Transport vehicle system

Abstract

[Problem] To measure and quantify the machine difference for each transport vehicle under the same conditions even if the track height changes, and thus to share the teaching information among the plurality of transport vehicles. [Solution] This transport vehicle system may comprise a shelf that is equipped with a shelf board on which an item is placed. This transport vehicle system may comprise a plurality of transport vehicles each equipped with a transfer device that travels on a track provided in the ceiling and transfers the item onto the shelf board. This transport vehicle system may comprise a detection device that is supported by the transfer device and detects the shelf board. This transport vehicle system may comprise a teaching information generation device that generates teaching information related to the transfer position on the shelf board using the detection result of the shelf board by the detection device. This transport vehicle system may comprise a structure for measuring the machine differences in the plurality of transport vehicles. The structure may be equipped with an index that is suspended from the track or the ceiling and detectable by the detection device.

Description

[Technical field]

[0001] The present invention relates to a transport vehicle system. [Background technology]

[0002] In a transport vehicle system, in order to accurately transfer an article to a transfer position on a shelf, it is necessary to generate instruction information regarding the transfer position on the shelf and teach the instruction information to the transport vehicle (see, for example, Patent Document 1). In the transport vehicle system described in Patent Document 1, a shelf installed on the floor is used to measure the three-dimensional coordinates of the shelf board of the shelf when generating the instruction information. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-115062 A Summary of the Invention [Problem to be solved by the invention]

[0004] A guided vehicle system may use multiple guided vehicles that run on tracks installed on the ceiling of a building. In a guided vehicle system using multiple guided vehicles, one guided vehicle may be used to measure the three-dimensional coordinates of a shelf, and teaching information may be generated based on the measurement results, and the teaching information may be shared among multiple guided vehicles. Here, the machine error of each guided vehicle is different. Therefore, in a guided vehicle system using multiple guided vehicles, it is necessary to measure and quantify the machine error for each guided vehicle.

[0005] The height of the track changes depending on the condition of the building, such as the expansion and contraction of steel frames due to seasonal temperature changes and the bending of the ceiling due to snow accumulation. Meanwhile, the measurement of the mechanical error for each guided vehicle is performed regardless of the condition of the building, such as when a guided vehicle is added to the guided vehicle system, when a guided vehicle is maintained and returned to the guided vehicle system, etc. In other words, the timing of measuring the mechanical error may differ for each guided vehicle.

[0006] The guided vehicle system described in Patent Document 1 uses a shelf installed on the floor to measure and quantify the vehicle's mechanical difference, so if the height of the track changes depending on the building conditions, the positional relationship between the vehicle and the shelf will be different for each vehicle. Therefore, the guided vehicle system described in Patent Document 1 may not be able to measure and quantify the mechanical difference for each vehicle under the same conditions if the timing for measuring the mechanical difference of the vehicles differs. [Means for solving the problem]

[0007] In one aspect of the present invention, a transport vehicle system is provided. The transport vehicle system may include a shelf having a shelf board on which an article is placed. The transport vehicle system may include a plurality of transport vehicles that travel on a track provided on the ceiling and are equipped with a transfer device that transfers articles to the shelf board. The transport vehicle system may include a detection device that is supported by the transfer device and detects the shelf board. The transport vehicle system may use the detection result of the shelf board by the detection device to: On the shelf The guided vehicle system may include a structure for measuring an individual difference between the guided vehicles. The structure may be suspended from the track or the ceiling and include an index detectable by a detection device. Effect of the Invention

[0008] According to an aspect of the present invention, even if the timing for measuring the machine differences between transport vehicles is different and the height of the track changes depending on the condition of the building, the machine differences for each transport vehicle can be measured and quantified under the same conditions.

[0009] The detection device may be removably supported by the transfer device. According to this aspect, the transport vehicle can be operated with the detection device detached.

[0010] The shelf may be provided on the floor. According to this aspect, the load on the track or ceiling can be reduced compared to an aspect in which the shelf is suspended from the track or ceiling.

[0011] The transport vehicle system may include a vibration prevention mechanism for preventing the lower part of the structure from vibrating in the horizontal direction. According to this aspect, it is possible to prevent the detection of the index from being hindered due to the vibration of the structure.

[0012] The anti-sway mechanism may include a bracket fixed to the floor. The anti-sway mechanism may include a roller disposed between the bracket and the structure. The anti-sway mechanism may allow the structure to move in the vertical direction relative to the bracket. According to this aspect, even if the height of the track changes, it is possible to suppress the application of unnecessary force to the structure.

[0013] The detection device includes a plurality of image capturing devices. The plurality of image capturing devices may capture images of the indices from different positions. According to this aspect, calculation can be performed by a stereo image method.

[0014] The teaching information generating device may generate teaching information by correcting the detection result of the shelf by the detection device in one transport vehicle using the machine difference in one transport vehicle. According to this aspect, teaching information that is not influenced by the machine difference in one transport vehicle can be used in multiple transport vehicles including the one transport vehicle.

[0015] The structure may include a support suspended from a track or a ceiling. The structure may include a plurality of reference plates extending horizontally from the support. The plurality of reference plates may be provided at positions corresponding to the heights of the shelves. An indicator may be provided on each of the plurality of reference plates. According to this aspect, it is possible to generate teaching information corresponding to each shelf individually.

[0016] The track may include a transport path, which is a path along which the transport vehicle transports the article. The track may include an extension path, which is a path extending away from the transport path. The structure may be provided at a position corresponding to a part of the extension path. According to this aspect, it is possible to prevent the area in which the shelf is provided from being limited due to the provision of the structure.

[0017] A specific area for performing maintenance of the transport vehicle may be provided in an area including a part of the extension path. The structure may be provided in the specific area. According to this aspect, when maintenance of the transport vehicle is performed, the index can be re-detected in the specific area where maintenance was performed.

[0018] The above summary of the invention does not list all of the necessary features of the present invention. Also, subcombinations of these features may also be inventions. [Brief description of the drawings]

[0019] [Figure 1] 1 is a diagram showing an example of a guided vehicle system 100 according to an embodiment of the present invention. [Diagram 2] 2 is a diagram showing an example of the configuration of a shelf 120. FIG. [Diagram 3] FIG. 2 is a diagram showing an example of the configuration of a transport vehicle 130. [Figure 4] FIG. 2 is a diagram showing an example of the configuration of a transport vehicle 130. [Diagram 5] FIG. 2 is a diagram illustrating an example of the configuration of a detection device 170. [Figure 6] FIG. 2 is a diagram illustrating an example of the configuration of a detection device 170. [Figure 7] 2 is a diagram showing an example of the configuration of a structure 150. FIG. [Figure 8] 11 is a diagram showing a configuration example of a vibration prevention mechanism 180. FIG. [Figure 9] 9 is a diagram showing an example of the configuration of the anti-vibration mechanism 180 shown in FIG. 8 along the cross section AA. [Figure 10] FIG. 2 is a diagram illustrating an example of the configuration of a transport control unit 134. [Figure 11] FIG. 13 is a diagram illustrating an example of the configuration of an imaging control unit 173. [Figure 12] FIG. 2 is a diagram illustrating an example of the configuration of a teaching information generating device 140. [Figure 13] 1 is a diagram showing an example of the configuration of layout data related to a structure 150. FIG. [Figure 14] FIG. 13 is a diagram illustrating an example of the configuration of machine difference data. [Figure 15] FIG. 4 is a diagram showing an example of the configuration of teaching data; [Figure 16] 13 is a diagram showing an example of an operation for capturing an image of an index 152A and an index 152B provided on a reference plate 152 of a structure 150. FIG. [Figure 17] 13 is a diagram showing an example of an operation for capturing an image of an index 124A and an index 124B provided on a shelf board 124 of a shelf 120. FIG. [Figure 18] 13 is a diagram showing an example of an operation for performing a calculation to quantify an individual difference between the transportation vehicles 130. FIG. [Figure 19] 13 is a diagram showing an example of an operation for calculating teaching information regarding a transfer position on a shelf 120. FIG. [Figure 20] 13 is a diagram showing an example of an operation for calculating the three-dimensional coordinates of a shelf board 124 that are referred to when an article G is transported. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the scope of the invention according to the claims. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0021] FIG. 1 is a diagram showing an example of a guided vehicle system 100 according to an embodiment of the present invention. The guided vehicle system 100 is a system that combines a plurality of automated guided vehicles and a device for managing and controlling the plurality of automated guided vehicles. The guided vehicle system 100 is also called an automated guided vehicle system. The guided vehicle system 100 includes a track 110, a plurality of shelves 120, a plurality of guided vehicles 130, a teaching information generating device 140, a structure 150, and a ground control device 160. The guided vehicle system 100 also includes a detection device 170 shown in FIG. 5 and FIG. 6. The guided vehicle system 100 also includes a vibration prevention mechanism 180 shown in FIG. 8 and FIG. 9.

[0022] The track 110 is a guideway along which the transport vehicle 130 travels. As shown in Figs. 3 to 7, the track 110 is suspended from a ceiling C by a hanging bracket H. The track 110 includes a transport path 111 and an extension path 112. The transport path 111 is a path along which the transport vehicle 130 transports an article G. The extension path 112 is a path that extends away from the transport path 111. A specific area A for performing maintenance on the transport vehicle 130 is provided on the extension path 112.

[0023] 2 is a diagram showing an example of the configuration of shelf 120. Shelf 120 is provided on floor F, and is a device on which article G is placed. In the following description, the surface of shelf 120 facing track 110 is defined as the front surface of shelf 120. Shelf 120 includes a bottom plate 121, a back plate 122, side plates 123, and a plurality of shelf plates 124.

[0024] The bottom plate 121 is a plate that forms the bottom surface of the shelf 120. The bottom plate 121 is provided on the floor F. The back plate 122 is a plate that forms the back surface of the shelf 120. The back plate 122 is provided perpendicular to the bottom plate 121 on the back surface of the shelf 120. The side plate 123 is a plate that forms the side surface of the shelf 120. The side plate 123 is provided perpendicular to the bottom plate 121 on the side surface of the shelf 120. The shelf plate 124 is a plate on which an item G is placed. The shelf plate 124 is suspended flat across the side plate 123. Each of the multiple shelf plates 124 has two indicators 124A and 124B.

[0025] Indicator 124A and indicator 124B are marks detectable by detection device 170. Indicator 124A is provided in an area to the left of the center of shelf board 124 when structure 150 is viewed from the front, and at a position close to the front of shelf 120. Indicator 124B is provided in an area to the right of the center of shelf board 124 when structure 150 is viewed from the front, and at a position close to the front of shelf 120.

[0026] 3 and 4 are diagrams showing a configuration example of the transport vehicle 130. The transport vehicle 130 is a vehicle that automatically travels on the track 110 and has a function of transporting the article G. The transport vehicle 130 includes a traveling device 131, a lifting device 132, and a transfer device 133. The transport vehicle 130 also includes a transport control unit 134 shown in FIG.

[0027] The traveling device 131 is a device that causes the carrier 130 to travel. The traveling device 131 is provided so as to be able to travel on the track 110.

[0028] The lifting device 132 is a device that lifts and lowers the transfer device 133. The lifting device 132 includes a mast 132M and a lifting platform 132P. The mast 132M is connected to the traveling device 13 1 of The lift platform 132P is a columnar member that is provided at the lower portion and extends in the vertical direction. The lift platform 132P is a member that is supported by the mast 132M and moves up and down relative to the mast 132M.

[0029] The transfer device 133 is a multi-joint arm that supports the article G and moves the article G from above the shelf board 124 to below the shelf board 124. Delivery car 130 The transfer device 133 is a device for transferring an object between the lifting platform 132P and the lifting platform 132P. Here, transferring means loading and unloading an object G. The transfer device 133 is provided on the upper part of the lifting platform 132P. When the transfer device 133 is not performing transfer, the articulated arm is folded as shown in FIG. 3. When the transfer device 133 is performing transfer, the articulated arm is unfolded as shown in FIG. 4.

[0030] FIG. 10 is a diagram showing a configuration example of the transport control unit 134. The transport control unit 134 controls the traveling device 131, the lifting device 132, and the transfer device 133. Delivery car 130 The transport control unit 134 includes a control device 134A, a calculation device 134B, an input / output device 134C, a communication device 134D, and a storage device 134E.

[0031] The control device 134A is a device that mainly performs functions such as controlling the operation of the arithmetic device 134B, the input / output device 134C, the communication device 134D, and the storage device 134E. For example, the control device 134A controls the operation of the arithmetic device 134B when performing a calculation to calculate the three-dimensional coordinates of the shelf board 124 to be referenced when transporting the article G. A controls the input / output device 134C when outputting a control signal related to the traveling operation to the traveling device 131. A controls the input / output device 134C when outputting a control signal related to the lifting operation to the lifting device 132. A 11. The control device 134A controls the input / output device 134C when outputting a control signal related to the transfer operation to the transfer device 133. Also, for example, the control device 134A controls the communication device 134D when transmitting command data for commanding an imaging operation to the imaging control unit 173 shown in FIG. Delivery car 130 The communication device 134D controls the communication device 134D when sending feedback data regarding the operation and control of the vehicle to the ground control device 160.

[0032] The arithmetic unit 134B is a device that performs calculations such as arithmetic operations, logical operations, etc. For example, the arithmetic unit 134B performs calculations to calculate the three-dimensional coordinates of the shelf board 124 that are referenced when the article G is transported.

[0033] The input / output device 134C is a device that inputs signals from the traveling device 131, the lifting device 132, and the transfer device 133. Also, the input / output device 134C is a device that outputs signals to the traveling device 131, the lifting device 132, and the transfer device 133. For example, the input / output device 134C outputs a control signal related to a traveling operation to the traveling device 131, and inputs a feedback signal related to the traveling operation from the traveling device 131. Also, for example, the input / output device 134C outputs a control signal related to a lifting operation to the lifting device 132, and inputs a feedback signal related to the lifting operation from the lifting device 132. Also, for example, the input / output device 134C outputs a control signal related to a transfer operation to the transfer device 133, and inputs a feedback signal related to the transfer operation from the transfer device 133.

[0034] The communication device 134D is connected to an end of the network in the communication system, and is a device that mainly communicates with the imaging control unit 173, the teaching information generating device 140, and the ground control device 160 shown in Fig. 11. For example, the communication device 134D transmits command data for commanding an imaging operation to the teaching information generating device 140, and receives feedback data related to the imaging operation from the teaching information generating device 140. In addition, for example, the communication device 134D Delivery car 130 The communication device 134D receives, for example, teaching data related to the transfer position on the shelf 120 from the teaching information generating device 140. The communication device 134D also receives, for example, teaching data related to the transfer position on the shelf 120 from the teaching information generating device 140. Delivery car 130 The control unit 160 receives control data relating to the operation and control of the vehicle from the ground control device 160 and transmits feedback data relating to the operation and control to the ground control device 160.

[0035] The storage device 134E is a device for storing data and programs. For example, the storage device 134E may include Delivery car 130The storage device 134E stores control data relating to the operation and control of the shelf 124. For example, the storage device 134E also stores control data for performing a calculation to calculate the three-dimensional coordinates of the shelf board 124 that are referenced when transporting the article G. For example, the storage device 134E also stores layout data relating to the structure 150, including design values ​​of the three-dimensional coordinates of the reference plate 152 in the structure 150. For example, the storage device 134E also stores layout data relating to the shelf 120, including design values ​​of the three-dimensional coordinates of the shelf board 124 in the shelf 120. For example, the storage device 134E also stores Delivery car 130 The storage device 134E stores machine-difference data relating to the machine-difference between the shelf 120 and the object G. Also, for example, the storage device 134E stores teaching data relating to the transfer position on the shelf 120. Also, for example, the storage device 134E stores operational coordinate data relating to the operational coordinates of the shelf 124. Here, the operational coordinates are the three-dimensional coordinates of the shelf 124 that are referred to when transporting the article G.

[0036] 5 and 6 are diagrams showing a configuration example of the detection device 170. The detection device 170 is a device that detects the shelf board 124. The detection device 170 is detachable from the transfer device 133, and is attached when performing an operation for generating teaching information related to the transfer position on the shelf 120, and is supported by the transfer device 133. The detection device 170 in this embodiment includes a housing 171 and four imaging devices 172A to 172D. The detection device 170 also includes an imaging control unit 173 shown in FIG.

[0037] The housing 171 has a facing surface 171S that faces the front surface of the shelf 120 when detecting the shelf board 124. The housing 171 is supported by the transfer device 133 so that the facing surface 171S faces the front surface of the shelf when detecting the shelf board 124.

[0038] The imaging devices 172A to 172D are devices that use a semiconductor element that reacts to light to receive light from the outside world through a lens, convert it into digital data, and record it in a storage medium. The imaging devices 172A to 172D are also called digital cameras. The imaging devices 172A to 172D are provided on the facing surface 171S of the housing 171. When the facing surface 171S is viewed from the front, the imaging devices 172A and 172B are provided in an area to the left of the center of the facing surface 171S and at positions at different heights. When detecting the shelf board 124, the imaging devices 172A and 172B view the shelf 120 from the detection device 170 and capture an image of the index 124B provided in an area on the right side of the shelf board 124. Since the imaging devices 172A and 172B are provided at positions at different heights, they capture images of the index 124B from different positions. On the other hand, imaging devices 172C and 172D are provided at positions at different heights in an area to the right of the center of opposing surface 171S when viewing opposing surface 171S from the front. When detecting shelf board 124, imaging devices 172C and 172D view shelf 120 from detection device 170 and capture an image of index 124A provided in an area on the left side of shelf board 124. Since imaging devices 172C and 172D are provided at positions at different heights, they capture images of index 124A from different positions.

[0039] 11 is a diagram showing an example of the configuration of the imaging control unit 173. The imaging control unit 173 is a device provided in the housing 171 for controlling the imaging devices 172A to 172D. The imaging control unit 173 includes a control device 173A, a calculation device 173B, an input / output device 173C, a communication device 173D, and a storage device 173E.

[0040] The control device 173A is a device that mainly performs functions such as controlling the operations of the arithmetic device 173B, the input / output device 173C, the communication device 173D, and the storage device 173E. For example, the control device 173A controls the input / output device 173C when outputting a control signal related to the imaging operation to the imaging devices 172A to 172D. Also, for example, the control device 173A controls the communication device 173D when transmitting feedback data related to the imaging operation to the transport control unit 134. Also, for example, the control device 173A controls the communication device 173D when transmitting image data captured by the imaging devices 172A to 172D to the teaching information generating device 140.

[0041] The arithmetic unit 173B is a device that performs calculations such as arithmetic operations and logical operations.

[0042] The input / output device 173C is a device that inputs signals from the imaging devices 172A to 172D. Also, the input / output device 173C is a device that outputs signals to the imaging devices 172A to 172D. For example, the input / output device 173C outputs control signals related to imaging operations to the imaging devices 172A to 172D, and inputs image data captured by the imaging operations from the imaging devices 172A to 172D.

[0043] The communication device 173D is connected to an end of a network in the communication system, and is a device that mainly communicates with the transport control unit 134 and the teaching information generating device 140. For example, the communication device 173D receives command data commanding an imaging operation from the transport control unit 134, and transmits feedback data related to the imaging operation to the transport control unit 134. Also, for example, the communication device 173D transmits image data captured by the imaging devices 172A to 172D to the teaching information generating device 140.

[0044] Storage device 173E is a device that stores data and programs. For example, storage device 173E stores image data captured by imaging devices 172A to 172D.

[0045] 7 is a diagram showing a configuration example of the structure 150. The structure 150 is an object for measuring and quantifying the machine error of the transport vehicle 130. The structure 150 is hung from the track 110 at a position corresponding to a part of the extension path 112. The structure 150 shown in FIG. 1 is provided in a specific area A of the extension path 112. In the following description, the surface of the structure 150 facing the track 110 is referred to as the front of the structure 150. The structure 150 includes a support 151 and a plurality of reference plates 152.

[0046] The pillar 151 is a column material that supports the multiple reference plates 152. The pillar 151 is suspended from the track 110. The reference plates 152 are horizontal members that extend horizontally from the pillar 151. The multiple reference plates 152 are each provided at a position that corresponds to a transfer position on the shelf 120. The position that corresponds to the transfer position is a position that corresponds to the height of the multiple shelf boards 124 on the shelf 120. Each of the multiple reference plates 152 includes two indicators 152A and 152B.

[0047] The index 152A and the index 152B are marks detectable by the detection device 170. The index 152A is provided in an area to the left of the center of the reference plate 152 when the structure 150 is viewed from the front. The index 152B is provided in an area to the right of the center of the reference plate 152 when the structure 150 is viewed from the front. The imaging devices 172A and 172B of the detection device 170 capture images of the index 152B provided in the right area of ​​the reference plate 152. The imaging devices 172A and 172B are provided at positions at different heights from each other, so that the images of the index 152B are captured from different positions from each other. On the other hand, the imaging devices 172C and 172D of the detection device 170 capture images of the index 152A provided in the left area of ​​the reference plate 152. Since the imaging device 172C and the imaging device 172D are provided at positions at different heights, they capture images of the index 152A from different positions.

[0048] Fig. 8 is a diagram showing a configuration example of the anti-sway mechanism 180. Fig. 9 is a diagram showing a configuration example of the AA cross section of the anti-sway mechanism 180 shown in Fig. 8. The anti-sway mechanism 180 is a mechanism that prevents the lower part of the structure 150 from shaking in the horizontal direction. The anti-sway mechanism 180 includes a bracket 181, a plurality of rollers 153, and a plurality of rollers 182.

[0049] Bracket 181 is a structure that is fixed to floor F at a position near structure 150. Roller 153 and roller 182 are cylindrical rotating objects that allow structure 150 to move in the vertical direction relative to bracket 181. Roller 153 and roller 182 are disposed between bracket 181 and structure 150.

[0050] A plate portion 154 supporting the roller 153 is provided on the support 151 of the structure 150 at a position facing the bracket 181. The plate portion 154 has plate surfaces on the front and back sides of the structure 150. A rotation shaft 153A supporting the roller 153 is provided on the plate portion 154 with the front-to-rear direction of the structure 150 as the axial direction. The position of the rotation shaft 153A is set so that the roller 153 abuts against the bracket 181 when the roller 153 is supported.

[0051] Here, the height of the track 110 may change depending on the condition of the building, such as expansion and contraction of the steel frame due to seasonal temperature changes, bending of the ceiling due to snow accumulation, etc. Since the structure 150 is suspended from the track 110, it moves downward when the height of the track 110 decreases, and moves upward when the height of the track 110 returns to its original position from the decreased position.

[0052] In the anti-sway mechanism 180, when a force is applied to move the structure 150 in the vertical direction, the rollers 153 rotate in contact with the bracket 181. Therefore, the structure 150 is allowed to move in the vertical direction relative to the bracket 181.

[0053] In the anti-sway mechanism 180, the rollers 153 are in contact with the brackets 181. Therefore, the lower part of the structure 150 is restricted from shaking in the left-right direction D1 of the structure 150.

[0054] A plate portion 155 sandwiched between multiple rollers 182 is provided on the support pillar 151 of the structure 150 at a position facing the bracket 181. The plate portion 155 has plate surfaces on the front side and rear side of the structure 150. The bracket 181 is provided with multiple rotating shafts 182A that axially support the rollers 182 with the left-right direction of the structure 150 as the axial direction. The position of the rotating shafts 182A is set so that the rollers 182 abut on the plate surface of the plate portion 155 when the rollers 182 are axially supported.

[0055] In the anti-sway mechanism 180, when a force is applied to move the structure 150 in the vertical direction, the rollers 182 rotate in contact with the plate portion 155. Therefore, the structure 150 is allowed to move in the vertical direction relative to the bracket 181.

[0056] In addition, in the vibration prevention mechanism 180, the plate material 155 is sandwiched between a plurality of rollers 182. Therefore, the lower part of the structure 150 is restricted from vibrating in the front-rear direction D2 of the structure 150.

[0057] Returning to FIG. 1, the ground control device 160 is a device provided on the ground side for managing and controlling the operation of the transportation vehicle 130.

[0058] The teaching information generating device 140 is a device provided on the ground side for generating teaching information regarding a transfer position on the shelf 120, using the detection result of the shelf 120 by the detection device 170. The teaching information generating device 140 generates teaching information by correcting the detection result of the shelf 120 by the detection device 170 in one of the multiple transport vehicles 130, using the machine error in that one transport vehicle 130.

[0059] 12 is a diagram showing an example of the configuration of the teaching information generating device 140. The teaching information generating device 140 includes a control device 140A, a calculation device 140B, an input device 140C, an output device 140D, a communication device 140E, and a storage device 140F.

[0060] The control device 140A is a device that mainly performs functions such as controlling the operation of the arithmetic device 140B, the input device 140C, the output device 140D, the communication device 140E, and the storage device 140F. For example, the control device 140A controls the operation of the arithmetic device 140B when performing a calculation to quantify the machine difference of the transport vehicle 130. Also, for example, the control device 140A controls the operation of the arithmetic device 140B when performing a calculation to calculate teaching information regarding the transfer position on the shelf 120. Also, for example, the control device 140A controls the communication device 140E when transmitting machine difference data regarding the machine difference of the transport vehicle 130 to the transport control unit 134. Also, for example, the control device 140A controls the communication device 140E when transmitting teaching data regarding the transfer position on the shelf 120 to the transport control unit 134.

[0061] The arithmetic unit 140B is a device that performs calculations such as arithmetic operations and logical operations. For example, the arithmetic unit 140B performs calculations such as arithmetic operations and logical operations when the indices 152A and 152B are captured. Picture From the image data, the arithmetic device 140B performs a calculation to calculate three-dimensional coordinates of the reference plate 152 on which the index 152A and the index 152B are provided. In addition, for example, the arithmetic device 140B performs a calculation to quantify the machine error of the transport vehicle 130. In addition, for example, the arithmetic device 140B performs a calculation to calculate teaching information regarding the transfer position on the shelf 120.

[0062] The input device 140C is a device for providing the teaching information generating device 140 with data, information, instructions, and the like.

[0063] The output device 140D is control equipment 140 A It is a device that receives data from and physically presents it externally in a form that can be recognized by humans.

[0064] The communication device 140E is connected to the end of the network in the communication system, and is connected to the transport control unit 134 and the imaging control unit 1 34 The communication device 140E is a device that mainly communicates with the transport control unit 134. For example, the communication device 140E receives image data captured by the imaging devices 172A to 172D from the imaging control unit 173. Also, for example, the communication device 140E transmits machine difference data related to the machine difference of the transport vehicle 130 to the transport control unit 173. Also, for example, the communication device 140E transmits instruction data related to the transfer position on the shelf 120 to the transport control unit 134.

[0065] The storage device 140F is a device for storing data and programs. For example, the storage device 140F stores the image of the index 152A and the index 152B. Picture The storage device 140F stores control data for performing a calculation to calculate, from the image data, three-dimensional coordinates of the reference plate 152 on which the index 152A and the index 152B are provided. For example, the storage device 140F stores control data for performing a calculation to quantify the machine error of the transport vehicle 130. Also, for example, the storage device 140F stores control data for performing a calculation to calculate teaching information related to the transfer position on the shelf 120. Also, for example, the storage device 140F stores control data for performing a calculation to calculate the teaching information related to the transfer position on the shelf 120. Also, for example, the storage device 140F stores control data for performing a calculation to quantify the machine error of the transport vehicle 130. Picture The storage device 140F stores coordinate data relating to the three-dimensional coordinates of the reference plate 152 on which the index 152A and the index 152B are provided, calculated from the image data. Also, for example, the storage device 140F stores layout data relating to the structure 150, including design values ​​of the three-dimensional coordinates of the reference plate 152 in the structure 150. Also, for example, the storage device 140F stores image data captured by the imaging devices 172A to 172D. Also, for example, the storage device 140F stores machine-difference data relating to the machine-difference of the transport vehicle 130. Also, for example, the storage device 140F stores teaching data relating to the transfer position on the shelf 120.

[0066] 13 is a diagram showing an example of the configuration of layout data related to the structure 150 stored in the memory device 140F of the teaching information generating device 140 and the memory device 134E of the transport control unit 134. The layout data related to the structure 150 associates information I1 of a reference plate ID with information I2 of design values ​​of the three-dimensional coordinates of the reference plate.

[0067] The reference plate ID information I1 is a code used to identify multiple reference plates 152. The reference plate three-dimensional coordinate design value information I2 is information indicating the three-dimensional coordinate design value of the reference plate 152 identified by the reference plate ID. For example, the example shown in Fig. 13 indicates that the three-dimensional coordinate design value of the reference plate 152 identified by the reference plate ID "B001" is "X11, Y11, Z11".

[0068] Furthermore, the storage device 134E of the transport control unit 134 stores data having the same structure as the layout data regarding the structure 150 as layout data regarding the shelf 120.

[0069] FIG. 14 is a diagram showing an example of the configuration of the machine difference data stored in the storage device 140F of the teaching information generating device 140 and the storage device 134E of the transport control unit 134. A plurality of machine difference data corresponding to the plurality of transport vehicles 130 are stored in the storage device 140F of the teaching information generating device 140. The machine difference data shown in FIG. 14 is machine difference data corresponding to one transport vehicle 130 among a plurality of machine difference data corresponding to the plurality of transport vehicles 130 stored in the storage device 140F of the teaching information generating device 140. The machine difference data corresponding to the host vehicle is stored in the storage device 134E of the transport control unit 134. The machine difference data associates information I1 of the reference plate ID with information I3 of the machine difference of the transport vehicle relative to the reference plate.

[0070] The information I3 on ​​the mechanical difference of the transport vehicle with respect to the reference plate is information that quantifies, as three-dimensional coordinates in the same coordinate system as the three-dimensional coordinates of the reference plate 152, the mechanical difference of the transport vehicle 130 when the lift platform 132P is at a height corresponding to the reference plate 152 identified by the reference plate ID. For example, the example shown in Fig. 14 indicates that the mechanical difference of the transport vehicle 130 when the lift platform 132P is at a height corresponding to the reference plate 152 identified by the reference plate ID "B001" is "X21, Y21, Z21".

[0071] 15 is a diagram showing an example of the configuration of teaching data stored in the memory device 140F of the teaching information generating device 140 and the memory device 134E of the transport control unit 134. The teaching data associates shelf board ID information I4 with teaching information I5 of the three-dimensional coordinates of the shelf board.

[0072] The shelf board ID information I4 is a code used to identify multiple shelf boards 124. The shelf board three-dimensional coordinate instruction information I5 is information that instructs the three-dimensional coordinates of the shelf board 124 identified by the shelf board ID. For example, the example shown in Fig. 15 indicates that the three-dimensional coordinates of the shelf board 124 identified by the shelf board ID "S001" are "X31, Y31, Z31."

[0073] Fig. 16 is a diagram showing an example of an operation for capturing an image of an index 152A and an index 152B provided on a reference plate 152 of a structure 150. Each of the multiple transport vehicles 130 executes the operation shown in Fig. 16 in order to acquire a detection value of the three-dimensional coordinates of the reference plate 152 as information for calculating the vehicle error of the vehicle itself. This operation is performed in a state where a detection device 170 is attached to a transfer device 133 of the transport vehicle 130.

[0074] First, the transport control unit 134 of the transport vehicle 130 controls the travel device 131 of the vehicle to move the transport vehicle 130 to the position of the structure 150 (step S101). In step S101, the control device 134A of the transport control unit 134 reads out layout data related to the structure 150 stored in the memory device 134E. The control device 134A generates control data for traveling to the position of the structure 150 based on the layout data related to the structure 150, and stores the control data in the memory device 134E. Then, the input / output device 134C reads out the control data stored in the memory device 134E, and outputs a control signal according to the content of the control data to the travel device 131 of the vehicle.

[0075] When the traveling device 131 travels to the position of the structure 150 in accordance with the control signal output from the transport control unit 134 , the traveling device 131 outputs a feedback signal related to the traveling operation to the transport control unit 134 .

[0076] When the input / output device 134C inputs a feedback signal, the arithmetic device 134B of the transport control unit 134 sets a maximum value to a reference plate counter "L" for counting the number of reference plates 152 (step S102). In step S102, the arithmetic device 134B reads out the layout data for the structure 150 stored in the memory device 134E. Then, based on the layout data for the structure 150, the arithmetic device 134B sets the same value as the number of reference plates 152 in the structure 150 as the maximum value in the reference plate counter "L".

[0077] Then, the transport control unit 134 Delivery car 130 In step S103, the transport control unit 13 controls the lifting device 132 to move the transfer device 133 to a height corresponding to the "L"th reference plate 152 (step S103). of 4The control device 134A reads out the layout data for the structure 150 stored in the memory device 134E. Based on the layout data for the structure 150, the control device 134A generates control data for moving the transfer device 133 to a height corresponding to the "L"th reference plate 152, and stores the control data in the memory device 134E. Here, the height corresponding to the "L"th reference plate 152 is the height of the transfer device 133 when transferring the item G to the shelf board 124 at a height corresponding to the height of the "L"th reference plate 152. The input / output device 134C then reads out the control data stored in the memory device 134E, and outputs a control signal according to the contents of the control data. Delivery car 130 The output is sent to the elevator device 132.

[0078] When the lifting device 132 lifts or lowers to a height corresponding to the “L”th reference plate 152 in accordance with the control signal output from the transport control unit 134 , it outputs a feedback signal related to the lifting operation to the transport control unit 134 .

[0079] When the input / output device 134C inputs a feedback signal, the control device 134A of the transport control unit 134 generates command data for commanding an imaging operation and stores it in the memory device 134E. Then, the communication device 134D reads out the command data stored in the memory device 134E and transmits it to the imaging control unit 173 of the detection device 170.

[0080] When the imaging control unit 173 receives the command data from the transport control unit 134, it controls the imaging devices 172A to 172D to capture images of the index 152A and the index 152B provided on the "L"th reference plate 152 (step S104). In step S104, when the communication device 173D receives the command data, the control device 173A of the imaging control unit 173 generates control data for controlling the imaging operation and stores it in the storage device 173E. Then, the input / output device 173C reads out the control data stored in the storage device 173E and outputs control signals according to the contents of the control data to the imaging devices 172A to 172D.

[0081] When the imaging devices 172A to 172D capture images of the index 152A and the index 152B provided on the “L”th reference plate 152, the imaging devices 172A to 172D output the captured image data to the imaging control unit 173.

[0082] When image data is input to the input / output device 173C of the imaging control unit 173, the image data is stored in the storage device 173E.

[0083] Then, the imaging control unit 173 transmits image data of the index 152A and the index 152B of the reference plate 152 to the teaching information generating device 140 (step S105). In step S105, the communication device 173D of the imaging control unit 173 reads out the image data stored in the storage device 173E, and transmits the image data to the teaching information generating device 140. In addition, the communication device 173D transmits feedback data related to the imaging operation to the transport control unit 134.

[0084] When the communication device 140E of the teaching information generating device 140 receives the image data from the imaging control unit 173, the communication device 140E stores the image data in the storage device 140F.

[0085] Transportation dispatch When the communication device 134D of the arithmetic device 134B of the control unit 134 receives the feedback data, the arithmetic device 134B subtracts "1" from the value of the reference plate counter "L" (step S106).

[0086] And then, dispatch The arithmetic device 134B of the control unit 134 judges whether the value of the reference plate counter "L" is "0" (step S107). Here, the value of the reference plate counter "L" being "0" means that the indices 152A and 152B provided on all the reference plates 152 in the structure 150 have been imaged.

[0087] If the value of the reference plate counter "L" is not "0" (step S107; NO), in this operation example, the processes from step S103 onwards are executed again.

[0088] If the value of the reference plate counter "L" is "0" (step S107; YES), the transport control unit 134 ends the process related to the operation example shown in FIG.

[0089] Fig. 17 is a diagram showing an example of an operation for capturing images of the indexes 124A and 124B provided on the shelf board 124 of the shelf 120. One of the multiple transport vehicles 130 executes the operation shown in Fig. 17 in order to acquire a detection value of the three-dimensional coordinates of the shelf board 124 as information for calculating teaching data related to the transfer position on the shelf 120. This operation is performed in a state where the detection device 170 is attached to the transfer device 133 of one of the transport vehicles 130.

[0090] First, dispatch The arithmetic device 134B of the control unit 134 sets a maximum value to a shelf row counter "M" for counting the number of rows of shelf boards 124 on the shelf 120 (step S201). In step S201, the arithmetic device 134B reads out layout data for the shelf 120 stored in the memory device 134E. Then, based on the layout data for the shelf 120, the arithmetic device 134B sets the same value as the number of rows of shelf boards 124 on the shelf 120 as the maximum value to the shelf row counter "M".

[0091] And then, dispatch The arithmetic device 134B of the control unit 134 sets a maximum value to a shelf level counter "N" for counting the number of shelves 124 in the "M"th row (step S202). In step S202, the arithmetic device 134B reads out layout data for the shelves 120 stored in the memory device 134E. Then, based on the layout data for the shelves 120, the arithmetic device 134B sets a maximum value to the shelf level counter "N" that is the same as the number of shelves 124 in the "M"th row.

[0092] Then, the transport control unit 134 Delivery car 130The control device 134A controls the travel device 131 of the transport vehicle 130 to move the transport vehicle 130 to a position corresponding to the shelf board 124 in the "M"th row (step S203). In step S203, the control device 134A of the transport control unit 134 reads out the layout data for the shelf 120 stored in the memory device 134E. Based on the layout data for the shelf 120, the control device 134A generates control data for moving the shelf 120 to a position corresponding to the shelf board 124 in the "M"th row, and stores the control data in the memory device 134E. The input / output device 134C then reads out the control data stored in the memory device 134E, and outputs a control signal according to the content of the control data. Delivery car 130 The signal is output to the traveling device 131.

[0093] When the traveling device 131 travels to a position corresponding to the “M”th shelf board 124 in accordance with the control signal output from the transport control unit 134, the traveling device 131 outputs a feedback signal related to the traveling operation to the transport control unit 134.

[0094] When the input / output device 134C receives a feedback signal, the transport control unit 134 Delivery car 130 The control device 134A controls the lifting device 132 to move the transfer device 133 to a height corresponding to the "N"th shelf board 124 (step S204). In step S204, the control device 134A of the transport control unit 134 reads out the layout data for the shelf 120 stored in the storage device 134E. Then, the control device 134A generates control data for moving the transfer device 133 to a height corresponding to the "N"th shelf board 124 based on the layout data for the shelf 120, and stores the control data in the storage device 134E. Here, the height corresponding to the "N"th shelf board 124 is the height of the transfer device 133 when transferring the article G to the "N"th shelf board 124. Then, the input / output device 134C reads out the control data stored in the storage device 134E, and outputs a control signal according to the content of the control data to the lifting device 132.

[0095] When the lifting device 132 lifts or lowers to a height corresponding to the “N”th shelf board 124 in accordance with the control signal output from the transport control unit 134 , it transmits a feedback signal regarding the lifting or lowering operation to the transport control unit 134 .

[0096] When the input / output device 134C inputs a feedback signal, the control device 134A of the transport control unit 134 generates command data for commanding an imaging operation and stores the command data in the memory device 134E. Then, the communication device 134D reads out the command data stored in the memory device 134E and transmits the command data to the teaching information generating device 140. When the teaching information generating device 140 receives the command data from the control device 134A of the transport control unit 134, it transmits the command data to the imaging control unit 173.

[0097] When the imaging control unit 173 receives the command data from the teaching information generating device 140, it controls the imaging devices 172A to 172D to capture images of the index 124A and the index 124B provided on the shelf board 124 in the "N"th row of the "M" row (step S205). In step S205, when the communication device 173D receives the command data, the control device 173A of the imaging control unit 173 generates control data for controlling the imaging operation and stores it in the storage device 173E. Then, the input / output device 173C reads out the control data stored in the storage device 173E and outputs control signals according to the contents of the control data to the imaging devices 172A to 172D.

[0098] When imaging devices 172A to 172D capture images of index 124A and index 124B provided on shelf board 124 in row "M" and row "N", they output the captured image data to imaging control unit 173. When image data is input, input / output device 173C of imaging control unit 173 stores the image data in storage device 173E.

[0099] Then, the imaging control unit 173 transmits image data of the index 124A and the index 124B of the shelf board 124 to the teaching information generation device 140 (step S206). In step S206, the communication device 173D of the imaging control unit 173 reads out the image data stored in the storage device 173E and transmits the image data to the teaching information generation device 140.

[0100] When the communication device 140E of the teaching information generating device 140 receives the image data from the imaging control unit 173, the communication device 140E stores the image data in the storage device 140F. In addition, the communication device 140E of the teaching information generating device 140 transmits feedback data related to the imaging operation to the transport control unit 134.

[0101] When the communication device 134D of the arithmetic device 134B of the transport control unit 134 receives the feedback data, the arithmetic device 134B subtracts "1" from the value of the shelf level counter "N" (step S207).

[0102] Then, the arithmetic device 134B of the transport control unit 134 determines whether the value of the shelf level counter "N" is "0" (step S208). Here, the shelf level counter "N" being "0" means that the indexes 124A and 124B provided on all shelf boards 124 in the "M"th row have been imaged.

[0103] If the value of the shelf counter "N" is not "0" (step S208; NO), in this operation example, the processing from step S204 onwards is executed again. If the value of the shelf level counter "N" is "0" (step S208; YES), the arithmetic device 134B of the transport control unit 134 subtracts "1" from the value of the shelf row counter "M" (step S209).

[0104] Then, the arithmetic device 134B of the transport control unit 134 determines whether the value of the shelf row counter "M" is "0" (step S210). Here, the value of the shelf row counter "M" being "0" means that images of the indices 124A and 124B provided on the shelf boards 124 of all rows on the shelf 120 have been captured.

[0105] If the value of the shelf row counter "M" is not "0" (step S210; NO), in this operation example, the processes from step S202 onwards are executed again.

[0106] When the value of the shelf row counter "M" is "0" (step S210; YES), the transport control unit 134 ends the process related to the operation example shown in FIG.

[0107] Fig. 18 is a diagram showing an example of an operation for performing a calculation to quantify the machine difference of the guided vehicles 130. This operation is performed by the teaching information generating device 140. The teaching information generating device 140 performs the operation shown in Fig. 18 for each of the multiple guided vehicles 130 in order to quantify the machine difference of each of the multiple guided vehicles 130. In the following description, an example of performing a calculation to quantify the machine difference of a specific guided vehicle 130 among the multiple guided vehicles 130 will be described.

[0108] First, the arithmetic device 140B of the teaching information generating device 140 sets a maximum value to a reference plate counter "L" for counting the number of reference plates 152 (step S301). In step S301, the arithmetic device 140B reads out layout data related to the structure 150 stored in the memory device 140F. Then, based on the layout data related to the structure 150, the arithmetic device 140B sets the same value as the number of reference plates 152 in the structure 150 as the maximum value to the reference plate counter "L".

[0109] Then, the arithmetic device 140B reads out from the storage device 140F image data obtained by capturing images of the index 152A and the index 152B of the "L"th reference plate 152 using a predetermined carrier 130 (step S302).

[0110] Then, the arithmetic device 140B calculates the detection value C1 of the three-dimensional coordinates of the reference plate 152 from the image data of the index 152A and the index 152B of the "L"th reference plate 152 (step S303). In step S303, the arithmetic device 140B calculates the detection value C1 of the three-dimensional coordinates of the reference plate 152, for example, by a stereo image method.

[0111] Then, the calculation device 140B reads out the design value C2 of the three-dimensional coordinate of the "L"th reference plate 152 (step S304). In step S304, the calculation device 140B reads out the layout data related to the structure 150 stored in the storage device 140F. Then, the calculation device 140 identifies the design value C2 of the three-dimensional coordinate of the "L"th reference plate 152 from the layout data related to the structure 150.

[0112] Then, the arithmetic device 140B performs a calculation to quantify the mechanical difference F of the predetermined guided vehicle 130 with respect to the "L"th reference plate 152 (step S305). In step S305, the arithmetic device 140B determines the mechanical difference F of the predetermined guided vehicle 130 to be the value obtained by subtracting the design value C2 of the three-dimensional coordinates of the reference plate 152 from the detection value C1 of the "L"th reference plate 152. Then, the arithmetic device 140B updates the value of the mechanical difference F with respect to the "L"th reference plate 152 for the mechanical difference data related to the mechanical difference of the predetermined guided vehicle 130 stored in the storage device 140F.

[0113] Then, the arithmetic device 140B subtracts "1" from the value of the reference plate counter "L" (step S306).

[0114] Then, the arithmetic device 140B judges whether the value of the reference plate counter "L" is "0" (step S307). Here, the value of the reference plate counter "L" being "0" means that the machine error of a given transport vehicle 130 with respect to all the reference plates 152 in the structure 150 has been quantified.

[0115] If the value of the reference plate counter "L" is not "0" (step S307; NO), in this operation example, the processes from step S302 onwards are executed again.

[0116] If the value of the reference plate counter "L" is "0" (step S307; YES), the communication device 140E of the teaching information generating device 140 transmits the machine difference data to the specified guided vehicle 130 (step S308). In step S308, the communication device 140E reads out the machine difference data related to the machine difference of the specified guided vehicle 130 stored in the memory device 140F. Then, the communication device 140E transmits the machine difference data related to the machine difference of the specified guided vehicle 130 to the transport control unit 134 of the specified guided vehicle 130.

[0117] Then, the teaching information generating device 140 ends the process related to the operation example shown in FIG.

[0118] Fig. 19 is a diagram showing an example of an operation for calculating teaching information related to a transfer position on the shelf 120. The teaching information generating device 140 executes the operation shown in Fig. 19 in order to calculate teaching information related to a transfer position on the shelf 120 referred to by each of the multiple transport vehicles 130. The teaching information generating device 140 calculates the teaching information using images of the index 124A and the index 124B captured by one of the multiple transport vehicles 130 in the operation shown in Fig. 17.

[0119] First, the arithmetic device 140B of the teaching information generating device 140 sets a maximum value to a shelf row counter "M" for counting the number of rows of shelf boards 124 on the shelf 120 (step S401). In step S401, the arithmetic device 140B reads out layout data for the shelf 120 stored in the memory device 140F. Then, based on the layout data for the shelf 120, the arithmetic device 140B sets the same value as the number of rows of shelf boards 124 on the shelf 120 as the maximum value to the shelf row counter "M".

[0120] Then, the arithmetic device 140B sets a maximum value to a shelf level counter "N" for counting the number of shelves 124 in the "M"th row (step S402). In step S402, the arithmetic device 140B reads out the layout data for the shelf 120 stored in the memory device 140F. Then, based on the layout data for the shelf 120, the arithmetic device 140B sets a maximum value to the shelf level counter "N" that is the same as the number of shelves 124 in the "M"th row.

[0121] Then, the arithmetic unit 140B reads out image data of the index 124A and the index 124B of the shelf board 124 in the "N"th row of the "M" row from the storage device 140F (step S403).

[0122] Then, the calculation device 140B calculates the detection value C3 of the three-dimensional coordinates of the shelf board 124 on the "N"th level of the "M" row from the image data of the index 124A and the index 124B of that shelf board 124 (step S404). In step S404, the calculation device 140B calculates the detection value C3 of the three-dimensional coordinates of the shelf board 124 on the "N"th level of the "M" row by, for example, a stereo imaging method.

[0123] Then, the calculation device 140B reads out the mechanical difference F1 of the one transport vehicle 130 with respect to the reference plate 152 having a height corresponding to the shelf board 124 in the "N"th row of the "M" (step S405). Here, the one transport vehicle 130 is the one used for capturing the images of the index 124A and the index 124B of the shelf board 124. In step S405, the calculation device 140B reads out the mechanical difference data related to the mechanical difference F1 of the one transport vehicle stored in the storage device 140F. Then, the calculation device 140B specifies the mechanical difference F1 of the one transport vehicle 130 with respect to the reference plate 152 having a height corresponding to the shelf board 124 in the "N"th row of the "M" from the mechanical difference data related to the mechanical difference F1 of the one transport vehicle.

[0124] Then, the arithmetic device 140B calculates the teaching value T of the three-dimensional coordinates of the shelf board 124 on the "N"th level in the "M" row (step S406). The arithmetic device 140B determines the teaching value T to be a value obtained by subtracting the machine error F1 of one transport vehicle 130 with respect to the reference plate 152 at the height corresponding to the shelf board 124 from the detection value C3 of the three-dimensional coordinates of the shelf board 124 on the "N"th level in the "M" row. The arithmetic device 140B then updates the teaching value T of the three-dimensional coordinates of the shelf board 124 on the "N"th level in the "M" row for the teaching data stored in the memory device 140F.

[0125] Then, the arithmetic device 140B subtracts "1" from the value of the shelf level counter "N" (step S407).

[0126] Then, the calculation device 140B determines whether the value of the shelf level counter "N" is "0" (step S408). Here, the value of the shelf level counter "N" being "0" means that the teaching values ​​T of the three-dimensional coordinates of all the shelf boards 124 in the "M"th row have been calculated.

[0127] If the value of the shelf level counter "N" is not "0" (step S408; NO), in this operation example, the processes from step S403 onwards are executed again.

[0128] If the value of the shelf level counter "N" is "0" (step S408; YES), the arithmetic device 140B subtracts "1" from the value of the shelf row counter "M" (step S409).

[0129] Then, the calculation device 140B determines whether the value of the shelf row counter "M" is "0" (step S410). Here, the value of the shelf row counter "M" being "0" means that the teaching values ​​T of the three-dimensional coordinates of the shelf boards 124 of all rows in the shelf 120 have been calculated.

[0130] If the value of the shelf row counter "M" is not "0" (step S410; NO), in this operation example, the processes from step S402 onwards are executed again.

[0131] If the value of the shelf row counter "M" is "0" (step S410; YES), the communication device 140E of the teaching information generating device 140 transmits teaching data to the transport vehicle 130 (step S411). In step S411, the communication device 140E reads out the teaching data related to the transfer positions on the shelf 120 stored in the memory device 140F. Then, the communication device 140E transmits the teaching data related to the transfer positions on the shelf 120 to the transport control units 134 of all the transport vehicles 130.

[0132] Then, the teaching information generating device 140 ends the process related to the operation example shown in FIG.

[0133] Fig. 20 is a diagram showing an example of an operation for calculating the three-dimensional coordinates of the shelf board 124 to be referenced when transporting the article G. When the transport control unit 134 of the transport vehicle 130 receives a transport command to transport the article G from the ground control device 160, the transport control unit 134 executes the operation shown in Fig. 20 to calculate the three-dimensional coordinates of the shelf board 124 specified in the transport command.

[0134] When the communication device 134D of the arithmetic device 134B of the transport control unit 134 receives a transport command from the ground control device 160, the arithmetic device 134B reads out the teaching value T of the three-dimensional coordinates of the shelf board 124 specified in the transport command (step S501). In step S501, the arithmetic device 134B reads out the teaching data related to the transfer position on the shelf 120 stored in the memory device 134E. Then, the arithmetic device 134B identifies the teaching value T of the three-dimensional coordinates of the shelf board 124 specified in the transport command from the teaching data related to the transfer position on the shelf 120.

[0135] Then, the calculation device 134B calculates the height of the shelf 124 specified in the transport command with respect to the reference plate 152. Delivery car 130 In step S502, the calculation device 134B reads out the machine error Fo stored in the storage device 134E. Delivery car 130 Then, the calculation device 134B reads out the machine difference data regarding the machine difference Fo. Delivery car130 From the machine error data regarding the machine error Fo, the height of the reference plate 152 corresponding to the shelf board 124 specified in the transport command is Delivery car 130 The machine error Fo is identified.

[0136] Then, the arithmetic unit 134B calculates the operation coordinate C4 to be referenced when transporting the item G for the shelf board 124 specified in the transport command (step S503), and ends the processing for the operation example shown in Fig. 20. The arithmetic unit 134B calculates the teaching value T of the three-dimensional coordinate of the shelf board 124 specified in the transport command and the teaching value T of the reference board 152 of the height corresponding to the shelf board 124. Delivery car 130 The value obtained by adding the above-mentioned instrument error Fo is set as the operational coordinate C4.

[0137] The transport control unit 134 of the transport vehicle 130 executes transport control according to the transport command using the calculated operation coordinate C4.

[0138] As described above, the transport vehicle system 100 includes a shelf 120 including a shelf board 124 on which an article G is placed. The transport vehicle system 100 also includes a plurality of transport vehicles 13 that run on a track 110 provided on a ceiling C and include a transfer device 133 that transfers the article G to the shelf board 124. 0 The transport vehicle system 100 also includes a detection device 170 that is supported by the transfer device 133 and detects the shelf board 124. The transport vehicle system 100 also uses the detection result of the shelf board 124 by the detection device 170 to: Shelf 1 2 0 The transport vehicle system 100 further includes a structure 150 for measuring the machine differences between the multiple transport vehicles 130. The structure 150 is suspended from the track 110 and includes an index 152A and an index 152B that can be detected by a detection device 170. According to this embodiment, even if the timing for measuring the machine differences differs for each transport vehicle 130 and the height of the track 110 changes depending on the building condition at each timing, the machine differences for each transport vehicle 130 can be measured and quantified under the same conditions.

[0139] Moreover, the detection device 170 is removably supported by the transfer device 133. According to this embodiment, the transfer vehicle 130 can be operated with the detection device 170 detached.

[0140] Moreover, the shelf 120 is provided on the floor F. According to this embodiment, compared to an embodiment in which the shelf 120 is suspended from the track 110 or the ceiling C, the load on the track 110 or the ceiling C can be suppressed.

[0141] The transport vehicle system 100 also includes a vibration prevention mechanism 180 that prevents the lower part of the structure 150 from vibrating in the horizontal direction. According to this embodiment, it is possible to prevent problems in detecting the indices 152A and 152B caused by the vibration of the structure 150.

[0142] The anti-sway mechanism 180 is fixed to the bracket 18 on the floor F. 1 The vibration prevention mechanism 180 is provided on the bracket 18. 1 and A roller 18 disposed between the structure 150 2 The anti-vibration mechanism 180 is attached to the bracket 18. 1 to According to this embodiment, even if the height of the track 110 changes, it is possible to prevent unnecessary force from being applied to the structure 150.

[0143] Moreover, the detection device 170 includes a plurality of imaging devices 172A to 172D. The plurality of imaging devices 172A to 172D capture images of the index 152A and the index 152B from different positions. According to this embodiment, calculation can be performed by the stereo imaging method.

[0144] Furthermore, the teaching information generating device 140 generates teaching information by correcting the detection result of the shelf board 124 by the detection device 170 in one transporting vehicle 130 using the machine difference in that one transporting vehicle 130. According to this embodiment, in a plurality of transporting vehicles 130 including the one transporting vehicle 130, teaching information that is not affected by the machine difference in that one transporting vehicle 130 can be used.

[0145] Moreover, the structure 150 includes a support 151 suspended from the track 110. The structure 150 also includes a plurality of reference plates 152 extending horizontally from the support 151. The plurality of reference plates 152 are provided at positions corresponding to the heights of the shelf boards 124, respectively. The indicators 152A and 152B are provided on each of the plurality of reference plates 152. According to this embodiment, it is possible to generate teaching information corresponding to each shelf board 124 individually.

[0146] The track 110 also includes a transport path 111, which is a path along which the transport vehicle 130 transports the article G. The track 110 also includes an extension path 112, which is a path that extends away from the transport path 111. The structure 150 is provided at a position corresponding to a part of the extension path 112. According to this embodiment, it is possible to prevent the area in which the shelf 120 is provided from being limited due to the provision of the structure 150.

[0147] Furthermore, a specific area A for performing maintenance on the transport vehicle 130 is provided in an area including a portion of the extension path 112. The structure 150 is provided in the specific area A. According to this embodiment, when maintenance on the transport vehicle 130 is performed, the index 152A and the index 152B can be redetected in the specific area A where the maintenance was performed.

[0148] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is clear to those skilled in the art that various modifications or improvements can be made to the above embodiments. It is clear from the claims that such modifications or improvements may also be included in the technical scope of the present invention. To the extent permitted by law, the disclosures of Japanese Patent Application No. 2021-104694 and all the annex documents cited in the above embodiments are incorporated by reference and made a part of the description of the present text.

[0149] For example, in the above embodiment, the structure 150 is suspended from the track 110. Alternatively, the structure 150 may be suspended from the ceiling C. In this embodiment, it is sufficient that the support 151 of the structure 150 is suspended from the ceiling C. [Explanation of symbols]

[0150] 100 transport vehicle system, 110 track, 111 transport path, 112 extension path, 120 shelf, 121 bottom plate, 122 back plate, 123 side plate, 124 shelf, 124A index, 124B index, 130 transport vehicle, 131 running device, 132 lifting device, 132M mast, 132P lifting platform, 133 transfer device, 134 transport control unit, 134A control device, 134B arithmetic device, 134C input / output device, 134D communication device, 134E storage device, 140 teaching information generating device, 140A control device, 140B arithmetic device, 140C input device, 140D output device, 140E communication device, 140F storage device, 150 structure, 151 support, 152 Reference plate, 153 roller, 153A rotating shaft, 154 plate portion, 155 plate portion, 152A index, 152B index, 160 ground control device, 170 detection device, 171 housing, 171S opposing surface, 172A imaging device, 172B imaging device, 172C imaging device, 172D imaging device, 173 imaging control unit, 173A control device, 173B arithmetic device, 173C input / output device, 173D communication device, 173E storage device, 180 anti-vibration mechanism, 181 bracket, 182 roller, 182A rotating shaft, A specific area, C ceiling, F floor, G article, H Hanging Metal fittings, I1 Reference plate ID information, I2 Design value information of the coordinates of the reference plate, I3 Information on the vehicle's machine error relative to the reference plate, I4 Shelf plate ID information, I5 Teaching information of the shelf plate coordinates

Claims

1. A shelf including a shelf board on which an article is placed; A plurality of transport vehicles each having a transfer device that travels on a track provided on a ceiling and transfers an article to the shelf; a detection device supported by the transfer device and detecting the shelf board; a teaching information generating device that generates teaching information regarding a transfer position on the shelf using a detection result of the shelf board by the detection device; A structure for measuring machine differences among the plurality of transport vehicles, A guided vehicle system, wherein the structure is suspended from the track or the ceiling and has an indicator that can be detected by the detection device.

2. The transport vehicle system according to claim 1 , wherein the detection device is removably supported by the transfer device.

3. The transport vehicle system according to claim 1 or 2, wherein the shelf is provided on a floor.

4. The transport vehicle system according to claim 1 , further comprising a vibration prevention mechanism for preventing a lower portion of the structure from vibrating in a horizontal direction.

5. The anti-sway mechanism includes: A bracket that is fixed to the floor; a roller disposed between the bracket and the structure; The transport vehicle system according to claim 4 , wherein the structure is allowed to move vertically relative to the bracket.

6. The detection device includes a plurality of imaging devices; The transport vehicle system according to claim 1 , wherein the plurality of image capturing devices capture images of the index from different positions.

7. The transport vehicle system according to any one of claims 1 to 6, wherein the teaching information generating device generates the teaching information by correcting the detection result of the shelf by the detection device in one transport vehicle using the mechanical difference in the one transport vehicle.

8. The structure comprises: A support suspended from the track or the ceiling; a plurality of reference plates extending horizontally from the support pole; The plurality of reference plates are provided at positions corresponding to the height of the shelf board, The transport vehicle system according to claim 1 , wherein the indicator is provided on each of the plurality of reference plates.

9. The trajectory is a conveying path along which the conveying vehicle conveys an article; An extension path that is a path extending away from the conveying path, The guided vehicle system according to claim 1 , wherein the structure is provided at a position corresponding to a portion of the extended path.

10. A specific area for performing maintenance on the transport vehicle is provided in an area including a part of the extension path, The transport vehicle system according to claim 9 , wherein the structure is provided in the specific area.

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