TRANSPORT DEVICE AND TRANSPORT DEVICE CONTROL METHOD

Abstract

To provide a method for correcting a shift in a transfer position of an article.SOLUTION: A control unit (80) is provided with a positional information acquisition unit (81) for acquiring positional information and a deviation of an identification code from a reference position from images taken by photographing units (61 and 62), and an operation control unit (82) for controlling operation of a conveying apparatus so as to correct the deviation of a transfer position of an article based on the positional information and the deviation of the identification code from the reference position.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a transport device and a method for controlling the transport device. [Background technology]

[0002] In recent years, automated transport of goods using automated guided vehicles (goods transport vehicles) has been put to practical use in factories, warehouses, etc. In many cases, automated guided vehicles autonomously travel along a pre-set route in accordance with commands and programs given by communication from a higher-level control device. One related technology is the invention disclosed in Patent Document 1 below.

[0003] Patent Document 1 relates to a rail-guided vehicle system that is installed on or near the ceiling, has running surfaces on both sides of the bottom and has gaps between the running surfaces, and has a vehicle that runs along the track.

[0004] The bogie has a running section that runs on the running surface of the track, a bogie main body section that is suspended from the running section using the gap, a detection means that is provided on one of the running section or the bogie main body section and that irradiates light and detects reflected light, and a reflection means that is provided on the other of the running section or the bogie main body section and that reflects light irradiated from the detection means to the detection means.The track has a mark section (barcode) that protrudes from the running surface at a predetermined position toward the gap so as to interrupt the optical path between the detection means and the reflection means.

[0005] The mark (barcode) stores detailed position information on the track, for example, and the information read by the barcode reader is transmitted to an on-board controller. Based on the read position information, the on-board controller stops the transport vehicle and controls it to perform a transfer operation. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-150588 Summary of the Invention [Problem to be solved by the invention]

[0007] Generally, in a conveying device that travels along a travel path, if the spacing between the rails becomes wide due to manufacturing errors, installation errors, etc. of the travel path (rails), the stopping position of the conveying device may shift, and a shift in the transfer position may occur when transferring a transported object. However, even if the invention disclosed in Patent Document 1 is used, such a problem cannot be solved.

[0008] An object of one aspect of the present invention is to provide a conveying device and a method for controlling the conveying device that are capable of correcting deviations in the transfer position of an article. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems, a conveying device according to one aspect of the present invention is a conveying device that travels along a travel path and conveys an item, and includes: a photographing unit that photographs an image that represents position information on the travel path and includes an identification code affixed along the travel path; and a control unit that controls the operation of the conveying device based on the image photographed by the photographing unit, wherein the control unit includes: a position information acquisition unit that acquires the position information and a deviation of the identification code from a reference position from the image photographed by the photographing unit; and an operation control unit that controls the operation of the conveying device to correct a deviation in the transfer position of the item based on the position information and the deviation of the identification code from the reference position. do.

[0010] In addition, in order to solve the above-mentioned problems, a control method for a conveying device according to one embodiment of the present invention is a control method for a conveying device that travels along a travel path and transports items, and includes the steps of: capturing an image that represents position information on the travel path and includes an identification code affixed along the travel path; obtaining the position information and the deviation of the identification code from a reference position from the captured image; and controlling the operation of the conveying device to correct the deviation of the transfer position of the item based on the position information and the deviation of the identification code from the reference position. [Effects of the Invention]

[0011] According to one aspect of the present invention, it is possible to correct deviations in the transfer position of an article. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a perspective view of a transport device according to an embodiment of the present invention. [Figure 2] FIG. [Figure 3] FIG. 2 is a perspective view for explaining components of the carriage section. [Figure 4] FIG. [Figure 5] FIG. [Figure 6] FIG. [Figure 7] 1 is a perspective view of a transport system according to an embodiment of the present invention; [Figure 8] FIG. 10 is a diagram illustrating a code tape on which an identification code is displayed. [Figure 9] FIG. 2 is a diagram illustrating an example of the configuration of a control unit of a conveying device according to an embodiment of the present invention. [Figure 10] 10 is a flowchart illustrating a processing procedure when learning a reference position of a conveying device according to an embodiment of the present invention. [Figure 11] 10 is a flowchart illustrating a processing procedure during operation of the transport device according to the embodiment of the present invention. [Figure 12]10A and 10B are diagrams for explaining a case where the transfer position is shifted perpendicularly to the traveling direction of the transport device. [Figure 13] 10A and 10B are diagrams for explaining a case where the transfer position is shifted due to rotation about the rotation center axis of the conveying device. DETAILED DESCRIPTION OF THE INVENTION

[0013] <Overall configuration of the conveying device 1> The configuration of a conveying device according to one embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a perspective view of a conveying device 1 according to one embodiment of the present invention. The conveying device 1 is, for example, a ceiling-mounted transport vehicle that transports articles along a travel path (hereinafter also referred to as a rail) laid on or near the ceiling. Note that the conveying device 1 is not limited to a ceiling-mounted transport vehicle, and may be, for example, a transport vehicle that transports articles along rails laid on the floor.

[0014] The transport device 1 is mainly composed of a traveling section 10, a carriage section 20, a transfer machine section 30, and a fall prevention section 40. The traveling section 10 is composed of a front bogie section and a rear bogie section, as described below, and travels on traveling rails using traveling motors mounted on both bogie sections.

[0015] The cart unit 20 is equipped with a slide drive unit, a swivel drive unit, a lift drive unit, a control unit, etc., as described below. The control unit controls the slide drive unit to slide the placed article perpendicular to the traveling direction of the conveying device 1. The control unit also controls the swivel drive unit to rotate the placed article about the central axis of rotation of the conveying device 1. The control unit also controls the lift drive unit to raise and lower the transfer machine unit 30 between the cart unit 20 and the transfer port.

[0016] The transfer machine unit 30 raises and lowers the placed article between the cart unit 20 and the transfer port under the control of the control unit.

[0017] The fall prevention units 40 are installed at the front and rear of the carriage unit 20, respectively, and are used to prevent articles (for example, FOUPs (Front Opening Unified Pods) that contain semiconductor substrates) from falling while the carriage unit 20 is moving. In order to prevent the items from shaking, the items are held down by a clamp located at the tip of the fall prevention part 40.

[0018] Fig. 2 is a perspective view of the traveling section 10. As shown in Fig. 2, the traveling section 10 is composed of a front bogie section and a rear bogie section. The front bogie section includes a rotary solenoid 11-1, a branch guide roller 12-1, a branch guide sensor 13-1, a traveling motor 14-1, a gear section 15-1, a traveling wheel 16-1, and a side roller 17-1.

[0019] Similarly, the rear bogie portion includes a rotary solenoid 11-2, a branch guide roller 12-2, a branch guide sensor 13-2, a traveling motor 14-2, a gear portion 15-2, traveling wheels 16-2, and side rollers 17-2.

[0020] The rotary solenoids 11-1 and 11-2 are used to change the positions of the branch guide rollers 12-1 and 12-2. When the conveyance device 1 is traveling around a curve, traveling at a branching point of the traveling rails, traveling at a merging point of the traveling rails, etc., some of the traveling wheels will not come into contact with the traveling rails. For this reason, the rotary solenoids 11-1 and 11-2 change the positions of the branch guide rollers 12-1 and 12-2 to maintain the horizontal posture of the conveyance device 1. Two branch guide rollers 12-1 and 12-2 are arranged on each of the bogie sections, for a total of four wheels.

[0021] The branch guide sensors 13-1 and 13-2 are sensors for identifying whether the branch guide rollers 12-1 and 12-2 are on the left or right side. One branch guide sensor 13-1 and one branch guide sensor 13-2 are disposed on each of the bogie portions.

[0022] The traveling motors 14-1 and 14-2 are AC servo motors for driving a total of four traveling wheels 16-1 and 16-2 on both bogie sections via gear sections 15-1 and 15-2.

[0023] The gear units 15-1 and 15-2 transmit the rotation of the traveling motors 14-1 and 14-2 to the traveling wheels 16-1 and 16-2 installed on both sides, causing the traveling wheels 16-1 and 16-2 to rotate.

[0024] The traveling wheels 16-1 and 16-2 are wheels for causing the transport device 1 to travel by friction with the traveling rails, and two wheels are arranged on each of the two bogie portions, making a total of four wheels.

[0025] The side rollers 17-1 and 17-2 are rollers that restrict the rotational freedom of the bogie section by contacting the side of the running rail, and four wheels are placed on each of the bogie sections, making a total of eight wheels.

[0026] 3 is a perspective view for explaining the components of the cart unit 20. The cart unit 20 is made up of a slide drive unit 21 that slides the placed article perpendicular to the traveling direction of the conveying device 1, a swivel drive unit 22 that swivels the placed article about the swivel center axis of the conveying device 1, and an elevation drive unit 23 that raises and lowers the transfer machine unit 30.

[0027] 4 is a perspective view of the slide driving unit 21. The slide driving unit 21 is mainly composed of a slide motor 211, a slide ball screw 212, and a slide driving belt 213.

[0028] The slide motor 211 is a servo motor for driving the slide ball screw 212. The slide ball screw 212 is a ball screw for operating the slide driving unit 21.

[0029] The slide drive belt 213 is a belt for transmitting the power of the slide ball screw 212, and the transfer machine section 30 is slid perpendicularly (left and right) to the traveling direction of the conveyance device 1 by the slide drive of the slide drive belt 213.

[0030] 5 is a perspective view of the swivel drive unit 22. The swivel drive unit 22 is mainly composed of a swivel motor 221, a swivel ball screw 222, and a swivel center shaft 223. The swivel drive unit 22 can swivel the transfer machine unit 30 by approximately ±5° with respect to the swivel center shaft 223, which is the central axis of the conveying device 1.

[0031] The swing motor 221 is a stepping motor for driving the swing ball screw 222. The swing ball screw 222 swings the transfer machine unit 30 by the driving force of the swing motor 221, thereby making fine adjustments to the transfer position.

[0032] 6 is a perspective view of the lift drive unit 23. The lift drive unit 23 is mainly composed of a lift motor 231, a gear unit 232, a lift belt 233, and a lift belt take-up pulley 234.

[0033] The lifting motor 231 is a servo motor for lifting and lowering the transfer machine unit 30. The gear unit 232 transmits the rotation of the lifting motor 231 to lifting belt take-up pulleys 234 installed on both sides.

[0034] The lifting belt 233 is made up of three belts for suspending the transfer machine unit 30, and the lifting belt take-up pulley 234 rotates forward and backward to lift the transfer machine unit 30.

[0035] <Configuration example of the transport system 100> 7 is a perspective view of a conveyance system 100 according to one embodiment of the present invention. A traveling rail 50, which serves as a travel path, is laid on or near the ceiling, and the conveyance device 1 travels on the traveling rail 50 due to the frictional force between the traveling wheels 16-1 and 16-2 of the conveyance device 1 and the traveling rail 50.

[0036] In addition, a code tape 70 bearing a plurality of identification codes is attached along the traveling rail 50, and each of the plurality of identification codes contains positional information on the traveling route, such as distance information from the starting position of the traveling rail 50, coordinate information, etc.

[0037] The identification code is, for example, a two-dimensional code such as a QR (Quick Response) code, Data Matrix, etc. Note that the identification code is not limited to a two-dimensional code, and may be, for example, a one-dimensional code such as a barcode, or a three-dimensional code.

[0038] Furthermore, photographing units 61 and 62 are installed on the front and rear sides of the conveying device 1, respectively, for photographing an image including the identification code displayed on the code tape 70. The photographing units 61 and 62 are attached at positions where they can photograph the identification code displayed on the code tape 70.

[0039] Fig. 8 is a diagram illustrating a code tape 70 on which identification codes are displayed. As shown in Fig. 8, identification codes representing the position information of the traveling rail 50 are displayed consecutively on the code tape 70. The photographing units 61 and 62 are arranged in positions where they can photograph the multiple identification codes displayed on the code tape 70 so that they are included in the image.

[0040] <Configuration example of control unit 80> 9 is a diagram showing an example of the configuration of a control unit 80 of a conveyance device according to one embodiment of the present invention. The control unit 80 includes a position information acquisition unit 81, an operation control unit 82, and a position information storage unit 83. The operation control unit 82 also includes a travel control unit 821, a slide control unit 822, a rotation control unit 823, and an elevation control unit 824.

[0041] The position information acquisition unit 81 analyzes the images including the identification codes captured by the photographing units 61 and 62, and acquires the position information represented by the identification codes. The control unit 80 also controls the operation control unit 82 so that the identification code corresponding to the transfer position of the item is positioned at the center of the image. The position information acquisition unit 81 acquires the deviation of the identification code from its reference position at that time. Note that the reference positions of each identification code are assumed to have been measured in advance during learning, which will be described later, and stored in the position information storage unit 83.

[0042] The travel control unit 821 controls the travel unit 10 to travel the conveying device 1 to a predetermined position. For example, when the conveying device 1 is to travel to a position for transferring an article, the travel control unit 821 controls the travel unit 10 to travel the conveying device 1 until the identification code indicating the position information corresponding to the transfer position is in the center of the image captured by the photographing unit 61 or 62, and then stops the conveying device 1 at the position for transferring the article.

[0043] The slide control unit 822 controls the slide driving unit 21 to slide the placed article perpendicular to the traveling direction of the conveying device 1. For example, when the conveying device 1 is driven to a transfer position for the article, if the identification code displaying the position information corresponding to the transfer position is shifted perpendicular to the traveling direction of the conveying device 1 from the reference position, the slide control unit 822 controls the slide driving unit 21 to slide the article perpendicular to the traveling direction of the conveying device 1 to correct the transfer position of the article.

[0044] The turning control unit 823 controls the turning drive unit 22 to turn the placed article about the turning center axis 223 of the conveying device 1. For example, when the conveying device 1 is driven to a position for transferring an article, if the identification code displaying the position information corresponding to the transfer position is rotated and deviated from the reference position, the turning control unit 823 controls the turning drive unit 22 to turn about the turning center axis 223 of the conveying device 1 to correct the position for transferring the article.

[0045] The lift control unit 824 controls the lift drive unit 23 to lift and lower the transfer unit 30 on which the article is placed.

[0046] <Processing procedure when learning the reference position of the identification code> 10 is a flowchart for explaining the processing procedure when learning the reference position of the conveying device 1 according to one embodiment of the present invention. First, the travel control unit 821 controls the travel unit 10 to cause the conveying device 1 to travel to the article transfer position (S11).

[0047] It should be noted that a plurality of transfer positions indicating the places where the articles are transferred are determined in advance, and the conveying device 1 learns the reference positions of the identification codes at the plurality of transfer positions. The control unit 821 controls the travel of the transport device 1 so that the identification code corresponding to the transfer position is located near the center of the image taken by the image taking unit 61 or 62.

[0048] The position information acquisition unit 81 acquires the position of the identification code in the image captured by the image capture unit 61 or 62 as a reference position (S12), and stores the position information and the reference position in association with each other in the position information storage unit 83 (S13). For example, if the identification code has a rectangular shape, the reference position is the coordinate information of the four corners of the identification code in the image.

[0049] Furthermore, since this reference position may be shifted perpendicularly to the direction of travel of the conveying device 1 or may be shifted by rotation, the position information acquisition unit 81 may acquire the reference slide amount by the slide drive unit 21 and the reference rotation angle by the rotation drive unit 22 so that the transfer position of the item is at the correct position, and store these together with the position information and the reference position in the position information memory unit 83.

[0050] Next, the control unit 80 determines whether or not the reference positions for all transfer positions have been learned (S14). If there are transfer positions for which the reference positions have not been learned (S14, No), the process returns to step S11 and repeats the subsequent steps. If there are no transfer positions for which the reference positions have not been learned (S14, Yes), the process ends.

[0051] <Processing Procedure During Operation of the Conveying Device 1> 11 is a flowchart for explaining the processing procedure during operation of the conveying device 1 according to one embodiment of the present invention. First, the travel control unit 821 controls the travel unit 10 to cause the conveying device 1 to travel to the article transfer position (S21).

[0052] Next, the position information acquisition unit 81 acquires the position of the identification code in the image captured by the photographing unit 61 or 62 (S22). At this time, the travel control unit 821 controls the travel of the conveying device 1 so that the center point of the identification code, on which position information corresponding to the transfer position of the article is displayed, is positioned on the center line of the reference position of the identification code. The center line of the reference position of the identification code is a line that passes through the center point of the identification code at the reference position and is perpendicular to the traveling direction of the conveying device 1.

[0053] Next, the control unit 80 determines whether or not a vertical deviation has occurred with respect to the traveling direction of the conveyance device 1 (S23). If a vertical deviation has occurred with respect to the traveling direction of the conveyance device 1 (Yes in S23), the slide control unit 822 corrects the vertical deviation with respect to the traveling direction of the conveyance device 1 by controlling the slide driving unit 21 to correct the amount of slide (S24), and the process proceeds to step S25.

[0054] More specifically, the slide control unit 822 acquires the above-mentioned reference slide amount from the position information storage unit 83, and adds a correction value of the slide amount corresponding to the vertical deviation with respect to the traveling direction of the transport device 1 to the reference slide amount. Then, the slide control unit 822 controls the slide drive unit 21 to slide the transfer machine unit 30 by the amount obtained by adding the correction value to the reference slide amount. Also, if no vertical deviation with respect to the traveling direction of the transport device 1 has occurred (S23, No), the process proceeds to step S25.

[0055] Fig. 12 is a diagram for explaining a case where the transfer position is misaligned vertically with respect to the traveling direction of the conveyance device 1. As shown in Fig. 12, if there is a gap between the traveling rail 50 and the side rollers 17-1 and 17-2, the actual transfer position will be misaligned upward in the drawing from the correct transfer position. The position information acquisition unit 81 detects the misalignment vertically with respect to the traveling direction of the conveyance device 1 and calculates a correction value for the slide amount.

[0056] If the stopping position of the conveying device 1 is misaligned, vibrations will increase when an article (e.g., a FOUP) is transferred. The running rail is installed so that there is a gap between the side rollers 17-1 and 17-2, so the conveying device 1 may rotate within that range or may be leaning to one side of the running rail. In this case, vibrations will be generated when the article slides down, guided by the kinematic pins, during transfer.

[0057] Returning to the description of the flowchart in Fig. 11, in step S25, the control unit 80 determines whether or not a rotational deviation has occurred with respect to the rotational center axis 223 of the transfer device 1 (S25). If a rotational deviation has occurred with respect to the rotational center axis 223 of the transfer device 1 (Yes in S25), the rotation control unit 823 corrects the rotational deviation of the transfer device 1 with respect to the rotational center axis 223 by controlling the rotation drive unit 22 to correct the rotation angle (S26), and the process ends.

[0058] More specifically, the turning control unit 823 acquires the above-mentioned reference turning angle from the position information storage unit 83, and adds a correction value of the turning angle corresponding to the rotational deviation of the transport device 1 with respect to the turning central axis 223 to the reference turning angle. Then, the turning control unit 823 controls the turning drive unit 22 to turn the transfer machine unit 30 by the value obtained by adding the correction value to the reference turning angle. Furthermore, if no rotational deviation has occurred with respect to the turning central axis 223 of the transport device 1 (S25, No), the process ends.

[0059] FIG. 13 is a diagram illustrating a case where the transfer position is shifted due to rotation about the rotation center axis 223 of the conveyance device 1. As shown in the left diagram of FIG. 13, if there is a gap between the lower traveling rail 50 and the side roller 17-1 relative to the drawing and a gap between the upper traveling rail 50 and the side roller 17-2 relative to the drawing, the actual transfer position will rotate and shift from the correct transfer position. As shown in the right diagram of FIG. 13, this rotational shift is corrected by correcting the rotation angle of the transfer machine unit 30. Furthermore, since correcting the rotation angle may shift the traveling position of the conveyance device 1, the travel control unit 821 controls the traveling unit 10 to correct this shift in traveling position.

[0060] Furthermore, as described above, since the photographing units 61 and 62 are capable of photographing multiple identification codes, the amount of correction for the rotation angle of the transfer machine unit 30 can be calculated from the deviation between the identification codes before and after the identification code corresponding to the transfer position, and the transfer position can be corrected.

[0061] <Effects of conveying device 1> As described above, according to the conveying device 1 of this embodiment, the operation control unit 82 controls the operation of the conveying device 1 so as to correct a deviation in the transfer position of the article based on the position information and the deviation of the identification code from the reference position. Therefore, even if the transfer position of the article is deviated perpendicularly to the traveling direction of the conveying device 1 or is deviated by rotation about the rotation center axis of the conveying device 1, the deviation in the transfer position of the article can be easily corrected.

[0062] Furthermore, the control unit 80 includes a position information storage unit that stores the reference position of the identification code corresponding to the position information, so the operation control unit 82 can easily obtain the reference position of the identification code based on the position information.

[0063] Furthermore, the operation control unit 82 corrects the deviation of the transfer position of the item based on the reference position corresponding to the identification code stored in the position information memory unit 83, so that the transfer position of the item can be easily corrected.

[0064] In addition, the slide control unit 822 controls the slide driving unit 21 when the identification code at the transfer position of the article is deviated from the reference position perpendicular to the traveling direction of the conveyance device 1. By controlling the positioning control, the transfer position of the article is corrected perpendicular to the traveling direction of the conveying device 1. Therefore, even if the transfer position of the article is deviated perpendicular to the traveling direction of the conveying device 1, the deviation of the transfer position of the article can be easily corrected.

[0065] Furthermore, when the identification code at the transfer position of the article is rotated and deviated from the reference position, the turning control unit 823 controls the turning drive unit 22 to turn about the turning center axis 223 of the conveying device 1, thereby correcting the transfer position of the article. Therefore, even when the transfer position of the article is rotated and deviated from the turning center axis 223 of the conveying device 1, the deviation of the transfer position of the article can be easily corrected.

[0066] In addition, the rotation control unit 823 determines whether the transfer position of the item has rotated and shifted depending on the deviation of each of the multiple identification codes from its reference position, so it can easily determine whether the transfer position of the item has rotated and shifted relative to the rotation center axis 223 of the conveying device 1.

[0067] Furthermore, the rotation control unit 823 determines whether the transfer position of the article has been rotated and deviated in accordance with the deviations from the respective reference positions of the multiple identification codes photographed by the photographing units 61, 62 provided at at least two locations. Therefore, it is possible to more accurately determine whether the transfer position of the article has been rotated and deviated with respect to the rotation center axis 223 of the conveying device 1.

[0068] In some cases, the FOUP has a conically tapered hole in the bottom that engages with a positioning pin (kinematic pin) placed in the port, thereby correcting any slight misalignment. However, in such cases, the FOUP may collide with the kinematic pin, causing an impact on the transported item. The above configuration can correct the misalignment, preventing such problems as impacts on the transported item.

[0069] <Software implementation example> The control block of the transport device 1 (particularly the control unit 80) may be realized by a logic circuit (hardware) formed on an integrated circuit (IC chip) or the like, or may be realized by software.

[0070] In the latter case, the control unit 80 is provided with a computer that executes instructions of a program, which is software that realizes each function. This computer is provided with, for example, at least one processor and at least one computer-readable recording medium that stores the program. The object of the present invention is achieved by the computer having the processor read and execute the program from the recording medium. The processor may be, for example, a CPU (Central Processing Unit). The recording medium may be a "non-transitory tangible medium," such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, or a programmable logic circuit. The computer may further include a RAM (Random Access Memory) for expanding the program. The program may be supplied to the computer via any transmission medium capable of transmitting the program (such as a communication network or broadcast waves). One aspect of the present invention may also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.

[0071] 〔summary〕 A conveying device according to a first aspect of the present invention is a conveying device that travels along a travel path and conveys an article, a photographing unit that photographs an image including an identification code that represents position information on the travel route and is attached along the travel route; and a control unit that controls the operation of the device, The control unit a position information acquiring unit that acquires the position information and a deviation of the identification code from a reference position from the image captured by the imaging unit; and an operation control unit that controls the operation of the conveying device so as to correct the deviation of the transfer position of the item based on the position information and the deviation of the identification code from a reference position.

[0072] According to the above configuration, even if the transfer position of the item is shifted perpendicularly to the direction of travel of the conveying device or rotated relative to the rotation center axis of the conveying device, the shift in the transfer position of the item can be easily corrected.

[0073] A conveying device according to a second aspect of the present invention is the conveying device according to the first aspect, the conveying device further includes a slide drive unit that slides the placed article perpendicular to the direction of travel of the conveying device, The operation control unit includes a slide control unit that controls the slide drive unit to correct the transfer position of the item perpendicular to the traveling direction of the conveying device when the identification code at the transfer position of the item is shifted perpendicular to the reference position and the traveling direction of the conveying device.

[0074] According to the above configuration, even if the transfer position of the article is shifted perpendicularly to the traveling direction of the conveying device, the shift in the transfer position of the article can be easily corrected.

[0075] A conveying device according to a third aspect of the present invention is the conveying device according to the first aspect, the conveying device further includes a rotation drive unit that rotates the placed article about a rotation center axis of the conveying device; The operation control unit includes a rotation control unit that controls the rotation drive unit to rotate around the rotation center axis of the conveying device to correct the transfer position of the item when the identification code at the transfer position of the item is rotated and misaligned with respect to the reference position.

[0076] According to the above configuration, even if the transfer position of the article is rotated and deviated with respect to the central axis of rotation of the conveying device, the deviation of the transfer position of the article can be easily corrected.

[0077] A conveying device according to a fourth aspect of the present invention is the conveying device according to the third aspect, the photographing unit photographs an image including a plurality of identification codes attached along the travel route; the position information acquisition unit acquires a reference position of each of the plurality of identification codes photographed by the photographing unit, The rotation control unit determines whether the transfer position of the article has been rotated and deviated, depending on the deviation of each of the plurality of identification codes from a reference position.

[0078] According to the above configuration, it is possible to easily determine whether the transfer position of the article has been rotated and deviated from the central axis of rotation of the conveying device.

[0079] A conveying device according to a fifth aspect of the present invention is the conveying device according to the third aspect, the photographing units are provided at least at two locations, one on the front side and one on the rear side of the transport device, with respect to the traveling direction of the transport device; the position information acquisition unit acquires a reference position of each of the plurality of identification codes photographed by the photographing units provided at the at least two locations; The rotation control unit controls the transfer position of the article to rotate in accordance with deviations from respective reference positions of the plurality of identification codes photographed by the photographing units provided at the at least two locations. and determine whether there is any deviation.

[0080] According to the above configuration, it is possible to more accurately determine whether the transfer position of the article has been rotated and deviated from the central axis of rotation of the conveying device.

[0081] A conveying device according to a sixth aspect of the present invention is the conveying device according to any one of the first to fifth aspects, The conveying device further includes a traveling unit that travels the placed article to a transfer position, the position information acquisition unit acquires the reference position of the identification code from an image including the identification code photographed by the photographing unit at the transfer position of the item; The control unit includes a position information storage unit that stores the reference position of the identification code in correspondence with the position information.

[0082] According to the above configuration, the operation control unit can easily obtain the reference position of the identification code based on the position information.

[0083] A conveying device according to a seventh aspect of the present invention is the conveying device according to the sixth aspect, The operation control unit referring to the position information, and acquiring the reference position corresponding to the identification code from the position information storage unit; Based on the reference position corresponding to the identification code, the deviation of the transfer position of the article is corrected.

[0084] According to the above configuration, the operation control unit corrects the deviation of the transfer position of the item based on the reference position corresponding to the identification code stored in the position information memory unit, so that the transfer position of the item can be easily corrected.

[0085] A control method for a conveyance device according to an eighth aspect of the present invention is a control method for a conveyance device that travels along a travel path and conveys an article, the method comprising: capturing an image representing position information on the travel route and including an identification code attached along the travel route; acquiring the position information and a deviation of the identification code from a reference position from the captured image; and controlling the operation of the transport device so as to correct the deviation of the transfer position of the article based on the position information and the deviation of the identification code from a reference position.

[0086] According to the above configuration, even if the transfer position of the item is shifted perpendicularly to the direction of travel of the conveying device or rotated relative to the rotation center axis of the conveying device, the shift in the transfer position of the item can be easily corrected.

[0087] [Additional Notes] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0088] 1. Conveyor device 10 Running part 11-1, 11-2 Rotary solenoid 12-1, 12-2 Branch guide roller 13-1, 13-2 Branch guide sensor 14-1, 14-2 Travel motor 15-1, 15-2 Gear section 16-1, 16-2 Running wheels 17-1, 17-2 Side rollers 20 Bogie section 21 Slide drive unit 22 Swivel drive unit 23 Lifting drive unit 30 Transfer machine department 40 Fall prevention part 50 Running rail 61,62 Filming Department 70 Cord Tape 80 Control Unit 81 Location information acquisition unit 82 Motion control section 83 Location information storage unit 100 Transport System 211 Slide motor 212 Slide ball screw 213 Slide drive belt 221 Swing motor 222 Swivel ball screw 223 Rotation axis 231 Lifting motor 232 Gear section 233 Lifting Belt 234 Elevating belt winding pulley 821 Travel control unit 822 Slide control section 823 Swivel control unit 824 Lift control section

Claims

1. A conveying device that travels along a travel path and conveys an article, a photographing unit that photographs an image representing position information on the travel route and including an identification code affixed along the travel route; and a control unit that controls an operation of the transport device based on the image photographed by the photographing unit, The control unit a position information acquiring unit that acquires the position information and a deviation of the identification code from a reference position from the image captured by the imaging unit; an operation control unit that controls the operation of the conveying device so as to correct a deviation in the transfer position of the item based on the position information and a deviation of the identification code from a reference position, the conveying device further includes a rotation drive unit that rotates the placed article about a rotation center axis of the conveying device; the operation control unit includes a turning control unit that, when the identification code at the transfer position of the article is rotated and deviated from the reference position, controls the turning drive unit to turn about a turning center axis of the conveying device to correct the transfer position of the article, the photographing unit photographs an image including a plurality of identification codes attached along the travel route; the position information acquisition unit acquires a reference position of each of the plurality of identification codes photographed by the photographing unit, The rotation control unit determines whether the transfer position of the article has been rotated and deviated based on the deviation of each of the identification codes from a reference position.

2. the conveying device further includes a slide drive unit that slides the placed article perpendicular to the direction of travel of the conveying device, The conveying device described in claim 1, wherein the operation control unit includes a slide control unit that controls the slide drive unit to correct the transfer position of the item perpendicular to the traveling direction of the conveying device when the identification code at the transfer position of the item is shifted perpendicular to the reference position and the traveling direction of the conveying device.

3. A conveying device that travels along a travel path and conveys an article, a photographing unit that photographs an image representing position information on the travel route and including an identification code affixed along the travel route; and a control unit that controls an operation of the transport device based on the image photographed by the photographing unit, The control unit a position information acquiring unit that acquires the position information and a deviation of the identification code from a reference position from the image captured by the imaging unit; an operation control unit that controls the operation of the conveying device so as to correct a deviation in the transfer position of the item based on the position information and a deviation of the identification code from a reference position, the conveying device further includes a rotation drive unit that rotates the placed article about a rotation center axis of the conveying device; the operation control unit includes a turning control unit that, when the identification code at the transfer position of the article is rotated and deviated from the reference position, controls the turning drive unit to turn about a turning center axis of the conveying device to correct the transfer position of the article, the photographing units are provided at least at two locations, one on a front side and one on a rear side of the transport device, with respect to a traveling direction of the transport device; the position information acquisition unit acquires reference positions of the identification codes photographed by the photographing units provided at the at least two locations, The rotation control unit determines whether the transfer position of the item has rotated and shifted based on the deviation from the respective reference positions of the multiple identification codes photographed by the photographing units installed in at least two locations.

4. The conveying device further includes a traveling unit that travels the placed article to a transfer position, the position information acquisition unit acquires the reference position of the identification code from an image including the identification code photographed by the photographing unit at the transfer position of the item; 4. The conveying device according to claim 1, wherein the control unit includes a position information storage unit that stores the reference position of the identification code in correspondence with the position information.

5. The operation control unit referring to the position information, and acquiring the reference position corresponding to the identification code from the position information storage unit; The conveying device according to claim 4, wherein a deviation in the transfer position of the article is corrected based on the reference position corresponding to the identification code.

6. A method for controlling a conveyance device that travels along a travel path and conveys an article, comprising: capturing an image representing position information on the travel route and including an identification code attached along the travel route; acquiring the position information and a deviation of the identification code from a reference position from the captured image; and controlling the operation of the conveying device to correct a deviation in the transfer position of the article based on the position information and a deviation of the identification code from a reference position, In the controlling step, if the identification code at the transfer position of the article is rotated and deviated from the reference position, the article is rotated about a rotation center axis of the conveying device to correct the transfer position of the article, In the photographing step, an image including a plurality of identification codes attached along the travel route is photographed, acquiring a reference position of each of the photographed identification codes; The method for controlling a conveying device further includes a step of determining whether the transfer position of the article has been rotated and deviated, depending on the deviation of each of the plurality of identification codes from a reference position.

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