Conveying equipment

Abstract

To provide a transport facility capable of easily creating map data of a movement path.SOLUTION: A transport facility includes a transport vehicle 1 for transporting a transport object, a movement path P on which the transport vehicle 1 moves, a movable body 2 that moves separately from the transport vehicle 1, and a movable body control device for controlling the movable body 2. The movable body 2 is provided with a path state information acquisition device 22 for acquiring path state information showing a state of the movement path P and is configured to acquire the path state information by the path state information acquisition device 22 while moving along the movement pat P, and the movable body control device executes map creation processing for creating map data of the movement path P on the basis of the path state information acquired by the path state information acquisition device 22.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a conveying facility including a conveyance vehicle that conveys a conveyed object and a movement path along which the conveyance vehicle moves.

Background Art

[0002] The following Patent Document 1 discloses a conveying facility including a conveyance vehicle (12) that conveys a conveyed object and a movement path (4, 6) along which the conveyance vehicle (12) moves. In the description of the background art, the reference numerals shown in parentheses are those of Patent Document 1.

[0003] In the conveying facility of Patent Document 1, the conveyance vehicle (12) includes a storage device (32) that stores map data of the movement path (4, 6). Then, the conveyance vehicle (12) moves along the movement path (4, 6) by referring to the map data stored in the storage device (32).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] As described above, such map data needs to be newly created when the configuration of the movement path of the conveyance vehicle is changed. Therefore, the creation work of the map data becomes complicated, which is not preferable in the operation of the conveying facility.

[0006] Therefore, it is desired to realize a conveying facility capable of easily creating map data of the movement path.

Means for Solving the Problems

[0007] In view of the above, the characteristic configuration of the conveying facility is a conveyance vehicle that conveys a conveyed object, and A transport system comprising a transport path on which the transport vehicle travels, A mobile body that moves separately from the aforementioned transport vehicle, A mobile body control device that controls the mobile body and 、 A transport vehicle control device that controls the transport vehicle, Furthermore, The moving body is equipped with a path state information acquisition device that acquires path state information indicating the state of the movement path, and is configured to acquire the path state information by the path state information acquisition device while moving along the movement path. The mobile device control unit executes a map creation process to create map data of the travel route based on the route status information acquired by the route status information acquisition device. death, At least one of the transport vehicle and the transport vehicle control device includes reference map data, which is map data of the travel path that is referenced for the movement of the transport vehicle. At least one of the transport vehicle control device and the mobile body control device compares the created map data, which is the map data created by the map creation process, with the reference map data, and performs a difference extraction process to extract any differences found. It's at a single point. According to this configuration, route status information can be acquired by a route status information acquisition device installed on a mobile body that moves separately from the transport vehicle. Then, based on the route status information acquired by the route status information acquisition device, map data of the travel route can be created. In this way, this configuration makes it easy to create map data of the travel route. Furthermore, this feature configuration allows for the extraction of discrepancies between the reference map data and the actual situation by using the created map data, which reflects the actual conditions of the travel route. This makes it easier to avoid using reference map data that does not reflect the actual situation.

[0008] In light of the above, another characteristic configuration of the conveying equipment is: A transport vehicle that transports goods, A transport system comprising a transport path on which the transport vehicle travels, A mobile body that moves separately from the aforementioned transport vehicle, The system further comprises a mobile body control device for controlling the aforementioned mobile body, The moving body is equipped with a path state information acquisition device that acquires path state information indicating the state of the movement path, and is configured to acquire the path state information by the path state information acquisition device while moving along the movement path. The mobile device control unit executes a map creation process to create map data of the travel route based on the route status information acquired by the route status information acquisition device. The aforementioned movement path is a rail, An information holder that holds positional information indicating the position along the rail is placed at a specific location on the rail. The transport vehicle is equipped with a reading device that reads the position information held by the information holder, and is configured to recognize the position of the transport vehicle by reading the position information with the reading device while traveling on the rails. The aforementioned mobile object is an unmanned aerial vehicle. The aforementioned route status information acquisition device is characterized by having a camera that photographs the rails. According to this configuration, route status information can be acquired by a route status information acquisition device installed on a mobile body that moves separately from the transport vehicle. Then, based on the route status information acquired by the route status information acquisition device, map data of the travel route can be created. In this way, this configuration makes it easy to create map data of the travel route. Furthermore, this configuration allows the mobile object to fly freely around the rails. This enables the camera equipped in the mobile object's path state information acquisition device to capture images from the appropriate direction relative to the rails. Consequently, the path state information necessary for creating map data through the map creation process can be properly acquired.

Brief Description of the Drawings

[0009] [Figure 1] Plan view of the conveying equipment according to the embodiment [Figure 2] Perspective view of the carrier vehicle included in the conveying equipment according to the embodiment [Figure 3] Block diagram showing the configuration of the conveying equipment according to the embodiment [Figure 4] Diagram showing an example of acquisition of route state information by the route state information acquisition device of the moving object [Figure 5] Diagram showing map creation processing and difference extraction processing

Modes for Carrying Out the Invention

[0010] Hereinafter, the conveying equipment 100 according to the embodiment will be described with reference to the drawings. As shown in FIG. 1, the conveying equipment 100 includes a carrier vehicle 1, a moving object 2, and a moving route P. In the present embodiment, the conveying equipment 100 includes a plurality of carrier vehicles 1 and a plurality of moving objects 2.

[0011] The carrier vehicle 1 is configured to carry a conveyed object W (see FIG. 2). The conveyed object W is, for example, a FOUP (Front Opening Unified Pod) that houses semiconductor wafers.

[0012] The moving route P is a route along which the carrier vehicle 1 moves. That is, the carrier vehicle 1 conveys the conveyed object W along the moving route P.

[0013] In the present embodiment, the moving route P includes one main route Pa formed in a ring shape, a plurality of sub-routes Pb formed in a ring shape each passing through a plurality of processing devices 5, and a plurality of connection routes Pc connecting the main route Pa and the plurality of sub-routes Pb.

[0014] The processing device 5 is a device for performing predetermined processing on the transported object W (or the contents contained within the transported object W). For example, the transported object W to be processed by the processing device 5 is brought into the processing device 5 by the transport vehicle 1, and the transported object W after processing in the processing device 5 is discharged from the processing device 5 by the transport vehicle 1.

[0015] The mobile unit 2 is configured to move independently of the transport vehicle 1. In this embodiment, the mobile unit 2 is an unmanned aerial vehicle. That is, the mobile unit 2 is configured to move along a path different from the transport path P. In this example, the mobile unit 2 is configured to fly within a predetermined flight area A. In this example, at least one flight area A is set in the transport equipment 100 so that at least one mobile unit 2 corresponds to one flight area A. In this example, the transport equipment 100 is provided with a waiting area 20 where the mobile unit 2, as an unmanned aerial vehicle, takes off and lands, and where the landed mobile unit 2 waits. Preferably, the waiting area 20 is equipped with a charging device for charging the battery of the mobile unit 2.

[0016] As shown in Figure 2, in this embodiment, the travel path P is a rail 4. The transport vehicle 1 is configured to travel on the rail 4. In the example shown in Figure 2, a pair of rails 4 are suspended from the ceiling with a horizontal gap between them. In other words, in this example, the transport vehicle 1 is an overhead transport vehicle.

[0017] In this embodiment, the transport vehicle 1 comprises a running section 11 that travels on rails 4 and a main body section 12 connected to the running section 11.

[0018] The running unit 11 is equipped with running wheels 11a that roll on the running surface (in this case, the upper surface) of the rail 4. The running wheels 11a are rotationally driven by a running drive unit (not shown) (for example, an electric motor such as a servo motor).

[0019] The main body 12 is suspended and supported by the running section 11, positioned below the rail 4. The main body 12 includes a support section that is supported so as to be able to move up and down relative to the running section 11 and suspends and supports the transported object W, and a lifting section that moves the support section up and down (not shown in the figure).

[0020] In the example shown in Figure 2, the transport vehicle 1 is an overhead 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 tracked transport vehicle that travels along rails provided on the floor. Alternatively, the transport vehicle 1 may be a trackless transport vehicle such as an AGV (Automated Guided Vehicle) or an AMR (Autonomous Mobile Robot). If the transport vehicle 1 is a trackless transport vehicle, it travels along a virtually formed travel path P, rather than a physically formed travel path P using rails, etc. In this case, the travel path P is virtually formed to connect multiple detectable objects (e.g., 2D codes, RF (Radio Frequency) tags, etc.) installed on the floor. It is also possible to configure the system so that no such detectable objects are provided on the floor, and the travel path P is virtually formed by a route calculated based on the recognition results of the surrounding environment.

[0021] As shown in Figure 3, the transport equipment 100 is equipped with a mobile body control device 7. In this embodiment, the transport equipment 100 further includes a wireless communication device 3 and a transport vehicle control device 6.

[0022] 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 comprises a plurality of wireless transceivers 31 arranged in a distributed manner (see also Figure 1). The wireless transceivers 31 function as access points in wireless communication. Here, in this application, "wireless communication" refers to communication using a predetermined wireless communication standard (for example, Wi-Fi®, Bluetooth®, ZigBee®, etc.).

[0023] In this embodiment, the transport vehicle 1 further includes a transport vehicle communication device 13 that communicates wirelessly with the wireless communication device 3.

[0024] The transport vehicle communication device 13 functions as a wireless station that communicates wirelessly with the wireless transceiver unit 31. The transport vehicle communication device 13 establishes a communication link with a selected wireless transceiver unit 31 (for example, the wireless transceiver unit 31 with the strongest radio wave strength) from among the multiple wireless transceiver units 31, thereby establishing a communication link with the selected wireless transceiver unit 31. As the transport vehicle 1 moves, the transport vehicle communication device 13 installed on the transport vehicle 1 switches (roams) to the wireless transceiver unit 31 with which it establishes a communication link. For example, roaming occurs when the received radio wave strength from the currently connected wireless transceiver unit 31 falls below a specified value.

[0025] The transport vehicle control device 6 is a device that controls the transport vehicle 1. In this embodiment, the transport vehicle control device 6 is connected to a plurality of wireless transceivers 31 in the wireless communication device 3 via a first communication network N1. The transport vehicle control device 6 communicates with the transport vehicle communication device 13 of the transport vehicle 1 via the wireless transceivers 31 and controls the transport vehicle 1. The first communication network N1 may be wired, wireless, or a combination of both.

[0026] In this embodiment, the transport vehicle 1 is equipped with a control unit (not shown) for controlling its operation (for example, driving operation, handling of transported object W, etc.). The transport vehicle control device 6 communicates with the transport vehicle communication device 13 of the transport vehicle 1 via the wireless transceiver unit 31 and issues commands to the control unit of the transport vehicle 1 regarding the above operations.

[0027] As shown in Figure 1, in this embodiment, an information holder 8 is provided at a specific location on the movement path P (in this case, rail 4). The information holder 8 holds predetermined information. In this embodiment, the information held by the information holder 8 includes position information indicating the position along rail 4.

[0028] The information holder 8 is composed of a one-dimensional code, a two-dimensional code, an RF tag, etc. The information holder 8 may be placed on the surface of the rail 4, or it may be supported by a predetermined support member placed near the rail 4. In the example shown in Figure 1, the information holder 8 is supported by each of the multiple support members placed at multiple locations along the movement path P.

[0029] As shown in Figure 3, in this embodiment, the transport vehicle 1 is further equipped with a reading device 14. The reading device 14 is a device that reads the information held by the information holder 8 (in this case, position information indicating the position along the rail 4). In this embodiment, the transport vehicle 1 is configured to recognize its position by reading the position information with the reading device 14 while traveling on the rail 4.

[0030] The mobile device control unit 7 is a device that controls the mobile device 2. In this embodiment, the mobile device 2 is equipped with a mobile device communication device 21. The mobile device communication device 21 is a device that communicates wirelessly with the mobile device control unit 7. The mobile device communication device 21 may also be configured to communicate wirelessly with at least one of the transport vehicle communication device 13 and the wireless transceiver unit 31.

[0031] In this embodiment, the mobile body 2 is equipped with a control unit (not shown) for controlling its operation (e.g., flight operation). The mobile body control device 7 communicates wirelessly with the mobile body communication device 21 of the mobile body 2 and issues commands to the control unit of the mobile body 2 regarding the above operation. In this embodiment, the mobile body 2 is also configured to recognize its current position.

[0032] As shown in Figure 3, the mobile body 2 is equipped with a route status information acquisition device 22. The route status information acquisition device 22 is a device that acquires route status information i. Route status information i is information that indicates the status of the travel route P.

[0033] As shown in Figure 4, the mobile body 2 is configured to move along the movement path P and acquire path state information i using the path state information acquisition device 22. In the example shown in Figure 4, while the transport equipment 100 is in operation, the mobile body 2, as an unmanned aerial vehicle, flies along the movement path P without interfering with the transport vehicle 1 running on the rails 4, and acquires path state information i using the path state information acquisition device 22.

[0034] In this embodiment, the path state information acquisition device 22 is equipped with a camera 221 that photographs the movement path P (here, the rail 4). The camera 221 may be configured to capture images at regular intervals (based on time or based on the distance traveled by the moving body 2), or it may be configured to capture video. Furthermore, the camera 221 may be configured to photograph only the movement path P, or it may be configured to photograph the movement path P and the surrounding area. In this example, the information holder 8 is located on the underside of the rail 4. The camera 221 then photographs the rail 4 from below. If the moving body 2 is an unmanned aerial vehicle, the camera 221 equipped on the moving body 2 may be configured to photograph the movement path P from multiple directions.

[0035] In this embodiment, the camera 221 acquires at least one of the following as path state information i: the shape at each position of the travel path P (for example, the shape of the straight section, curved section, junction section, etc. of the rail 4), the structure at each position of the travel path P (for example, the number of rails 4, the presence or absence of power supply lines provided on the rail 4 to supply power to the transport vehicle 1, the presence or absence of a lifting mechanism provided on the rail 4 to raise and lower the transport vehicle 1, etc.), the arrangement of the information holder 8, and the information held by the information holder 8 (in this case, position information indicating the position along the rail 4).

[0036] As shown in Figure 5, the mobile device control unit 7 executes a map creation process to create map data M1, which is map data of the travel route P, based on the route status information i acquired by the route status information acquisition device 22. In the example shown in Figure 3, the mobile device control unit 7 is equipped with a mobile device storage unit 71. The created map data M1 is stored in the mobile device storage unit 71. In this example, the mobile device control unit 7 also acquires location information indicating the current position of the mobile device 2 from the mobile device 2. This location information is then stored in the mobile device storage unit 71.

[0037] Here, in this application, "map data of the travel route P" is data in which various information (for example, information acquired as route state information i) is reflected in the shape and structure of the travel route P. In this embodiment, the map data of the travel route P includes the arrangement of the processing unit 5, the arrangement of equipment for controlling the passage of the transport vehicle 1 (for example, traffic lights, barriers, etc.), and the arrangement of the wireless transmitting and receiving unit 31.

[0038] In this embodiment, at least one of the transport vehicle 1 and the transport vehicle control device 6 is equipped with reference map data M0. The reference map data M0 is map data of the travel path P that is referenced for the movement of the transport vehicle 1. In this embodiment, the reference map data M0 is referenced by the transport vehicle control device 6 for generating commands for the transport vehicle 1. In the example shown in Figure 3, the transport vehicle control device 6 is equipped with a transport vehicle storage unit 61. The reference map data M0 is stored in the transport vehicle storage unit 61. In other words, in this example, the transport vehicle control device 6 is equipped with reference map data M0. In addition, in this example, the transport vehicle control device 6 obtains location information indicating the current position of the transport vehicle 1 from the transport vehicle 1. This location information is then stored in the transport vehicle storage unit 61.

[0039] As shown in Figure 3, in this embodiment, the transport vehicle control device 6 and the mobile device control device 7 are connected to each other via a second communication network N2. Therefore, in this embodiment, the transport vehicle control device 6 and the mobile device control device 7 can refer to and transmit / receive data from each other. The second communication network N2 may be wired, wireless, or a combination of both.

[0040] As shown in Figure 5, in this embodiment, at least one of the transport vehicle control device 6 and the mobile body control device 7 compares the created map data M1 and the reference map data M0, and performs a difference extraction process to extract any differences between them. In this example, the transport vehicle control device 6 obtains the created map data M1 stored in the mobile body storage unit 71 from the mobile body control device 7, and performs the difference extraction process using the created map data M1 and the reference map data M0 stored in the transport vehicle storage unit 61. Note that in the difference extraction process, differences due to differences in data format or data items between the created map data M1 and the reference map data M0 are not extracted; only differences in content for the same data format or data items are extracted.

[0041] In this embodiment, at least one of the transport vehicle control device 6 and the mobile body control device 7 performs a map correction process to correct the reference map data M0 based on the differences extracted by the difference extraction process. In the map correction process, the reference map data M0 is corrected so that the data related to the differences in the reference map data M0 matches that of the created map data M1. In this example, the transport vehicle control device 6 corrects the reference map data M0 and updates the reference map data M0 stored in the transport vehicle storage unit 61 with the corrected data.

[0042] [Other Embodiments] (1) In the above embodiment, the mobile body 2 was described as an unmanned aerial vehicle capable of moving along a different path P from that of the transport vehicle 1. However, the configuration is not limited to such an example, and the mobile body 2 may move along the transport vehicle 1's path P (for example, a vehicle that runs on rails 4). In addition, such a mobile body 2 may normally transport the transported goods W in the same way as the transport vehicle 1, or it may be dedicated to collecting path state information i without transporting the transported goods W.

[0043] (2) In the above embodiment, a configuration in which the mobile control device 7 issues commands to the control unit of the mobile body 2 was described as an example. However, the configuration is not limited to such a configuration, and for example, a mobile control device 7 may be incorporated into each of the multiple mobile bodies 2, and the multiple mobile bodies 2 may operate independently of each other or cooperate with each other.

[0044] (3) In the above embodiment, a configuration in which the path state information acquisition device 22 is equipped with a camera 221 that photographs the travel path P was described as an example. However, the configuration is not limited to such a configuration, and the path state information acquisition device 22 may be equipped with, for example, a LiDAR (Light Detection and Ranging) device, a millimeter-wave radar, etc. instead of the camera 221.

[0045] (4) In the above embodiment, a configuration in which the transport vehicle control device 6 is equipped with reference map data M0 was described as an example. However, the configuration is not limited to such a configuration, and the transport vehicle 1 may be equipped with reference map data M0 instead of the transport vehicle control device 6. Alternatively, both the transport vehicle control device 6 and the transport vehicle 1 may be equipped with reference map data M0.

[0046] (5) In the above embodiment, a configuration in which the transport vehicle control device 6 performs the difference extraction process was described as an example. However, the configuration is not limited to such a configuration, and the mobile body control device 7 may perform the difference extraction process instead of the transport vehicle control device 6. Alternatively, both the transport vehicle control device 6 and the mobile body control device 7 may perform the difference extraction process. In this configuration, if the result of the difference extraction process by the transport vehicle control device 6 and the result of the difference extraction process by the mobile body control device 7 are different, the difference extraction process may be performed again, or the result of either the difference extraction process may be adopted. (6) In the above embodiment, a configuration in which the transport vehicle control device 6 performs the map correction process was described as an example. However, the configuration is not limited to such a configuration, and the mobile body control device 7 may perform the map correction process instead of the transport vehicle control device 6. Alternatively, both the transport vehicle control device 6 and the mobile body control device 7 may perform the map correction process. In this configuration, if the result of the map correction process by the transport vehicle control device 6 and the result of the map correction process by the mobile body control device 7 are different, the map correction process may be performed again, or the result of either the map correction process may be adopted.

[0047] (7) The configurations disclosed in each of the embodiments described above can be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.

[0048] [Summary of this embodiment] The following section will provide an overview of the conveying equipment described above.

[0049] The conveying equipment is, A transport vehicle that transports goods, A transport system comprising a transport path on which the transport vehicle travels, A mobile body that moves separately from the aforementioned transport vehicle, The system further comprises a mobile body control device for controlling the aforementioned mobile body, The moving body is equipped with a path state information acquisition device that acquires path state information indicating the state of the movement path, and is configured to acquire the path state information by the path state information acquisition device while moving along the movement path. The mobile device control unit executes a map creation process to create map data of the travel route based on the route status information acquired by the route status information acquisition device.

[0050] With this configuration, route status information can be acquired by a route status information acquisition device installed on a mobile body that moves separately from the transport vehicle. Then, based on the route status information acquired by the route status information acquisition device, map data of the travel route can be created. In this way, with this configuration, map data of the travel route can be easily created.

[0051] Here, the transport equipment further comprises a transport vehicle control device for controlling the transport vehicle, At least one of the transport vehicle and the transport vehicle control device includes reference map data, which is map data of the travel path that is referenced for the movement of the transport vehicle. It is preferable that at least one of the transport vehicle control device and the mobile body control device compares the created map data, which is the map data created by the map creation process, with the reference map data and performs a difference extraction process to extract any differences.

[0052] This configuration allows for the extraction of discrepancies between the reference map data and the actual situation, using generated map data that reflects the actual conditions of the travel route. This makes it easier to avoid using reference map data that does not reflect the actual situation.

[0053] Furthermore, it is preferable that at least one of the transport vehicle control device and the mobile body control device performs a map correction process to correct the reference map data based on the differences extracted by the difference extraction process.

[0054] This configuration allows the reference map data to be up-to-date and correspond to the created map data, reflecting the actual conditions of the travel route.

[0055] Furthermore, the route status information acquisition device includes a camera for photographing the travel route. The camera preferably acquires at least one of the following as path state information: the shape at each position along the path, the structure at each position along the path, the arrangement of information holders provided at specific locations along the path, and the information held by the information holders.

[0056] This configuration allows for the proper acquisition of route status information necessary for creating map data through the map creation process.

[0057] Furthermore, the aforementioned movement path is a rail, An information holder that holds positional information indicating the position along the rail is placed at a specific location on the rail. The transport vehicle is equipped with a reading device that reads the position information held by the information holder, and is configured to recognize the position of the transport vehicle by reading the position information with the reading device while traveling on the rails. The aforementioned mobile object is an unmanned aerial vehicle. The aforementioned path status information acquisition device preferably includes a camera for photographing the rails.

[0058] This configuration allows the mobile object to fly freely around the rails. This enables the camera on the mobile object's path state information acquisition device to capture images from the appropriate direction relative to the rails. Therefore, the path state information necessary for creating map data through the map creation process can be properly acquired. [Industrial applicability]

[0059] The technology relating to this disclosure can be used in a transport system that includes a transport vehicle for transporting goods and a travel path on which the transport vehicle moves. [Explanation of Symbols]

[0060] 100: Conveying equipment 1: Transport vehicle 14: Reader 2: Mobile 22: Route status information acquisition device 221: Camera 4: Rails 6: Transport vehicle control device 7: Mobile device control system 8: Information carrier P: Travel route M0: Reference map data M1: Created map data W: Transported item

Claims

1. A transport vehicle that transports goods, A transport system comprising a transport path on which the transport vehicle travels, A mobile body that moves separately from the aforementioned transport vehicle, A mobile body control device for controlling the mobile body, The system further comprises a transport vehicle control device for controlling the transport vehicle, The moving body is equipped with a path state information acquisition device that acquires path state information indicating the state of the movement path, and is configured to acquire the path state information by the path state information acquisition device while moving along the movement path. The mobile device control unit executes a map creation process to create map data of the travel route based on the route status information acquired by the route status information acquisition device. At least one of the transport vehicle and the transport vehicle control device includes reference map data, which is map data of the travel path that is referenced for the movement of the transport vehicle. A transport device in which at least one of the transport vehicle control device and the mobile body control device compares the created map data, which is map data created by the map creation process, with the reference map data, and performs a difference extraction process to extract any differences if any differences exist.

2. The transport equipment according to claim 1, wherein at least one of the transport vehicle control device and the mobile body control device performs a map correction process to correct the reference map data based on the differences extracted by the difference extraction process.

3. A transport vehicle that transports goods, A transport system comprising a transport path on which the transport vehicle travels, A mobile body that moves separately from the aforementioned transport vehicle, The system further comprises a mobile body control device for controlling the aforementioned mobile body, The moving body is equipped with a path state information acquisition device that acquires path state information indicating the state of the movement path, and is configured to acquire the path state information by the path state information acquisition device while moving along the movement path. The mobile device control unit executes a map creation process to create map data of the travel route based on the route status information acquired by the route status information acquisition device. The aforementioned movement path is a rail, An information holder that holds positional information indicating the position along the rail is placed at a specific location on the rail. The transport vehicle is equipped with a reading device that reads the position information held by the information holder, and is configured to recognize the position of the transport vehicle by reading the position information with the reading device while traveling on the rails. The aforementioned mobile object is an unmanned aerial vehicle. The aforementioned route status information acquisition device is a transport facility equipped with a camera for photographing the rails.

4. The aforementioned route status information acquisition device includes a camera for photographing the travel route, The transport equipment according to any one of claims 1 to 3, wherein the camera acquires at least one of the following as path state information: the shape at each position of the movement path, the structure at each position of the movement path, the arrangement of information holders provided at specific locations of the movement path, and the information held by the information holders.

Images