Vehicle system and vehicle

Abstract

A traveling vehicle system (1) comprises: a traveling vehicle (6) that has reflection type sensors (34, 36) and an imaging device (38); a storage unit (91) that stores an image including a specific object; a determination unit (93A) that determines, on the basis of a captured image captured by the imaging device (38) when an object is detected by the sensors (34, 36) and an image stored in the storage unit (91), whether or not the object detected by the sensors (34, 36) is the specific object; and a travel control unit (93B) that executes collision avoidance control when the object is detected by the sensors (34, 36), and suspends execution of collision avoidance control when the determination unit (93A) determines that the object detected by the sensors (34, 36) is the specific object.

Description

[Technical field]

[0001] One aspect of the present invention relates to a traveling vehicle system and a traveling vehicle. [Background technology]

[0002] There is known a traveling vehicle that travels on a track to transport goods. The traveling vehicle is provided with a sensor that detects obstacles that may impede the traveling on the track, and the traveling of the traveling vehicle may be controlled based on the presence or absence of detection by the sensor. Patent Document 1 discloses a traveling vehicle system (transport system) in which collision avoidance control such as stopping or decelerating the traveling vehicle is performed based on the detection result of the sensor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2009-237866 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional traveling vehicle system, an object that is not actually an obstacle to the traveling vehicle may be detected by a sensor, and collision avoidance control may be executed. For example, when collision avoidance control is executed, the traveling vehicle decelerates as it travels. Here, if the positional relationship between the traveling vehicle and the object changes and the object is no longer detected as an obstacle by the sensor, the traveling vehicle accelerates and attempts to return to a normal traveling state. Execution of such unnecessary collision avoidance control may degrade the performance of the traveling vehicle system.

[0005] Therefore, an object of one aspect of the present invention is to provide a traveling vehicle system and a traveling vehicle that can prevent collisions with obstacles while reducing the execution of unnecessary collision avoidance control caused by a sensor detecting an object that is not an obstacle. [Means for solving the problem]

[0006] A vehicle system according to one aspect of the present invention is a vehicle system in which a plurality of vehicles travel along a predetermined driving route, the vehicle system comprising: the vehicles having a reflective sensor that detects the presence of an object ahead in the direction of travel and the distance to the object; and an imaging device that captures an image of the area ahead in the direction of travel; a memory unit that stores images including a specific object that does not become an obstacle to the travel of the vehicles; a determination unit that determines whether the object detected by the sensor is a specific object based on an image captured by the imaging device when an object is detected by the sensor and the image stored in the memory unit; and a driving control unit that executes collision avoidance control when an object is detected by the sensor, and that discontinues execution of the collision avoidance control if the determination unit determines that the object detected by the sensor is a specific object.

[0007] In the traveling vehicle system having this configuration, collision avoidance control is executed when an object is detected by the sensor, so that the traveling vehicle can be prevented from colliding with an obstacle. Furthermore, in the traveling vehicle system having this configuration, execution of collision avoidance control is stopped when the object detected by the sensor is determined to be a specific object that does not hinder the traveling of the traveling vehicle, so that unnecessary execution of collision avoidance control due to the sensor detecting an object that is not an obstacle can be reduced.

[0008] In a traveling vehicle system according to one aspect of the present invention, a traveling control unit may execute collision avoidance control when an object is detected by a sensor and the traveling vehicle approaches until the distance to the object reaches a predetermined distance, and may stop execution of the collision avoidance control if a determination unit determines that the object detected by the sensor is a specific object before the traveling vehicle approaches until the distance reaches the predetermined distance. In this configuration, even if it takes time for the determination unit to make a determination, it is possible to avoid execution of the unnecessary collision avoidance control described above.

[0009] In the traveling vehicle system according to one aspect of the present invention, the storage unit may store images corresponding to positions on the traveling route. The specific object appears differently depending on the position on the traveling route, i.e., the image is captured by the imaging device differently. In this configuration, whether or not the specific object is a specific object is determined based on an image including the specific object that is likely to be captured at the time of detection by the sensor, so that the accuracy of the determination can be improved.

[0010] The traveling vehicle system according to one aspect of the present invention may further include an update unit that, when the determination unit determines that the object detected by the sensor is a specific object, stores the captured image used for the determination in the storage unit. In this configuration, it becomes possible to determine whether or not the object is a specific object based on an image that matches the site where the traveling vehicle actually travels, so that the accuracy of the determination by the determination unit can be further improved.

[0011] In a traveling vehicle system according to one aspect of the present invention, the detection range of the sensor is set to switch depending on the traveling position, and the determination unit may determine whether or not the object detected by the sensor is a specific object based on a part of the entire captured image that falls within the detection range of the sensor and an image stored in the storage unit. In this configuration, it is possible to ensure that the captured image determined by the determination unit includes the object detected by the sensor, and to efficiently determine whether or not the object detected by the sensor is a specific object.

[0012] In the traveling vehicle system according to the aspect of the present invention, the collision avoidance control may be a control for decelerating or stopping the traveling vehicle. In this configuration, it is possible to avoid a collision with a traveling vehicle or an obstacle ahead.

[0013] A vehicle according to one aspect of the present invention is a vehicle that travels along a predetermined driving route and is equipped with a reflective sensor that detects the presence of an object ahead in the driving direction and the distance to the object, an imaging device that captures an image of the area ahead in the driving direction, a memory unit that stores images including a specific object that does not become an obstacle to the driving of the vehicle, a determination unit that determines whether the object detected by the sensor is a specific object based on an image captured by the imaging device when an object is detected by the sensor and the image stored in the memory unit, and a driving control unit that executes collision avoidance control when an object is detected by the sensor and ceases execution of the collision avoidance control if the determination unit determines that the object detected by the sensor is a specific object.

[0014] In a traveling vehicle with this configuration, collision avoidance control is executed when an object is detected by the sensor, so that collision with an obstacle can be prevented. Furthermore, in this configuration, when an object detected by the sensor is determined to be a specific object that does not impede the traveling of the traveling vehicle, execution of collision avoidance control is stopped, so that unnecessary execution of collision avoidance control can be reduced. Effect of the Invention

[0015] According to one aspect of the present invention, it is possible to prevent a collision with an obstacle while reducing the execution of unnecessary collision avoidance control caused by detecting an object that is not an obstacle. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a traveling vehicle system according to an embodiment. [Diagram 2] FIG. 2 is a front view of the traveling vehicle and the placement unit as viewed from the front in the traveling direction. [Diagram 3] FIG. 3 is a side view of the traveling vehicle and the placement unit. [Figure 4] FIG. 4 is a block diagram showing a functional configuration of the traveling vehicle system according to an embodiment. [Diagram 5] FIG. 5 is an example of a captured image acquired by the imaging device. [Figure 6] FIG. 6 is an example of a captured image acquired by an imaging device or an image stored in a storage unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, a preferred embodiment of one aspect of the present invention will be described in detail with reference to the drawings. In the description of the drawings, the same elements are given the same reference numerals and duplicated explanations will be omitted.

[0018] As shown in FIG. 1, the traveling vehicle system 1 is a system for transporting an article using an overhead traveling vehicle 6 (hereinafter referred to as "traveling vehicle 6") that can move along a track 4. The article includes a container 10 (see FIG. 2) such as a FOUP (Front Opening Unified Pod) that stores multiple semiconductor wafers and a reticle pod that stores glass substrates. The container 10 has a flange 10A (see FIG. 2) formed at a portion that is gripped by a chuck 30A (see FIG. 2) that will be described in detail later. The traveling vehicle system 1 includes a track 4, multiple traveling vehicles 6, and a transport controller 90.

[0019] As shown in Figs. 1 to 3, the track 4 is installed, for example, near a ceiling C which is the space above the worker's head. The track 4 is suspended, for example, from the ceiling C. The track 4 is a predetermined running path for running the traveling vehicle 6. The track 4 is supported by supports 4A, 4A. The track 4 is a space on which a running part 8, which will be described in detail later, runs, and forms an internal space partitioned off from the external space.

[0020] A plurality of placement sections 5 are provided around the track 4. The placement sections 5 are arranged along the track 4 and are provided at positions where the traveling vehicle 6 can deliver the container 10. The placement sections 5 include a storage shelf 60 and a delivery port. The storage shelf 60 temporarily places the container 10. The storage shelf 60 temporarily places the container 10 when the container 10 being transported by the traveling vehicle 6 cannot be transferred to the delivery port due to, for example, another container 10 being placed at the delivery port of the transport destination. The delivery port delivers the container 10 to a semiconductor processing device (not shown) such as a cleaning device, a film forming device, a lithography device, an etching device, a heat treatment device, and a planarization device. The processing device is not particularly limited and may be various devices. Here, the storage shelf 60 will be described in detail below.

[0021] The storage shelf 60 has a hanging frame 62 and a shelf board 64. The hanging frame 62 is a member that hangs the shelf board 64 from the ceiling C. The hanging frames 62 are arranged at equal intervals along the extension direction of the track 4. The hanging frame 62 has a shelf support part 62A and a pair of hanging parts 62B, 62B. The shelf support part 62A extends along the short side direction of the shelf board 64 (a direction perpendicular to the extension direction of the track) and supports the shelf board 64 from below. The pair of hanging parts 62B, 62B extend in the hanging direction (vertical direction) from each of both ends of the shelf support part 62A to the ceiling C.

[0022] The shelf 64 is supported from below by the shelf support portion 62A. In other words, the shelf 64 is suspended between a pair of adjacent shelf support portions 62A, 62A. The shelf 64 is a plate-shaped member and constitutes the mounting portion 5 on which the container 10 is mounted. The shelf 64 may be provided with a purge function for supplying a purge gas such as nitrogen gas or dry air into the inside of the container 10 mounted on the shelf 64.

[0023] There are two types of storage shelves 60: a first storage shelf 60A in which a placement section 5 is formed below the track 4 (travel area of ​​the traveling vehicle 6), and a second storage shelf 60B in which a placement section 5 is formed to the side and below the track 4 (i.e., diagonally below the track 4). The traveling vehicle 6 transfers the container 10 between the placement section 5 formed on the first storage shelf 60A by raising and lowering the lifting platform 30. The traveling vehicle 6 also transfers the container 10 between the placement section 5 formed on the second storage shelf 60B by horizontally feeding the lifting drive section 28 and the like with the lateral feed section 24 and raising and lowering the lifting platform 30.

[0024] The traveling vehicle 6 travels along the track 4 and transports the container 10. The traveling vehicle 6 is configured to be capable of transferring the container 10. The traveling vehicle 6 is an overhead traveling unmanned traveling vehicle. The number of traveling vehicles 6 provided in the traveling vehicle system 1 is not particularly limited and may be more than one. The traveling vehicle 6 has a main body unit 7, a traveling unit 8, and a main body controller 9. The main body unit 7 has a main body frame 22, a lateral feed unit 24, a θ drive 26, a lifting drive unit 28, a lifting platform 30, a cover 32, a collision prevention sensor (sensor) 34, an obstacle sensor (sensor) 36, and an imaging device 38.

[0025] The main frame 22 is connected to the traveling section 8 and supports the lateral feed section 24, the θ drive 26, the lifting drive section 28, the lifting platform 30, and the cover 32. The lateral feed section 24 collectively transports the θ drive 26, the lifting drive section 28, and the lifting platform 30 in a direction perpendicular to the extending direction of the track 4. The θ drive 26 rotates at least one of the lifting drive section 28 and the lifting platform 30 within a predetermined angle range in a horizontal plane. The lifting drive section 28 raises and lowers the lifting platform 30 by winding or unwinding a suspending material such as a wire, rope, or belt. The lifting platform 30 is provided with a chuck 30A, which can freely grip or release the container 10. For example, a pair of covers 32 are provided at the front and rear of the traveling direction D1 of the traveling vehicle 6.

[0026] The collision prevention sensor 34 is provided near the center in the height direction of the front cover 32 of the pair of covers 32. The collision prevention sensor 34 is a reflective sensor that detects the presence of an object ahead in the traveling direction and the distance to the object. The collision prevention sensor 34 is provided to detect the presence or absence of another traveling vehicle 6 located ahead in the traveling direction D1. The collision prevention sensor 34 emits light forward in the traveling direction D1 and detects the presence or absence of an object located ahead in the traveling direction D1 based on whether or not the reflected light is detected.

[0027] The obstacle sensor 36 is provided below the front cover 32 of the pair of covers 32, 32. Like the collision prevention sensor 34, the obstacle sensor 36 is a reflective sensor that detects the presence of an object (an object other than another traveling vehicle 6 located in front) ahead in the traveling direction and the distance to the object. The obstacle sensor 36 is provided to detect the presence or absence of an obstacle located ahead and below in the traveling direction D1 (which may invade the traveling space). The obstacle sensor 36 emits light forward in the traveling direction D1, and detects the presence or absence of an object located ahead and below in the traveling direction D1 based on whether or not the reflected light is detected.

[0028] The imaging device 38 is provided above the front cover 32 of the pair of covers 32, 32. The imaging device 38 is a device that images the area ahead in the traveling direction D1 and acquires an imaged image S as shown in FIG. 5 or 6. The imaging device 38 images the area ahead in the traveling direction D1 at the timing when reflected light is detected by the collision prevention sensor 34 or at the timing when reflected light is detected by the obstacle sensor 36. The detection result by the collision prevention sensor 34 and the distance to the object at the time of detection, the detection result by the obstacle sensor 36 and the distance to the object at the time of detection, and the imaged image S captured by the imaging device 38 are acquired by the main body controller 9.

[0029] Fig. 5 is an example of a captured image S captured when the collision prevention sensor 34 or the obstacle sensor 36 detects an object that is not an object that should be detected, and Fig. 6 is an example of a captured image S captured when the collision prevention sensor 34 detects a traveling vehicle 6 located ahead. Fig. 5 is also an example of an image stored in the storage unit 91.

[0030] As described above, the traveling unit 8 travels in the internal space formed in the track 4. The traveling unit 8 mainly includes a traveling roller 42, a side roller 44, a power supply core 46, and an LDM (Linear DC Motor) 48. The traveling rollers 42 are arranged at the front, rear, left and right ends of the traveling unit 8. The traveling rollers 42 roll on the lower surface of the track 4. The side rollers 44 are arranged to sandwich the outer rings of the traveling rollers 42 in the front-rear direction. The side rollers 44 are provided so as to be able to contact the side surface of the track 4. The power supply core 46 is arranged at the front and rear of the traveling unit 8, and is arranged to sandwich the LDM 48 in the left-right direction. The power supply line arranged in the track 4 supplies power to the power supply core 46 in a non-contact manner and transmits and receives various signals in a non-contact manner. The power supply core 46 also transmits and receives signals to and from the main body controller 9. The LDM 48 is provided at the front and rear of the traveling unit 8. The LDM 48 generates a magnetic force between an electromagnet and a magnetic plate arranged on the upper surface of the track 4 to move or stop the traveling unit 8.

[0031] The traveling unit 8 is controlled by a transport controller 90, which will be described in detail later, via the main body controller 9. Specifically, a command from the transport controller 90 is transmitted to the main body controller 9, and the main body controller 9, upon receiving the command, controls the traveling unit 8.

[0032] The main body controller 9 shown in Fig. 2 and Fig. 4 is an electronic control unit including a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The main body controller 9 controls various operations of the traveling vehicle 6. Specifically, the main body controller 9 controls the traveling unit 8, the lateral feed unit 24, the θ drive 26, the lifting drive unit 28, and the lifting platform 30. The main body controller 9 can be configured as software in which a program stored in the ROM is loaded onto the RAM and executed by the CPU, for example. The main body controller 9 may also be configured as hardware including electronic circuits, etc.

[0033] The main body controller 9 controls the imaging device 38 to acquire a captured image at the timing when an object is detected by the collision prevention sensor 34. The main body controller 9 also controls the imaging device 38 to acquire a captured image at the timing when an object is detected by the obstacle sensor 36. The main body controller 9 transmits to the transport controller 90 the detection result by the collision prevention sensor 34 and the distance to the object at the time of detection, the detection result by the obstacle sensor 36 and the distance to the object at the time of detection, and the captured image S captured by the imaging device 38. The main body controller 9 communicates with the transport controller 90 using a power supply line (not shown) or the like provided on the track 4.

[0034] 1 and 4 controls the traveling of the traveling vehicles 6. The transportation controller 90 is an electronic control unit including a CPU, a ROM, a RAM, etc., and is provided so as to be able to communicate with each traveling vehicle 6. The transportation controller 90 includes a storage unit 91 and a control unit 93.

[0035] The storage unit 91 stores an image including an object that is not an obstacle to the traveling vehicle 6, as shown in FIG. 5, for example. Hereinafter, an object detected by the collision prevention sensor 34 or the obstacle sensor 36 and that is not an obstacle to the traveling vehicle 6 is referred to as a "specific object". The specific object is set in consideration of the object detection ranges of the collision prevention sensor 34 and the obstacle sensor 36. In this embodiment, the hanging part 62B of the storage shelf 60 is set as the specific object of the collision prevention sensor 34, and the flange 10A of the container 10 is set as the specific object of the obstacle sensor 36. That is, the storage unit 91 stores images of a plurality of hanging parts 62B and images of a plurality of flanges 10A.

[0036] More specifically, images of the hanging frame 62 and images of the flange 10A corresponding to positions on the travel route are stored in the storage unit 91. Specifically, for example, as shown in Fig. 1, when positions P1, P2, P3, . . . , PN are set at equal intervals along the track 4, images of a plurality of hanging parts 62B and images of a plurality of flanges 10A assumed to have been captured from the traveling vehicle 6 located at positions P1, P2, P3, . . . , PN are stored in the storage unit 91.

[0037] The control unit 93 can be configured as software in which a program stored in a ROM is loaded onto a RAM and executed by a CPU. The control unit 93 may be configured as hardware such as an electronic circuit. The control unit 93 is configured by the cooperation of hardware such as a CPU, RAM, and ROM with software such as a program, and includes a determination unit 93A, a travel control unit 93B, and an update unit 93C.

[0038] The determination unit 93A determines whether or not the object detected by the collision prevention sensor 34 is an object that does not become an obstacle to the traveling vehicle 6 (for example, the hanging part 62B of the storage shelf 60 as a specific object) based on the captured image S captured by the imaging device 38 when an object is detected by the collision prevention sensor 34 and the image stored in the storage unit 91 (see FIG. 5). The determination unit 93A also determines whether or not the object detected by the obstacle sensor 36 is an object that does not become an obstacle to the traveling vehicle 6 (for example, the flange 10A of the container 10 as a specific object) based on the captured image S captured by the imaging device 38 when an object is detected by the obstacle sensor 36 and the image stored in the storage unit 91.

[0039] In the above description, an example has been given in which the collision prevention sensor 34 determines whether the detected object is the hanging portion 62B of the storage shelf 60, and the obstacle sensor 36 determines whether the detected object is the flange 10A of the container 10, but this is not limiting. For example, in both the collision prevention sensor 34 and the obstacle sensor 36, it may be determined whether the detected object is the hanging portion 62B of the storage shelf 60 or the flange 10A of the container 10. Furthermore, examples of specific objects may include the shelf board 64 of the storage shelf 60, etc.

[0040] Here, an example of a method for the determination unit 93A to determine whether or not an object is a specific object will be described. For example, the determination unit 93A determines whether or not an object detected by the collision prevention sensor 34 is an object (e.g., the hanging part 62B of the storage shelf 60) that does not become an obstacle to the travel of the traveling vehicle 6 based on the captured image S captured by the imaging device 38 when an object is detected by the collision prevention sensor 34 and an image including the hanging part 62B of the storage shelf 60 corresponding to the position when the object is detected by the collision prevention sensor 34 among the images stored in the storage unit 91. The determination unit 93A determines whether or not an object detected by the collision prevention sensor 34 is the hanging part 62B of the storage shelf 60 based on the degree of coincidence (pattern matching) between the captured image S and the image including the hanging part 62B of the storage shelf 60.

[0041] Also, for example, the determination unit 93A determines whether or not the object detected by the obstacle sensor 36 is an object (e.g., the flange 10A of the container 10) that is not an obstacle to the travel of the traveling vehicle 6, based on the captured image S captured by the imaging device 38 when the object is detected by the obstacle sensor 36 and an image stored in the storage unit 91 that includes the flange 10A of the container 10 corresponding to the position when the object was detected by the obstacle sensor 36. The determination unit 93A determines whether or not the object detected by the obstacle sensor 36 is the flange 10A of the container 10, based on the degree of image coincidence (pattern matching) between the captured image S and the image including the flange 10A of the container 10.

[0042] In another example of the method, the determination unit 93A may determine whether or not only the hanging part 62B of the storage shelf 60 is included in the captured image S captured by the imaging device 38 when an object is detected by the collision prevention sensor 34, by using AI (artificial intelligence) that has learned based on a plurality of images including the hanging part 62B of the storage shelf 60. When only the hanging part 62B of the storage shelf 60 can be confirmed in the captured image, the determination unit 93A determines that the object detected by the collision prevention sensor 34 is the hanging part 62B of the storage shelf 60, and is an object that does not become an obstacle to the travel of the traveling vehicle 6. Note that the method of determining an object detected by the obstacle sensor 36 is similar, and therefore description thereof will be omitted here.

[0043] The traveling control unit 93B executes collision avoidance control when an object is detected by the collision prevention sensor 34. Specifically, the traveling control unit 93B transmits a command to decelerate or stop the traveling vehicle 6 to the main body controller 9 of the traveling vehicle 6 that has transmitted the detection result by the collision prevention sensor 34 and the distance to the object at the time of detection. The main body controller 9 that receives the command controls the traveling unit 8 to decelerate or stop the traveling vehicle 6. When the determination unit 93A determines that the object detected by the collision prevention sensor 34 is a specific object (for example, the hanging part 62B of the storage shelf 60), the traveling control unit 93B stops the execution of the collision avoidance control. Specifically, the traveling control unit 93B transmits a command to cancel the command to decelerate or stop the traveling vehicle 6 to the main body controller 9 of the traveling vehicle 6 that has transmitted the detection result by the collision prevention sensor 34 and the distance to the object at the time of detection.

[0044] When an object is detected by the obstacle sensor 36, the traveling control unit 93B executes collision avoidance control. Specifically, the traveling control unit 93B transmits a command to decelerate or stop the traveling vehicle 6 to the main body controller 9 of the traveling vehicle 6 that has transmitted the detection result by the obstacle sensor 36 and the distance to the object at the time of detection. The main body controller 9 that receives the command controls the traveling unit 8 to decelerate or stop the traveling vehicle 6. When the determination unit 93A determines that the object detected by the obstacle sensor 36 is a specific object (for example, the flange 10A of the container 10), the traveling control unit 93B stops the execution of the collision avoidance control. Specifically, the traveling control unit 93B transmits a command to cancel the command to decelerate or stop the traveling vehicle 6 to the main body controller 9 of the traveling vehicle 6 that has transmitted the detection result by the obstacle sensor 36 and the distance to the object at the time of detection, and to return to normal traveling.

[0045] In this embodiment, the traveling control unit 93B executes collision avoidance control when an object is detected by the collision prevention sensor 34 or the obstacle sensor 36 and the traveling vehicle 6 approaches until the distance to the object becomes a predetermined distance, and stops executing the collision avoidance control if the determination unit 93A determines that the object detected by the collision prevention sensor 34 or the obstacle sensor 36 is a specific object before the traveling vehicle 6 approaches until the predetermined distance. In other words, the traveling control unit 93B causes the traveling vehicle 6 to travel in a state in which the collision avoidance control can be executed at any time when the object is detected by the collision prevention sensor 34 or the obstacle sensor 36. Then, when the distance to the object in the traveling vehicle 6 becomes a predetermined distance, the traveling control unit 93B determines whether to cause the traveling vehicle 6 to execute the collision avoidance control or to cause the traveling vehicle 6 to continue the current traveling without executing the collision avoidance control (stop executing the collision avoidance control) based on the determination result by the determination unit 93A.

[0046] Here, an example has been described in which the above judgment is made by the judgment unit 93A while the traveling vehicle 6 travels a predetermined distance after an object is detected by the collision prevention sensor 34 or the obstacle sensor 36. However, the above judgment may be made by the judgment unit 93A at the same time as an object is detected by the collision prevention sensor 34 or the obstacle sensor 36.

[0047] When the determination unit 93A determines that the object detected by the collision prevention sensor 34 or the obstacle sensor 36 is a specific object (for example, the hanging portion 62B of the storage shelf 60 or the flange 10A of the container 10), the update unit 93C stores the captured image S used for the determination in the memory unit 91. In detail, the update unit 93C updates the image including the hanging portion 62B of the storage shelf 60 or the flange 10A of the container 10 that is stored in advance. In further detail, the update unit 93C updates the image corresponding to the position of the travel route.

[0048] The effects of the traveling vehicle system 1 of the above embodiment will be described. In the traveling vehicle system 1 of the above embodiment, collision avoidance control is executed when an object is detected by the collision prevention sensor 34 or the obstacle sensor 36, so that the traveling vehicle 6 can be prevented from colliding with the obstacle. Furthermore, in the traveling vehicle system 1 of the above embodiment, execution of collision avoidance control is stopped when it is determined that the object detected by the collision prevention sensor 34 or the obstacle sensor 36 is a specific object that does not hinder the traveling of the traveling vehicle 6, so that it is possible to reduce unnecessary execution of collision avoidance control due to the collision prevention sensor 34 or the obstacle sensor 36 detecting an object that is not an obstacle.

[0049] The traveling vehicle system 1 of the above embodiment is premised on executing collision avoidance control when an object is detected by the collision prevention sensor 34 or the obstacle sensor 36, and stops the collision avoidance control only when it is determined from the captured image S that the detected object is an object (specific object) that does not impede the traveling of the traveling vehicle 6. The traveling vehicle system 1 of the above embodiment is significantly different from an embodiment in which, even if an object is detected by the collision prevention sensor 34 or the obstacle sensor 36, the collision avoidance control is not executed until it is determined from the captured image S that the detected object is an obstacle that impedes the traveling of the traveling vehicle 6. In the latter embodiment, for example, if an obstacle is not determined based on the captured image S for any reason, the traveling vehicle system 1 of the above embodiment reliably executes the collision avoidance control even if a specific object is not determined based on the captured image S for any reason. That is, in the traveling vehicle system 1 of the above embodiment, a fail-safe is taken into consideration for the risk of colliding with an obstacle.

[0050] In the traveling vehicle system 1 of the above embodiment, when determining whether or not an object is an obstacle to the traveling vehicle 6, the system does not determine whether or not there is an obstacle in the captured image S that is an obstacle to the traveling vehicle 6, but determines whether or not there is a specific object that is not an obstacle to the traveling vehicle 6. This makes it possible to narrow down the number of objects that are the subject of the determination of whether or not an object is an obstacle to the traveling vehicle 6, and therefore to reduce the number of images stored in the storage unit 91. Furthermore, even when using AI to determine whether or not a target object is included in a captured image, the number of images that the AI ​​is made to learn from can be reduced.

[0051] In the traveling vehicle system 1 of the above embodiment, the traveling control unit 93B prevents the collision avoidance control from being executed until the distance between the traveling vehicle 6 and the object becomes a predetermined distance after the object is detected by the collision prevention sensor 34 or the obstacle sensor 36. This makes it possible to avoid the unnecessary collision avoidance control from being executed even if the determination by the determination unit 93A takes time.

[0052] In the traveling vehicle system 1 of the above embodiment, images corresponding to positions on the travel route are stored in the storage unit 91. The specific object appears differently depending on the position on the travel route, i.e., the way it is imaged by the imaging device 38 differs. In the traveling vehicle system 1 of the above embodiment, whether or not the specific object is a specific object is determined based on an image including the specific object that is likely to be imaged at the time of detection by the collision prevention sensor 34 or the obstacle sensor 36, so that the accuracy of the determination can be improved.

[0053] In the traveling vehicle system 1 of the above embodiment, when an object detected by the collision prevention sensor 34 or the obstacle sensor 36 is determined to be a specific object, the captured image S used for the determination is stored in the storage unit 91. In this configuration, it becomes possible to determine whether or not the object is a specific object based on an image that matches the site where the traveling vehicle 6 actually travels, so that it is possible to further improve the accuracy of the determination by the determination unit 93A.

[0054] Although one embodiment has been described above, one aspect of the present invention is not limited to the above embodiment, and various modifications are possible without departing from the spirit and scope of the invention.

[0055] (Variation 1) The detection range of the collision prevention sensor 34 may be set to change depending on the traveling position. For example, the detection range of the collision prevention sensor 34 may be set such that a strip-shaped detection range is set forward in the traveling direction in a straight section, and a strip-shaped detection range is set diagonally forward along the traveling direction in a curved section, and the detection range in the traveling direction is set shorter than that in the straight section. In such a configuration, the determination unit 93A may determine whether or not the object detected by the collision prevention sensor 34 is a specific object based on a part of the entire captured image S that falls within the detection range of the collision prevention sensor 34 and the image stored in the storage unit 91. The detection range of the obstacle sensor 36 may be configured in the same manner, and the determination unit 93A that determines whether or not the object detected by the obstacle sensor 36 is a specific object may be configured in the same manner.

[0056] In the traveling vehicle system 1 of the modified example 1, it is possible to ensure that an object detected by the collision prevention sensor 34 or the obstacle sensor 36 is included in the captured image S determined by the determination unit 93A, and to efficiently determine whether or not the object detected by the collision prevention sensor 34 or the obstacle sensor 36 is a specific object.

[0057] (Variation 2) In the above embodiment and modified example of the traveling vehicle system 1, an example has been given in which the memory unit 91, judgment unit 93A and traveling control unit 93B are all provided in a transport controller 90 separate from the traveling vehicle 6, but at least one of the memory unit 91, judgment unit 93A and traveling control unit 93B may be provided in the traveling vehicle 6. For example, the traveling vehicle 6 may be equipped with a collision prevention sensor 34 and an obstacle sensor 36 which are reflective sensors that detect the presence of an object ahead in the traveling direction and the distance to the object, an imaging device 38 that captures an image of the area ahead in the traveling direction, a memory unit 91 that stores images including a specific object that is not an obstacle to the traveling of the traveling vehicle 6, a determination unit 93A that determines whether or not the object detected by the collision prevention sensor 34 or the obstacle sensor 36 is a specific object based on an image captured by the imaging device 38 when an object is detected by the collision prevention sensor 34 or the obstacle sensor 36 and the image stored in the memory unit 91, and a traveling control unit 93B that executes collision avoidance control when an object is detected by the collision prevention sensor 34 or the obstacle sensor 36, and that stops execution of the collision avoidance control when the determination unit 93A determines that the object detected by the collision prevention sensor 34 or the obstacle sensor 36 is a specific object.

[0058] Even with this configuration of the traveling vehicle 6, it is possible to prevent collision with an obstacle, while reducing the execution of unnecessary collision avoidance control that occurs when an object that is not an obstacle is detected.

[0059] (Other variations) In the above embodiment and modified example of the traveling vehicle system 1, an example has been described in which the image of the hanging part 62B and the image of the flange 10A are stored in the memory unit 91 according to the position of the traveling route, but for example, images of the hanging part 62B and the flange 10A may be stored from various angles and various distances regardless of the position of the traveling route. Then, the determination unit 93A may determine whether or not the object detected by the collision prevention sensor 34 or the obstacle sensor 36 is a specific object based on the image captured by the imaging device 38 and the image stored in the memory unit 91.

[0060] In the traveling vehicle system 1 of the above embodiment and modified example, the overhead traveling vehicle 6 has been described as an example of a traveling vehicle, but the present invention is not limited to this. One aspect of the present invention may be applied to a traveling vehicle that transports an article along a track 4 arranged on a floor surface or a rack, a traveling vehicle such as a stacker crane that travels on a track arranged along a storage shelf and delivers articles to and from the storage shelf, or a traveling vehicle such as an AGV (Automatic Guided Vehicle) that travels on a predetermined travel path on a floor surface, etc.

[0061] The technical subject matter of one aspect of the present invention can be described as follows. [1] A traveling vehicle system in which a plurality of traveling vehicles travel along a predetermined traveling route, The traveling vehicle includes a reflection sensor that detects the presence of an object ahead in the traveling direction and the distance to the object, and an imaging device that images the area ahead in the traveling direction; A storage unit that stores an image including a specific object that is not an obstacle to the traveling vehicle; a determination unit that determines whether or not the object detected by the sensor is the specific object based on a captured image captured by the imaging device when the object is detected by the sensor and an image stored in the storage unit; A traveling control unit that executes collision avoidance control when the object is detected by the sensor, and stops executing the collision avoidance control when the determination unit determines that the object detected by the sensor is the specific object. [2] The traveling control unit executes the collision avoidance control when the object is detected by the sensor and the traveling vehicle approaches until the distance to the object becomes a predetermined distance, and if the determination unit determines that the object detected by the sensor is the specific object before the traveling vehicle approaches to the predetermined distance, the traveling control unit stops executing the collision avoidance control. [3] The traveling vehicle system according to [1] or [2], wherein the memory unit stores the images corresponding to positions on the traveling route. [4] The traveling vehicle system according to any one of [1] to [3], further comprising an update unit that, when the determination unit determines that the object detected by the sensor is the specific object, stores the captured image used for the determination in the memory unit. [5] The detection range of the sensor is set to change depending on the traveling position, The traveling vehicle system described in any one of [1] to [4], wherein the determination unit determines whether or not the object detected by the sensor is the specific object based on a portion of the entire captured image that falls within the detection range of the sensor and an image stored in the memory unit. [6] The traveling vehicle system according to any one of [1] to [5], wherein the collision avoidance control is a control for decelerating or stopping the traveling vehicle. [7] A vehicle traveling along a predetermined travel route, A reflective sensor that detects the presence of an object ahead in the direction of travel and the distance to the object; An imaging device that images the area ahead in the traveling direction; A storage unit that stores an image including a specific object that is not an obstacle to the traveling vehicle; a determination unit that determines whether or not the object detected by the sensor is the specific object based on a captured image captured by the imaging device when the object is detected by the sensor and an image stored in the storage unit; A traveling vehicle comprising: a traveling control unit that executes collision avoidance control when the object is detected by the sensor, and that stops execution of the collision avoidance control when the determination unit determines that the object detected by the sensor is the specific object. [Explanation of symbols]

[0062] 1...traveling vehicle system, 5...placement section, 6...ceiling traveling vehicle (traveling vehicle), 8...traveling section, 9...main controller, 10...container, 10A...flange (specific object), 34...collision prevention sensor (sensor), 36...obstacle sensor (sensor), 38...imaging device, 60...storage shelf, 62...hanging frame, 62A...shelf support section, 62B...hanging section (specific object), 90...transport controller, 91...memory section, 93A...determination section, 93B...travel control section, 93C...update section, S...captured image.

Claims

1. A traveling vehicle system in which a plurality of traveling vehicles travel along a predetermined traveling route, The traveling vehicle includes a reflection sensor that detects the presence of an object ahead in the traveling direction and the distance to the object, and an imaging device that images the area ahead in the traveling direction; a storage unit that stores a plurality of determination images including a specific object that is not an obstacle to the traveling vehicle for each position on the traveling route; a determination unit that determines whether or not the object detected by the sensor is the specific object based on a captured image captured by the imaging device when the object is detected by the sensor and the determination image corresponding to the position when the object is detected by the sensor; and A traveling control unit that executes collision avoidance control when the object is detected by the sensor, and stops executing the collision avoidance control when the determination unit determines that the object detected by the sensor is the specific object.

2. A traveling vehicle system in which a plurality of traveling vehicles travel along a predetermined traveling route, The traveling vehicle includes a reflection sensor that detects the presence of an object ahead in the traveling direction and the distance to the object, and an imaging device that images the area ahead in the traveling direction; a storage unit that stores a plurality of determination images including a specific object that is not an obstacle to the traveling vehicle for each position on the traveling route; a determination unit that determines whether or not the object detected by the sensor is the specific object based on a captured image captured by the imaging device when the object is detected by the sensor and the determination image stored in the storage unit; and a travel control unit that executes collision avoidance control when the object is detected by the sensor, and stops execution of the collision avoidance control when the determination unit determines that the object detected by the sensor is the specific object, The traveling vehicle has a plurality of sensors each having a different detection range for the object, The specific object is set based on the object detection ranges of the plurality of sensors, The determination unit determines whether or not the object detected by the sensor is the specific object set based on the object detection range of the sensor that detected the object, based on an image captured by the imaging device when the object is detected by the sensor and the determination image corresponding to a position on the driving path when the object is detected by the sensor.

3. 3. The traveling control unit executes the collision avoidance control when the object is detected by the sensor and the traveling vehicle approaches until the distance to the object becomes a predetermined distance, and stops executing the collision avoidance control if the determination unit determines that the object detected by the sensor is the specific object before the traveling vehicle approaches to the predetermined distance.

4. 3. The traveling vehicle system according to claim 1, further comprising an update unit that, when the determination unit determines that the object detected by the sensor is the specific object, stores the captured image used for the determination in the memory unit.

5. The detection range of the sensor is set to change depending on the traveling position, 3. The traveling vehicle system according to claim 1, wherein the determination unit determines whether the object detected by the sensor is the specific object based on a portion of the entire captured image that falls within the detection range of the sensor and the determination image.

6. 3. The traveling vehicle system according to claim 1, wherein the collision avoidance control is a control for decelerating or stopping the traveling vehicle.

7. A vehicle traveling along a predetermined travel route, A reflective sensor that detects the presence of an object ahead in the direction of travel and the distance to the object; An imaging device that images the area ahead in the traveling direction; a storage unit that stores a plurality of determination images including a specific object that is not an obstacle to the traveling vehicle for each position on the traveling route; a determination unit that determines whether or not the object detected by the sensor is the specific object based on a captured image captured by the imaging device when the object is detected by the sensor and the determination image corresponding to the position when the object is detected by the sensor; and A traveling vehicle comprising: a traveling control unit that executes collision avoidance control when the object is detected by the sensor, and that stops execution of the collision avoidance control when the determination unit determines that the object detected by the sensor is the specific object.

Images