Conveying installation

Abstract

To appropriately determine whether or not an object to be conveyed during conveyance is a pallet.SOLUTION: The transport device includes a transport device T and a detection device. The pallet 9 includes a placement plate portion 92 on which an article is placed, a plurality of beam portions 93 protruding downward from the placement plate portion 92, and a gap portion 91 formed between two beam portions 93 adjacent to each other in the detection orthogonal direction Y. The detection device includes a first detection unit 11 that detects the presence or absence of the conveyance object W at a first detection position R1 set within the first height range p1, and a second detection unit 12 that detects the presence or absence of the conveyance object W at a second detection position R2 set within the second height range p2. The detection device determines whether or not the conveyance object W is the pallet 9 based on a pattern of the detection results of the first detector 11 and the second detector 12.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a conveying facility that includes a conveying device that conveys an object to be conveyed, and a detection device that detects whether the object being conveyed by the conveying device is present on a line along a predetermined detection direction. [Background technology]

[0002] Equipment for detecting the presence or absence of an item being transported by a transport device such as a conveyor has been well known for some time (see, for example, Japanese Patent Application Laid-Open No. 2020-66495). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-66495 Summary of the Invention [Problem to be solved by the invention]

[0004] Depending on the facility, the objects to be transported may vary, and for example, pallets may be included as objects to be transported. In such facilities, there is a need to determine whether the object being transported is a pallet, which is a transport device, or some other item. For example, it is conceivable that the destination of the object being transported may be changed depending on whether it is a pallet or some other item.

[0005] In view of the above circumstances, it is desirable to realize a conveying facility that can appropriately determine whether an object being conveyed is a pallet or not. [Means for solving the problem]

[0006] a conveying device that conveys an object to be conveyed; a detection device that detects whether the object being conveyed by the conveying device is present on a line along a preset detection direction; A conveying facility comprising: The object to be conveyed includes a pallet, The pallet includes a loading plate portion on which an article is placed, a plurality of beam portions protruding downward from the loading plate portion, and a gap portion formed between two adjacent beam portions in a detection orthogonal direction that is orthogonal to the detection direction when viewed in the up-down direction, A height range in which the gap portion is located when the pallet is detected by the detection device is defined as a first height range, and a height range in which the placement plate portion is located when the pallet is detected is defined as a second height range, The detection device is a first detection unit that detects the presence or absence of the object to be conveyed at a first detection position set within the first height range; a second detection unit that detects the presence or absence of the object to be conveyed at a second detection position set within the second height range; Equipped with The detection device determines whether the object to be conveyed is the pallet based on a pattern of the detection results of the first detection unit and the second detection unit.

[0007] According to this configuration, the first and second detection positions are set according to the structure of the pallet, and whether the object to be transported is a pallet is determined based on the pattern of detection results from the first and second detection units, which detect the presence or absence of the object at these detection positions. Therefore, according to this configuration, it is possible to appropriately determine whether the object to be transported is a pallet during transport. Furthermore, this determination can be made with a relatively simple configuration that uses at least two detection units, and there is little need to use expensive sensors. Therefore, according to this configuration, it is also advantageous in terms of cost.

[0008] Further features and advantages of the techniques according to the present disclosure will become more apparent from the following description of exemplary and non-limiting embodiments, which proceeds with reference to the drawings. [Brief explanation of the drawings]

[0009] [Figure 1]Plan view showing part of the transport equipment [Figure 2] Configuration diagram of the detection device [Figure 3] FIG. 10 is a diagram showing a detection pattern when the object to be conveyed is determined to be a pallet. [Figure 4] An explanatory diagram of the trigger that causes the detection device to determine the pallet [Figure 5] FIG. 10 is a diagram showing the arrangement of each detection unit according to the second embodiment; [Figure 6] FIG. 10 is an explanatory diagram of the projection angle of the detection light in the second embodiment. [Figure 7] FIG. 10 is a diagram showing a detection position according to the third embodiment. [Figure 8] 10 is a time chart illustrating the palette determination process according to the third embodiment. [Figure 9] 10A and 10B are diagrams illustrating aspects of an object to be transported according to another embodiment; [Figure 10] 10A and 10B are diagrams illustrating aspects of a detection device according to another embodiment; [Figure 11] 10A and 10B are diagrams illustrating aspects of a transport device according to another embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the conveying equipment will be described with reference to the drawings.

[0011] [First embodiment] First, a first embodiment of the transport facility will be described with reference to FIGS.

[0012] As shown in Fig. 1, the conveying facility 100 includes a conveying device T that conveys an object W to be conveyed, and a detection device 1 that detects whether the object W being conveyed by the conveying device T is present on a line along a preset detection direction X. The direction indicated by "Y" in the figure is a direction perpendicular to the detection direction X when viewed from the top and bottom. In this embodiment, the conveying direction Dt in which the object W to be conveyed by the conveying device T is conveyed coincides with the detection perpendicular direction Y.

[0013] In this embodiment, the transport device T is a conveyor. Examples of the conveyor constituting the transport device T include a belt conveyor, a roller conveyor, and a chain conveyor.

[0014] The transport object W includes an article (not shown) handled by the transport equipment 100 and a pallet 9 used to place and transport the article. The detection device 1 detects the transport object W being transported by the transport device T and determines whether the transport object W is a pallet 9.

[0015] 2, the detection device 1 includes at least a first detection unit 11 and a second detection unit 12. In this embodiment, the detection device 1 also includes a third detection unit 13, a fourth detection unit 14, a fifth detection unit 15, a sixth detection unit 16, and a seventh detection unit 17. Each of these detection units is configured to detect the presence or absence of a transport object W at a different detection position.

[0016] As shown in FIG. 1, the first detection unit 11 (detection device 1) includes a light-projecting unit 1A that projects detection light and a light-receiving unit 1B that receives the detection light projected from the light-projecting unit 1A. In this embodiment, the first to seventh detection units (11 to 17) each include the light-projecting unit 1A and the light-receiving unit 1B. Each of the first to seventh detection units (11 to 17) is configured using an optical sensor. The detection unit can be configured using a so-called LiDAR (Light Detection and Ranging) or a camera sensor, etc.

[0017] When there is no object W to be transported between the pair of light-projecting unit 1A and light-receiving unit 1B, the detection light projected by light-projecting unit 1A is received by light-receiving unit 1B. In this specification, when light-receiving unit 1B receives the detection light, the detection unit is "OFF."

[0018] On the other hand, when a transport target W is present between the pair of light-projecting unit 1A and light-receiving unit 1B, the detection light projected by light-projecting unit 1A is blocked by the transport target W and is not received by light-receiving unit 1B. In this specification, when light-receiving unit 1B is not receiving the detection light, the detection unit is "ON."

[0019] 2, in this embodiment, the detection device 1 includes a determination unit 10 that determines whether or not the transport object W is a pallet 9. The determination unit 10 is configured to determine whether or not the transport object W is a pallet 9 based on the pattern of the detection results of some or all of the first to seventh detection units (11 to 17).

[0020] Here, the type of pallet 9 transported by the transport device T according to the present disclosure is not limited to a specific type. Examples of the pallet 9 include a wooden pallet, a plastic pallet, a metal pallet, and a cardboard pallet. The pallet 9 is at least a flat pallet, and includes both double-sided and single-sided types.

[0021] As shown in FIG. 3 , the pallet 9 includes a loading plate 92 on which an item (not shown) is placed, multiple beams 93 protruding downward from the loading plate 92, and a gap 91 formed between two adjacent beams 93 in a detection orthogonal direction Y that is orthogonal to the detection direction X when viewed from above. The gap 91 is a portion into which the forks of a conveyance machine such as a forklift are inserted. The pallet 9 includes at least two gaps 91 arranged on either side of the beam 93 in the detection orthogonal direction Y while being conveyed by the conveyance device T. In this example, the pallet 9 includes at least three beams 93 aligned at a distance from each other in the detection orthogonal direction Y and two gaps 91 formed between the three beams 93.

[0022] Hereinafter, the height range in which the gap 91 is located when the pallet 9 is detected by the detection device 1 is defined as a first height range R1, and the height range in which the placement plate 92 is located is defined as a second height range R2. "When the pallet 9 is detected by the detection device 1" means when at least a portion of the pallet 9 is positioned so as to overlap with at least a portion of the detection device 1 when viewed in the detection direction X. Alternatively, it means when the pallet 9 is positioned so as to be detectable by the detection device 1.

[0023] The first detection unit 11 is configured to detect the presence or absence of a transport object W at a first detection position p1 set within a first height range R1. The second detection unit 12 is configured to detect the presence or absence of a transport object W at a second detection position p2 set within a second height range R2.

[0024] Here, the dimension of the gap portion 91 in the detection orthogonal direction Y is defined as gap dimension L91. The first detection position p1, which is within a first height range R1 in the vertical direction, and the second detection position p2, which is within a second height range R2, are both set within the gap dimension L91 in the detection orthogonal direction Y. In this example, the distance between the first detection position p1 and the second detection position p2 in the detection orthogonal direction Y is less than gap dimension L91. In the illustrated example, the first detection position p1 and the second detection position p2 are set at the same position (including an allowable error) in the detection orthogonal direction Y.

[0025] The detection device 1 determines whether the transport target object W is a pallet 9 based on the pattern of the detection results of the first detection unit 11 and the second detection unit 12. When the detection light of the first detection unit 11 is in the "OFF" state and not blocked, no object is present at the first detection position p1. Nevertheless, when the detection light of the second detection unit 12 is in the "ON" state and blocked at the second detection position p2 above the first detection position p1, it can be determined that what is detected by the second detection unit 12 is the loading plate portion 92 of the pallet 9.

[0026] The reason for this is as follows. Normally, on a conveyor, which is a mode in which objects are placed, it is difficult to imagine an object being present above a space where no object exists. However, when such a detection result is obtained, i.e., when it is detected that there is no object W to be transported at the first detection position p1 and that there is an object W to be transported at the second detection position p2 above it, it can be considered that what is detected by the first detection unit 11 is the gap portion 91 of the pallet 9, and what is detected by the second detection unit 12 is the placement plate portion 92 of the pallet 9. Therefore, when a detection result is obtained in which the first detection unit 11 is "OFF" and the second detection unit 12 is "ON," it can be determined that the object W to be transported is the pallet 9.

[0027] That is, based on the positional relationship between the gap portion 91 of one pallet 9 and the target portion 92a, which is the portion of the loading plate portion 92 covering the upper side of the gap portion 91, and the positional relationship between the first detection position p1 and the second detection position p2, the detection device 1 determines that the transported object W is a pallet 9 when a detection result corresponding to a pattern in which the second detection unit 12 detects the target portion 92a while the first detection unit 11 detects the gap portion 91 is obtained.

[0028] In this embodiment, the third detector 13 is configured to detect the presence or absence of the transport object W at a third detection position p3 set within the first height range R1. The fourth detector 14 is configured to detect the presence or absence of the transport object W at a fourth detection position p4 set within the second height range R2.

[0029] The third detection position p3, which is within the first height range R1 in the vertical direction, and the fourth detection position p4, which is within the second height range R2, are both set within the gap dimension L91 in the detection orthogonal direction Y. In this example, the distance between the third detection position p3 and the fourth detection position p4 in the detection orthogonal direction Y is less than the gap dimension L91. In the illustrated example, the third detection position p3 and the fourth detection position p4 are set at the same position (including an allowable error) in the detection orthogonal direction Y.

[0030] That is, in this embodiment, the relative positional relationship between the first detection position p1 and the second detection position p2 is equivalent to the relative positional relationship between the third detection position p3 and the fourth detection position p4.

[0031] Here, the dimension of the girder portion 93 in the detection orthogonal direction Y is defined as girder dimension L93. In this embodiment, the distance in the detection orthogonal direction Y between the first detection position p1 and the third detection position p3 is less than the distance (L91 × 2 + L93) obtained by adding twice the gap dimension L91 and the girder dimension L93.

[0032] According to this configuration, when the pallet 9 is detected by the detection device 1, one gap 91 provided in the pallet 9 is in a state of being at the first detection position p1, and the other gap 91 is in a state of being at the third detection position p3. In addition, the placement plate portion 92 extending in the detection orthogonal direction Y is in a state of being at each of the second detection position p2 and the fourth detection position p4.

[0033] In this embodiment, the detection device 1 determines whether the transport target W is a pallet 9 based on the pattern of the detection results of the first detection unit 11, the second detection unit 12, the third detection unit 13, and the fourth detection unit 14. That is, the detection device 1 determines that the transport target W is a pallet 9 when a detection result corresponding to a pattern in which the second detection unit 12 and the fourth detection unit 14 each detect a different target portion 92a (both are "ON") is obtained while the first detection unit 11 and the third detection unit 13 each detect a different gap portion 91 (both are "OFF").

[0034] With this configuration, by simultaneously comparing the detection results of the first detection unit 11, the second detection unit 12, the third detection unit 13, and the fourth detection unit 14, it is possible to determine whether or not a detection result corresponding to a pattern detecting a pallet 9 has been obtained, and it is possible to determine with high accuracy whether or not the transported object W is a pallet 9.

[0035] In this embodiment, the fifth detector 15 is configured to detect the presence or absence of an object W to be transferred at a fifth detection position p5 set within the first height range R1. The sixth detector 16 is configured to detect the presence or absence of an object W to be transferred at a sixth detection position p6 set within the first height range R1. The seventh detector 17 is configured to detect the presence or absence of an object W to be transferred at a seventh detection position p7 set within the first height range R1.

[0036] The fifth detection position p5, the sixth detection position p6, and the seventh detection position p7 are positioned so that the three girders 93 of the pallet 9 can be detected simultaneously. In this example, within the first height range R1, the fifth detection position p5, the first detection position p1, the sixth detection position p6, the third detection position p3, and the seventh detection position p7 are set to be positioned so that they are lined up in order along the detection orthogonal direction Y. The fifth detection position p5 and the sixth detection position p6 are separated by at least the gap dimension L91. The sixth detection position p6 and the seventh detection position p7 are separated by at least the gap dimension L91.

[0037] In this embodiment, the detection device 1 determines whether the transport target W is a pallet 9 based on the pattern of detection results from the first detection unit 11, the second detection unit 12, the third detection unit 13, the fourth detection unit 14, the fifth detection unit 15, the sixth detection unit 16, and the seventh detection unit 17. That is, the detection device 1 determines that the transport target W is a pallet 9 when a detection result corresponding to a pattern (all "ON" states) is obtained in which the first detection unit 11 and the third detection unit 13 each detect a different gap portion 91 (both "OFF" states), the second detection unit 12 and the fourth detection unit 14 each detect a different target portion 92a (both "ON" states), and the fifth detection unit 15, the sixth detection unit 16, and the seventh detection unit 17 each detect a different beam portion 93 (all "ON" states).

[0038] With this configuration, by simultaneously comparing the detection results of the first detection unit 11, the second detection unit 12, the third detection unit 13, the fourth detection unit 14, the fifth detection unit 15, the sixth detection unit 16, and the seventh detection unit 17, it is possible to determine whether or not a detection result corresponding to a pattern detecting a pallet 9 has been obtained, and it is possible to determine with even greater accuracy whether or not the transported object W is a pallet 9.

[0039] 4, the detection device 1 starts determining whether the transport object W is a pallet 9 when it detects the transport object W at the detection position located most upstream in the transport direction Dt among a plurality of detection positions (first to seventh detection positions in this example). If the detection device 1 subsequently obtains a detection result that corresponds to a pattern in which the pallet 9 is detected by each detection unit, it determines that the transport object W is a pallet 9.

[0040] In the example shown in Fig. 4, of the first to seventh detection positions (p1 to p7), the fifth detection position p5 is located furthest upstream in the conveying direction Dt. Therefore, the detection device 1 starts determining whether the pallet 9 is present when the fifth detection unit 15, which detects whether or not an object W is present at the fifth detection position p5, turns "ON." In this example, after starting to determine whether the pallet 9 is present, the detection device 1 determines that the object W is present as a pallet 9 when it obtains detection results (detection results by at least the first detection unit 11 and the second detection unit 12) that match the pattern shown in Fig. 3.

[0041] Second Embodiment Next, a second embodiment of the conveying equipment 100 will be described with reference to Fig. 5 and Fig. 6. The following mainly describes the second embodiment in terms of differences from the first embodiment. Points that are not particularly described are the same as those in the first embodiment.

[0042] Figure 5(a) shows a plan view, and Figure 5(b) shows a view from the detection direction X.

[0043] As shown in FIG. 5, in this embodiment, the light-emitting unit 1A and the light-receiving unit 1B are arranged separately on either side of the detection direction X with respect to the movement trajectory Wt of the transported object W transported by the transport device T, and are arranged shifted in the detection perpendicular direction Y by an offset distance Ls set in accordance with the gap dimension L91.

[0044] The offset arrangement of the light-projecting unit 1A and the light-receiving unit 1B is adopted only for the detection units that detect the gap 91. In this example, the light-projecting unit 1A and the light-receiving unit 1B of the first detection unit 11, which detects the gap 91, are arranged to be shifted by an offset distance Ls in the detection orthogonal direction Y. The same is true for the third detection unit 13, which detects the gap 91. On the other hand, the light-projecting unit 1A and the light-receiving unit 1B of each of the second detection unit 12, fourth detection unit 14, fifth detection unit 15, sixth detection unit 16, and seventh detection unit 17, which do not detect the gap 91, are arranged on a line along the detection direction X.

[0045] The light-projecting unit 1A and the light-receiving unit 1B of the detection units (first detection unit 11 and third detection unit 13) that detect the gap 91 are arranged offset by the offset distance Ls in the detection orthogonal direction Y, thereby enabling the gap 91 extending in the detection orthogonal direction Y to be properly detected. That is, when the light-receiving unit 1B receives the detection light from the light-projecting unit 1A arranged as described above, a space of at least the offset distance Ls exists in the detection orthogonal direction Y between the light-projecting unit 1A and the light-receiving unit 1B in the detection direction X, and this space can be determined to be the gap 91. For example, with respect to the first detection unit 11, when the detection light from the light-projecting unit 1A is received by the light-receiving unit 1B and the first detection unit 11 is in the "OFF" state, it can be determined that the gap 91 has been detected. The same applies to the third detection unit 13.

[0046] 6 shows the relative positions of the light-projecting unit 1A and the light-receiving unit 1B of the first detection unit 11. As shown in FIG. 6, in this embodiment, the light-projecting unit 1A and the light-receiving unit 1B are arranged at positions such that the set angle α of the optical axis of the detection light when viewed from the top-bottom direction is smaller than the angle β formed by the diagonal line of the gap 91 and larger than the allowable angle γ. In the conveying equipment 100, not only pallets 9 but also articles (not shown) are subject to conveyance. The allowable angle γ is set according to the maximum gap between two articles that may be conveyed side by side along the conveying direction Dt.

[0047] For example, when two or more items are arranged side by side on the conveying device T, by imposing a constraint that the gap between the items must be equal to or less than the maximum gap, it is possible to prevent the multiple items arranged in this manner from being erroneously determined to be pallets 9. In this case, even if the items arranged side by side with the gap equal to or less than the maximum gap are arranged such that another item is hung over them, the second detection unit 12 and the fourth detection unit 14 will be "ON," but the first detection unit 11 (or the third detection unit 13) will also be "ON." Therefore, even in such a situation, it is possible to prevent the detection device 1 from erroneously determining that the conveying object W is a pallet 9. Therefore, with this configuration, it is possible to improve the accuracy of determining whether the conveying object W is a pallet 9.

[0048] By setting the optical axis of the detection light at the set angle α in this way, it becomes easier to detect the gap 91. Note that the pallet 9 is not necessarily transported in the correct posture (a posture in which the longitudinal direction of the gap 91 is aligned with the detection direction X when viewed from the up-down direction). The pallet 9 may be in a posture that appears to have rotated around the vertical axis from the correct posture. Therefore, it is preferable that the set angle α be set to an angle with a margin that allows for such cases (i.e., the set angle α is set smaller by that margin).

[0049] Third Embodiment Next, a third embodiment of the conveying equipment 100 will be described with reference to Figs. 7 and 8. The following mainly describes the third embodiment in terms of differences from the first embodiment. Points that are not particularly described are the same as those in the first embodiment.

[0050] 7, in this embodiment, the detection device 1 determines whether the moving object W is a pallet 9 based on the ON / OFF timing of the detection unit for the object W. The detection device 1 uses at least two detection units, a first detection unit 11 that detects the presence or absence of the object W at a first detection position p1 set within a first height range R1, and a second detection unit 12 that detects the presence or absence of the object W at a second detection position p2 set within a second height range R2, and determines whether the object W is a pallet 9 based on the detection timing of these detection units. In the illustrated example, the first detection position p1 and the second detection position p2 are set at the same position in the detection orthogonal direction Y.

[0051] FIG. 8 is a time chart showing waveform patterns when a moving pallet 9 is detected by the first detector 11 and the second detector 12. In FIG.

[0052] In a configuration in which the first detection position p1 and the second detection position p2 are set at the same position in the detection orthogonal direction Y, first, the first detection unit 11 and the second detection unit 12 simultaneously detect the transport object W, and therefore both are turned "ON." That is, in this state, the first detection unit 11 detects the girder 93 of the pallet 9 (the girder 93 located at the far right in FIG. 7), and the second detection unit 12 detects the loading plate 92 of the pallet 9.

[0053] The second detection unit 12 continues to detect the placement plate portion 92 until the moving pallet 9 passes, and therefore remains in the "ON" state. Meanwhile, the first detection unit 11 detects the gap 91 (the gap 91 on the right side in FIG. 7), the girder 93 (the girder 93 in the center in FIG. 7), the gap 91 (the gap 91 on the left side in FIG. 7), and the girder 93 (the girder 93 on the leftmost side in FIG. 7) in that order until the moving pallet 9 passes. That is, the first detection unit 11 repeatedly switches between the "ON" state in which it detects the girder 93 and the "OFF" state in which it detects the gap 91, and then finally switches to the "OFF" state as the pallet 9 passes. At this time, the first detection unit 11 and the second detection unit 12 simultaneously switch to the "OFF" state.

[0054] In this embodiment, the detection device 1 determines that the conveying object W is a pallet 9 when the detection result has the above-described pattern.

[0055] In this embodiment, an example has been described in which the first detection position p1 and the second detection position p2 are set at the same position in the detection orthogonal direction Y. However, these detection positions may be arranged offset in the detection orthogonal direction Y. In this case, since the movement speed of the transport target W transported by the transport device T is known, the same effect as that described in the third embodiment can be obtained by taking this movement speed into consideration and adjusting the timing of inputting the detection results of the first detection unit 11 and the second detection unit 12.

[0056] Other Embodiments Next, other embodiments will be described.

[0057] (1) In the above embodiment, an example has been described in which a pallet 9 placed directly on a conveyor as a transport device T is detected. However, the present invention is not limited to this example, and as shown in FIG. 9, for example, another pallet 9 stacked on top of the pallet 9 on the conveyor may be subject to detection by the detection device 1. In this case, by adjusting the heights at which the first to seventh detection positions (p1 to p7) are set, the same effect as in the above embodiment can be obtained.

[0058] (2) In the above embodiment, an example was described in which the conveying direction Dt of the conveying object W by the conveying device T coincides with the detection orthogonal direction Y, which is orthogonal to the detection direction X. However, without being limited to this example, the conveying direction Dt may coincide with the detection direction X, as shown in FIG. 10, for example. In this case, the detection device 1 may be configured to be able to change its posture between an overlapping posture in which it overlaps the movement trajectory Wt of the conveying object W and a retracted posture in which it retracts from the movement trajectory Wt. With this configuration, the detection device 1 can detect the conveying object W in the overlapping posture and can avoid interfering with the conveyance by assuming the retracted posture. In the example shown in FIG. 10, the conveying device T is configured using a roller conveyor, and the detection device 1 is configured to move in and out using the gap between adjacent rollers.

[0059] (3) In the above embodiment, an example has been described in which the conveying direction Dt of the conveying object W by the conveying device T coincides with the detection orthogonal direction Y. However, the present invention is not limited to this example, and the conveying direction Dt does not have to coincide with either the detection direction X or the detection orthogonal direction Y. For example, as shown in FIG. 11 , in a configuration in which the conveying device T is a lifter and moves the conveying object W in the vertical direction, the conveying direction Dt coincides with the vertical direction.

[0060] (4) In the above embodiment, an example has been described in which the detection unit includes a light-projecting unit 1A that projects detection light and a light-receiving unit 1B that receives the detection light from the light-projecting unit 1A. However, the present invention is not limited to this example, and the detection unit may be configured using a reflective optical sensor in which the light-projecting unit and the light-receiving unit are integrated. For example, the detection unit may be configured using a range finder. In this case, the detection device 1 may be configured to acquire distance data from the detection unit to the transported object W.

[0061] (5) In the above embodiment, an example has been described in which the second detection unit 12 and the fourth detection unit 14 detect the mounting plate unit 92. However, at least one of the second detection unit 12 and the fourth detection unit 14 may also be configured to detect a lower plate unit, which is a plate disposed below and facing the mounting plate unit 92.

[0062] (6) In the above embodiment, an example has been described in which the transport device T is a conveyor. However, without being limited to such an example, the transport device T may be, for example, an AGV (automated guided vehicle) that travels without a track, a tracked carriage, or the like.

[0063] (7) 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.

[0064] [Summary of this embodiment] The summary of this embodiment will be described below.

[0065] a conveying device that conveys an object to be conveyed; a detection device that detects whether the object being conveyed by the conveying device is present on a line along a preset detection direction; A conveying facility comprising: The object to be conveyed includes a pallet, The pallet includes a loading plate portion on which an article is placed, a plurality of beam portions protruding downward from the loading plate portion, and a gap portion formed between two adjacent beam portions in a detection orthogonal direction that is orthogonal to the detection direction when viewed in the up-down direction, A height range in which the gap portion is located when the pallet is detected by the detection device is defined as a first height range, and a height range in which the placement plate portion is located when the pallet is detected is defined as a second height range, The detection device is a first detection unit that detects the presence or absence of the object to be conveyed at a first detection position set within the first height range; a second detection unit that detects the presence or absence of the object to be conveyed at a second detection position set within the second height range; Equipped with The detection device determines whether the object to be conveyed is the pallet based on a pattern of the detection results of the first detection unit and the second detection unit.

[0066] According to this configuration, the first and second detection positions are set according to the structure of the pallet, and whether the object to be transported is a pallet is determined based on the pattern of detection results from the first and second detection units, which detect the presence or absence of the object at these detection positions. Therefore, according to this configuration, it is possible to appropriately determine whether the object to be transported is a pallet during transport. Furthermore, this determination can be made with a relatively simple configuration that uses at least two detection units, and there is little need to use expensive sensors. Therefore, according to this configuration, it is also advantageous in terms of cost.

[0067] the first detection unit includes a light-projecting unit that projects detection light and a light-receiving unit that receives the detection light projected from the light-projecting unit, The dimension of the gap portion in the detection orthogonal direction is defined as a gap dimension, It is preferable that the light-emitting unit and the light-receiving unit are arranged separately on both sides of the detection direction with respect to the movement trajectory of the object to be transported by the transport device, and are arranged shifted in the direction perpendicular to the detection by an offset distance set in accordance with the gap dimension.

[0068] According to this configuration, the first detection unit can prevent gaps whose dimensions in the conveying direction are narrower than the offset distance from being detected as voids in the pallet, thereby improving the accuracy of determining whether the object to be conveyed is a pallet.

[0069] Preferably, the detection device determines that the object to be transported is the pallet when the detection result obtained corresponds to a pattern in which the second detection unit detects the target part while the first detection unit detects the gap part, based on the positional relationship between the gap part of one of the pallets and the target part, which is the part of the loading plate part covering the upper side of the gap part, and the positional relationship between the first detection position and the second detection position.

[0070] In many cases, normal transport objects other than pallets do not have a structure in which a gap is provided below the area where a component that would be detected by the second detection unit is present. With this configuration, the transport object is determined to be a pallet when a detection result corresponding to a pattern in which the second detection unit detects the target portion of the loading plate while the first detection unit detects the gap is obtained. Therefore, it is possible to appropriately determine whether the transport object is a pallet.

[0071] The dimension of the gap portion in the detection orthogonal direction is defined as a gap dimension, It is preferable that the distance between the first sensing position and the second sensing position in the orthogonal sensing direction is less than the gap dimension.

[0072] According to this configuration, when a pallet is detected by the detection device, the gap in the pallet is in the first detection position, and the target portion of the loading plate covering the upper side of the gap is in the second detection position. Therefore, by simultaneously comparing the detection results of the first detection unit and the second detection unit, it is possible to determine whether a detection result corresponding to a pattern in which the second detection unit detects the target portion of the loading plate while the first detection unit detects the gap is obtained, and to determine whether the object to be transported is a pallet. Therefore, according to this configuration, it is possible to determine whether the object to be transported is a pallet with a relatively simple configuration.

[0073] The pallet includes at least two gaps arranged on either side of the girder in the detection orthogonal direction while being transported by the transport device, The detection device is a third detection unit that detects the presence or absence of the object to be conveyed at a third detection position set within the first height range; a fourth detection unit that detects the presence or absence of the object to be conveyed at a fourth detection position set within the second height range; Equipped with a distance between the third detection position and the fourth detection position in the detection orthogonal direction is less than the gap dimension; The dimension of the beam portion in the detection orthogonal direction is defined as a beam dimension, It is preferable that the distance between the first sensing position and the third sensing position in the direction orthogonal to the sensing direction is less than the sum of twice the gap dimension and the beam dimension.

[0074] According to this configuration, when a pallet is detected by the detection device, one gap provided in the pallet is in the first detection position, the other gap is in the third detection position, and the loading plate is in the second detection position and the fourth detection position. Therefore, by simultaneously comparing the detection results of the first detection unit, the second detection unit, the third detection unit, and the fourth detection unit, it is possible to determine whether a detection result corresponding to a pallet detection pattern has been obtained, and it is possible to determine with high accuracy whether the transport object is a pallet. Therefore, according to this configuration, it is possible to determine with high accuracy whether the transport object is a pallet with a relatively simple configuration.

[0075] The pallet, while being transported by the transport device, includes at least three beams arranged at a distance from each other in the detection orthogonal direction, and two gaps formed between the three beams; The detection device is a fifth detection unit that detects the presence or absence of the object to be conveyed at a fifth detection position set within the first height range; a sixth detection unit that detects the presence or absence of the object to be conveyed at a sixth detection position set within the first height range; a seventh detection unit that detects the presence or absence of the object to be conveyed at a seventh detection position set within the first height range; Equipped with It is preferable that the fifth detection position, the sixth detection position, and the seventh detection position are positioned such that the three beams of the pallet can be detected simultaneously.

[0076] According to this configuration, when a pallet is detected by the detection device, one gap of the pallet is in the first detection position, the other gap is in the third detection position, the loading plate is in the second and fourth detection positions, and the three beams are in the fifth, sixth, and seventh detection positions, respectively. Therefore, by simultaneously comparing the detection results of the first through seventh detection units, it is possible to determine whether a detection result corresponding to a pallet detection pattern has been obtained, enabling more accurate determination of whether the transported object is a pallet. Therefore, according to this configuration, with a relatively simple configuration, it is possible to more accurately determine whether the transported object is a pallet. [Industrial Applicability]

[0077] The technology disclosed herein can be used in a conveying facility that includes a conveying device that conveys an object to be conveyed, and a detection device that detects whether the object being conveyed by the conveying device is present on a line along a predetermined detection direction. [Explanation of symbols]

[0078] 100:Transportation equipment 1:Detection device 1A: Light projecting section 1B: Light receiving section 11: First detection unit 12: Second detection unit 13: Third detection unit 14: Fourth detection unit 15: 5th detection unit 16: 6th detection unit 17: 7th detection unit 9: Palette 91 :Void part 92: Placing plate 92a: Target part 93:Girder part L91: Gap dimension L93: Beam dimension Ls: Offset distance R1: First height range R2: Second height range T:Transport device W: Object to be conveyed Wt: Movement trajectory X: Detection direction Y: Orthogonal detection direction p1: First detection position p2: Second detection position p3: Third detection position p4: 4th detection position p5: 5th detection position p6: 6th detection position p7: 7th detection position

Claims

1. a conveying device that conveys an object to be conveyed; a detection device that detects whether the object being conveyed by the conveying device is present on a line along a preset detection direction; A conveying facility comprising: The object to be conveyed includes a pallet, The pallet includes a loading plate portion on which an article is placed, a plurality of beam portions protruding downward from the loading plate portion, and a gap portion formed between two adjacent beam portions in a detection orthogonal direction that is orthogonal to the detection direction when viewed in the up-down direction, a height range in which the gap portion is located when the pallet is detected by the detection device is defined as a first height range, and a height range in which the loading plate portion is located when the pallet is detected is defined as a second height range; The detection device is a first detection unit that detects the presence or absence of the object to be conveyed at a first detection position set within the first height range; a second detection unit that detects the presence or absence of the object to be conveyed at a second detection position set within the second height range; Equipped with The detection device determines whether the object to be transported is the pallet based on a pattern of detection results from the first detection unit and the second detection unit.

2. the first detection unit includes a light-projecting unit that projects detection light and a light-receiving unit that receives the detection light projected from the light-projecting unit, The dimension of the gap portion in the detection orthogonal direction is defined as a gap dimension, 2. The conveying equipment according to claim 1, wherein the light-emitting unit and the light-receiving unit are arranged separately on either side of the detection direction relative to the object being conveyed by the conveying device, and are arranged offset in the direction perpendicular to the detection direction by an offset distance set in accordance with the gap dimension.

3. The conveying equipment described in claim 1, wherein the detection device determines that the object to be conveyed is the pallet when the detection result obtained corresponds to a pattern in which the second detection unit detects the target portion while the first detection unit detects the gap portion, based on the positional relationship between the gap portion of one of the pallets and the target portion, which is the portion of the loading plate portion covering the upper side of the gap portion, and the positional relationship between the first detection position and the second detection position.

4. The dimension of the gap portion in the detection orthogonal direction is defined as a gap dimension, The conveyance facility according to claim 1 , wherein a distance between the first sensing position and the second sensing position in the orthogonal direction to the sensing position is less than the gap dimension.

5. The pallet includes at least two gaps disposed on either side of the girder in the detection orthogonal direction while being transported by the transport device, The detection device is a third detection unit that detects the presence or absence of the object to be conveyed at a third detection position set within the first height range; a fourth detection unit that detects the presence or absence of the object to be conveyed at a fourth detection position set within the second height range; Equipped with a distance between the third detection position and the fourth detection position in the detection orthogonal direction is less than the gap dimension; The dimension of the beam portion in the detection orthogonal direction is defined as a beam dimension, The conveying facility according to claim 4 , wherein a distance between the first sensing position and the third sensing position in the direction perpendicular to the sensing direction is less than a distance obtained by adding twice the gap dimension and the beam dimension.

6. The pallet, while being transported by the transport device, includes at least three beams arranged at a distance from each other in the detection orthogonal direction, and two gaps formed between the three beams; The detection device is a fifth detection unit that detects the presence or absence of the object to be conveyed at a fifth detection position set within the first height range; a sixth detection unit that detects the presence or absence of the object to be conveyed at a sixth detection position set within the first height range; a seventh detection unit that detects the presence or absence of the object to be conveyed at a seventh detection position set within the first height range; Equipped with The conveying facility according to claim 5 , wherein the fifth detection position, the sixth detection position, and the seventh detection position are positioned such that the three beams of the pallet can be detected simultaneously.

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