Transport System

Abstract

To provide a conveyance system that can more reliably prevent a second carriage other than a specific second carriage from being operated in response to an operation of a remote controller by a worker.MEANS FOR SOLVING THE PROBLEM: A conveyance system of the present invention includes a first carriage, a second carriage, a remote controller, and a control device. The first carriage is capable of conveying the second carriage and an article along a first conveyance path. The first carriage has a signal transmission unit that wirelessly transmits a control signal for a second operation unit input from the remote controller to the second carriage corresponding to the first carriage, when the remote controller and the first carriage are electrically connected via a cable, and when the second carriage receives the control signal from the signal transmission unit, the second control unit controls the second operation unit in response to the control signal.SELECTED DRAWING: Figure 8

Description

[Technical Field]

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

[0002] BACKGROUND ART Conventionally, an article transport system is known that includes a first carriage and a second carriage that transports articles between the first carriage and a storage position (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-117405 Summary of the Invention [Problem to be solved by the invention]

[0004] This type of conveying system may be configured so that if any abnormality occurs in the second carriage, an operator can test operate the second carriage, i.e., perform an inspection, using a wirelessly capable remote controller while normal conveying operations are stopped.

[0005] In this configuration, when the remote controller is shared by a plurality of second carriages, the worker performs an operation on the remote controller to select a specific second carriage.

[0006] In this case, if the worker mistakenly selects a different second cart, there is a risk that the mistakenly selected second cart will be activated in response to the worker's operation of the remote controller.

[0007] Therefore, one of the objectives of the present invention is to provide a conveying system that can more reliably prevent a second cart other than a specific second cart from operating in response to an operator's operation of a remote controller. [Means for solving the problem]

[0008] The conveying system of the present invention includes a first carriage configured to be movable along a first conveying path and having a first operating unit and a first control unit that controls the first operating unit; a second carriage configured to be movable along a second conveying path intersecting the first conveying path and to be movable between the first carriage and the second conveying path and having a second operating unit and a second control unit that controls the second operating unit, and on which an article can be placed; a remote controller configured to be connectable to the first carriage via a cable and having a manual operation unit, and inputting a control signal to the first carriage via the cable in accordance with operation of the manual operation unit; and a control device that outputs a control signal to the first carriage and the second control unit, wherein the first carriage is configured to be able to transport the second carriage and the item along the first transport path, wherein the first carriage has a signal transmitting unit that wirelessly transmits a control signal for the second operating unit input from the remote controller to the second carriage corresponding to the first carriage when the remote controller and the first carriage are connected via the cable, and the second control unit controls the second operating unit in accordance with the control signal when the second carriage receives the control signal from the signal transmitting unit. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is an exemplary and schematic plan view of a conveying system according to an embodiment, showing a state in which a parent cart (first cart) carries a child cart (second cart) but moves along a first conveying path without carrying any articles. [Figure 2] FIG. 2 is an exemplary schematic plan view of a part of the transport system according to the embodiment, showing a state in which a child cart, without an article loaded thereon, moves from the parent cart to the second transport path. [Figure 3] FIG. 3 is an exemplary schematic plan view of a part of the transport system according to the embodiment, showing a state in which a child cart carrying an article moves from the second transport path onto a parent cart. [Figure 4]FIG. 4 is an exemplary schematic plan view of a part of the transport system of the embodiment, showing a state in which a parent cart moves along a first transport path with an article and a child cart loaded thereon. [Figure 5] FIG. 5 is an exemplary schematic side view of a part of the transport system according to the embodiment, showing a child cart and a parent cart carrying an article on a first transport path. [Figure 6] FIG. 6 is an exemplary schematic side view of a part of the transport system according to the embodiment, showing a child carriage carrying an article on the second transport path. [Figure 7] FIG. 7 is an exemplary schematic side view of a part of the conveyance system according to the embodiment, showing a state in which an article is located at a storage position. [Figure 8] FIG. 8 is an exemplary control block diagram of the transport system according to the embodiment. [Figure 9] FIG. 9 is a flowchart showing an example of a procedure for switching between the automatic mode and the manual mode in the parent cart of the transport system according to the embodiment. [Figure 10] FIG. 10 is a schematic diagram showing an example of a changeover switch provided on the parent cart of the transport system according to the embodiment. [Figure 11] FIG. 11 is an explanatory diagram showing an example of the configuration of a control signal wirelessly transmitted from a parent cart to a child cart of the transport system according to the embodiment. [Figure 12] FIG. 12 is a flowchart showing an example of a procedure for switching between the automatic mode and the manual mode in the child carriage of the transport system according to the embodiment. [Figure 13] FIG. 13 is an exemplary schematic front view of a remote controller connected by wire to a parent cart of the transport system according to the embodiment. [Figure 14] FIG. 14 is a schematic diagram showing a modification of the changeover switch provided on the parent cart of the transport system according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Exemplary embodiments of the present invention are disclosed below. The configurations of the embodiments described below, as well as the actions and results (effects) obtained from the configurations, are merely examples. The present invention can also be realized by configurations other than those disclosed in the following embodiments. Furthermore, according to the present invention, it is possible to obtain at least one of the various effects (including derivative effects) obtained by the following configurations.

[0011] In this specification, ordinal numbers may be assigned for convenience to distinguish directions, parts, members, components, mechanisms, etc. Furthermore, ordinal numbers do not indicate priority or order, nor do they specify numbers.

[0012] In this specification, the actuation portion being electrically actuated means that the actuation portion is actuated in response to a control signal, which is an electrical signal, from the control portion.

[0013] Arrows indicating directions are drawn in each figure. The X and Y directions are roughly parallel to the horizontal direction. The Z direction is roughly parallel to the up-down direction and points vertically upward. The X, Y, and Z directions are perpendicular to each other.

[0014] In each drawing, the reference numerals (pd, pr, p1 to p3) indicating the positions of the parent vehicle or the transported object may be added in parentheses to the reference numerals (10, A).

[0015] [Conveyor route configuration and item transportation] Fig. 1 is a plan view of a transport system 100 according to an embodiment. Figs. 2 to 4 are plan views showing a part of the transport system 100, in which the positions of the parent cart 10, the child cart 20, and the transported object A are different from those in Fig. 1.

[0016] 1, the transport system 100 includes a first transport path P1 extending in the X direction, multiple second transport paths P2 extending in the Y direction, a parent carriage 10 that can move along the first transport path P1, a child carriage 20 that can move along the second transport path P2, and a transport device 104. The parent carriage 10 is an example of a first carriage, and the child carriage 20 is an example of a second carriage.

[0017] The transport system 100 has a three-dimensional structure in which the configuration shown in Fig. 1 is layered in the Z direction. In other words, the configuration shown in Fig. 1 (excluding the transport device 104) is a one-floor configuration.

[0018] An entrance G for the transported object A on each floor faces the first transport path P1, and the parent cart 10 is configured to be able to stop at a delivery position pd facing the entrance G.

[0019] The conveying device 104 is a mechanism that conveys the object A between a position facing the entrance / exit G on the opposite side of the transfer position pd and a position facing the entrance / exit (not shown) for the object A in the conveying system 100. The conveying device 104 includes, for example, a lifter that conveys the object A in a substantially vertical direction, a conveyor that conveys the object A in a substantially horizontal direction, and the like.

[0020] Between the transport device 104 and the parent cart 10 located at the delivery position pd, the transported object A is delivered by a transport mechanism such as a conveyor provided on at least one of the parent cart 10 and the transport device 104. The positions and number of entrances G in the transport system 100 are not limited to the example in FIG.

[0021] The transported object A is stored at a third position p3 on the second transport path P2. As an example, on each second transport path P2, multiple transported objects A are arranged in series, packing from the side farther from the first transport path P1. The third position p3 may also be referred to as a storage position.

[0022] As shown in Fig. 1, the parent cart 10 is configured to be able to move along the first transport path P1 with the child cart 20 loaded thereon. Also, as shown in Figs. 2 and 3, the child cart 20 is configured to be able to move between the parent cart 10 and the second transport path P2 with the parent cart 10 stopped at an intermediate position pr facing each second transport path P2, and to transport the transported object A between a position on the parent cart 10 and a third position p3. And, as shown in Fig. 4, the parent cart 10 is configured to be able to move along the first transport path P1 together with the child cart 20 with the transported object A loaded thereon.

[0023] With this configuration, the parent cart 10 and the child cart 20 can transport the object A between a third position p3 as a storage position and a fourth position p4 on the parent cart 10 facing the entrance / exit G.

[0024] In this embodiment, the transport of the transported object A within one floor is performed by one parent cart 10 and one child cart 20 corresponding to the parent cart 10. That is, one parent cart 10 and one child cart 20 are provided on each floor, and the parent carts 10 and child carts 20 correspond to each other one-to-one.

[0025] As illustrated in Fig. 1, the first transport path P1 has two parallel rails 101 extending in the X direction. The second transport path P2 has two parallel rails 102 extending in the Y direction. The transport system 100 also has a plurality of pillars 103 extending in the Z direction. The plurality of pillars 103 support the rails 101 and 102. The plurality of rails 101, the plurality of rails 102, and the plurality of pillars 103 form a framework structure.

[0026] [Configuration of transported object, parent cart, and child cart] FIG. 5 is a side view of a portion of a transport system 100 including a parent carriage 10 and a child carriage 20. As shown in FIG.

[0027] As shown in FIG. 5, in this embodiment, the transported object A includes a pallet A1 and an object A2 placed on the pallet A1. One or more objects A2 may be placed on the pallet A1. The object A2 may take various forms. The transport system 100 of this embodiment may also be applied to cases where the transported object A does not include a pallet A1. In this case, the transported object A is an example of an object.

[0028] The main carriage 10 has a base 11, side portions 12, rollers 13, and a support portion 14.

[0029] The base 11 extends at least in the X direction, intersecting the Z direction, and has, for example, a plate-like or frame-like configuration. The base 11 may be formed of a single member or may include multiple members. The side portions 12 protrude in the Z direction and extend in the Y direction at the X-direction end and the opposite end of the base 11. The base 11 and the two side portions 12 form a space that is approximately U-shaped when viewed in the Y direction and can accommodate the child cart 20. This space may be referred to as a storage section or a housing section. The rollers 13 are supported on the base 11 or the side portions 12 to be rotatable around a rotation center extending in the Y direction and can roll in the X direction or in the direction opposite to the X direction on rails 101 that form the first transport path P1. The parent cart 10 can move along the first transport path P1 by the rolling of the rollers 13.

[0030] The support portions 14 protrude from each of the two side portions 12 so as to face each other in the X direction, and extend in the Y direction with a substantially constant width in the X direction and a substantially constant thickness in the Z direction. The support portions 14 function as rails that support the rollers 23 of the child cart 20 so that they can roll in the Y direction and the opposite direction of the Y direction. The support portions 14 are also configured so that when the parent cart 10 is stopped at the relay position pr (see FIGS. 2 and 3 ), they are aligned in the Y direction with the rails 102 that form the second transport path P2, and the rollers 23 can move while rolling between the support portions 14 and the rails 102.

[0031] The child carriage 20 has a base 21, a support portion 22, and rollers 23.

[0032] Base 21 extends at least in the Y direction intersecting with the Z direction and has, for example, a plate-like or frame-like configuration. Base 21 may be formed of a single member or may include multiple members. Support 22 has a mounting surface that extends intersecting with the Z direction and supports transported object A on the mounting surface. Furthermore, roller 23 is supported by base 21 so as to be rotatable around a rotation center extending in the X direction, and can roll on support 14 or rail 102 in the Y direction or in the direction opposite to the Y direction.

[0033] 6 and 7 are side views of a portion of the transport system 100 including the child carriage 20 and the transported object A located on the rail 102, that is, on the second transport path P2.

[0034] 6 and 7, rail 102 has rail portion 102a that supports roller 23, and support portion 102b that protrudes in the Z direction from rail portion 102a and supports transported object A. Both rail portion 102a and support portion 102b extend in the Y direction in the shape shown in FIG.

[0035] 5 to 7, the child carriage 20 is configured so that the position of the support portion 22 in the Z direction relative to the base 21 is changeable. That is, the child carriage 20 has an elevation mechanism (not shown) that moves the support portion 22 in the Z direction and the direction opposite to the Z direction relative to the base 21. The elevation mechanism is an example of an electrically operated second operating portion.

[0036] When the position of the support portion 22 relative to the base 21 is low and the height of the child cart 20 is low, the height of the child cart 20 is lower than the height of the side portion 12 of the parent cart 10 (see FIG. 5) and the height of the support portion 102b of the rail 102 (see FIG. 7), and the transported object A is not supported by the child cart 20, but is supported by the side portion 12 of the parent cart 10 or the support portion 102b of the rail 102. The position of the transported object A supported by the parent cart 10 is defined as a first position p1 (see FIG. 5), and the position of the transported object A supported by the rail 102 is defined as a third position p3 (see FIG. 7).

[0037] On the other hand, when the position of the support part 22 relative to the base 21 is high and the height of the child cart 20 is high, as shown in Fig. 6, the height of the child cart 20 is higher than the height of the support part 22, and the transported object A is supported by the support part 22 of the child cart 20. The position of the transported object A supported by the child cart 20 is defined as a second position p2.

[0038] In this manner, in this embodiment, by changing the position of the support portion 22 relative to the base 21 in the Z direction, the carriage and location that supports the transported object A in the transport system 100 can be changed.

[0039] [Control configuration] FIG. 8 is a control block diagram of the transport system 100. The transport system 100 includes a control device 110 that controls the operation of the parent cart 10 and the child cart 20. During normal operation of the transport system 100, the control device 110 transmits control signals to each of the parent cart 10 and the child cart 20 via wireless communication, such as a wireless LAN (local area network) or spatial optical transmission. The parent cart 10 and the child cart 20 operate in response to the control signals received from the control device 110. Note that while FIG. 8 shows only one parent cart 10 and one child cart 20, if the transport system 100 has multiple floors, it will include multiple parent carts 10 and multiple child carts 20.

[0040] In the wireless communication of control signals within the transport system 100, the control device 110, the multiple parent vehicles 10, and the multiple child vehicles 20 are identified by IP addresses. That is, the control device 110, the parent vehicle 10, and the child vehicle 20 can transmit control signals including IP addresses individually assigned to each device, thereby transmitting control signals to specific devices and preventing control signals from being transmitted erroneously to devices other than the specific device.

[0041] The parent carriage 10 has a control unit 10a, a drive mechanism 10b, an output unit 10c, a wireless communication unit 10d, a moving mechanism 10e, an operation unit 10f, a wired communication unit 10g, and a connector 10h.

[0042] The control unit 10a controls the operation of the drive mechanism 10b, output unit 10c, wireless communication unit 10d, movable mechanism 10e, wired communication unit 10g, etc. in response to control signals received from the control device 110 or control signals corresponding to input operations on a remote controller 30 connected to the parent cart 10 by wire. The control unit 10a is a computer (circuit) having a central processing unit (CPU), a main memory unit such as a random access memory (RAM) or a read-only memory (ROM), and an auxiliary memory unit such as a solid state drive (SSD), and executes processing according to a predetermined algorithm by operating in accordance with an installed program. The control unit 10a is an example of a first control unit. The drive mechanism 10b, output unit 10c, wireless communication unit 10d, movable mechanism 10e, and wired communication unit 10g are examples of first operating units that are controlled and operated by the first control unit.

[0043] The drive mechanism 10b is a mechanism that moves movable parts related to the movement and stopping of the parent cart 10. Specifically, the drive mechanism 10b is a mechanism that moves and stops the parent cart 10 by rotating and stopping the rotation of the rollers 13, and includes, for example, a motor, a rotation transmission mechanism, etc.

[0044] The output unit 10c is, for example, an audio output unit such as a speaker or a display output unit such as a lamp or a display, and performs output by audio or display. The parent cart 10 may have a plurality of output units 10c.

[0045] The wireless communication unit 10d transmits and receives control signals and response signals between the control device 110 and the wireless communication unit 20d of the child carriage 20 by wireless.

[0046] The movable mechanism 10e is a mechanism for moving movable parts that are not directly involved in the movement or stopping of the parent cart 10, and includes, for example, a motor for moving a conveyor (not shown) that transports the transported object A between the parent cart 10 and the transport device 104, a rotation transmission mechanism, etc. The parent cart 10 may have multiple movable mechanisms 10e. Furthermore, the parent cart 10 may have a movable mechanism 10e that includes, for example, an actuator such as a solenoid for moving a stopper (not shown) that limits the movement range of the parent cart 10 and the child cart 20.

[0047] The operation unit 10f is a part that is manually operated by an operator, and may include, for example, a push switch, a rotary switch, a lever switch, a keyboard, etc. The parent cart 10 may have a plurality of operation units 10f.

[0048] The wired communication unit 10g transmits and receives control signals and response signals via a wire to and from the remote controller 30, which is electrically and communicatively connected via the connectors 10h, 41 and the cable 40. The connector 41 is fixed to the cable 40 and configured to be detachable from the connector 10h. Note that the control unit 10a may detect that the connector 10h and the connector 41 are connected and that the wired communication unit 10g and the remote controller 30 are electrically connected.

[0049] The child carriage 20 has a control unit 20a, a drive mechanism 20b, an output unit 20c, a wireless communication unit 20d, and a movable mechanism 20e.

[0050] The control unit 20a controls the operation of the drive mechanism 20b, output unit 20c, wireless communication unit 20d, movable mechanism 20e, etc. in response to control signals received from the control device 110 or the parent carriage 10. The control unit 20a is a computer (circuit) having a CPU, a main memory unit such as RAM or ROM, and an auxiliary memory unit such as SSD, and executes processing according to a predetermined algorithm by operating in accordance with an installed program. The control unit 20a is an example of a second control unit. The drive mechanism 20b, output unit 20c, wireless communication unit 20d, and movable mechanism 20e are examples of second operating units that are controlled and operated by the second control unit.

[0051] The drive mechanism 20b is a mechanism that moves movable parts involved in moving and stopping the child cart 20. Specifically, the drive mechanism 20b is a mechanism that moves and stops the child cart 20 by rotating and stopping the rotation of the rollers 23, and includes, for example, a motor, a rotation transmission mechanism, etc.

[0052] The output unit 20c is, for example, an audio output unit such as a speaker or a display output unit such as a lamp or display, and performs output by audio or display. The child cart 20 may have multiple output units 20c.

[0053] The wireless communication unit 20d transmits and receives control signals and response signals between the control device 110 and the wireless communication unit 10d of the parent carriage 10 by wireless.

[0054] The movable mechanism 20e is a mechanism that moves movable parts that are not directly involved in the movement or stopping of the child cart 20, and includes, for example, a motor for operating an elevation mechanism that raises and lowers the support part 22 relative to the base 21, a rotation transmission mechanism, and a rotary-to-linear conversion mechanism. The child cart 20 may have multiple movable mechanisms 20e. The child cart 20 may also have a movable mechanism 20e that includes an actuator such as a solenoid for operating a stopper (not shown) that limits the movement range of the child cart 20.

[0055] In this embodiment, the control modes of the parent cart 10 and the child cart 20 are set to an automatic mode operated by a control signal from the control device 110, and a manual mode operated by a control signal from the remote controller 30. In the automatic mode, the control unit 10a of the parent cart 10 controls the drive mechanism 10b, output unit 10c, wireless communication unit 10d, movable mechanism 10e, and wired communication unit 10g in response to a control signal received wirelessly from the control device 110, and the control unit 20a of the child cart 20 controls the drive mechanism 20b, output unit 20c, wireless communication unit 20d, and movable mechanism 20e in response to a control signal received wirelessly from the control device 110. On the other hand, in the manual mode, the control unit 10a of the parent vehicle 10 controls the drive mechanism 10b, the output unit 10c, the wireless communication unit 10d, the movable mechanism 10e, and the wired communication unit 10g in response to control signals input via a wire from the remote controller 30, and the control unit 20a of the child vehicle 20 controls the drive mechanism 20b, the output unit 20c, the wireless communication unit 20d, and the movable mechanism 20e in response to control signals input via a wire from the remote controller 30 to the parent vehicle 10 and transferred wirelessly by the parent vehicle 10. In the automatic mode, normal transport of the transported object A is performed, and in the manual mode, work such as inspection of the parent vehicle 10 or the child vehicle 20 is performed. The automatic mode is an example of a first control mode, and the manual mode is an example of a second control mode.

[0056] FIG. 9 is a flowchart showing the procedure for switching between automatic mode and manual mode in the parent bogie 10. As shown in FIG. 9, the control mode of the parent bogie 10 is set to automatic mode by default (S11). If operation in the manual mode has been instructed (Yes in S12), the control unit 10a switches the control mode to the manual mode and operates the parent bogie in response to a control signal from the remote controller 30 (S13). Then, in the manual mode (S13), if control is being exercised on the child bogie 20 (Yes in S14), the control unit 10a controls the wireless communication unit 10d to transmit a control signal including an identifier indicating that the child bogie 20 is in the manual mode (S15). If operation in the manual mode has not been instructed in S12 (No in S12), the control unit 10a returns the control mode to automatic mode (S11). Furthermore, if the control is not for the child carriage 20 in S14 (No in S14), the control unit 10a executes control in the manual mode (S13) as control for the parent carriage 10.

[0057] FIG. 10 is a schematic diagram showing an example of an operation unit 10f provided on the parent carriage 10. The operation unit 10f in FIG. 10 is a switch for switching control modes, and is configured as a rotary switch, for example. When the operation unit 10f is set to "AUTO" in S12, the control unit 10a determines that operation in the automatic mode has been instructed, i.e., that operation in the manual mode has not been instructed. When the operation unit 10f is set to "MANUAL" in S12, the control unit 10a determines that operation in the manual mode has been instructed. Note that "MAINTENANCE" is a control mode in which a safety interlock is released and each part is controlled by the remote controller 30. Note that the operation unit 10f may be configured as a switch other than a rotary switch. The operation unit 10f is an example of a first selector switch.

[0058] Furthermore, in S12, the control unit 10a can determine that the manual mode has been instructed, for example, when it detects that the wired communication unit 10g and the remote controller 30 are electrically connected. The electrical connection can be determined, for example, by determining whether or not a predetermined circuit including a conductor within the remote controller 30 is energized, or whether or not a predetermined wired signal is being transmitted between the wired communication unit 10g and the remote controller 30. In this case, the control unit 10a can determine that operation in the manual mode has been instructed, for example, when "MANUAL" is selected on the operation unit 10f shown in FIG. 10 and it detects that the wired communication unit 10g and the remote controller 30 are electrically connected. This determination can more reliably determine that operation in the manual mode has been instructed, thereby further improving the accuracy and safety of inspections and other tasks.

[0059] In S14, the control unit 10a can determine whether the control target of the remote controller 30 is the parent cart 10 or the child cart 20, for example, according to the selection state on the remote controller 30 or the operation unit provided on the parent cart 10. This will be described later.

[0060] In S15, the control unit 10a of the parent vehicle 10 controls the wireless communication unit 10d to transmit the control signal input from the remote controller 30 to the wireless communication unit 20d of the child vehicle 20 corresponding to the parent vehicle 10. In this case, the control unit 10a controls the wireless communication unit 10d to transmit a control signal to which the IP address of the child vehicle 20 corresponding to the parent vehicle 10, i.e., a fixed IP address, is assigned. This ensures that the control signal is transmitted reliably from the remote controller 30 to the child vehicle 20 corresponding to the parent vehicle 10 that is wired to the remote controller 30. With this configuration, the worker can identify the specific parent vehicle 10 and child vehicle 20 that are to be operated in manual mode, for example, by connecting the connector 41 of the cable 40 to the connector 10h of the parent vehicle 10 corresponding to the child vehicle 20, or by visually confirming that the remote controller 30 and the parent vehicle 10 are wired connected via the cable 40. Therefore, according to this embodiment, it is possible to more reliably prevent parent carriages 10 and child carriages 20 other than the specific parent carriage 10 and child carriage 20 from being controlled in manual mode by the remote controller 30.

[0061] Fig. 11 is an explanatory diagram showing an example of the configuration of a control signal S transmitted from a parent carriage 10 to a corresponding child carriage 20. As shown in Fig. 11, the control signal S is configured as a signal including, for example, a plurality of bits (in Fig. 11, as an example, a total of 16 bits from 0 bit to 15 bit).

[0062] Of these, one bit, for example, 0 bit information, can be set as an identifier indicating that the control signal S is a manual mode control signal from the remote controller 30. In this case, the identifier may be a numerical value that changes at predetermined time intervals. Specifically, for example, the numerical value of the bit may be set to alternate between "1" and "0" at regular intervals of 100 ms. In this case, the control unit 20a of the child cart 20 can recognize that the control signal S is a manual mode control signal from the remote controller 30 by monitoring the numerical value of the bit that serves as the identifier.

[0063] The other bits of the control signal S are assigned to information for operating the drive mechanism 20b, output unit 20c, wireless communication unit 20d, movable mechanism 20e, etc. of the child carriage 20. Specifically, for example, the first to seventh bits are Information for the drive mechanism 20b to move the child carriage 20 forward (forward if "1", no operation if "0"); Information for the drive mechanism 20b to move the child carriage 20 backward ("1" for backward movement, "0" for no movement), Information for raising the support part 22 for the lifting mechanism as the movable mechanism 20e ("1" for raising, "0" for no operation), Information for lowering the support part 22 for the lifting mechanism as the movable mechanism 20e ("1" for lowering, "0" for no operation), Information for restricting the movement of the stopper as the movable mechanism 20e relative to the actuator ("1" for movement restriction, "0" for no operation), Information for releasing the movement restriction of the stopper as the movable mechanism 20e with respect to the actuator ("1" for release of the movement restriction, "0" for no operation), and Information for canceling the abnormal control state of the control unit 20a of the child cart 20 ("1" for canceling abnormal control, "0" for no operation), Furthermore, another bit, for example, the 8th bit, may contain: Enable information for validating information for operating the drive mechanism 20b and the movable mechanism 20e (information other than the information for canceling the abnormal control state in the above example) (valid when "1" and invalid when "0"). By including the enable information, it is possible to suppress inputs due to erroneous operation of the remote controller 30 by the worker and the operation of the child cart 20 due to such inputs, thereby further improving the accuracy and safety of work such as inspection. Note that the above-mentioned information and the allocation of the information to each bit are merely examples, and the information and allocation are not limited to the above-mentioned examples.

[0064] 12 is a flowchart showing the procedure for switching between automatic mode and manual mode in the child carriage 20. As shown in FIG. 12, the control mode of the child carriage 20 is set to automatic mode by default (S21). When the control unit 20a receives a predetermined control signal (Yes in S22), it switches the control mode to manual mode and operates in response to a control signal from the remote controller 30 (S23). When the control unit 10a does not receive the predetermined control signal (No in S22), it returns the control mode to automatic mode (S21).

[0065] In S22, the predetermined control signal is, for example, a signal including an identifier indicating that the control signal is a manual mode control signal from the remote controller 30. Here, as in the above example, if the identifier is a value that changes at a predetermined time interval, specifically, for example, if the value of a predetermined bit is set to alternate between "1" and "0" at regular intervals of 100 ms, the predetermined control signal is a control signal in which the value of the identifier alternates. In this case, in S22, the control unit 20a determines that the predetermined control signal was not received if the value of the bit does not alternate between "1" and "0" at regular intervals of 100 ms. In this way, if a rule for identifier change is set in advance, the control unit 20a cancels manual mode and switches to automatic mode if the identifier does not conform to the rule. This setting can prevent, for example, an inconvenience such as the control unit 20a of the child cart 20 remaining in manual mode and being unable to quickly switch to automatic mode after an inspection or other task is completed.

[0066] Furthermore, the transmission of control signals from the parent carriage 10 to the child carriage 20 is performed at time intervals that allow smooth operation of, for example, the drive mechanism 20b, the output unit 20c, the wireless communication unit 20d, the movable mechanism 20e, etc. Furthermore, the time intervals for transmitting the control signals and the time intervals for determination in S22 are set to, for example, equal to or shorter than the time intervals at which the identifiers are switched as described above.

[0067] Fig. 13 is a front view of the remote controller 30. As shown in Fig. 13, the remote controller 30 has a housing 31, and has a plurality of manual operation units 32 and a plurality of output units 33 provided on a front surface 31a of the housing 31. In the example of Fig. 13, the output unit 33 may also be referred to as a display output unit.

[0068] Output unit 33a is a display output unit such as an LED (light emitting diode) display or LCD (liquid crystal display) that displays numerical values ​​and characters, and output units 33b and 33c are display output units such as LED lamps that indicate the current status, etc.

[0069] Here, the output unit 33a can display the current position of the parent cart 10. The current position of the parent cart 10 on the first transport path P1 is detected by reading barcodes provided along the first transport path P1 with a barcode reader provided on the parent cart 10. The current position of the parent cart 10 can be detected with high accuracy even in manual mode.

[0070] On the other hand, the position of the child cart 20 on the second transport path P2 is detected by a detection signal from an encoder provided in the drive mechanism 20b of the child cart 20. In the manual mode, an operator may manually move the child cart 20, and in that case, the current position obtained from the detection signal from the encoder may differ from the actual current position of the child cart 20. For this reason, the output unit 33a does not display the current position of the child cart 20.

[0071] Furthermore, the output unit 33a can display an error code when the control target is the parent carriage 10, an error code when the control target is the child carriage 20, and the like.

[0072] The manual operation unit 32 is, for example, a push switch, but may be a switch other than a push switch.

[0073] The manual operation unit 32a is a switch that switches between a control state for controlling the parent cart 10 and a control state for controlling the child cart 20; in other words, a switch that switches the control target between the parent cart 10 and the child cart 20. This configuration has the advantage that the remote controller 30 can be used to control both the parent cart 10 and the child cart 20. The control state for controlling the parent cart 10 is an example of a first control state in which the control unit 10a controls the drive mechanism 10b, output unit 10c, wireless communication unit 10d, movable mechanism 10e, and wired communication unit 10g in accordance with control signals from the remote controller 30. The control state for controlling the child cart 20 is an example of a second control state in which the control unit 20a controls the drive mechanism 20b, output unit 20c, wireless communication unit 20d, and movable mechanism 20e in accordance with control signals from the remote controller 30. The manual operation unit 32a is also an example of a second selector switch.

[0074] The output section 33c indicates whether the object to be controlled by the remote controller 30 is the parent cart 10 or the child cart 20. The worker can recognize the object to be controlled by the remote controller 30 based on the output state of the output section 33c.

[0075] The manual operation units 32b, 32c1, 32c2, 32c3, and 32d can be shared by the parent cart 10 and the child cart 20. This configuration has the effect of reducing the number of manual operation units 32 and making the remote controller 30 more compact. The manual operation units 32b, 32c1, 32c2, 32c3, and 32d are examples of operation units.

[0076] Specifically, for example, in response to an operation of selecting "forward" or "reverse" on the manual operation unit 32b, the remote controller 30 can output a control signal instructing the parent vehicle 10 or child vehicle 20 selected by operating the manual operation unit 32a to move forward or backward. In this case, as shown in Fig. 1, the forward movement F and reverse movement B directions of the parent vehicle 10 and child vehicle 20 may be determined in advance.

[0077] Furthermore, the remote controller 30 can output a control signal to the movable mechanisms 10e, 20e corresponding to the movable parts, such as the lifting mechanism and stoppers, of the parent cart 10 or the child cart 20 selected by operating the manual operation unit 32a, in response to, for example, the operation of selecting "up" or "down" using the manual operation unit 32c1, or the operation of selecting "raise" or "lower" using the manual operation unit 32c2, instructing the parent cart 10 or the child cart 20 to raise or lower. If the parent cart 10 or the child cart 20 has multiple parts that can be raised or lowered, the remote controller 30 may have multiple manual operation units 32c1, 32c2, as shown in FIG. 13, or may have a manual operation unit 32c3 that switches the operation target. The remote controller 30 may also have a manual operation unit 32d that selects another operation.

[0078] Furthermore, the remote controller 30 includes a manual operation unit 32e that outputs enable information. When the manual operation unit 32e is pressed to a predetermined position, the remote controller 30 can output a control signal including the enable information. In this embodiment, when the manual operation unit 32e is not pressed or when the manual operation unit 32e is pressed deeper than the predetermined position, the remote controller 30 does not include the enable information in the control signal output to the parent cart 10. By making a predetermined operation of the manual operation unit 32e a condition for outputting a control signal, the operator's intention in controlling the control operation can be more reliably reflected. Furthermore, when the manual operation unit 32e is pressed beyond the predetermined position, there is a risk that the manual operation unit 32e may be unintentionally pressed if the operator falls, for example. In this regard, the above configuration can prevent the output of a control signal due to erroneous operation by the operator in an unstable position. In other words, the manual operation unit 32e of this embodiment can further improve the accuracy and safety of inspection and other tasks.

[0079] Fig. 14 is a schematic diagram showing a modified example of the operating unit 10f. As shown in Fig. 14, the operating unit 10f provided on the parent cart 10 may be used to switch between a control state for controlling the parent cart 10 (first control state) and a control state for controlling the child cart 20 (second control state). With this configuration, the operator can recognize the object to be controlled by the remote controller 30 based on the rotation position of the operating unit 10f.

[0080] As described above, in this embodiment, when the remote controller 30 and the parent cart 10 are electrically connected via the cable 40, the parent cart 10 (first cart) has a wireless communication unit 10d (signal transmission unit) that wirelessly transmits control signals input to the remote controller 30 for the drive mechanism 20b, output unit 20c, wireless communication unit 20d, movable mechanism 20e, etc. (second actuation unit) to the child cart 20 (second cart) corresponding to the parent cart 10, and when the child cart 20 receives a control signal from the wireless communication unit 10d, the control unit 20a (second control unit) controls the second actuation unit in accordance with the control signal. This allows the worker to identify the specific parent cart 10 and child cart 20 to be operated in manual mode, for example, by connecting the cable 40 to the parent cart 10 corresponding to the child cart 20, or by visually confirming that the remote controller 30 and the parent cart 10 corresponding to the child cart 20 are wired connected via the cable 40. Therefore, with this configuration, for example, it is possible to more reliably prevent the remote controller 30 from controlling parent carts 10 and child carts 20 other than the specific parent cart 10 and child cart 20.

[0081] Furthermore, in this embodiment, the control signal transmitted by the wireless communication unit 10d to the child cart 20 includes an identifier that identifies the control signal as a control signal from the remote controller 30. This configuration has the advantage that, for example, the control unit 20a of the child cart 20 can recognize that it is in a state where it is controlled in manual mode based on the control signal received by wireless communication, without requiring manual operation of the child cart 20.

[0082] In this embodiment, the identifier is a numerical value that changes at predetermined time intervals. This configuration, for example, provides the advantage that the control unit 20a of the child carriage 20 can recognize whether the mode is automatic or manual by setting a relatively simple signal. Furthermore, for example, when the numerical value stops changing at predetermined time intervals, the control unit 20a recognizes that the manual mode has ended and transitions to automatic mode, thereby providing the advantage that control can be quickly resumed in the next automatic mode.

[0083] In this embodiment, the parent cart 10 has an operation unit 10f (first changeover switch) that manually switches between an automatic mode (first control mode) and a manual mode (second control mode). This configuration provides the effect that, for example, the transfer system 100 can more reliably switch between the automatic mode and the manual mode.

[0084] Furthermore, in this embodiment, the remote controller 30 has a manual operation unit 32a (second changeover switch) that manually switches between a control state (first control state) in which the parent carriage 10 is controlled and a control state (second control state) in which the child carriage 20 is controlled. This configuration has the advantage that, for example, the remote controller 30 can more reliably switch the control target. Another advantage is that the remote controller 30 can be used in common for controlling the parent carriage 10 in manual mode and for controlling the child carriage 20 in manual mode.

[0085] Furthermore, in this embodiment, the remote controller 30 has manual operation units 32b, 32c1, 32c2, 32c3, and 32d (operation units) that are shared between the operation of inputting control signals for the parent cart 10 and the operation of inputting control signals for the child cart 20. This configuration has the effect of enabling the remote controller 30 to be configured more compactly, for example.

[0086] While the embodiments of the present invention have been described above, they are merely examples and are not intended to limit the scope of the invention. The above embodiments can be implemented in various other forms, and various omissions, substitutions, combinations, and modifications can be made without departing from the spirit of the invention. Furthermore, the specifications of each configuration, shape, and the like (structure, type, direction, model, size, length, width, thickness, height, number, arrangement, position, material, etc.) can be appropriately modified and implemented.

[0087] For example, the present invention can also be applied to a conveying system in which second conveying paths are provided on both sides of a first conveying path in the width direction. [Explanation of symbols]

[0088] 10...Main cart (first cart) 10a...Control unit (first control unit) 10b...Drive mechanism (first operating unit) 10c...Output part (first operating part) 10d...Wireless communication section (first operating section) 10e...Movable mechanism (first operating part) 10f...Operation section (first selector switch) 10g...Wired communication section (first operating section) 10h…Connector 11...Bass 12...Side 13...Laura 14...Support part 20…Sub bogie (second bogie) 20a...Control unit (second control unit) 20b...Drive mechanism (second operating unit) 20c...Output part (second operating part) 20d...Wireless communication section (second operating section) 20e...Movable mechanism (second operating part) 21...Bass 22...Support part 23...Laura 30...Remote controller 31...Case 31a...Front 32...Manual operation section 32a...Manual operation unit (second selector switch) 32b, 32c1, 32c2, 32c3, 32d...Manual operation section (operation section) 32e…Manual operation section 33,33a~33c...output section 40…Cable 41...Connector 100...Transport system 101...Rail (first rail) 102...Rail (second rail) 102a...Rail section 102b...Support part 103...pillar 104...Transportation device 110...Control device A...Object to be transported (article) A1...Palette A2…Goods B...Backward F...Forward G…Entrance / exit p1…first position p2…Second position p3…third position p4…Fourth position pd...Delivery position pr...Relay location P1: First transport path P2: Second transport path S...Control signal X…direction Y...direction Z…direction

Claims

1. a first carriage configured to be movable along the first conveying path and having a first actuating unit and a first control unit that controls the first actuating unit; a second carriage on which an article can be placed, the second carriage being configured to be movable along a second conveying path intersecting the first conveying path and to be movable between the first carriage and the second conveying path, the second carriage having a second actuation unit and a second control unit that controls the second actuation unit; a remote controller configured to be connectable to the first carriage via a cable, having a manual operation unit, and inputting a control signal corresponding to an operation of the manual operation unit to the first carriage via the cable; a control device that wirelessly outputs control signals to the first control unit and the second control unit; Equipped with A conveyance system configured so that the first carriage can convey the second carriage and the article along the first conveyance path, the first carriage has a signal transmitting unit that, when the remote controller and the first carriage are connected via the cable, wirelessly transmits a control signal of the second actuation unit input from the remote controller to the second carriage corresponding to the first carriage, The second control unit controls the second operating unit in accordance with the control signal when the second carriage receives the control signal from the signal transmitting unit.

2. The conveyance system according to claim 1 , wherein the control signal transmitted by the signal transmitting unit to the second carriage includes an identifier that identifies the control signal as a control signal from the remote controller.

3. The transport system according to claim 2 , wherein the identifier is a numerical value that changes at predetermined time intervals.

4. 2. The conveying system according to claim 1, wherein the first carriage has a first selector switch that manually switches between a first control mode in which the first control unit controls the first operating unit in accordance with the control signal from the control device, and a second control mode in which the first control unit controls the first operating unit in accordance with the control signal from the remote controller or the second control unit of the second carriage corresponding to the first carriage controls the second operating unit in accordance with the control signal from the remote controller.

5. 2. The conveying system according to claim 1, wherein the remote controller has a second selector switch that manually switches between a first control state in which the first control unit controls the first operating unit in accordance with the control signal from the remote controller, and a second control state in which the second control unit of the second carriage corresponding to the first carriage controls the second operating unit in accordance with the control signal from the remote controller.

6. The conveying system according to claim 4 or 5, wherein the manual operation unit includes an operation unit that is shared for an operation of inputting the control signal for the first carriage and an operation of inputting the control signal for the second carriage.

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