Conveying Equipment

Abstract

To provide a conveying facility that can easily grasp the state of wireless communication between a conveying vehicle and a wireless communication device.SOLUTION: A conveying facility 100 includes a conveying vehicle 1 that conveys a conveyed object along a moving path, a wireless communication device 3 that performs wireless communication with the conveying vehicle 1, and a moving body 2 that moves separately from the conveying vehicle 1. The moving body 2 includes a communication state information collection device 21 that collects communication state information that is information indicating the state of wireless communication between the conveying vehicle 1 and the wireless communication device 3.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a conveyance facility including a conveyance vehicle that conveys an article and a wireless communication device that performs wireless communication with the conveyance vehicle. [Background technology]

[0002] The following Patent Document 1 discloses a conveyance facility including a conveyance vehicle (12) for conveying an object to be conveyed and a wireless communication device (8) for wireless communication with the conveyance vehicle. Note that the reference numerals in parentheses in the description of the background art are those in Patent Document 1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-166671 Summary of the Invention [Problem to be solved by the invention]

[0004] Generally, wireless communication is more susceptible to the influence of the surrounding environment, such as obstacles and radio wave interference, than wired communication. Therefore, in order to maintain a good wireless communication environment, it is desirable to grasp the status of wireless communication between the transport vehicle and the wireless communication device. By grasping the status of wireless communication between the transport vehicle and the wireless communication device, it is possible to maintain a good wireless communication environment by, for example, restarting the wireless communication device, changing its installation location, or replacing it. The presence or extent of the influence of the surrounding environment on wireless communication can change depending on changes to the layout or configuration of the transport facility. Therefore, grasping the status of wireless communication between the transport vehicle and the wireless communication device may be necessary not only when installing the transport facility but also afterwards. Therefore, it is desirable to easily grasp the status of wireless communication between the transport vehicle and the wireless communication device.

[0005] Therefore, it is desirable to realize a transport facility that allows the state of wireless communication between a transport vehicle and a wireless communication device to be easily grasped. [Means for solving the problem]

[0006] In view of the above, the characteristic configuration of the conveying equipment is as follows: a transport vehicle that transports an object along a travel path; a wireless communication device that performs wireless communication with the transport vehicle, Further, a moving body that moves separately from the transport vehicle is provided, The mobile body includes a communication status information collecting device that collects communication status information that indicates the status of wireless communication between the transport vehicle and the wireless communication device. a communication device that performs wireless communication between a communication target that is at least one of the wireless communication device and the transport vehicle; Equipped with 、 the communication device is configured to execute a load imposing process of communicating with the communication target so as to increase a communication load of the communication target; The communication status information collecting device collects the communication status information during the execution of the load applying process. It's at the point.

[0007] According to this characteristic configuration, communication status information, which is information indicating the status of wireless communication between the transport vehicle and the wireless communication device, can be collected by a mobile object that moves separately from the transport vehicle. As a result, the status of wireless communication between the transport vehicle and the wireless communication device can be easily grasped based on the communication status information. As a result, for example, it is possible to determine whether the wireless communication environment between the transport vehicle and the wireless communication device is good or bad, and to improve the wireless communication environment. Furthermore, with this configuration, since the mobile body moves separately from the transport vehicle, it is possible to collect communication status information without affecting the transport of the transported object by the transport vehicle. Furthermore, with this configuration, communication status information can be collected in an environment where wireless communication between the transport vehicle and the wireless communication device is difficult, which allows for more precise determination of the quality of the wireless communication environment between the transport vehicle and the wireless communication device, and more appropriate improvement of the wireless communication environment.

[0008] Another characteristic configuration of the conveying equipment is as follows: a transport vehicle that transports an object along a travel path; a wireless communication device that performs wireless communication with the transport vehicle, The system further includes a rail extending along the travel path and a moving body that moves separately from the transport vehicle, the moving body includes a communication status information collection device that collects communication status information that is information indicating a status of wireless communication between the transport vehicle and the wireless communication device, The transport vehicle is configured to travel on the rail, The mobile object collects the communication status information by the communication status information collection device while moving along the rail on a route other than the rail.

[0009] According to this characteristic configuration, communication status information, which is information indicating the status of wireless communication between the transport vehicle and the wireless communication device, can be collected by a mobile object that moves separately from the transport vehicle. As a result, the status of wireless communication between the transport vehicle and the wireless communication device can be easily grasped based on the communication status information. As a result, for example, it is possible to determine whether the wireless communication environment between the transport vehicle and the wireless communication device is good or bad, and to improve the wireless communication environment. Furthermore, with this configuration, since the mobile body moves separately from the transport vehicle, it is possible to collect communication status information without affecting the transport of the transported object by the transport vehicle. Furthermore, with this configuration, the mobile object can move on a route other than a rail, so that communication status information can be collected efficiently. In addition, according to this configuration, communication status information is collected while the moving body moves along the rails that form the travel path of the transport vehicle, so that communication status information that indicates a state close to the actual wireless communication between the transport vehicle and the wireless communication device can be collected. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a plan view of a conveying facility according to an embodiment; [Figure 2] FIG. 1 is a perspective view of a transport vehicle included in a transport facility according to an embodiment; [Figure 3] FIG. 1 is a block diagram showing a configuration of a transport facility according to an embodiment; [Figure 4] FIG. 10 is a diagram showing collection of communication status information by a communication status information collection device during execution of a load application process. [Figure 5] FIG. 10 is a diagram showing the operation of a mobile object when communication status information is collected by a communication status information collection device. DETAILED DESCRIPTION OF THE INVENTION

[0011] A conveying facility 100 according to an embodiment will be described below with reference to the drawings. As shown in Fig. 1, the conveying facility 100 includes a conveying vehicle 1, a moving body 2, and a wireless communication device 3. In this embodiment, the conveying facility 100 includes a plurality of conveying vehicles 1 and a plurality of moving bodies 2.

[0012] The transport vehicle 1 is configured to transport an article W (see FIG. 2) along a travel path P. The article W is, for example, a FOUP (Front Opening Unified Pod) that accommodates semiconductor wafers.

[0013] The moving body 2 is configured to move separately from the transport vehicle 1. In this embodiment, the moving body 2 is configured to be able to move along a route different from the travel route P. In this example, the moving body 2 is an unmanned aerial vehicle configured to fly within a preset flight area A. In this example, at least one flight area A is set in the transport facility 100 so that at least one moving body 2 corresponds to one flight area A. In this example, the transport facility 100 is provided with a waiting section 20 where the moving body 2 as an unmanned aerial vehicle takes off and lands, and where the landed moving body 2 waits. It is preferable that the waiting section 20 is provided with a charging device for charging a battery equipped in the moving body 2.

[0014] As shown in FIG. 2, in this embodiment, the conveying equipment 100 further includes rails 4 extending along the travel path P. The conveying vehicle 1 is configured to travel on the rails 4. In the example shown in FIG. 2, a pair of rails 4 are suspended from the ceiling with a horizontal gap between them. That is, in this example, the conveying vehicle 1 is a ceiling-mounted conveying vehicle.

[0015] In this embodiment, the transport vehicle 1 includes a traveling unit 11 that travels along a travel path P, and a main body unit 12 connected to the traveling unit 11.

[0016] The traveling unit 11 includes traveling wheels 11a that roll on the traveling surface (here, the upper surface) of the rail 4. The traveling wheels 11a are rotationally driven by a traveling drive unit (for example, an electric motor such as a servo motor) not shown.

[0017] The main body 12 is suspended from the traveling section 11 while positioned below the rail 4. The main body 12 includes a support section that is supported so as to be able to rise and fall freely relative to the traveling section 11 and that suspends and supports the transported object W, and a lifting section (not shown) that raises and lowers the support section.

[0018] In the example shown in FIG. 2, the transport vehicle 1 is a ceiling-mounted transport vehicle that travels along rails 4 suspended from the ceiling, but the type of transport vehicle 1 is not limited to this. For example, the transport vehicle 1 may be a rail-guided transport vehicle that travels along rails installed on the floor. Furthermore, the transport vehicle 1 may be a trackless transport vehicle such as an AGV (Automated Guided Vehicle) or an AMR (Autonomous Mobile Robot). When the transport vehicle 1 is a trackless transport vehicle, the transport vehicle 1 travels along a virtually formed travel path P rather than a physically formed travel path P using rails or the like. In this case, the travel path P is virtually formed so as to connect multiple detectable objects (e.g., two-dimensional codes, RF (Radio Frequency) tags, etc.) installed on the floor. Note that a configuration may also be adopted in which such detectable objects are not installed on the floor, and the travel path P is virtually formed by a route calculated based on the recognition results of the surrounding environment.

[0019] As shown in Figure 1, in this embodiment, the movement path P includes one main path Pa formed in a ring shape, multiple sub-paths Pb formed in a ring shape, each of which passes through multiple processing devices 5, and multiple connecting paths Pc connecting the main path Pa and the multiple sub-paths Pb.

[0020] The processing device 5 is a device for performing a predetermined processing on the transported object W (or the contents contained in the transported object W). For example, the transported object W to be processed in the processing device 5 is carried into the processing device 5 by the transport vehicle 1, and the transported object W that has completed processing in the processing device 5 is carried out of the processing device 5 by the transport vehicle 1.

[0021] As shown in FIG. 3, the wireless communication device 3 is a device that performs wireless communication with the transport vehicle 1. In this embodiment, the wireless communication device 3 includes a plurality of wireless transceivers 31 that are distributed (see also FIG. 1). The wireless transceivers 31 function as access points for wireless communication. In this embodiment, the wireless transceivers 31 are installed at a plurality of locations along the moving path P of the conveying facility 100. Here, in this application, "wireless communication" refers to communication according to a predetermined wireless communication standard (for example, Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), etc.).

[0022] In this embodiment, the guided vehicle 1 further includes a guided vehicle communication device 13 that performs wireless communication with the wireless communication device 3.

[0023] The guided vehicle communication device 13 functions as a wireless station that performs wireless communication with the wireless transceiver 31. The guided vehicle communication device 13 establishes a communication link with a destination transceiver 31C selected from the multiple wireless transceivers 31 (for example, the wireless transceiver 31 with the strongest radio wave intensity), thereby becoming communicably connected to the destination transceiver 31C. As the guided vehicle 1 travels, the destination transceiver 31C with which the guided vehicle communication device 13 provided in the guided vehicle 1 establishes a communication link is switched (roamed). For example, when the reception strength of radio waves from the currently connected destination transceiver 31C falls below a specified value, the destination transceiver 31C is switched.

[0024] Thus, in this embodiment, each of the multiple transport vehicles 1 is communicatively connected to a destination transceiver unit 31C selected from the multiple wireless transceivers 31, and moves along the travel route P while switching the destination transceiver unit 31C.

[0025] The mobile body 2 is equipped with a communication status information collection device 21. The communication status information collection device 21 is a device that collects communication status information i. The communication status information i is information indicating the status of wireless communication between the transport vehicle 1 and the wireless communication device 3 (for example, radio wave strength, magnitude of electromagnetic noise, data retransmission rate, success or failure of wireless communication, etc.). In this embodiment, the communication status information collection device 21 is a radio wave receiving device that can receive radio waves of wireless communication between the transport vehicle 1 and the wireless communication device 3.

[0026] In this embodiment, the mobile body 2 further includes a mobile body communication device 22. The mobile body communication device 22 is a "communication device" that performs wireless communication with a communication object O. The communication object O is at least one of the wireless communication device 3 and the guided vehicle 1. In this embodiment, the communication object O is the wireless communication device 3.

[0027] As shown in FIG. 3, in this embodiment, the transport facility 100 further includes a transport vehicle control device 6 and a moving body control device 7.

[0028] The guided vehicle control device 6 is a device that communicates with each of the multiple guided vehicles 1 via the wireless communication device 3 and controls the multiple guided vehicles 1. In this embodiment, the guided vehicle control device 6 is connected to multiple wireless transceivers 31 via a communication network N. The communication network N may be wired, wireless, or a combination of these.

[0029] In this embodiment, the transport vehicle 1 is provided with a control unit (not shown) for controlling its operations (traveling operation, delivery operation of the transported article W, etc.). The transport vehicle control device 6 communicates with the transport vehicle communication device 13 of the transport vehicle 1 via the wireless communication device 3, and issues commands regarding the above operations to the control unit of the transport vehicle 1.

[0030] The mobile body control device 7 is a device that controls the mobile body 2. The mobile body control device 7 may be incorporated, for example, into a tablet terminal or into a controller operated by an operator. In this embodiment, the mobile body 2 is provided with a control unit (not shown) for controlling its operations (movement operations (flying operations in this example), collection operations of communication state information i by the communication state information collection device 21, etc.). The mobile body control device 7 then performs wireless communication with the mobile body communication device 22 of the mobile body 2, and issues commands related to the above operations to the control unit of the mobile body 2.

[0031] In this embodiment, the mobile object 2 is configured to recognize its own current location. Then, the mobile object control device 7 acquires, from the mobile object 2, location information indicating the current location of the mobile object 2. Furthermore, the mobile object control device 7 acquires, from the mobile object 2, communication state information i collected by the communication state information collection device 21, and stores the information in a storage unit (not shown) included in the mobile object control device 7 in association with the above-mentioned location information.

[0032] As shown in Fig. 4, in this embodiment, the mobile communication device 22 is configured to execute a load imposing process. The communication state information collection device 21 collects communication state information i during execution of the load imposing process. The load imposing process is a process of communicating with a communication target O (here, the destination transceiver 31C of the wireless communication device 3) so as to increase the communication load of the communication target O. In this embodiment, the mobile communication device 22 transmits a large amount of load data d to the destination transceiver 31C as the load imposing process.

[0033] In the load application process, the communication speed of the wireless communication between the mobile communication device 22 and the destination transceiver 31C may be set to a sufficiently large value in advance, and the communication volume of the load data d per unit time may be calculated as the maximum actually measured value of the communication speed of the wireless communication between the guided vehicle communication device 13 and the destination transceiver 31C. In addition, when there are multiple mobile objects 2, the mobile communication device 22 of one mobile object 2 may perform a process of transmitting a large amount of load data d to the mobile communication device 22 of another mobile object 2, and the communication volume of the load data d per unit time in this process may be calculated as the maximum actually measured value of the communication speed of the wireless communication between the guided vehicle communication device 13 and the destination transceiver 31C. In such a case, since wireless communication is generally performed on a common channel, the communication speed of the wireless communication performed by the mobile communication device 22 can be treated as the same as the communication speed of the wireless communication between the guided vehicle communication device 13 and the destination transceiver 31C.

[0034] 5, in this embodiment, the mobile object 2 collects communication state information i by the communication state information collecting device 21 while moving along the rail 4. In this example, the mobile object 2 collects the communication state information i by the communication state information collecting device 21 while moving adjacent to the transport vehicle 1 related to the communication state information i to be collected.

[0035] Other Embodiments (1) In the above embodiment, an example has been described in which the communication state information collection device 21 collects the communication state information i while the mobile object 2 moves along the rail 4. However, the present invention is not limited to such a configuration, and for example, the mobile object 2 may move near the wireless transceiver 31 associated with the communication state information i to be collected, and the communication state information i may be collected by the communication state information collection device 21.

[0036] (2) In the above embodiment, an example has been described in which the moving body 2 is capable of moving along a path different from the path P of the transport vehicle 1. However, the present invention is not limited to such a configuration, and the moving body 2 may be configured to move along the path P of the transport vehicle 1 (for example, a vehicle running on rails 4). Note that such a moving body 2 may normally transport an object W in the same way as the transport vehicle 1, or may be dedicated to collecting communication status information i without transporting an object W.

[0037] (3) In the above embodiment, the communication target O is the wireless communication device 3. However, the present invention is not limited to such a configuration, and the communication target O may be the guided vehicle 1 instead of the wireless communication device 3, or the communication target O may be both the wireless communication device 3 and the guided vehicle 1.

[0038] (4) In the above embodiment, an example has been described in which the mobile body control device 7 issues commands to the control unit of the mobile body 2. However, the present invention is not limited to such a configuration, and for example, a mobile body control device 7 may be incorporated into each of multiple mobile bodies 2, and the multiple mobile bodies 2 may operate independently of each other or cooperate with each other.

[0039] (5) In the above embodiment, the mobile communication device 22 transmits a large amount of load data d to the destination transceiver 31C as the load application process. However, the present invention is not limited to such a configuration. For example, the mobile communication device 22 may be configured to generate electromagnetic noise as the load application process. In this configuration, when there are multiple mobile objects 2, the communication status information collection device 21 of another mobile object 2 may collect the communication status information i.

[0040] (6) In the above embodiment, an example has been described in which the wireless transceiver units 31 are installed at multiple locations along the travel path P of the conveyance facility 100. However, the present invention is not limited to such a configuration, and for example, at least one of the multiple wireless transceivers 31 may be mounted on the moving body 2. This allows the conveyance vehicle communication device 13 to perform wireless communication with the wireless transceiver unit 31 mounted on the moving body 2 when wireless communication cannot be performed with the wireless transceivers 31 installed at multiple locations along the travel path P due to weak radio wave strength or the like.

[0041] (7) The configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments, as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope of the present disclosure.

[0042] [Summary of this embodiment] The following provides an overview of the above-described transport equipment.

[0043] The transport equipment is a transport vehicle that transports an object along a travel path; a wireless communication device that performs wireless communication with the transport vehicle, Further, a moving body that moves separately from the transport vehicle is provided, The mobile body includes a communication status information collection device that collects communication status information that indicates the status of wireless communication between the transport vehicle and the wireless communication device.

[0044] According to this configuration, communication status information, which indicates the status of wireless communication between the transport vehicle and the wireless communication device, can be collected by a mobile object that moves separately from the transport vehicle. As a result, the status of wireless communication between the transport vehicle and the wireless communication device can be easily grasped based on the communication status information. As a result, for example, it is possible to determine whether the wireless communication environment between the transport vehicle and the wireless communication device is good or bad, and to improve the wireless communication environment. Furthermore, with this configuration, since the mobile body moves separately from the transport vehicle, it is possible to collect communication status information without affecting the transport of the transported object by the transport vehicle.

[0045] Here, the moving body further includes a communication device that performs wireless communication with a communication target that is at least one of the wireless communication device and the transport vehicle, the communication device is configured to execute a load imposing process of communicating with the communication target so as to increase a communication load of the communication target; It is preferable that the communication status information collection device collects the communication status information during execution of the load application process.

[0046] This configuration allows the collection of communication status information in an environment where wireless communication between the transport vehicle and the wireless communication device is difficult, thereby enabling a more precise determination of the quality of the wireless communication environment between the transport vehicle and the wireless communication device and more appropriate improvement of the wireless communication environment.

[0047] The robot further includes a rail extending along the movement path, The transport vehicle is configured to travel on the rail, It is preferable that the mobile object is configured to be able to move along a route different from the travel route, and that the communication status information collection device collects the communication status information while moving along the rail.

[0048] According to this configuration, the mobile object can move along a route different from the route of the transport vehicle, so that the communication status information can be collected efficiently. In addition, according to this configuration, communication status information is collected while the moving body moves along the rails that form the travel path of the transport vehicle, so that communication status information that indicates a state close to the actual wireless communication between the transport vehicle and the wireless communication device can be collected.

[0049] Also, a plurality of the transport vehicles; a transport vehicle control device that communicates with each of the plurality of transport vehicles via the wireless communication device and controls the plurality of transport vehicles; the wireless communication device includes a plurality of wireless transceivers arranged in a distributed manner; Preferably, each of the plurality of transport vehicles is communicably connected to a destination transceiver selected from the plurality of wireless transceivers, and moves along the travel route while switching the destination transceiver.

[0050] According to this configuration, multiple wireless transceivers are distributed. Then, multiple guided vehicles, while moving along a travel route, connect to a destination transceiver selected from the multiple wireless transceivers and perform wireless communication with the destination transceiver. Therefore, the state of wireless communication is likely to change depending on both location and time. According to this configuration, by collecting communication status information by the mobile object as described above, it is possible to appropriately grasp the state of wireless communication, which is likely to change depending on location and time. [Industrial Applicability]

[0051] The technology disclosed herein can be used in a conveyance facility that includes a conveyance vehicle that conveys an object and a wireless communication device that performs wireless communication with the conveyance vehicle. [Explanation of symbols]

[0052] 100:Transportation equipment 1: Transport vehicle 2: Moving object 21: Communication status information collection device 22: Mobile communication device (communication device) 3: Wireless communication device 31: Radio transmitter / receiver 31C: Destination transmitter / receiver 4: Rail 6: Transport vehicle control device 7: Mobile control device W: Transported item P: Travel route O: Communication target i: Communication status information

Claims

1. a transport vehicle that transports an object along a travel path; a wireless communication device that performs wireless communication with the transport vehicle, Further, a moving body that moves separately from the transport vehicle is provided, the mobile body includes a communication status information collecting device that collects communication status information that is information indicating a status of wireless communication between the transport vehicle and the wireless communication device, and a communication device that performs wireless communication with a communication target that is at least one of the wireless communication device and the transport vehicle, the communication device is configured to execute a load imposing process of communicating with the communication target so as to increase a communication load of the communication target; The communication status information collecting device collects the communication status information during execution of the load application process.

2. a transport vehicle that transports an object along a travel path; a wireless communication device that performs wireless communication with the transport vehicle, The system further includes a rail extending along the travel path and a moving body that moves separately from the transport vehicle, the moving body includes a communication status information collection device that collects communication status information that is information indicating a status of wireless communication between the transport vehicle and the wireless communication device, The transport vehicle is configured to travel on the rail, The moving body collects the communication status information by the communication status information collection device while moving along the rail on a route other than the rail.

3. A conveying facility as described in Claim 2, wherein the mobile body moves adjacent to the conveying vehicle related to the communication status information to be collected.

4. A conveying facility described in any one of claims 1 to 3, wherein the moving body is an unmanned aerial vehicle.

5. A plurality of the transport vehicles; a transport vehicle control device that communicates with each of the plurality of transport vehicles via the wireless communication device and controls the plurality of transport vehicles; the wireless communication device includes a plurality of wireless transceivers arranged in a distributed manner; 4. The conveying facility according to claim 1, wherein each of the plurality of conveying vehicles is communicatively connected to a destination transceiver selected from the plurality of wireless transceivers, and moves along the movement path while switching the destination transceiver.

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