Vehicle system

Abstract

To provide a vehicle system that can be applied to various driving routes. [Solution] The present invention relates to a vehicle driving system (1), comprising: a driving path member (14) provided with a notch (26) and a code member (24); a vehicle driving (12) equipped with a notch detection sensor (18) and a code sensor (16); and a controller (20), wherein the controller comprises: a storage unit (20a) that stores the point where a notch is detected and the position detected based on the code in association with each other; a change determination unit (20b) that, when starting up the vehicle driving from a stationary state, drives the vehicle driving a predetermined determination distance to detect a notch and read the code, compares it with the position of the notch stored in the storage unit to determine whether or not the code member has been changed; and an output unit (20d) that outputs that the code member has been changed.

Description

Technical Field

[0001] The present invention relates to a traveling vehicle system, and more particularly to a traveling vehicle system that causes a traveling vehicle to travel along a traveling path member and transports luggage.

Background Art

[0002] International Publication No. 2011 / 158426 (Patent Document 1) describes a traveling vehicle system. This traveling vehicle system includes a plurality of traveling vehicles that reciprocate along a linear traveling path, and further includes a reflecting member disposed on one end side of the traveling path, a distance measuring device that measures the distance between the traveling vehicle and the reflecting member based on laser light, and a communication device. The communication device includes a fixed communication device that is disposed on the other end side of the traveling path of the traveling vehicle and performs wireless communication by light, and a mobile communication device that is attached to the traveling vehicle and performs wireless communication with the fixed communication device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the traveling vehicle system described in Patent Document 1, the position of the traveling vehicle is detected by a reflecting member disposed on one end side of the traveling path and a distance measuring device that measures the distance between the traveling vehicle and the reflecting member by laser light. Therefore, it can be applied only to a traveling vehicle system that travels along a linear traveling path. Further, in the traveling vehicle system described in Patent Document 1, it is necessary to secure a path through which laser light passes between the reflecting member and the distance measuring device, and there is a problem that a member or the like that blocks the laser light cannot be disposed between them.

[0005] Therefore, the present invention aims to provide a vehicle system that can be applied even when the travel path is not straight or when it is not possible to secure a path for the laser beam to pass through. [Means for solving the problem]

[0006] To solve the above-mentioned problems, the present invention provides a vehicle transport system for transporting cargo by having the vehicle travel along a travel path member, comprising: a travel path member having a plurality of notches along the direction of travel and a code member having a plurality of codes recorded along the direction of travel attached to it; a vehicle equipped with a notch detection sensor capable of detecting the presence or absence of notches provided on the travel path member and a code sensor for reading the codes of the code member attached along the travel path member; and a controller for controlling the movement of the vehicle, wherein the controller is characterized by comprising: a storage unit that stores in association the point where a notch is detected by the notch detection sensor and the position detected based on the code read by the code sensor; a change determination unit that, when the vehicle is started up from a stationary state, has the vehicle travel a predetermined determination distance to detect notches and read the codes, and compares them with the position of the notches stored in the storage unit to determine whether or not the code member has been changed; and an output unit that outputs that the code member has been changed when the change determination unit determines that the code member has been changed.

[0007] According to the present invention configured in this way, a travel path member to which a code member is attached is provided, and the position of the vehicle is detected based on the code of the code member read by the code sensor. Therefore, the vehicle system of the present invention can be applied even when the travel path member is not straight or when a path for the laser beam to pass through cannot be secured. On the other hand, the code member provided on the travel path member may be replaced due to soiling or damage from prolonged use. According to the present invention configured as described above, the travel path member is provided with a plurality of notches along the direction of travel, and the change determination unit makes the vehicle travel a predetermined determination distance to detect the notches and read the code, and compares it with the position of the notch stored in the memory unit to determine whether or not the code member has been changed. Therefore, if the code member has been changed, it can be reliably detected, and the risk of driving the vehicle while detecting an incorrect position can be avoided.

[0008] In the present invention, preferably, the plurality of notches provided in the travel path member are provided such that the intervals between them are two or more different distances.

[0009] According to the present invention configured in this way, the spacing between the notches provided in the travel path member is set to be two or more different distances. Therefore, even if a cord member is replaced, the relative relationship between the position of the notch and the cord of the cord member will be the same as that of the cord member before replacement, thus avoiding the risk of not being able to detect the replacement of the cord member, and ensuring reliable detection of the replacement of the cord member.

[0010] In the present invention, preferably, the interval between each notch provided in the travel path member is set to a first distance or a second distance different from the first distance, and each notch is arranged such that the first distance and the second distance are included within a predetermined determination distance set at any position on the travel path member.

[0011] With the present invention configured in this way, each notch is positioned such that the first distance and the second distance are included within a predetermined determination distance set at any position on the travel path member. Therefore, by having the vehicle travel the predetermined determination distance, it is possible to detect two notches separated by the first distance and two notches separated by the second distance, thereby avoiding the risk of not being able to detect the replacement of the code member.

[0012] In the present invention, preferably, the travel path member is provided to connect the origin side at one end and the non-origin side at the other end, and the controller further includes an initial position determination unit that, when starting up the vehicle from a stationary state, detects the position based on a code read by a code sensor before the vehicle travels a predetermined determination distance, and determines whether the detected position is closer to the origin side or the non-origin side, and the change determination unit, if the initial position determination unit determines that it is closer to the origin side, causes the vehicle to travel toward the non-origin side, and if it determines that it is closer to the non-origin side, causes the vehicle to travel toward the origin side.

[0013] With the present invention configured in this way, if the initial position determination unit determines that the vehicle is close to the origin, the vehicle is moved toward the opposite direction of the origin, and if it determines that the vehicle is close to the opposite direction of the origin, the vehicle is moved toward the origin. This prevents the vehicle from reaching the origin or the opposite direction of the origin, which would prevent it from traveling a predetermined distance from the initial position. [Effects of the Invention]

[0014] The vehicle system of the present invention can be applied even when the travel path is not straight or when it is not possible to secure a path for the laser beam to pass through. [Brief explanation of the drawing]

[0015] [Figure 1] This figure shows an entire automated warehouse configured to load and unload goods using a vehicle system according to an embodiment of the present invention. [Figure 2]Front view of a traveling vehicle provided in a traveling vehicle system according to an embodiment of the present invention. [Figure 3] Side view of a traveling vehicle provided in a traveling vehicle system according to an embodiment of the present invention. [Figure 4] Perspective view of a traveling vehicle provided in a traveling vehicle system according to an embodiment of the present invention. [Figure 5] Perspective view showing one of a pair of rails provided in a traveling vehicle system according to an embodiment of the present invention. [Figure 6] Perspective view showing the other of a pair of rails provided in a traveling vehicle system according to an embodiment of the present invention. [Figure 7] Flowchart showing the procedure when a traveling vehicle is started from a stationary state in a traveling vehicle system according to an embodiment of the present invention.

Mode for Carrying Out the Invention

[0016] Next, a traveling vehicle system according to an embodiment of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a diagram showing an entire automated warehouse configured to carry in and out luggage using a traveling vehicle system according to an embodiment of the present invention.

[0017] As shown in FIG. 1, in the present embodiment, the automated warehouse 1 includes a rack 2, a loading elevator 4, an unloading elevator 6, and a traveling vehicle system 10. The traveling vehicle system 10 has a plurality of traveling vehicles 12 and rails 14, which are traveling path members provided along each stage of the rack 2 so as to cause these traveling vehicles 12 to travel.

[0018] The rack 2 is a shelf for storing luggage, and in the present embodiment, it is disposed on both sides of the rails 14 of the traveling vehicle system 10 (only one side is shown in FIG. 1). Further, in the example shown in FIG. 1, the rack 2 is provided with 6 stages for storing luggage, and one traveling vehicle 12 of the traveling vehicle system 10 is disposed on each of these stages.

[0019] The ascending / descending device 4 for warehousing is arranged at the end on the origin side (the left side in FIG. 1) of the rack 2 and is configured to raise and lower the loaded goods to each tier of the rack 2. That is, the ascending / descending device 4 for warehousing receives the goods conveyed to the warehousing station 4a, raises the received goods to the tier where the goods of the rack 2 should be stored, and is configured to transfer them to the traveling vehicle 12 provided on that tier.

[0020] The ascending / descending device 6 for shipping is arranged at the end on the side opposite to the origin (the right side in FIG. 1) of the rack 2 and is configured to raise and lower the loaded goods from each tier of the rack 2. That is, the ascending / descending device 6 for shipping receives the goods carried to the side opposite to the origin by the traveling vehicle 12 of the traveling vehicle system 10, raises and lowers the received goods to the shipping station 6a, and is configured to transfer them to the shipping station 6a.

[0021] Thus, in this embodiment, the automated warehouse 1 is configured to transfer the goods carried to the warehousing station 4a to the traveling vehicle 12 of the traveling vehicle system 10 by the ascending / descending device 4 for warehousing, convey them to a predetermined storage location of the rack 2, and store them. Also, when carrying out the goods, the automated warehouse 1 is configured to transfer the goods stored in the rack 2 to the traveling vehicle 12 of the traveling vehicle system 10, convey them to the ascending / descending device 6 for shipping, and ship them out from the shipping station 6a.

[0022] Next, referring to FIGS. 2 to 4, the configuration of the traveling vehicle 12 provided in the traveling vehicle system 10 will be described. FIG. 2 is a front view of the traveling vehicle provided in the traveling vehicle system according to an embodiment of the present invention. FIG. 3 is a side view of the traveling vehicle provided in the traveling vehicle system according to an embodiment of the present invention. FIG. 4 is a perspective view of the traveling vehicle provided in the traveling vehicle system according to an embodiment of the present invention.

[0023] As shown in FIGS. 2 to 4, the traveling vehicle 12 has a main body portion 12a, a transfer device 12b for loading and unloading goods to and from the main body portion 12a, and wheels 12c provided at the front and rear of the main body portion 12a.

[0024] The main body 12a is configured to be able to load cargo at its center in the front-rear direction. The transfer device 12b consists of two sliding arms provided to sandwich both sides of the cargo loaded on the main body 12a, and is configured to move back and forth in a direction perpendicular to the direction of travel of the vehicle 12 (a direction perpendicular to the plane of the paper in Figure 2). That is, the transfer device 12b is configured to transfer cargo between the vehicle 12 and the rack 2 by extending its arms toward the rack 2 provided along the rail 14. In this embodiment, the transfer device 12b can move its arms toward and toward each of the racks 2 on both sides of the vehicle 12, and can transfer cargo between the racks 2 on both sides.

[0025] The wheels 12c are provided at the front and rear ends of both sides of the main body 12a, respectively, allowing the vehicle 12 to travel along the rails 14. In this embodiment, the wheel 12c provided at the front of the vehicle 12 (right side in Figure 2) is a large-diameter drive wheel, and the wheel 12c provided at the rear (left side in Figure 2) is a small-diameter driven wheel. These wheels 12c rotate on the upper surface of the rails 14, which are positioned on both sides of the vehicle 12, thereby allowing the vehicle 12 to travel along the rails 14.

[0026] Next, as shown in Figures 3 and 4, the lower part of the main body 12a of the vehicle 12 is equipped with a code sensor 16 for reading the code on the barcode tape 24 attached along the rail 14, and a notch detection sensor 18 capable of detecting the presence or absence of a slit 26 (Figure 6) provided in the rail 14. The main body 12a of the vehicle 12 also incorporates a controller 20 for controlling a motor (not shown) that drives the wheels 12c, and an encoder 22 for detecting the rotation of the wheels 12c.

[0027] In this embodiment, the code sensor 16 is an optical sensor configured to shine light onto a barcode tape 24 mounted along one of the rails 14 (the right-hand rail in Figure 3), receive the reflected light, and read the barcode recorded on the barcode tape 24. The barcode value read by the code sensor 16 is input to the controller 20. Details of the barcode tape 24 will be described later.

[0028] In this embodiment, the notch detection sensor 18 is configured in a roughly U-shape with an open top, as shown in Figure 4, and is located on the side opposite to the code sensor 16 (the left side in Figure 3). This notch detection sensor 18 is an optical sensor configured to emit light from one upper end of the roughly U-shape towards the other upper end. The notch detection sensor 18 is positioned in the open top to receive the inner surface portion 14b (Figure 6) of the rail 14, and is configured to detect whether or not a slit 26 (Figure 6) is provided in the rail 14 by whether or not the emitted light is blocked. The presence or absence of the slit 26 detected by the notch detection sensor 18 is input to the controller 20. The slit 26 provided in the rail 14 will be described later.

[0029] In this embodiment, the notch detection sensor 18 is configured to emit two light beams. These two light beams are arranged close together in the direction of travel of the vehicle 12, with a spacing approximately equal to the width of the slit 26. Therefore, when the vehicle 12 travels along the rail 14 and passes through the slit 26, there is a moment when both light beams pass through the slit 26 and both light beams are detected. The notch detection sensor 18 detects this moment as the time when the vehicle 12 has passed through the slit 26. In this embodiment, the barcode tape 24 is attached to one of the pair of rails 14 and the slit 26 is provided on the other, but the barcode tape 24 and the slit 26 may be provided on one of the rails 14.

[0030] The encoder 22 is configured to detect the rotation angle of the wheels 12c of the vehicle 12. The rotation angle detected by the encoder 22 is input to the controller 20 and used to detect the position of the vehicle 12 on the rails 14. The detection of the position of the vehicle 12 based on the value detected by the encoder 22 will be described later.

[0031] The controller 20 is configured to determine the position of the vehicle 12 on the rail 14 based on detection signals input from the code sensor 16 and encoder 22. The controller 20 is also configured to control a motor (not shown) built into the main body 12a while detecting the position of the vehicle 12, and to move the vehicle 12 to a position commanded by a higher-level controller (not shown). Furthermore, the controller 20 is configured to control the transfer device 12b to transfer cargo between the vehicle 12 and the rack 2.

[0032] Furthermore, the controller 20 incorporates a storage unit 20a that stores the position where the slit 26 is detected by the notch detection sensor 18, a change determination unit 20b that determines whether or not the barcode tape 24 has been replaced, an initial position determination unit 20c that determines the position of the vehicle 12 at startup, and an output unit 20d that outputs the determination result from the change determination unit 20b (Figure 3). Specifically, each function of the controller 20 is realized by a microprocessor, interface circuits, memory, and software that operates them (these are not shown). The functions of the storage unit 20a, the change determination unit 20b, the initial position determination unit 20c, and the output unit 20d will be described later.

[0033] Next, with reference to Figures 5 and 6, the rail 14, which is a component of the running path, will be described. Figure 5 is a perspective view showing one of the pair of rails 14. Figure 6 is a perspective view showing the other of the pair of rails 14.

[0034] As shown in Figures 3, 5, and 6, the rail 14 is a running path member made of a metal channel material having a substantially square cross-section, and is positioned on both sides of the running vehicle 12, extending horizontally in the direction of travel of the running vehicle 12. The rail 14 has a horizontal upper surface portion 14a that supports the wheels 12c of the running vehicle 12, an inner surface portion 14b that extends vertically downward from the inner end of the upper surface portion 14a, an outer surface portion 14c that extends vertically downward outside the upper surface portion 14a, and a lower surface portion 14d that extends horizontally inward from the lower end of the outer surface portion 14c. That is, a pair of rails 14 are arranged so that their respective inner surface portions 14b face each other.

[0035] As shown in Figure 3, the wheels on both sides of the vehicle 12 are placed on the upper surfaces 14a of the pair of rails 14, respectively, guiding the vehicle's movement. The outer surfaces 14c of the rails 14 are fixed to a pair of racks 2 that are arranged opposite each other. As a result, a pair of rails 14 are installed between the pair of racks 2 that are arranged opposite each other, and the vehicle 12 travels along these rails between the racks 2. In addition, a pair of rails 14 that guides one vehicle 12 are installed on each level of the opposing racks 2, and the vehicle 12 travels along these rails 14 respectively (Figure 1).

[0036] As shown in Figure 5, a barcode tape 24, which is a code member, is attached to the inner surface portion 14b of one of the pair of rails 14 (the right rail in Figure 3). The barcode tape 24 is a tape on which barcodes, which are codes that can be read by the code sensor 16, are attached continuously at predetermined intervals. Each barcode attached to the barcode tape 24 has a unique numerical value recorded on it. The numerical value of each barcode is stored in the storage unit 20a in association with its position on the rail 14. Therefore, as the vehicle 12 travels along the rail 14, the position of the vehicle 12 traveling on the rail 14 can be determined by reading the numerical values ​​of the barcodes with the code sensor 16.

[0037] In other words, the code sensor 16 mounted on the vehicle 12 can read the numerical value of the barcode attached to the barcode tape 24 once each time the vehicle 12 travels a predetermined distance. Based on this numerical value, the controller 20 determines the position of the vehicle 12 on the rail 14. Meanwhile, as described above, the encoder 22 mounted on the vehicle 12 detects the rotation angle of the vehicle 12's wheels 12c. By combining the numerical value of the read barcode with the rotation angle information of the wheels 12c detected by the encoder 22, the controller 20 can determine the position with high resolution. That is, the position of the vehicle 12 from the position where one barcode numerical value is read until the next numerical value is read is calculated based on the information from the encoder 22.

[0038] In this manner, the vehicle 12 travels while detecting its position on the rails 14 using the controller 20, moves to a position commanded by a higher-level controller (not shown), and carries out the transport of the cargo.

[0039] On the other hand, as shown in Figure 6, of the pair of rails 14, the inner surface portion 14b of the other rail 14 (the left rail in Figure 3) is provided with numerous slits 26. In this embodiment, each slit 26 is formed as a substantially rectangular opening in the inner surface portion 14b of the rail 14. The notch detection sensor 18 mounted on the vehicle 12 irradiates a light beam toward the inner surface portion 14b of the rail 14 while the vehicle 12 is in motion, and detects the presence or absence of the slits 26 based on the transmission of the light beam.

[0040] Furthermore, as shown in Figure 6, each slit 26 is formed on the inner surface portion 14b of the rail 14, with a first distance L1 between each slit (the distance between the centers of each slit). Of the slits 26 provided on the rail 14, some slits 26 are arranged so that the distance between adjacent slits 26 is a second distance L2, which is longer than the first distance L1. In other words, the multiple slits 26 provided on the rail 14 are arranged so that the distances between them are two or more different distances.

[0041] In this embodiment, the first distance L1 is approximately 78 mm, and the second distance L2 is approximately 270 mm. Also, in this embodiment, at the locations where the columns 2a (Figure 1) that constitute part of the rack 2 are provided, the spacing between adjacent slits 26 is set to the second distance L2, and each column 2a is provided at a horizontal interval of approximately 2500 mm. Therefore, in this embodiment, portions where the spacing between the slits 26 is set to the second distance L2 exist on the rail 14 at intervals of approximately 2500 mm.

[0042] Next, with reference to Figure 7, the operation of the vehicle system 10 according to an embodiment of the present invention will be explained. Figure 7 is a flowchart showing the procedure when the vehicle 12 is started up from a dormant state in the vehicle system 10 of this embodiment. The process shown in this flowchart is executed when the vehicle 12 is started up from a dormant state. That is, in this embodiment, when the power to the vehicle system 10 is turned on from a power-off state and the automatic startup of the vehicle 12 is performed for the first time, the flowchart shown in Figure 7 is executed.

[0043] As described above, the vehicle 12 in the vehicle system 10 of this embodiment travels to the target location while reading the barcode on the barcode tape 24 attached to the rail 14. The barcode tape 24 may become soiled or damaged during the long period of operation of the vehicle system 10. In such cases, the barcode tape 24 attached to the rail 14 is replaced with a new one.

[0044] However, if the barcode tape 24 is replaced, the controller 20 may misinterpret the position of the vehicle 12, and in the worst case, there is a risk that the vehicle 12 will collide with the rail 14 either on the origin side or the non-origin side. In the vehicle system 10 of this embodiment, when the vehicle 12 is started up from a stationary state, it is determined whether or not the barcode tape 24 has been replaced before the transport of cargo begins, thereby preventing misinterpretation of the vehicle 12's position.

[0045] First, in step S1 of Figure 7, the barcode on the barcode tape 24 is read by the code sensor 16 while the vehicle 12 remains stationary. If the barcode tape 24 is soiled and the barcode cannot be read when the vehicle 12 is raised, or if the vehicle 12 is stopped in a position where the barcode cannot be read, the vehicle 12 is moved forward or backward a short distance at a low speed, and the barcode is read by the code sensor 16.

[0046] Next, in step S2, the position of the train 12 corresponding to the numerical value of the barcode read in step S1 is identified based on the data recorded in the storage unit 20a. As described above, the storage unit 20a stores the numerical value recorded on the barcode tape 24 in association with the position of the train 12 on the rail 14, and the controller 20 can identify the position of the train 12 based on the numerical value of the barcode.

[0047] Furthermore, in step S3, the initial position determination unit 20c of the controller 20 determines whether the position of the vehicle 12 identified in step S2 is closer to the origin side or the opposite side of the rail 14. That is, the initial position determination unit 20c determines whether the position of the vehicle 12 detected based on the barcode read by the code sensor 16 is closer to the origin side or the opposite side of the origin. In the flowchart, if it is closer to the origin side, the process proceeds to step S4, and if it is closer to the opposite side of the origin, the process proceeds to step S5. Note that if the barcode tape 24 has been replaced, the position identified in step S2 may be incorrect, but the process from step S3 onward is executed assuming that the identified position is correct.

[0048] In step S4, the change determination unit 20b of the controller 20 causes the vehicle 12 to travel at a predetermined determination distance D toward the non-origin side at a low speed. That is, if the initial position determination unit 20c determines that the initial position of the vehicle 12 is close to the origin side, the change determination unit 20b causes the vehicle 12 to travel at a low speed toward the non-origin side. At this time, the vehicle 12 travels the determination distance D while reading the barcode tape 24 on one rail 14 with the code sensor 16 and detecting the slit 26 formed in the other rail 14 with the notch detection sensor 18. The change determination unit 20b then calculates the position where the notch detection sensor 18 detected the slit 26 during travel based on the barcode value detected by the code sensor 16 and the rotation angle of the wheel 12c detected by the encoder 22. The calculated slit position is stored in the storage unit 20a of the controller 20.

[0049] In this embodiment, the determination distance D is set to approximately 2500 mm. As described above, the slits 26 provided in the rail 14 are formed at intervals of a first distance L1, and there are portions where the interval of the slits 26 is set to a second distance L2 at intervals of approximately 2500 mm. Therefore, no matter what position on the rail 14 the train 12 starts from as its initial position, the determination distance D it travels will include portions where the interval of the slits 26 is the first distance L1 and portions where the interval is the second distance L2. In other words, each slit 26 is arranged such that the first distance L1 and the second distance L2 are included within a predetermined determination distance D set at any position on the rail 14. To put it another way, the slits 26 provided at intervals of the first distance L1 and the slits 26 provided at intervals of the second distance L2 are arranged within a range of a distance shorter than the predetermined determination distance D.

[0050] If the barcode tape 24 has been replaced, the initial position identified in step S2 may be incorrect, and the vehicle 12 may reach the anti-origin point of the rail 14 before traveling the predetermined determination distance D. In this case, an anti-origin sensor (not shown) provided on the anti-origin side of the rail 14 detects this, and the controller 20 stops the vehicle 12 at the anti-origin point. Even in such a case, since the vehicle 12 is traveling at a low speed, it can be safely stopped at the anti-origin point. The change detection unit 20b of the controller 20 then causes the vehicle 12 to travel at a low speed for a predetermined determination distance D from the anti-origin point towards the origin, and performs barcode tape reading and slit detection.

[0051] On the other hand, if it is determined in step S3 that the position of the vehicle 12 is close to the anti-origin side, the process in the flowchart proceeds to step S5. In step S5, the change determination unit 20b of the controller 20 causes the vehicle 12 to move toward the origin side at a predetermined determination distance D at a low speed. Note that the process in step S5 is the same as in step S4, except that the direction in which the vehicle 12 moves is reversed, so the explanation is omitted.

[0052] Next, in step S6, the positions of each slit 26, which were detected in step S4 or S5 by having the vehicle 12 travel a determined distance D and stored in the storage unit 20a, are checked by the change determination unit 20b of the controller 20. That is, the storage unit 20a of the controller 20 has in advance stored a list of the positions of all the slits 26 formed on the rail 14. The change determination unit 20b then checks whether the position of each slit 26 detected in step S4 or S5 matches the position of each slit 26 that was in advance stored in the storage unit 20a. That is, the change determination unit 20b determines whether the position of each slit 26 detected in step S4 or S5 is among the list of positions of the slit 26 that was in advance stored in the storage unit 20a.

[0053] In this embodiment, the vehicle 12 is driven a distance D, and the positions of each detected slit 26 are stored in the storage unit 20a. These positions are then compared with a list of positions previously stored in the storage unit 20a. In contrast, as a modification, the present invention can also be configured to compare the positions of the detected slits 26 with a list of positions previously stored in the storage unit 20a while the vehicle 12 is driven a distance D.

[0054] The change determination unit 20b determines that the barcode tape 24 has not been changed (not replaced) if the position detected in step S4 or S5 matches the position of each slit 26 that was previously stored within a predetermined error range (for example, within a few millimeters). On the other hand, if they do not match within a predetermined error range, the change determination unit 20b determines that the barcode tape 24 has been changed (replaced).

[0055] As described above, many of the slits 26 on the rail 14 are formed with a gap of a first distance L1 between them (Figure 6). Therefore, for example, if the position of the barcode tape 24 before replacement and the position of the barcode tape 24 after replacement happen to be shifted by a first distance L1, the detection positions of each slit 26 formed at intervals of the first distance L1 will coincide before and after replacement.

[0056] However, in this embodiment, there are also parts of the rail 14 where the spacing between the slits 26 is set to a second distance L2 (Figure 6). As described above, the determination distance D for the vehicle 12 to travel in step S4 or S5 is set so that the vehicle 12 must pass through the part where the spacing between the slits 26 is set to a second distance L2. Therefore, even if the position of the barcode tape 24 is accidentally shifted by a first distance L1 before and after replacement, the detected position of the slit 26 in the part where the spacing between the slits 26 is set to a second distance L2 will not match the one that was previously stored.

[0057] As a result, the change detection unit 20b can detect that the barcode tape 24 has been changed. Thus, in the vehicle system of this embodiment, since the spacing between the slits 26 provided in the rail 14 is set to two or more different distances, the probability of accidentally failing to detect the replacement of the barcode tape 24 can be made extremely low.

[0058] Next, in step S7, it is determined whether the change detection unit 20b has determined that the barcode tape 24 has been changed. If there is no change, the process shown in the flowchart in Figure 7 is terminated. On the other hand, if the barcode tape 24 has been changed, the process proceeds to step S8.

[0059] In step S8, information indicating that the barcode tape 24 has been changed is output by the output unit 20d of the controller 20. In this embodiment, the output unit 20d transmits the information that the barcode tape 24 has been changed to a higher-level controller (not shown) of the vehicle system 10. The higher-level controller displays on its display (not shown) that the barcode tape 24 has been changed and that the vehicle 12 needs to be reconfigured.

[0060] Next, in step S9, a signal is sent from a higher-level controller (not shown) to the train 12 to command it to reset, the train 12 is reset, and the processing of the flowchart shown in Figure 7 is completed. In this embodiment, the train 12, which has been commanded to reset, moves to the origin position of the rail 14, and travels from the origin position to the non-origin position while reading the barcode tape 24 and detecting the slits 26. At this time, the correspondence between the barcode value read from the barcode tape 24 and the position on the rail 14, and the position of each detected slit 26 are acquired and stored in the storage unit 20a. As a result, the train 12 is reset, and it becomes possible to drive the train 12 while detecting its position based on the replaced barcode tape 24.

[0061] In this embodiment, when a change in the barcode tape 24 was detected, a command signal was transmitted from a higher-level controller (not shown), and the reset was automatically performed. In contrast, as an alternative, the present invention can be configured such that a message indicating that the barcode tape 24 has been changed is displayed on the display (not shown) of the higher-level controller, and an operator who recognizes this message manually resets the vehicle 12. Furthermore, information that the barcode tape 24 has been changed can also be communicated via a display or indicator light (not shown) on the vehicle 12. In this case, the output unit 20d of the controller 20 outputs information that the barcode tape 24 has been changed to the display or the like on the vehicle 12.

[0062] The vehicle system 10 of this embodiment of the present invention is provided with a rail 14 to which a barcode tape 24 is attached, and the position of the vehicle 12 is detected based on the code of the barcode tape 24 read by a code sensor 16, so it can be applied even when the rail 14 is not straight. Furthermore, according to the vehicle system 10 of this embodiment, a plurality of slits 26 are provided on the rail 14 along the direction of travel, and the change determination unit 20b makes the vehicle 12 travel a predetermined determination distance D to detect the slits 26 and read the barcode, and compares it with the position of the slits 26 stored in the storage unit 20a to determine whether or not the barcode tape 24 has been changed.Therefore, if the barcode tape 24 is replaced, it can be reliably detected, and the risk of driving the vehicle 12 while detecting an incorrect position can be avoided.

[0063] Furthermore, according to the vehicle system 10 of the embodiment of the present invention, the spacing between the slits 26 provided in the rail 14 is set to two or more different distances. Therefore, even if the barcode tape 24 is replaced, the relative relationship between the position of the slit 26 and the barcode on the barcode tape 24 will be the same as that of the barcode tape 24 before replacement, thus avoiding the risk of not being able to detect the replacement of the barcode tape 24, and ensuring reliable detection of the replacement of the barcode tape 24.

[0064] Furthermore, according to the vehicle system 10 of the embodiment of the present invention, each slit 26 is arranged such that a first distance L1 and a second distance L2 are included within a predetermined determination distance D set at any position on the rail 14. Therefore, by having the vehicle 12 travel the predetermined determination distance D, it is possible to detect two slits 26 separated by a first distance L1 and two slits 26 separated by a second distance L2, thereby avoiding the risk of not being able to detect the replacement of the barcode tape 24.

[0065] Furthermore, according to the vehicle system 10 of the embodiment of the present invention, if the initial position determination unit 20c determines that the vehicle is close to the origin, the vehicle 12 is driven toward the opposite direction of the origin, and if it determines that the vehicle is close to the opposite direction of the origin, the vehicle 12 is driven toward the origin. This avoids the vehicle 12 reaching the origin or the opposite direction of the origin, which would prevent it from traveling a predetermined distance D from the initial position.

[0066] The above describes an embodiment of the vehicle system of the present invention, but various modifications can be made to the above-described embodiment. In particular, in the above-described embodiment, the vehicle system of the present invention was applied to a vehicle that travels between racks, but the present invention can be applied to various vehicle systems that operate vehicles such as automated warehouses equipped with stacker cranes, tracked trolleys for pallet transport, and overhead vehicles.

[0067] Furthermore, in the embodiments described above, rails attached to a rack were provided as the travel path members, but the travel path members may also be rails laid on the floor (ground) (in the case of tracked trolleys, etc.) or rails laid on the ceiling (in the case of stacker cranes, overhead vehicles, etc.).

[0068] Furthermore, in the above-described embodiment, a barcode tape with a barcode attached was provided as the code member, but any member with any code attached, such as a QR code (registered trademark) or a 2D code, can be used as the code member. Also, in the above-described embodiment, the rail on which the vehicle travels was used as the travel path member, but members such as beams can be provided along the travel path of the vehicle, and the code member can be attached to these members. Such members such as beams are also included as travel path members.

[0069] Furthermore, in the above-described embodiment, the position of the vehicle was calculated by detecting the barcode with a code sensor and detecting the rotation angle of the wheels with an encoder. In contrast, as a modified example, a camera is provided as the code sensor, and by constantly photographing the barcode with this camera and measuring the distance from the vehicle body to the barcode, the position of the vehicle can also be detected using only the code sensor.

[0070] Furthermore, in the above-described embodiment, a slit-shaped hole was formed in the rail as a notch, but the notch may also be a notch-shaped cutout provided in the running path member. Also, in the above-described embodiment, the portion of the running path member that was notched was detected by a notch detection sensor, but the notch may be formed to be long in the direction of travel, and the portion that is not notched may be detected. Alternatively, a number of protrusions may be provided in the running path member, and the portion without protrusions may be detected as a "notch" by the notch detection sensor.

[0071] Furthermore, in the embodiments described above, the controller's memory unit, change determination unit, initial position determination unit, output unit, etc., were provided in the vehicle, but these functional units may also be provided in a higher-level controller or other part other than the vehicle.

[0072] Furthermore, in the above-described embodiment, it was determined whether or not the code components had been changed when the vehicle was started up. However, as a modification, when the vehicle system switch is changed from maintenance mode to automatic driving mode, the vehicle may automatically start driving at a low speed to confirm that there have been no changes to the code components before starting automatic driving.

[0073] Furthermore, in the above-described embodiment, the vehicle was driven a predetermined distance to determine whether or not the code member had been changed, but it may also be driven for the length of the standard length of the barcode tape. [Explanation of Symbols]

[0074] 1. Automated warehouse 2 racks 2a pillar 4. Lifting device for storage 4a Receiving Station 6. Lifting device for vehicle exit 6a Departure Station 10. Vehicle Systems 12 vehicles 12a Main body 12b Transfer equipment 12c wheels 14. Rails (running path components) 14a Top part 14b Inner side 14c Outer side 14d Bottom part 26 Slits (notches) 16 Code Sensors 18 Notch detection sensor 20 controllers 20a Storage section 20b Change determination unit 20c Initial position determination section 20d Output Section 22 encoders 24 Barcode tape (code component) 26 Slits (notches)

Claims

1. A vehicle transport system that moves a vehicle along a travel path member to transport cargo, A travel path member having multiple notches along the direction of travel and a code member having multiple codes recorded along the direction of travel attached to it, A vehicle equipped with a notch detection sensor capable of detecting the presence or absence of a notch in the travel path member, and a code sensor that reads the code of the code member attached along the travel path member, This controller controls the movement of the vehicle, It has, The above controller, A storage unit that stores the point where a notch was detected by the notch detection sensor and the position detected based on the code read by the code sensor, When the above-mentioned vehicle is started up from a stationary state, the vehicle is driven a predetermined distance to detect the notch and read the code, and the change determination unit compares it with the position of the notch stored in the storage unit to determine whether or not the code member has been changed. If this change detection unit determines that the above code member has been changed, an output unit outputs that the above code member has been changed. A vehicle system characterized by having the following features.

2. The vehicle system according to claim 1, wherein the multiple notches provided in the above-mentioned travel path member are provided such that the intervals between them are two or more different distances.

3. The vehicle system according to claim 2, wherein the interval between each notch provided in the travel path member is set to a first distance or a second distance different from the first distance, and each notch is arranged such that the first distance and the second distance are included within the predetermined determination distance set at any position on the travel path member.

4. The above-mentioned travel path member is provided so as to connect the origin side at one end and the non-origin side at the other end. The controller further includes an initial position determination unit that, when starting up the vehicle from a stationary state, detects the position based on the code read by the code sensor before the vehicle travels the predetermined distance, and determines whether the detected position is closer to the origin or closer to the non-origin. The vehicle system according to claim 1, wherein the change determination unit determines, if the initial position determination unit determines that the vehicle is close to the origin, it moves the vehicle toward the opposite side of the origin, and if the change determination unit determines that the vehicle is close to the opposite side of the origin, it moves the vehicle toward the origin.

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