Article conveyance facility

Abstract

To realize an article conveyance facility which can reduce the possibility of lowering of conveyance efficiency of articles in the article conveyance facility, while properly performing maintenance of a conveyance vehicle.SOLUTION: A control system classifies an inspection result of a conveyance vehicle 12 acquired by an inspection device 60 into a normal level, an operation possible abnormal level which is an abnormal level that has not reached the normal level but can continue conveyance of articles, and an operation impossible abnormal level which is an abnormal level that cannot continue the conveyance of articles by the conveyance vehicle 12. With respect to the conveyance vehicle 12 in which the inspection result of the conveyance vehicle 12 is classified as the operation impossible abnormal level, exit processing is executed for making it exit to the outside of a movement path 15 from an exit part 69 set at the movement path 15.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an article transport facility that includes a plurality of transport vehicles for transporting articles. [Background technology]

[0002] An article conveying facility equipped with a plurality of conveying vehicles for conveying articles is known. JP 2023-097841 A (Patent Document 1) describes an article conveying facility equipped with a plurality of conveying vehicles (10) that move along predetermined movement paths (81 a, 81 b) to convey articles (100). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-097841 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 describes a recovery mechanism that recovers a transport vehicle that has stopped abnormally. However, in order to minimize the decrease in the efficiency of transporting goods in an item transport facility, it is desirable to discover an abnormality through inspection before the transport vehicle stops abnormally and to remove the vehicle from the travel route. However, if the standard for removal in the inspection is set too low, abnormal stops are more likely to occur within the travel route, and if the standard for removal is set too high, there will be fewer transport vehicles within the travel route. In either case, there is a problem that the efficiency of transporting goods in the item transport facility is likely to decrease.

[0005] Therefore, it is desirable to realize an article transport facility that can reduce the possibility of a decrease in the article transport efficiency in the article transport facility while properly maintaining the transport vehicles. [Means for solving the problem]

[0006] The item transport equipment disclosed herein is an item transport equipment comprising a plurality of transport vehicles that move along a predetermined travel route to transport items, an inspection device that is positioned in an inspection area set on the travel route and inspects the transport vehicles, and a control system that controls the plurality of transport vehicles and the inspection device, wherein the control system classifies the inspection results of the transport vehicles obtained by the inspection device into a normal level, an operational abnormal level that is an abnormal level that does not reach the normal level but allows the transport of the items to continue, and an inoperable abnormal level that is an abnormal level at which the transport vehicle cannot continue to transport the items, and performs an exit process on transport vehicles whose inspection results are classified as the inoperable abnormal level, by causing them to exit the travel route from an exit section set on the travel route.

[0007] According to this configuration, a transport vehicle whose inspection results are classified as an abnormal level that makes it impossible to operate is removed from the route, allowing for appropriate maintenance and repair of the transport vehicle. Furthermore, according to this configuration, even if the inspection results are not normal, a transport vehicle that is classified as an abnormal level that allows it to continue transporting goods is not subject to the removal process, allowing the transport of goods by the transport vehicle to continue. Therefore, it is possible to reduce the possibility that the efficiency of transporting goods in the goods transport facility will decrease due to too many transport vehicles being subject to the removal process. [Brief explanation of the drawings]

[0008] [Figure 1] A diagram showing an example of an article transport facility. [Figure 2] FIG. 2 shows an example of the transport vehicle of FIG. 1. [Figure 3] A perspective view of the transport vehicle of FIG. [Figure 4] FIG. 2 is a diagram showing an example of the holder inspection device of FIG. 1. [Figure 5] FIG. 2 is a diagram showing an example of a control system for the article conveying facility of FIG. 1. [Figure 6] FIG. 6 is a diagram showing an example of control in the control system of FIG. 5; DETAILED DESCRIPTION OF THE INVENTION

[0009] [First embodiment] An article conveying facility 10 according to a first embodiment will be described below with reference to the drawings. FIG. 1 is a top view showing an example of the article conveying facility 10 and a moving path 15. The article conveying facility 10 includes a plurality of conveying vehicles 12 that move along a predetermined moving path 15 to convey articles W. Here, the longitudinal direction of the moving path 15 is defined as the path direction X, and the width direction of the moving path 15 is defined as the width direction Y (see FIG. 3). The width direction Y is a direction perpendicular to both the path direction X and the vertical direction, i.e., the up-down direction Z.

[0010] The transport vehicle 12 travels along a travel path 15 to transport an article W. Examples of the transport vehicle 12 include an automated transport vehicle, a transport vehicle that transports people and articles, an autonomous transport vehicle, a non-autonomous transport vehicle, an overhead transport vehicle, a transport vehicle that travels on the floor, a sorting cart, and a magnetic levitation transport vehicle.

[0011] The moving path 15 may be formed physically or virtually. Examples of the moving path 15 include a path formed by a rail, a two-dimensional code, an RF (Radio Frequency) tag, a magnetic tape, a passage shape, etc. In this embodiment, the moving path 15 is formed by a pair of traveling rails 21 (see FIGS. 2 and 3) spaced apart in the width direction Y. The traveling rails 21 are suspended and supported from the ceiling. In this embodiment, the moving path 15 is one-way, but it does not have to be one-way.

[0012] In this embodiment, a plurality of transfer target locations 17 are arranged along the movement path 15. Examples of transfer target locations 17 include a processing device that processes items W, a storage device that stores items W, a support table arranged adjacent to a storage shelf that stores items W, a buffer that temporarily holds items W, a shipping conveyance device, and a receiving conveyance device. In this embodiment, each transfer target location 17 is provided with an item support table 17a that supports items W. The transport vehicle 12, for example, transports items W before they are processed by a processing device from a source location (not shown) to the item support table 17a, and transports items W after they have been processed by the processing device from the item support table 17a to a destination (not shown).

[0013] FIG. 2 is a side view showing an example of the transport vehicle 12 and the object W. The object W is not particularly limited, but in this embodiment, the object W is a container that stores a processing object to be processed by a processing device. In this embodiment, the above-mentioned "processing on the object" refers to processing on the processing object stored in the object W. The object W may be a wafer storage container (a so-called FOUP: Front Opening Unified Pod) that stores wafers, or a reticle storage container (a so-called reticle pod) that stores reticles. When the object W is a FOUP, the processing object is a wafer. When the object W is a reticle pod, the processing object is a reticle.

[0014] The article W is provided with a flange portion Wa provided at the upper end of the article W and supported by the transport vehicle 12, a storage portion Wb located below the flange portion Wa and storing multiple semiconductor substrates, and a removable lid (not shown) that closes a substrate entrance formed on the front of the storage portion Wb for inserting and removing the substrates. The transport vehicle 12 transports the article W with the flange portion Wa suspended and supported.

[0015] 3 is a perspective view showing an example of the transport vehicle 12 and the travel path 15. A guide rail 37 is provided in a portion of the travel path 15. The guide rail 37 is arranged on the upper side Z1 of the traveling rail 21. When viewed in the up-down direction, the guide rail 37 is arranged between the pair of traveling rails 21 in the width direction Y, which are spaced apart in the width direction Y.

[0016] A plurality of information holders 23 that hold position information for each installation position are installed at a plurality of locations along the movement path 15. The information holders 23 are discretely arranged along the movement path 15. Examples of the information holders 23 include one-dimensional barcodes, two-dimensional barcodes, numbers, letters, image marks, and wireless tags. The information holders 23 are installed, for example, on the traveling rails 21, the guide rails 37, holding members that hold the traveling rails 21 or the guide rails 37, the road surface, etc.

[0017] The guided vehicle 12 is equipped with a reader 31 that reads the position information held by the information holder 23, and is configured to recognize its own position on the travel path 15 based on the information read by the reader 31. Examples of the reader 31 include a barcode reader, an image recognition device, a character recognition device that recognizes numbers and letters, and a radio identification device. The guided vehicle 12 recognizes its current position, for example, based on the position information read by the reader 31 and the distance traveled since the reader 31 read the position information. The distance traveled by the guided vehicle 12 is measured using, for example, a rotary encoder. The guided vehicle 12 may also be configured to recognize its current position based on the output of a positioning device such as a GNSS (Global Navigation Satellite System) receiver.

[0018] The transport vehicle 12 includes a guided portion 32 that is guided by the guide rail 37 by contacting the guide rail 37 from either side in the width direction Y, and a guide drive unit 33 (e.g., a solenoid or an electric motor) that moves the guided portion 32 in the width direction Y. The movement of the guided portion 32 in the width direction Y by the guide drive unit 33 is performed, for example, by driving only the guided portion 32 in the width direction Y, or by driving the guided portion 32 in the width direction Y together with a support unit that supports the guided portion 32.

[0019] The transport vehicle 12 is equipped with a movement detection sensor 34 that detects movement of the guided portion 32 in the width direction Y. A control system 70, which will be described later, acquires the detection result of the movement of the guided portion 32 in the width direction Y by the movement detection sensor 34, thereby detecting that the guided portion 32 has moved in the width direction Y.

[0020] The guided vehicle 12 is equipped with an obstacle sensor 38 that detects an obstacle present on the downstream side X1 of the route direction X. For example, if the obstacle sensor 38 detects an obstacle while the guided vehicle 12 is traveling, the guided vehicle 12 slows down or stops. Examples of obstacles include a worker, a work robot, a foreign object, another guided vehicle 12, etc. on the travel route 15. Examples of the obstacle sensor 38 include an optical sensor, an ultrasonic sensor, an image sensor, a millimeter-wave sensor, a laser sensor, etc. The detection result by the obstacle sensor 38 is transmitted to a control system 70, which will be described later. In this embodiment, the obstacle sensor 38 is configured to project light toward the downstream side X1 of the route direction X and measure the distance to the obstacle based on the reflected light. The obstacle sensor 38 is disposed on the front of the guided vehicle 12.

[0021] The guided vehicle 12 is equipped with a collision prevention sensor 39 that detects other guided vehicles 12 present on the downstream side X1 in the route direction X. Examples of the collision prevention sensor 39 include an optical sensor, an ultrasonic sensor, an image sensor, a millimeter wave sensor, and a laser sensor. The collision prevention sensor 39 is arranged on the front side of the guided vehicle 12, closer to the traveling rail 21 in the vertical direction Z than the obstacle sensor 38. The collision prevention sensor 39 is configured to, for example, project light toward the downstream side X1 in the route direction X and detect reflection by a reflective member arranged on the surface of the other guided vehicle 12 on the upstream side X2. The collision prevention sensor 39 is arranged on the front side of the guided vehicle 12.

[0022] The transport vehicle 12 is equipped with a running section 41 that runs along the travel path 15. The running section 41 is equipped with a first running section on the downstream side X1 and a second running section on the upstream side X2. The running section 41 is equipped with running wheels 42 that roll on the running surface of the traveling rail 21 (here, the surface facing the upper side Z1) and a running drive section 43 (for example, an electric motor such as a servo motor) that rotates the running wheels 42. The running wheels 42 are rotationally driven by the running drive section 43, causing the running section 41 to run along the traveling rail 21. The transport vehicle 12 is equipped with a cover 44 that is suspended and supported by the running section 41.

[0023] The transport vehicle 12 is equipped with a holding unit 51 that holds the item W. The holding unit 51 is connected to the running unit 41. The item W is transported by the transport vehicle 12 while being stored in the holding unit 51. The holding unit 51 is supported by the running unit 41 while being positioned below Z2 relative to the running unit 41.

[0024] The transport vehicle 12 is equipped with an on-vehicle lifting device 45 that raises and lowers the holding unit 51 relative to the traveling unit 41. The on-vehicle lifting device 45 raises and lowers the holding unit 51 in the vertical direction Z between a traveling position P1 (see FIG. 2) and a transfer position P2 (see FIG. 4). With the holding unit 51 suspended by a plurality of hanging members 46, the on-vehicle lifting device 45 raises and lowers the holding unit 51 in the vertical direction Z between the traveling position P1 and the transfer position P2 by winding and unwinding the plurality of hanging members 46.

[0025] The travel position P1 is a position for traveling along the travel path 15, and the transfer position P2 is a position for transferring the item W between the transfer target location 17 and the holding unit 51. When the holding unit 51 is in the transfer position P2, it is positioned at a height corresponding to the item support table 17a of the transfer target location 17.

[0026] The holding unit 51 includes a pair of gripping claws 52 and a gripping motor (not shown) that moves the pair of gripping claws 52 toward or away from each other. By driving the gripping motor, the pair of gripping claws 52 are moved toward or away from each other, thereby switching between a gripping state in which the pair of gripping claws 52 grip the flange portion Wa of the article W and a gripping release state in which the gripping state is released.

[0027] The article transport facility 10 is equipped with an inspection device 60 that inspects the transport vehicle 12. The inspection device 60 is disposed in an inspection area E1 set on the movement path 15. The inspection area E1 may be a single area, multiple contiguous areas, or multiple discontinuous areas.

[0028] The inspection device 60 is configured to perform inspection for at least one inspection item. In this embodiment, the inspection device 60 is configured to perform inspection for a plurality of inspection items. Examples of inspection items for the transport vehicle 12 include inspection of wheel wear, inspection of the obstacle sensor 38, inspection of the collision prevention sensor 39, inspection of the holding unit 51, inspection of the degree of deterioration of the wheels, inspection of the movement detection sensor 34, inspection of the vibration state of the transport vehicle 12, inspection of the vibration state of the holding unit 51, inspection of abnormal noises from the transport vehicle 12, inspection of the storage battery provided in the transport vehicle 12, etc.

[0029] The inspection device 60 includes a holder inspection device 61 that inspects the holder 51, a wear inspection device 62 that inspects the wheel wear, an obstacle sensor inspection device 63 that inspects the obstacle sensor 38, and a collision prevention sensor inspection device 64 that inspects the collision prevention sensor 39. Examples of wheel wear inspection include measuring the diameter of the running wheel 42, measuring the diameter of the guide wheel that is the guided part 32, etc.

[0030] Examples of inspections of the obstacle sensor 38 include measuring the detection range in the vertical direction Z, measuring the detection range in the width direction Y, measuring the tilt of the laser in the vertical direction Z, measuring the tilt of the laser in the width direction Y, measuring the laser intensity, etc. Examples of inspections of the collision prevention sensor 39 include measuring the detection range in the vertical direction Z, measuring the detection range in the width direction Y, measuring the tilt of the laser in the vertical direction Z, measuring the tilt of the laser in the width direction Y, measuring the laser intensity, etc.

[0031] Examples of inspections of the holding portion 51 include measuring the inclination of the holding portion 51 around an axis parallel to the path direction X at the traveling position P1 or the transfer position P2, measuring the inclination of the holding portion 51 around an axis parallel to the width direction Y at the traveling position P1 or the transfer position P2, measuring the inclination of the holding portion 51 around an axis parallel to the up-down direction Z at the traveling position P1 or the transfer position P2, etc.

[0032] FIG. 4 is a side view showing an example of a holder inspection device 61. The holder inspection device 61 includes an inspection table 65 on which a detectable object 66 is provided. The transport vehicle 12 includes a position detection unit 53 for detecting the position of the detectable object 66 provided on the inspection table 65. The detectable object 66 includes a two-dimensional code. The position detection unit 53 includes a two-dimensional image sensor. The inclination of the holder 51 in the path direction X, width direction Y, and vertical direction Z, as well as the position of the holder 51 in the path direction X, width direction Y, and vertical direction Z at the travel position P1 or the transfer position P2, are derived, for example, from the inclination and distance of the detectable object 66 relative to the position detection unit 53. The inclination and distance of the detectable object 66 relative to the position detection unit 53 are derived, for example, from the size, angle, position, etc. of the detectable object 66 imaged by the position detection unit 53.

[0033] As shown in FIG. 1, an exit section 69 is set in the movement path 15, which allows the transport vehicle 12 to exit the movement path 15. The exit section 69 is provided on the downstream side X1 of the inspection area E1. In the example shown in the figure, the exit section 69 is arranged adjacent to the inspection area E1. Examples of the exit section 69 include an elevator device that allows the transport vehicle 12 to exit the movement path 15, a transport device that allows the transport vehicle 12 to exit the movement path 15, an exit path that branches off from the movement path 15, etc.

[0034] FIG. 5 is a control block diagram of the article conveying equipment 10. The article conveying equipment 10 includes a control system 70 that controls multiple guided vehicles 12. Each function of the control system 70 is realized by, for example, cooperation between hardware such as an arithmetic processing device and a program executed on the hardware. The entire control system 70 may be provided on the guided vehicles 12, or a portion of the control system 70 may be provided on the guided vehicles 12 and a portion of the control system 70 may be provided on an external control device (a control device provided outside the guided vehicles 12 and capable of communicating with the guided vehicles 12). The entire control system 70 may be provided on an external control device. Here, the external control device may not be a single device, but may be a collection of multiple devices capable of communicating with each other. The control system 70 controls the travel of the multiple guided vehicles 12 so that each of them reaches its destination. In this embodiment, the control system 70 includes a host control device 71 provided outside the guided vehicles 12.

[0035] The transport vehicle 12 is equipped with a vehicle control device 72 that controls the guide drive unit 33, the travel drive unit 43, the vehicle-mounted lifting device 45, etc. When at least a part of the control system 70 is provided in an external control device, the vehicle control device 72 provided in the transport vehicle 12 operates in response to commands from the external control device. When at least a part of the control system 70 is provided in the transport vehicle 12, the vehicle control device 72 provided in the transport vehicle 12 may constitute at least that part of the control system 70.

[0036] The article conveying equipment 10 is equipped with a vehicle speed detection unit 73 that detects the traveling speed of the conveying vehicle 12. The vehicle speed detection unit 73 is mounted on the conveying vehicle 12. The vehicle speed detection unit 73 detects the traveling speed of the conveying vehicle 12 by measuring the rotation speed of the running wheels 42.

[0037] The control system 70 is configured to control the inspection device 60. The control of the inspection device 60 and the control of the transport vehicle 12 may be performed by different controllers in the control system 70, or may be performed by the same controller. A part of the control system 70 may be provided in the inspection device 60.

[0038] The control system 70 limits the number Ns of transport vehicles 12 to be inspected by the inspection device 60 within a set period Ts to a set upper limit number Nsm of vehicles to be inspected. The set period Ts may be a value that is manually changed by an administrator, a value that is automatically changed by the control system 70, or a fixed value. Examples of the set period Ts include 1 hour, 6 hours, 12 hours, 1 day, and 7 days. Examples of the upper limit number Nsm of vehicles to be inspected include a value determined depending on the operating status of the inspection device 60, a value determined depending on the operating status of the item conveying facility 10, and a value determined depending on the operating status of the multiple transport vehicles 12 that the item conveying facility 10 has.

[0039] The control system 70 is configured to be able to perform, for example, deriving the running position P1 of the transport vehicle 12 based on information read by the reading device 31, deriving the inclination and position of the holding unit 51 based on information detected by the position detection unit 53, and deriving the running speed of the transport vehicle 12 based on information detected by the vehicle speed detection unit 73.

[0040] FIG. 6 is a flowchart showing an example of a transport vehicle inspection process (processing) by the control system 70. In this embodiment, the transport vehicle inspection process is performed periodically, but may also be performed manually, for example. The transport vehicle inspection process may be performed during non-operating times of the item transport equipment 10, when the transport vehicle 12 is not transporting an item W, or may be performed during operating times of the item transport equipment 10, when the transport vehicle 12 is transporting an item W. The control system 70 executes an "inspection start process S1" that moves the transport vehicle 12 to the inspection area E1 and starts inspection by the inspection device 60. In this embodiment, the inspection start process S1 is executed for a transport vehicle 12 that is not transporting an item W.

[0041] The control system 70 classifies the inspection results of the transport vehicle 12 obtained by the inspection device 60 into a normal level A1, an abnormal level B1 which does not reach the normal level A1 but is an operational abnormal level B11 which allows the transport of goods W to continue, and an inoperable abnormal level B12 which is an abnormal level B1 which prevents the transport of goods W by the transport vehicle 12 from continuing.

[0042] The control system 70 classifies the item-specific inspection results, which are the inspection results for each of the multiple inspection items, into a normal level A1, an operational abnormal level B11, and an inoperable abnormal level B12. The control system 70 classifies the inspection results of the guided vehicle 12 into a normal level A1, an operational abnormal level B11, and an inoperable abnormal level B12 according to the multiple item-specific inspection results. In this embodiment, the control system 70 classifies the inspection results of the guided vehicle 12 into the inoperable abnormal level B12 when at least one item-specific inspection result is classified into the inoperable abnormal level B12.

[0043] The inspection results obtained by the inspection device 60 include classification information, and the control system 70 classifies the inspection results into three levels based on the classification information. In this embodiment, the classification information is an index representing the inspection results obtained by the inspection device 60, which is an index D that increases as the degree of abnormality increases. The control system 70 classifies the inspection results into a normal level A1 if the index D is less than a first determination value Da1. The control system 70 classifies the inspection results into an operational abnormal level B11 if the index D is equal to or greater than the first determination value Da1 and less than a second determination value Da2. The control system 70 classifies the inspection results into an inoperable abnormal level B12 if the index D is equal to or greater than the second determination value Da2. Here, the second determination value Da2 is greater than the first determination value Da1.

[0044] In this embodiment, index D is an index that represents the result of the inspection for each item, and is a value that increases as the degree of abnormality increases. Examples of index D include the diameter of running wheels 42, the inclination of the laser of obstacle sensor 38, the inclination of the laser of collision prevention sensor 39, the inclination of holding portion 51, and the volume of abnormal noise. Note that, if the smaller the measurement value in the inspection for each item, the greater the degree of abnormality, index D may be the reciprocal of the measurement value. Index D may be an index that represents the result of the inspection for each item, and is a value that decreases as the degree of abnormality increases, and the second judgment value Da2 may be a value smaller than the first judgment value Da1.

[0045] In this embodiment, the above classification is performed on the item-specific inspection results and the inspection results of the transport vehicle 12 in the inspection start process S1, but the above classification may also be performed in the normality determination process S2 and the operation feasibility determination process S3 described below.

[0046] The control system 70 executes a "normality determination process S2" to determine whether the classification of the inspection result of the transport vehicle 12 is normal level A1. If the classification of the inspection result of the transport vehicle 12 is normal level A1, the control system 70 executes an inspection end process S4, which will be described later, for the transport vehicle 12. If the classification of the inspection result of the transport vehicle 12 is not normal level A1, the control system 70 executes an operation feasibility determination process S3, which will be described later, for the transport vehicle 12.

[0047] The control system 70 moves the transport vehicle 12 from the inspection area E1 when the inspection result of the transport vehicle 12 is classified as normal level A1. In this embodiment, the control system 70 executes an "inspection termination process S4" to move the transport vehicle 12 from the inspection area E1 so that the transport of the item W can begin. By the inspection termination process S4, the transport vehicle 12 moves to, for example, the origin of the next item W to be transported, the charging position of the transport vehicle 12, the waiting position before charging the transport vehicle 12, or the like, which are set within the travel route 15. In this embodiment, the transport vehicle 12 moves by self-propelled movement in the inspection termination process S4, but may also be towed, etc.

[0048] The control system 70 moves the transport vehicle 12 from the inspection area E1 when the inspection result of the transport vehicle 12 is classified as the operable abnormality level B11. In this embodiment, the control system 70 executes an "operability determination process S3" to determine whether the inspection result of the transport vehicle 12 is classified as the operable abnormality level B11. If the inspection result of the transport vehicle 12 is classified as the operable abnormality level B11, the control system 70 executes a "standby process S5" to place the transport vehicle 12 on standby. If the inspection result of the transport vehicle 12 is not classified as the operable abnormality level B11, the inspection result of the transport vehicle 12 is classified as the inoperable abnormality level B12, and therefore, an exit process S6, which will be described later, is executed for the transport vehicle 12.

[0049] By the standby process S5, the transport vehicle 12 moves from the inspection area E1 to a standby position for the transport vehicle 12 set in, for example, the movement route 15, the inspection area E1, a maintenance area (not shown), or the like, and waits there. This standby position may be a standby position before charging the transport vehicle 12. In this embodiment, the transport vehicle 12 moves by itself in the standby process S5, but may also be towed, for example.

[0050] In the next vehicle inspection process, the control system 70 prioritizes inspection of the vehicle 12 classified as the operational abnormal level B11 over the vehicle 12 classified as the normal level A1. For example, the control system 70 sets the period until the next inspection start process S1 for the vehicle 12 whose inspection result is classified as the operational abnormal level B11 to be shorter than that for the vehicle 12 classified as the normal level A1.

[0051] The control system 70 executes an "exit process S6" for the transport vehicle 12 whose inspection results are classified as an inoperable abnormality level B12, to cause the transport vehicle 12 to exit the travel route 15 from an exit section 69 set on the travel route 15.

[0052] Although not shown in Figure 6, if the number N2 of transport vehicles 12 that are subject to the exit process S6 (first exit process) because the inspection results are classified as an inoperable abnormality level B12 is less than the set upper limit number of exit vehicles Nmax, the control system 70 also performs the exit process S6 (second exit process) on transport vehicles 12 whose inspection results are classified as an operable abnormality level B11 until the number N of transport vehicles 12 that have performed the exit process S6 reaches the upper limit number of exit vehicles Nmax.

[0053] After the exit process S6 (first exit process and second exit process) is executed, the transport vehicle 12 is moved to a maintenance area (not shown), for example, for maintenance or repair. In this embodiment, the lifting device of the exit section 69 is used to move the transport vehicle 12 in the exit process S6, but the transport vehicle 12 may be self-propelled or towed.

[0054] If the number N2 of transport vehicles 12 that are subject to the exit process S6 because the inspection results are classified as an inoperable abnormality level B12 exceeds the set upper limit number Nmax for exit, the control system 70 executes the exit process S6 for the number N2 of transport vehicles 12 that are classified as an inoperable abnormality level B12.

[0055] The maximum number of exit vehicles Nmax is set, for example, depending on the maintenance and repair capacity in the maintenance area, the operating status of the item conveying facility 10, the operating status of the multiple transport vehicles 12 of the item conveying facility 10, etc. It may be a value that is manually changed by an administrator, a value that is automatically changed by the control system 70, or a fixed value. The number N of transport vehicles 12 that have executed the exit process S6 is a value obtained by subtracting the number of transport vehicles 12 that have returned to the travel route 15 after completing maintenance or repair, if any. Note that the number N of transport vehicles 12 that have executed the exit process S6, the number N1 of transport vehicles 12 whose inspection results are classified as an operable abnormality level B11, the number N2 of transport vehicles 12 whose inspection results are classified as an inoperable abnormality level B12, etc. may be the number over a certain period of time, for example, 12 hours, 24 hours, 3 days, 7 days, etc.

[0056] The control system 70 executes the exit process S6 for the N2 number of guided vehicles 12 that are subject to the exit process S6 because the inspection results are classified as the inoperable abnormality level B12. Thereafter, if the number N2 is less than the upper limit number Nmax of exit vehicles, the control system 70 executes the exit process S6 for the N1 number of guided vehicles 12 that are classified as the operable abnormality level B11 and for which the standby process S5 is executed, the number N2 of guided vehicles 12 being the upper limit number Nmax of exit vehicles. The inspection end process S4 is executed for the N1 number of guided vehicles 12 that are classified as the operable abnormality level B11 and for which the exit process S6 is not executed.

[0057] 6, the inspection termination process S4 may be performed instead of the standby process S5, and the exit process S6 may be performed on the number of guided vehicles 12 obtained by subtracting the number N2 from the upper limit number Nmax of exiting vehicles among the guided vehicles 12 that have been classified into the operable abnormality level B11 and have been subjected to the inspection termination process S4. In this way, it is not necessary to provide a standby position for the guided vehicles 12 that have been classified into the operable abnormality level B11.

[0058] If the number N2 of transport vehicles 12 that are subject to the exit process S6 because at least one item-specific inspection result is classified as an inoperable abnormality level B12 is less than the set upper limit number Nmax of exit vehicles, the control system 70 executes the exit process S6 preferentially starting with the transport vehicles 12 with the largest number of item-specific inspection results classified as an operable abnormality level B11 until the number N of transport vehicles 12 that have executed the exit process S6 reaches the upper limit number Nmax of exit vehicles.

[0059] Note that, when the number N2 of guided vehicles 12 that have been subjected to the exit process S6 because at least one item-specific inspection result has been classified as the inoperable abnormality level B12 is less than the set upper limit number Nmax of vehicles to be exited, the control system 70 may be configured to execute the exit process S6 preferentially in order from guided vehicles 12 with fewer item-specific inspection results classified as the operable abnormality level B11 until the number N of guided vehicles 12 that have executed the exit process S6 reaches the upper limit number Nmax of vehicles to be exited. In this way, the exit process S6 can be executed preferentially for guided vehicles 12 that are likely to require short periods of maintenance or repair.

[0060] When there are multiple transport vehicles 12 with the same number of item-specific inspection results classified as operational abnormality level B11, the control system 70 executes the exit process S6 by prioritizing the transport vehicle 12 with the longest operating time since maintenance or repair.

[0061] The vehicle inspection process by the control system 70 ends when the number of vehicle 12 inspected within the set period Ts reaches the upper inspection limit number Nsm, by executing the inspection termination process S4 for the waiting vehicle 12 via the waiting process S5.

[0062] In this embodiment, in the next transport vehicle inspection process, transport vehicles 12 that were not inspected in the previous transport vehicle inspection process are inspected by the inspection device 60 in priority over inspected transport vehicles 12. In this embodiment, transport vehicles 12 that have been inspected by the inspection device 60 for the longest number of days, operating time, traveling time, traveling distance, etc. are inspected in priority order.

[0063] In this embodiment, in the next transport vehicle inspection process, the inspection device 60 inspects transport vehicles 12 that were classified as operational abnormal level B11 in the previous transport vehicle inspection process and that have not undergone exit processing S6, giving priority to inspection over transport vehicles 12 that are classified as normal level A1. In this embodiment, in the next transport vehicle inspection process, the inspection device 60 inspects transport vehicles 12 that were classified as normal level A1, giving priority to inspection over transport vehicles 12 that have undergone exit processing S6 in the previous transport vehicle inspection process.

[0064] Second Embodiment The following describes an article conveying facility 10 according to a second embodiment. This embodiment differs from the first embodiment in that the control system 70 does not classify the item-specific inspection results into an operational abnormality level B11 and an inoperable abnormality level B12. The following mainly describes the differences from the first embodiment. Note that points not specifically described are the same as those in the first embodiment.

[0065] In this embodiment, the control system 70 classifies the item-specific inspection results, which are the inspection results for each of a plurality of inspection items, into a normal level A1 and an abnormal level B1. The control system 70 classifies the inspection results of the transport vehicle 12 into an operational abnormal level B11 and an inoperable abnormal level B12 depending on the number of inspection items for which the item-specific inspection results are classified into the abnormal level B1.

[0066] In this embodiment, index D is an index that represents the test results for each item and is a value that increases as the degree of abnormality increases. If index D is less than the first determination value Db1, control system 70 classifies the test results as normal level A1. If index D is equal to or greater than the first determination value Db1, control system 70 classifies the test results as abnormal level B1.

[0067] In this embodiment, if the inspection item whose item-specific inspection result is classified as abnormal level B1 is less than the second judgment value Db2, the control system 70 classifies the inspection result of the transport vehicle 12 as an operable abnormal level B11. If the inspection item whose item-specific inspection result is classified as abnormal level B1 is equal to or greater than the second judgment value Db2, the control system 70 classifies the inspection result of the transport vehicle 12 as an inoperable abnormal level B12.

[0068] In this embodiment, when the number N2 of transport vehicles 12 that are subject to the exit process S6 because their inspection results are classified as an inoperable abnormality level B12 is less than the set upper limit number Nmax of exit vehicles, the control system 70 executes the exit process S6 in priority order to transport vehicles 12 that are subject to the exit process S6 because their inspection results are classified as an operational abnormality level B11, until the number N of transport vehicles 12 that have executed the exit process S6 reaches the upper limit number Nmax of exit vehicles.

[0069] In this embodiment, when there are multiple transport vehicles 12 with the same number of item-specific inspection results classified as abnormal level B1, the control system 70 executes the exit process S6 by prioritizing the transport vehicle 12 that has been in operation for the longest time since maintenance or repair.

[0070] Third Embodiment The following describes an article conveying facility 10 according to the third embodiment. The following description focuses on the differences from the first embodiment. This embodiment differs from the first embodiment in that priority is given to conveying vehicles 12 whose inspection items with higher priority are classified as the operational abnormality level B11, rather than the number of inspection results by item classified as the operational abnormality level B11. Note that points not specifically described are the same as those in the first embodiment.

[0071] In this embodiment, priorities are set for multiple inspection items. When the number N2 of guided vehicles 12 that have been subject to the exit process S6 because at least one item-specific inspection result has been classified as the inoperable abnormality level B12 is less than the set upper limit number Nmax of exit vehicles, the control system 70 executes the exit process S6 preferentially for guided vehicles 12 whose item-specific inspection results for the inspection items with higher priorities are the operable abnormality level B11, until the number N of guided vehicles 12 that have executed the exit process S6 reaches the upper limit number Nmax of exit vehicles.

[0072] Examples of prioritization of inspection items include giving a higher priority to one or more of the inspection of the holding unit 51, the obstacle sensor 38, and the collision prevention sensor 39 than to the inspection of the running wheels 42; giving a higher priority to one or more of the inspection of the running wheels 42, the obstacle sensor 38, and the collision prevention sensor 39 than to the inspection of the holding unit 51; giving a higher priority to one or more of the inspection of the running wheels 42 and the holding unit 51 than to the inspection of the obstacle sensor 38 and the collision prevention sensor 39; etc.

[0073] In this embodiment, if the highest priority item-specific inspection results are the same operational abnormality level B11 for multiple transport vehicles 12, the control system 70 executes the exit process S6 by prioritizing the transport vehicle 12 among the multiple transport vehicles 12 whose item-specific inspection result for the next highest priority inspection item is the operational abnormality level B11.

[0074] In addition, if the highest priority item-specific inspection results are the same operational abnormality level B11 for multiple transport vehicles 12, the control system 70 may execute the exit process S6 by prioritizing the transport vehicle 12 that has been in operation for the longest time since maintenance or repair.

[0075] In addition, when the highest priority item-specific inspection results are the same operational abnormality level B11 for multiple transport vehicles 12, the control system 70 may execute the exit process S6 by prioritizing the transport vehicle 12 with the largest number of item-specific inspection results classified as operational abnormality level B11.

[0076] In addition, when the highest priority item-specific inspection results are the same operational abnormality level B11 for multiple transport vehicles 12, the control system 70 may execute the exit process S6 by prioritizing the transport vehicle 12 with the fewest number of item-specific inspection results classified as the operational abnormality level B11.

[0077] Priority may be set for one or more test items, or for two or more test items. For example, priority may be set for all of the multiple test items, or only one or two test items may be prioritized.

[0078] Other Embodiments Next, other embodiments of the article transport facility will be described.

[0079] (1) In the above embodiment, an example has been described in which the control system 70 classifies the inspection results of the guided vehicle 12 into three levels: a normal level A1, an operational abnormal level B11, and an inoperable abnormal level B12. However, the present invention is not limited to such an example, and may be configured such that the inspection results of the guided vehicle 12 are classified into four or more levels by dividing the operational abnormal level B11 or the inoperable abnormal level B12 into multiple levels.

[0080] (2) In the above embodiment, an example has been described in which an upper limit number of exit vehicles Nmax is set and the control system 70 executes the exit process S6 even for guided vehicles 12 classified as operable abnormal level B11. However, the present invention is not limited to such an example. For example, the exit process S6 may not be executed for guided vehicles 12 classified as operable abnormal level B11, and the period until the next inspection start process S1 may be set shorter than for guided vehicles 12 classified as normal level A1. Also, for example, the upper limit number of exit vehicles Nmax may not be set.

[0081] (3) In the above embodiment, the inspection device 60 is configured to perform inspections for multiple inspection items, and the exit process S6 is executed for a guided vehicle 12 for which at least one item-specific inspection result is classified as the inoperable abnormality level B12. However, without being limited to such an example, for example, a guided vehicle 12 for which one item-specific inspection result is classified as the inoperable abnormality level B12 may be classified as the operable abnormality level B11. Furthermore, for example, the inspection device 60 may be configured to perform inspections for only one inspection item.

[0082] (4) In the above embodiment, an example has been described in which the control system 70 limits the number Ns of guided vehicles 12 to be inspected by the inspection device 60 within the set period Ts to a set upper limit number of vehicles to be inspected Nsm or less. However, the present invention is not limited to such an example. For example, the set period Ts and the upper limit number of vehicles to be inspected Nsm may not be set, and the guided vehicle inspection process may be completed when inspection by the inspection device 60 is completed for all guided vehicles 12 within the movement route 15. Furthermore, for example, the guided vehicle inspection process may be completed when the number N of guided vehicles 12 that have executed the exit process S6 reaches the upper limit number of vehicles to be exited Nmax.

[0083] (5) In the above embodiment, an example has been described in which, in the next vehicle inspection process, the inspection device 60 prioritizes the inspection of a vehicle 12 that was not inspected in the previous vehicle inspection process over the vehicle 12 that was inspected. However, the present invention is not limited to such an example. For example, the inspection device 60 may prioritize the vehicle 12 that has been in operation for a long time since maintenance or repair. Also, for example, the inspection device 60 may prioritize the vehicle 12 that has been in operation for a short time since maintenance or repair. Also, for example, the priority of the vehicle 12 may be determined based on one or more of the number of days elapsed since the inspection by the inspection device 60, the operating time, the traveling time, the traveling distance, etc., and the inspection device 60 may then perform the inspection.

[0084] (6) In the above embodiment, an example has been described in which the inspection device 60 includes the holder inspection device 61, the wear inspection device 62, the obstacle sensor inspection device 63, and the collision prevention sensor inspection device 64. However, without being limited to such an example, the inspection device 60 may be configured to not include any one or more of the holder inspection device 61, the wear inspection device 62, the obstacle sensor inspection device 63, and the collision prevention sensor inspection device 64. Furthermore, for example, the inspection device 60 may be an integrated device that includes multiple types of inspection devices, such as the obstacle sensor inspection device 63 and the collision prevention sensor inspection device 64.

[0085] (7) In the above embodiment, the exit section 69 is disposed adjacent to the inspection area E1 on the downstream side X1. However, the present invention is not limited to such an example. For example, the exit section 69 may be disposed in a position that is not adjacent to the inspection area E1. Furthermore, for example, the exit section 69 may be provided at only one location on the movement path 15, or may be provided at multiple locations.

[0086] (8) In the above embodiment, an example has been described in which the inspection device 60 is disposed in the inspection area E1 set on the travel path 15. However, the present invention is not limited to such an example, and the inspection device 60 may be mounted on the transport vehicle 12, for example. For example, one or more of the holder inspection device 61, the wear inspection device 62, the obstacle sensor inspection device 63, and the rear-end collision prevention sensor inspection device 64 may be mounted on the transport vehicle 12.

[0087] (9) In the above embodiment, an example has been described in which the control system 70 performs the normality determination process S2 followed by the operability determination process S3. However, the present invention is not limited to such an example, and for example, the normality determination process S2 may be performed followed by the operability determination process S3. Furthermore, for example, instead of the normality determination process S2 or the operability determination process S3, an inoperability determination process may be performed to determine whether the inspection result of the transport vehicle 12 is classified as an inoperable abnormality level B12.

[0088] (10) The configurations disclosed in the above-described embodiments may be combined with configurations disclosed in other embodiments as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications may be made as appropriate within the scope of the present disclosure.

[0089] Summary of the above embodiment The article transport equipment according to the present disclosure will be described below.

[0090] In one aspect, the item transport equipment comprises a plurality of transport vehicles that move along a predetermined travel path to transport items, an inspection device that is positioned in an inspection area set on the travel path and inspects the transport vehicles, and a control system that controls the plurality of transport vehicles and the inspection device, wherein the control system classifies the inspection results of the transport vehicles obtained by the inspection device into a normal level, an abnormal level that does not reach the normal level but allows the transport of the items to continue, and an abnormal level that does not allow the transport vehicle to continue transporting the items, and performs an exit process on transport vehicles whose inspection results are classified as the abnormal level that does not allow the transport vehicle to continue transporting the items, by exiting the travel path from an exit section set on the travel path.

[0091] According to this configuration, a transport vehicle whose inspection results are classified as an abnormal level that makes it impossible to operate is removed from the route, allowing for appropriate maintenance and repair of the transport vehicle. Furthermore, according to this configuration, even if the inspection results are not normal, a transport vehicle that is classified as an abnormal level that allows it to continue transporting goods is not subject to the removal process, allowing the transport of goods by the transport vehicle to continue. Therefore, it is possible to reduce the possibility that the efficiency of transporting goods in the goods transport facility will decrease due to too many transport vehicles being subject to the removal process.

[0092] In one aspect, if the number of transport vehicles that are subject to the exit process because the inspection results are classified as the inoperable abnormality level is less than the set upper limit number of exits, the control system also performs the exit process on transport vehicles whose inspection results are classified as the operable abnormality level until the number of transport vehicles that have undergone the exit process reaches the upper limit number of exits.

[0093] According to this configuration, by limiting the number of transport vehicles subject to the exit process to the maximum number of exit vehicles, it is possible to appropriately suppress a decrease in the efficiency of transporting goods in the goods transport equipment, while making it possible to carry out maintenance and repairs relatively early on for transport vehicles that have inspection results classified as an operational abnormality level.

[0094] In one embodiment, the inspection device is configured to perform inspections for a plurality of inspection items, and the control system classifies the item-specific inspection results, which are the inspection results for each of the plurality of inspection items, into the normal level, the operable abnormal level, and the inoperable abnormal level, and performs the exit process on the transport vehicles for which at least one of the item-specific inspection results is classified as the inoperable abnormal level, and if the number of transport vehicles that have been subject to the exit process because at least one of the item-specific inspection results is classified as the inoperable abnormal level is less than a set upper limit number of exit vehicles, the exit process is performed preferentially on the transport vehicles for which the item-specific inspection results have a greater number of inspection items classified as the operable abnormal level until the number of transport vehicles that have undergone the exit process reaches the upper limit number of exit vehicles.

[0095] According to this configuration, by limiting the number of transport vehicles subject to the exit process to the upper exit limit number, it is possible to appropriately suppress a decrease in the efficiency of transporting goods in the transport facility, and it is also possible to prioritize maintenance and repair of transport vehicles with a large number of inspection items classified as operable abnormal levels in the item-specific inspection results, even for transport vehicles that do not have any inspection items classified as inoperable abnormal levels in the item-specific inspection results. Therefore, it is possible to appropriately perform maintenance and repair of multiple transport vehicles.

[0096] In one aspect, the inspection device is configured to perform inspections for a plurality of inspection items, and the control system classifies the item-specific inspection results, which are the inspection results for each of the plurality of inspection items, into the normal level and the abnormal level, and classifies the inspection results of the transport vehicle into the operational abnormal level and the inoperable abnormal level depending on the number of inspection items for which the item-specific inspection results are classified into the abnormal level.

[0097] According to this configuration, it is possible to appropriately classify each transport vehicle into an operational abnormality level and an inoperable abnormality level based on the results of inspections for a plurality of items for each transport vehicle.

[0098] In one aspect, the control system limits the number of transport vehicles to be inspected by the inspection device within a set period to a set upper limit number of vehicles to be inspected.

[0099] According to this configuration, the number of transport vehicles to be inspected within a set period can be limited, thereby minimizing the decrease in transport efficiency caused by transport vehicles being unable to transport items during inspection.

[0100] The technical features of the article transport equipment according to the present disclosure can also be applied to a transport vehicle inspection method and a transport vehicle inspection program. [Explanation of symbols]

[0101] 10: Goods transport equipment 12: Transport vehicle 15: Travel route 60: Inspection equipment 69: Exit section 70: Control System E1: Inspection area Ts: Setting period W:Goods

Claims

1. a plurality of transport vehicles that move along predetermined travel paths to transport articles; an inspection device that is placed in an inspection area set on the movement route and inspects the transported vehicle; a control system for controlling the plurality of transport vehicles and the inspection device; An article conveying facility comprising: The control system classifies the inspection results of the transport vehicle obtained by the inspection device into a normal level, an operational abnormal level that is an abnormal level that does not reach the normal level but allows the transport of the goods to continue, and an inoperable abnormal level that is an abnormal level that prevents the transport vehicle from continuing to transport the goods, and performs an exit process for the transport vehicle whose inspection results are classified as the inoperable abnormal level, causing it to exit the travel route from an exit section set on the travel route.

2. The item transport equipment of claim 1, wherein, when the number of transport vehicles that are subject to the exit process because the inspection results are classified as the inoperable abnormality level is less than a set upper limit number of exits, the control system also performs the exit process on transport vehicles whose inspection results are classified as the operable abnormality level until the number of transport vehicles that have undergone the exit process reaches the upper limit number of exits.

3. the inspection device is configured to perform inspections for a plurality of inspection items, The control system includes: classifying the item-specific test results, which are the test results for each of the plurality of test items, into the normal level, the operational abnormality level, and the inoperable abnormality level; performing the exit process for the transport vehicle for which at least one of the item-specific inspection results is classified as the inoperable abnormality level; and 2. The item transport equipment of claim 1, wherein, when the number of transport vehicles that are subject to the exit process because at least one of the item-specific inspection results is classified as the inoperable abnormality level is less than a set upper limit number of vehicles to be exited, the exit process is executed in priority order from the transport vehicles with a larger number of inspection items for which the item-specific inspection results are classified as the operable abnormality level until the number of transport vehicles that have undergone the exit process reaches the upper limit number of vehicles to be exited.

4. the inspection device is configured to perform inspections for a plurality of inspection items, The control system includes: classifying the item-specific test results, which are the test results for each of the plurality of test items, into the normal level and the abnormal level; The item transport facility according to claim 1, wherein the inspection results of the transport vehicle are classified into the operational abnormality level and the inoperable abnormality level depending on the number of inspection items for which the item-specific inspection results are classified into the abnormality level.

5. 5. The article transport facility according to claim 1, wherein the control system limits the number of transport vehicles to be inspected by the inspection device within a set period to a set upper limit number of vehicles to be inspected.

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