moving body to the carrier vehicle. In addition, according to this configuration, when the moving body is made to follow the carrier vehicle, the moving body can appropriately perform the following.

Industrial Applicability

[0060] The technology according to the present disclosure can be used for a conveyance facility including a carrier vehicle that conveys a conveyed object along a movement path.

Explanation of Signs

[0061] 100: Conveyance facility 1: Carrier vehicle 2: Moving body 21: Moving body communication device (communication device) 23: Connecting mechanism 24: Holding mechanism 3: Wireless communication device 4: Rail 6: Conveyor control device 7: Movement control device W: Conveyed object P: Movement path R: Communicable range

Claims

1. A conveying facility comprising a carrier for conveying a conveyed object along a moving path, comprising a communication device for performing wireless communication with the carrier within a communicable range, a moving body that moves separately from the carrier, and a movement control device for controlling the moving body, wherein when the movement control device determines that a malfunction has occurred in the carrier, the moving body is positioned within the communicable range with respect to the carrier, and a recovery command for recovering the carrier is transmitted to the carrier by the communication device, the conveying facility.

2. During the movement of the carrier, the movement control device executes a following process in which the moving body follows the carrier, and the moving body monitors the state of the carrier during the following of the carrier by the following process. The conveying facility according to claim 1.

3. The moving body further comprises a connecting mechanism for connecting to the carrier, wherein when the malfunction of the carrier is not eliminated even after the recovery command is transmitted to the carrier, the movement control device connects the connecting mechanism to the carrier and executes a towing process in which the moving body tows the carrier to move the carrier to a retreat position. The conveying facility according to claim 1 or 2.

4. a wireless communication device for performing wireless communication with the carrier, and a carrier control device for communicating with the carrier via the wireless communication device and controlling the carrier, wherein the recovery command corresponds to a command that has not been transmitted from the carrier control device to the carrier due to poor communication via the wireless communication device. The conveying facility according to claim 1 or 2.

5. The moving body further comprises a holding mechanism for holding the conveyed object, wherein when the malfunction of the carrier is not eliminated even after the recovery command is transmitted to the carrier, the movement control device causes the holding mechanism to hold the conveyed object being conveyed by the carrier, and executes an alternative conveying process in which the moving body conveys the conveyed object to a destination. The conveying facility according to claim 1 or 2.

6. further comprising a rail extending along the moving path, wherein the carrier is configured to travel on the rail, and the moving body is an unmanned aerial vehicle. The conveying facility according to claim 1 or 2.

Images