Rail height detection method, rail height adjustment method, and rail height detection device

Abstract

To provide a rail height detection method capable of easily detecting the height of a rail at a plurality of positions along the extension direction of the rail.SOLUTION: A light receiving device installing step S12 of installing a light receiving side holding device at a measurement point on a rail in a state of being positioned in a vertical direction, and directing a light receiving device held by the light receiving side holding device in a direction in which the light receiving device can receive laser light from a light projecting device; And a height detection process S13 for detecting the light receiving height of the laser light with the light receiving device as a reference by the light receiving device, and the light receiving device installation process S12 and the height detection process S13 are repeatedly performed while moving the measurement point along the rail.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to a rail height detection method for detecting the installation height of a rail.

Background Art

[0002] An example of such a rail height detection device is disclosed in Japanese Patent Application Laid-Open No. 11-194028 (Patent Document 1). Patent Document 1 discloses a rail height detection device that receives laser light irradiated from a light projecting device (11) installed on a floor or the like at a light receiving point (21A) of a light receiving device (12) provided on a self-propelled trolley (2). This light projecting device (11) can irradiate light rays across four rails (1A, 1B) shown as straight rails by irradiating laser light while rotating, and is configured to be able to measure the height levels of these four rails (1A, 1B) without moving the light projecting device (11).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the rail height detection device of Patent Document 1, since the light receiving device is provided on the self-propelled trolley, it is easily affected by vibrations of the self-propelled trolley or the like, and there is a limit to improving the measurement accuracy. Further, when the direction of the light receiving device with respect to the light projecting device changes due to the self-propelled trolley traveling in a curved section of the rail or the like, there may be a case where the laser light from the light projecting device cannot be properly received. Thus, in the conventional rail height detection device and rail height detection method, it has not been easy to appropriately detect the height of the rail at a plurality of locations along the extending direction of the rail.

[0005] Therefore, there is a need for a technology that can appropriately detect the height of the rail at multiple locations along the direction of rail extension. [Means for solving the problem]

[0006] The rail height detection method according to this disclosure is a rail height detection method for detecting the installation height of a rail suspended from the ceiling to guide a transport vehicle, using a rail height detection device comprising: a light-emitting device that emits laser light; a light-receiving device that receives the laser light emitted by the light-emitting device; a light-emitting side holding device attached to a target member which is at least one of the ceiling and a member fixed to the ceiling and holds the light-emitting device; and a light-receiving side holding device that holds the light-receiving device, wherein the installation work of the light-emitting device installation work is performed by installing the light-emitting side holding device that holds the light-emitting device at a first reference point on the ceiling. The process includes: a light-receiving device installation step, in which the light-receiving device is positioned vertically at the measurement location on the rail, and the light-receiving device held by the light-receiving device is oriented to receive the laser light from the light-emitting device; and a height detection step, in which the laser light is emitted horizontally from the light-emitting device and the direction in which the laser light is emitted is rotated around the vertical axis, and the light-receiving device detects the height at which the laser light is received with respect to the light-receiving device, and the light-receiving device installation step and the height detection step are repeated while the measurement location is moved along the rail. The light-receiving side holding device comprises a positioned portion that is positioned vertically by the reference surface of the rail, a light-receiving side support portion that supports the light-receiving device, and a light-receiving side connecting portion that connects the positioned portion and the light-receiving side support portion, wherein the light-receiving side connecting portion is configured to allow the light-receiving side support portion to pivot freely around the vertical axis relative to the positioned portion, the light-receiving side support portion is positioned below the rail, and the light-receiving side connecting portion is positioned to extend vertically at a position that does not overlap with the rail when viewed vertically, the reference surface is the surface of the rail facing upward, and the positioned portion comprises a mounting portion that is placed on the reference surface, and a tilt adjustment mechanism for adjusting the tilt of the light-receiving side holding device and the light-receiving device, and is configured to be detachably attached to the rail. .

[0007] According to this configuration, after installing the light-emitting device at a first reference point on the ceiling, the height of the rail at multiple measurement points can be detected by moving the light-receiving device, which holds the light-receiving device, to multiple measurement points while performing height detection. This allows the height of the rail at multiple measurement points to be detected using the light-emitting device at the first reference point as a reference. In this case, because the direction in which the light-emitting device emits laser light is rotated around the vertical axis, the height of the rail at multiple measurement points can be detected without moving the light-emitting device while it is installed at the first reference point. Therefore, it is easy to detect the rail height with high accuracy. Furthermore, according to this configuration, by orienting the light-receiving device held by the light-receiving device in the light-receiving device installation process so that it can receive laser light from the light-emitting device, the height of the rail at multiple points along the direction of the rail extension can be easily detected. Thus, according to the rail height detection method according to this configuration, the height of the rail at multiple points along the direction of the rail extension can be appropriately detected. Furthermore, with this configuration, the light-receiving device can be easily positioned relative to the rail by placing the mounting portion of the positioning portion on a reference surface. The tilt of the light-receiving device can also be adjusted by the tilt adjustment mechanism. In addition, since the positioning portion is configured to be detachable from the rail, the light-receiving device and the light-receiving device held therein can be easily moved to other locations on the rail. Therefore, the height of the rail at multiple locations along the extension direction of the rail can be easily detected.

[0008] A rail height adjustment method according to this disclosure is a rail height detection device comprising: a light-emitting device that emits laser light; a light-receiving device that receives the laser light emitted by the light-emitting device; a light-emitting side holding device attached to a target member which is at least one of the ceiling and a member fixed to the ceiling and which holds the light-emitting device; and a light-receiving side holding device which holds the light-receiving device, and is used to adjust the installation height of a rail that is suspended from the ceiling to guide a transport vehicle, the method comprising: a light-emitting device installation step of installing the light-emitting side holding device which holds the light-emitting device at a first reference point on the ceiling; and moving the light-receiving side holding device up and down at a measurement point on the rail. The method includes: a light receiving device installation step, in which the light receiving device is positioned and held by the light receiving side holding device, and the light receiving device is oriented to receive the laser light from the light emitting device; a height detection step, in which the laser light is emitted from the light emitting device along the horizontal direction and the direction in which the laser light is emitted is rotated around the vertical axis, and the light receiving device detects the height at which the laser light is received with respect to the light receiving device; and an installation height adjustment step, in which the installation height of the rail is adjusted based on the height at which the laser light is received. The light receiving device installation step, the height detection step, and the installation height adjustment step are repeated in the order described above while the measurement point is moved along the rail.

[0009] According to this configuration, after installing the light-emitting device at a first reference point on the ceiling, the height of the rail at multiple measurement points can be detected by moving the light-receiving device, which holds the light-receiving device, to multiple measurement points while performing height detection. This allows the height of the rail at multiple measurement points to be detected using the light-emitting device at the first reference point as a reference. In this case, because the direction in which the light-emitting device emits laser light is rotated around the vertical axis, the height of the rail at multiple measurement points can be detected without moving the light-emitting device while it is installed at the first reference point. Therefore, it is easy to detect the rail height with high accuracy. Furthermore, according to this configuration, by positioning the light-receiving device held by the light-receiving device in the light-receiving device mounting step so that it can receive laser light from the light-emitting device, the height of the rail at multiple points along the direction of the rail extension can be easily detected. Thus, according to the rail height detection method according to this configuration, the height of the rail at multiple points along the direction of the rail extension can be appropriately detected. Furthermore, according to this configuration, the light-receiving device mounting step, the height detection step, and the mounting height adjustment step are repeatedly performed in the order described above while moving the measurement point along the rail. Therefore, instead of moving tools, carts, and workbenches used in these three processes after each process, moving them after all three processes are completed reduces the number of times tools need to be moved, making it easier to improve work efficiency.

[0010] The rail height detection device according to this disclosure is a rail height detection device for detecting the installation height of a rail that is suspended from the ceiling to guide a transport vehicle, comprising: a light emitter that emits laser light; a light receiving device that receives the laser light emitted by the light emitter; a light emitter-side holding device attached to a target member which is at least one of the ceiling and a member fixed to the ceiling and holds the light emitter; and a light receiving-side holding device that holds the light receiving device, wherein the light emitter, while held by the light emitter-side holding device, emits the laser light The device is configured to project light horizontally and to rotate the direction in which the laser light is projected around a vertical axis, the light receiving device is configured to detect the height at which the laser light is received with respect to the light receiving device, the light receiving side holding device comprises a positioned part that is positioned vertically by a reference plane of the rail, and a light receiving side connecting part that connects the positioned part and the light receiving device, the light receiving side connecting part is configured to allow the light receiving device to rotate around a vertical axis relative to the positioned part.

[0011] With this configuration, the light-emitting device can be attached to a target member, which is at least one of the ceiling and a member fixed to the ceiling, and the light-receiving device can be positioned relative to the reference plane of the rail. Therefore, by detecting the height at which the laser beam is received by the light-receiving device, the height of the rail relative to the target member can be detected with high accuracy. Furthermore, since the direction in which the light-emitting device emits laser light can be rotated around the vertical axis, and the light-receiving device is configured to be rotatable around the vertical axis relative to the positioned part, the laser beam emitted by the light-emitting device can be received by the light-receiving device regardless of the planar positional relationship of the light-receiving device to the light-emitting device. Therefore, by moving the light-receiving device and the light-receiving device held therein to another location on the rail while the positions of the light-emitting device-holding device and the light-emitting device held therein are fixed, the height of the rail at multiple locations along the extension direction of the rail can be easily detected. Thus, with the rail height detection device according to this configuration, the height of the rail at multiple locations along the extension direction of the rail can be appropriately detected. [Brief explanation of the drawing]

[0012] [Figure 1] A top view showing the transport vehicle and rails according to this embodiment. [Figure 2] Front view showing the transport vehicle and rails according to this embodiment. [Figure 3] Side view showing the light receiving device of the rail height detection device according to this embodiment. [Figure 4] Side view showing the light source of the rail height detection device according to this embodiment. [Figure 5] Figure 4: Top view of the light source mounting section [Figure 6] Figure 4: Cross-sectional view of the light-emitting side holding device, taken from line VI-VI. [Figure 7] This figure shows the rail height detection method according to this embodiment. [Figure 8] This figure shows the rail height adjustment method according to this embodiment. [Figure 9] Diagram showing another example of the light source mounting section.

Best Mode for Carrying Out the Invention

[0013] Hereinafter, embodiments of a rail height detection device and a rail height detection method will be described with reference to the drawings.

[0014] FIG. 1 is a diagram schematically showing an example of a carrier 12 and a rail 13 according to the present embodiment. FIG. 2 is a diagram schematically showing an example of a carrier 12 and a rail 13 according to the present embodiment. In the present embodiment, a transport facility 11 includes a carrier 12 and a rail 13. Examples of the carrier 12 include a carrier for transporting articles or personnel, an automated guided vehicle, an autonomous vehicle, an electric vehicle, an internal combustion vehicle, and the like. In the present embodiment, the carrier 12 is a ceiling carrier for transporting a container (Front Opening Unified Pod; FOUP) that houses a semiconductor substrate.

[0015] The rail 13 is provided along a transport path R. In the present embodiment, a branch portion and a merging portion are provided in the transport path R. The rail 13 has a straight portion and a curved portion. In the present embodiment, the rail 13 is provided in a dust-proof chamber. As shown in FIG. 1, the transport path R is formed in a loop shape passing through a plurality of article processing units 19.

[0016] The carrier 12 travels along the transport path R in accordance with a transport command from, for example, a host controller to transport articles. The carrier 12, for example, unloads an article from an article processing unit 19 at the transport source and transports the article to an article processing unit 19 at the transport destination. Examples of the article processing unit include a processing device for processing an article, a sorting device for sorting an article, a transport device for storing an article, a mounting table, a storage shelf, and the like.

[0017] As shown in FIG. 2, the rail 13 is disposed below the ceiling 16 at Z2. Here, the direction in which the rail 13 extends is defined as the extending direction Xr. Also, the width direction of the rail 13 is defined as the width direction Yr. The rail 13 is installed in a state of being suspended from the ceiling 16 in order to guide the carrier 12. In the present embodiment, the rail 13 is a pair of left and right rails, but it may be a monorail. In the present embodiment, the rail 13 is a running rail.

[0018] The conveying facility 11 includes a guide rail 14. The guide rail 14 is provided at a branch portion, a merging portion, a curved portion of the rail 13, etc. of the conveying path R. The guide rail 14 is between the pair of left and right rails 13 in the width direction Yr and is disposed above the rail 13 at Z1. In the present embodiment, the pair of rails 13 are respectively suspended and supported from the ceiling 16, and the guide rail 14 is disposed below the U-shaped frame body that is connected above them at Z1 across the pair of rails 13.

[0019] The carrier 12 includes wheels 22. The wheels 22 are rotatably supported by a running portion 21 provided in the carrier 12. The wheels 22 roll on the running surface 13a of the rail 13. A plurality of wheels 22 are provided separately on the left and right of the carrier 12. At least one of the plurality of wheels 22 is a drive wheel that is rotationally driven by a drive motor and imparts a propulsive force to the carrier 12.

[0020] The carrier 12 includes guide rollers 24. The guide rollers 24 are rotatably supported by a running portion 21 provided in the carrier 12. The position of the guide rollers 24 in the width direction Yr can be switched by a switching mechanism provided in the carrier, and the guide rollers 24 roll while contacting one of the side surfaces of the guide rail 14 according to the position in the width direction Yr. In the present embodiment, according to the position of the guide rollers 24 in the width direction Yr, the carrier 12 is guided in any traveling direction at the branch portion of the conveying path R.

[0021] The transport vehicle 12 is equipped with side rollers 25. The side rollers 25 are rotatably supported by the running section 21 of the transport vehicle 12. Multiple side rollers 25 are provided on the left and right sides and roll in contact with the side surface of the rail 13. The transport vehicle 12 is equipped with a transfer section 26 in which the items to be transported are stored. The transfer section 26 is located below the wheels 22, in a position Z2.

[0022] Figure 3 is a schematic side view showing an example of a light receiving device 51 and a light receiving side holding device 52 of the rail height detection device 10 according to this embodiment. Figure 4 is a schematic side view showing an example of a light emitting device 31 and a light emitting side holding device 32 of the rail height detection device 10 according to this embodiment. The rail height detection device 10 detects the installation height of the rail 13, which is suspended from the ceiling 16 to guide the transport vehicle 12.

[0023] As shown in Figure 4, the rail height detection device 10 is equipped with a light emitter 31 that emits laser light B1. The light emitter 31 is held by a light emitter-side holding device 32, which will be described later, and is configured to emit laser light B1 horizontally and to rotate the direction in which the laser light B1 is emitted around the vertical axis. In this embodiment, the light emitter 31 can rotate the direction in which the laser light B1 is emitted 360 degrees around the vertical axis, but it may also be possible to rotate it within a range of a part of the entire range around the vertical axis, such as 180 degrees, 270 degrees, etc. Examples of light emitters 31 include the T430 (manufactured by Status Pro), RUGBY640G (manufactured by Leica), GL422N (manufactured by Nikon), etc. Here, the central axis of rotation of the laser light B1 by the light emitter 31 is defined as the rotation axis A1.

[0024] The rail height detection device 10 includes a light-emitting side holding device 32 that holds the light-emitting device 31. Here, at least one of the ceiling 16 and the member 17 fixed to the ceiling 16 is referred to as the "target member". The light-emitting side holding device 32 is attached to the target member. The light-emitting side holding device 32 is configured to fix the position of the light-emitting device 31 at least in the vertical direction Z relative to the target member. In the illustrated example, the member 17 fixed to the ceiling 16 is the target member.

[0025] The member 17 fixed to the ceiling 16 is a longitudinal member. Here, the longitudinal direction of member 17 is denoted as the first direction Xs. In this embodiment, member 17 is fixed to the ceiling 16 such that the first direction Xs is aligned with the horizontal direction. The direction that is horizontal and perpendicular to the first direction Xs is denoted as the second direction Ys. In this embodiment, member 17 is a raceway, but it may be a beam, column, duct, wall, lighting fixture, etc. In this embodiment, the first direction Xs and the extension direction Xr are parallel, but they do not have to be parallel. In this embodiment, the second direction Ys and the width direction Yr are parallel, but they do not have to be parallel.

[0026] As shown in Figure 2, the member 17 fixed to the ceiling 16 holds the rail 13. The member 17 fixed to the ceiling 16 holds the guide rail 14. The member 17 fixed to the ceiling 16 is positioned between the ceiling 16 and the rail 13 in the vertical direction Z.

[0027] As shown in Figure 4, the light-emitting side holding device 32 includes a light-emitting side mounting portion 34 that is attached to the target member. The light-emitting side mounting portion 34 is configured to be detachably attached to the target member. The light-emitting side mounting portion 34 is positioned above Z1 above the light-emitting device 31 supported by the light-emitting side support portion 36.

[0028] The light-emitting side holding device 32 includes a light-emitting side support portion 36 that supports the light-emitting device 31. The light-emitting side support portion 36 is positioned below the target member Z2. In this embodiment, the light-emitting side support portion 36 supports the light-emitting device 31 so that it cannot move in the vertical direction Z. The light-emitting side support portion 36 is configured to support the bottom portion 31b of the light-emitting device 31 from below Z2.

[0029] Figure 5 is a schematic top view showing an example of the light-emitting side mounting portion 34. The light-emitting side holding device 32 is equipped with a horizontal adjustment mechanism 37. In this embodiment, the light-emitting side mounting portion 34 is equipped with a pair of contact portions 34a that contact the member 17 from both sides in one direction in the horizontal direction (in the illustrated example, the second direction Ys). The horizontal adjustment mechanism 37 is configured to allow one of the pair of contact portions 34a to move in the second direction Ys so that the light-emitting side mounting portion 34 can be easily attached to and detached from the member 17. In the illustrated example, the horizontal adjustment mechanism 37 is an elongated hole 37a provided in the light-emitting side mounting portion 34 and a bolt 37b that supports the light-emitting side connection portion 38.

[0030] In this embodiment, the horizontal adjustment mechanism 37 is configured so that one of the pair of contact portions 34a can be fixed at multiple positions in the horizontal direction (in the illustrated example, the second direction Ys). In this way, the light-emitting side mounting portion 34 can be attached to members 17 of various widths.

[0031] Figure 6 is a schematic diagram showing an example of a connecting member 38a provided in the light-emitting side connecting section 38, and is a diagram showing a cross-section perpendicular to the pivot axis A1. The light-emitting side holding device 32 includes a light-emitting side connecting section 38 that connects the light-emitting side mounting section 34 and the light-emitting side support section 36 in the vertical direction Z. The light-emitting side connecting section 38 includes a plurality of connecting members 38a arranged in two or more separate locations. Each of the plurality of connecting members 38a is formed to extend in the vertical direction Z. The connecting members 38a are plate-shaped or columnar members. In this embodiment, the connecting members 38a are formed so that their cross-section is a polygon with a long side and a short side. In the illustrated example, the cross-section of the connecting member 38a is a quadrilateral.

[0032] The connecting member 38a is formed in a thin plate shape with its long side parallel to the optical axis of the laser beam B1, so that the area in which the laser beam B1 emitted from the light projector 31 is blocked by the connecting member 38a is minimized. In this embodiment, the connecting member 38a is formed in a thin plate shape with its long side parallel to the radiation centered on the pivot axis A1. In the illustrated example, each of the multiple connecting members 38a is arranged so that its long side is parallel to the radiation centered on the pivot axis A1.

[0033] In this embodiment, the connecting member 38a is divided into three or more locations surrounding the vertical axis of the light-emitting device 31 supported by the light-emitting side support portion 36, and each is formed to extend in the vertical direction Z. In the illustrated example, the connecting member 38a is divided into four locations, but it may be divided into five or more locations. In this embodiment, the connecting member 38a is supported by the light-emitting side mounting portion 34 via the first adjustment portion 41.

[0034] As shown in Figure 4, the light-emitting side connection part 38 includes a first vibration damping part 38b. The first vibration damping part 38b suppresses the transmission of vibrations in the vertical direction Z between the light-emitting side mounting part 34 and the light-emitting side support part 36. The light-emitting side connection part 38 also includes a second vibration damping part 38c. The second vibration damping part 38c suppresses vibrations of the light-emitting side support part 36 at least around its vertical axis.

[0035] The light-emitting side holding device 32 is equipped with an adjustment mechanism 40. The adjustment mechanism 40 adjusts the holding height of the light-emitting device 31. In this embodiment, the holding height of the light-emitting device 31 is adjusted by changing the position of the light-emitting device 31 with respect to the target member by at least the vertical direction Z.

[0036] The adjustment mechanism 40 comprises a first adjustment section 41 and a second adjustment section 42. The first adjustment section 41 is positioned above the second adjustment section 42 at Z1.

[0037] The first adjustment unit 41 is located above the light emitter 31 in Z1. In this embodiment, the light emitter side connection unit 38 includes the first adjustment unit 41. In this embodiment, a plurality of connection members 38a are supported by the light emitter side mounting unit 34 via the first adjustment unit 41.

[0038] The second adjustment unit 42 is located below the light source 31 in Z2. In this embodiment, the light source side support unit 36 ​​includes the second adjustment unit 42. The second adjustment unit 42 supports the light source 31 so that it cannot move in the vertical direction Z. In the illustrated example, the second adjustment unit 42 supports the bottom 31b of the light source 31 from below in Z2.

[0039] The first adjustment unit 41 includes a first input unit 41a that receives input rotation for adjustment. Examples of the first input unit 41a include a handle operated by an operator, a lever, an input shaft to which the rotation of a drive motor is input, and so on.

[0040] The first adjustment unit 41 includes a first conversion mechanism 41b that converts the rotation of the first input unit 41a into vertical Z-direction movement and transmits it to the light projection device 31. In this embodiment, the first adjustment unit 41 converts the rotation of the first input unit 41a into vertical Z-direction movement of the light projection side support unit 36. Examples of the first conversion mechanism 41b include female screws and bolts, racks and pinions, lab jacks, etc.

[0041] The first adjustment unit 41 includes a fixing unit 41c that fixes the vertical position Z of the light-emitting support unit 36 ​​relative to the light-emitting mounting unit 34. The first adjustment unit 41 also includes a guide unit 41d that guides the light-emitting support unit 36 ​​in the vertical direction Z.

[0042] The second adjustment unit 42 includes a second input unit 42a that receives input rotation for adjustment. Examples of the second input unit 42a include a handle operated by an operator, a lever, an input shaft to which the rotation of a drive motor is input, and so on.

[0043] The second adjustment unit 42 includes a second conversion mechanism 42b that converts the rotation of the second input unit 42a into vertical Z-direction movement and transmits it to the light projector 31. In this embodiment, the second adjustment unit 42 converts the rotation of the second input unit 42a into vertical Z-direction movement of the light projector 31. Examples of the second conversion mechanism 42b include female screws and bolts, racks and pinions, lab jacks, etc.

[0044] In this embodiment, the conversion ratio α2 in the second conversion mechanism 42b is different from the conversion ratio α1 in the first conversion mechanism 41b. In this embodiment, the conversion ratio α2 in the second conversion mechanism 42b is smaller than the conversion ratio α1 in the first conversion mechanism 41b.

[0045] As shown in Figure 3, the rail height detection device 10 includes a light receiving device 51 that receives the laser light B1 emitted by the light emitting device 31. The light receiving device 51 is configured to detect the reception height of the laser light B1 with respect to the light receiving device 51. Examples of light receiving devices 51 include the R260 (Status Pro), Rod Eye 120G (Leica), HL760 (Nikon), etc.

[0046] As shown in Figure 3, the rail height detection device 10 includes a light-receiving side holding device 52 that holds the light-receiving device 51. The light-receiving side holding device 52 is configured to fix the position of the light-receiving device 51 in at least the vertical Z direction relative to the rail 13.

[0047] The light-receiving holding device 52 includes a positioning portion 53 that is positioned in the vertical direction Z by the reference surface of the rail 13. In this embodiment, the reference surface of the rail 13 is the surface of the rail 13 facing upward Z1 and is the running surface 13a of the rail 13. The positioning portion 53 includes a contact portion that makes surface contact with the reference surface of the rail 13. In this embodiment, the mounting portion 54, which will be described later, is the contact portion that makes surface contact with the reference surface of the rail 13.

[0048] The positioning portion 53 is configured to be detachably attached to the rail 13. The positioning portion 53 includes a mounting portion 54 that is placed on the reference surface of the rail 13. In this embodiment, the positioning portion 53 is configured to be detachably attached to the rail 13. In this embodiment, the positioning portion 53 is configured to be attachable to the rail 13 such that only the mounting portion 54 of the entire light-receiving side holding device 52 contacts the rail 13.

[0049] The positioning unit 53 is equipped with a tilt adjustment mechanism 55 that adjusts the tilt of the light-receiving side holding device 52 and the light-receiving device 51. In this embodiment, the tilt adjustment mechanism 55 adjusts the tilt of the light-receiving side holding device 52 and the light-receiving device 51 so that the contact portion of the positioning unit 53 is in surface contact with the reference surface of the rail 13. Examples of the tilt adjustment mechanism 55 include a weight to adjust the weight balance of the light-receiving side holding device 52, and an angle determination mechanism that can determine the angle of the mounting portion 54 with respect to the reference surface of the rail 13.

[0050] The light-receiving side holding device 52 includes a light-receiving side support portion 56 that supports the light-receiving device 51. The light-receiving side support portion 56 is positioned below the rail 13 Z2. The light-receiving side support portion 56 supports the light-receiving device 51 so that it cannot move in the vertical direction Z. In this embodiment, the light-receiving side support portion 56 supports the bottom portion 51b of the light-receiving device 51 from below Z2.

[0051] In this embodiment, the light-receiving side holding device 52 is configured such that, with the mounting portion 54 placed on the reference surface of the rail 13, the tilt adjustment mechanism 55 is located on one side in the width direction Yr with respect to the reference surface of the rail 13, and the light-receiving side support portion 56 is located on the other side.

[0052] The tilt adjustment mechanism 55 includes a weight 55a and a weight mounting section 55b to which the weight 55a is attached. The weight mounting section 55b allows the position of the weight 55a in the width direction Yr of the rail 13 to be changed. Examples of weights 55a include a single weight, multiple weights of the same weight, or multiple weights of different weights. In this way, the positioning section 53 can be attached to and detached from rails 13 of various shapes, such as rails 13 with different dimensions in the width direction Yr.

[0053] The light-receiving side holding device 52 includes a light-receiving side connecting part 58 that connects the positioning part 53 and the light-receiving device 51. In this embodiment, the light-receiving side connecting part 58 connects the positioning part 53 and the light-receiving side support part 56. The light-receiving side connecting part 58 is positioned to extend in the vertical direction Z at a location that does not overlap with the rail 13 when viewed in the vertical direction.

[0054] The light-receiving connection part 58 is configured to allow the light-receiving device 51 to rotate freely around the vertical axis relative to the positioning part 53. In this embodiment, the light-receiving connection part 58 is configured to allow the light-receiving support part 56 to rotate freely around the vertical axis relative to the positioning part 53. In this embodiment, the light-receiving support part 56 can rotate 360 ​​degrees around the vertical axis relative to the positioning part 53, but it may also be possible to rotate within a range of a part of the entire range around the vertical axis, such as 180 degrees, 270 degrees, etc. In this embodiment, the vertical axis is an axis along the vertical direction.

[0055] Figure 7 shows an example of a rail height detection method according to this embodiment. The rail height detection method is a method of detecting the installation height of the rail 13, which is suspended from the ceiling 16 to guide the transport vehicle 12, using the rail height detection device 10 described above.

[0056] As shown in Figures 1 and 7, the rail height detection method includes a light-emitting device installation step S11 in which a light-emitting device holding device 32 that holds the light-emitting device 31 is installed at a first reference point P1 on the ceiling 16. In this embodiment, the light-emitting device holding device 32 is installed at the first reference point P1 on the ceiling 16 by being attached to a part of a member 17 fixed to the ceiling 16 that is located at the first reference point P1.

[0057] The rail height detection method includes a light-receiving device installation step S12 in which a light-receiving device holding device 52 is installed at a measurement point on the rail 13 in a position in the vertical Z direction, and the light-receiving device 51 held by the light-receiving device holding device 52 is oriented so as to be able to receive laser light B1 from the light-emitting device 31.

[0058] The rail height detection method includes a height detection step S13 in which a laser beam B1 is projected from a light projector 31 along the horizontal direction and the direction in which the laser beam B1 is projected is rotated around the vertical axis, and the receiving height of the laser beam B1 is detected by a light receiving device 51 with respect to the light receiving device 51.

[0059] In the rail height detection method of this embodiment, the light receiving device installation step S12 and the height detection step S13 are repeatedly performed while moving the measurement point along the rail 13.

[0060] The rail height detection method of this embodiment further includes a reference point changing step S14 in which, if the horizontal length of the rail installation area on which the rail 13 is installed is greater than the effective reach distance of the laser light B1 emitted by the light emitter 31, the installation location of the light emitter-side holding device 32 that holds the light emitter 31 is changed from a first reference point P1 to a second reference point P2.

[0061] Here, the effective reach distance L1 is defined as the first effective reach distance L1 of the laser beam B1 emitted by the light emitter 31 held by the light emitter holding device 32 installed at the first reference point P1. The effective reach distance L2 is defined as the second effective reach distance L2 of the laser beam B1 emitted by the light emitter 31 held by the light emitter holding device 32 installed at the second reference point P2. In this embodiment, the first effective reach distance L1 and the second effective reach distance L2 are the same distance, but they do not have to be the same.

[0062] In this embodiment, the change of installation location in the reference location change step S14 is performed by moving both the light-emitting device 31 and the light-emitting side holding device 32 from the first reference location P1 to the second reference location P2. However, it may also be performed by moving the light-emitting device 31 from the light-emitting side holding device 32 installed at the first reference location P1 to the light-emitting side holding device 32 installed at the second reference location P2. The change of installation location in the reference location change step S14 may also be performed by changing the light-emitting device 31 held by the light-emitting side holding device 32 installed at the first reference location P1 to another light-emitting device 31 held by the light-emitting side holding device 32 installed at the second reference location P2.

[0063] In this embodiment, the second reference point P2 is located outside the first effective reach distance L1, but it may be located inside the first reference point P1 as long as it is in a different position. In this embodiment, the light-emitting side holding device 32 is installed on the second reference point P2 of the ceiling 16 by being attached to a part of the member 17 fixed to the ceiling 16 that is located at the second reference point P2.

[0064] In the reference point change process S14, the light-receiving side holding device 52, which holds the light-receiving device 51, is installed at location P3, which is within the effective reach distance from both the first reference point P1 and the second reference point P2. In this embodiment, the light-receiving device 51 is installed at location P3 before changing the installation location of the light-emitting side holding device 32, which holds the light-emitting device 31, from the first reference point P1 to the second reference point P2.

[0065] The first reference point P1 and the second reference point P2 may be locations that overlap with the rail 13 in a vertical view, or they may not overlap. The location P3 where the light receiving device 51 is installed may be locations that overlap with the rail 13 in a vertical view, or they may not overlap.

[0066] In the reference location change step S14, the holding height of the light-emitting device 31 by the light-emitting device 32 is adjusted with the light-emitting device 32 installed at the second reference location P2, so that the receiving height of the laser light B1 by the light-receiving device 51 when the light-emitting device 32 holding the light-emitting device 31 is installed at the first reference location P1 matches the receiving height of the laser light B1 by the light-receiving device 51 when the light-emitting device 32 holding the light-emitting device 31 is installed at the second reference location P2. The holding height of the light-emitting device 31 is adjusted using the adjustment mechanism 40. In this embodiment, in the reference location change step S14, the holding height of the light-emitting device 31 is adjusted in the vertical direction Z using the first adjustment unit 41 and the second adjustment unit 42.

[0067] In the rail height detection method of this embodiment, after performing the reference point change step S14, the measurement point is moved along the rail 13, and the light receiving device installation step S12 and the height detection step S13 are repeatedly performed.

[0068] Furthermore, the repeated execution of the light receiving device installation process S12 and the height detection process S13 also includes, for example, the rail height detection method having another process different from both the light receiving device installation process S12 and the height detection process S13, and this other process being repeatedly performed between the light receiving device installation process S12 and the height detection process S13.

[0069] In the rail height detection method of this embodiment, if there are still locations requiring measurement outside the first effective reach distance L1 and the second effective reach distance L2, the second reference location P2 described above is considered as the first reference location P1, and the reference location change step S14, the light receiving device installation step S12, and the height detection step S13 are repeated. The first reference location P1 and the second reference location P2 are set to be as few as possible, depending on the size of the rail installation area where the rail 13 is installed and the effective reach distance of the light receiving device 51.

[0070] In the rail height detection method of this embodiment, the light-emitting side holding device 32 is equipped with an adjustment mechanism 40 for adjusting the holding height of the light-emitting device 31, and the adjustment mechanism 40 is equipped with a first adjustment unit 41 and a second adjustment unit 42, the first adjustment unit 41 is equipped with a first input unit 41a for receiving input rotation for adjustment and a first conversion mechanism unit 41b for converting the rotation of the first input unit 41a into vertical Z movement and transmitting it to the light-emitting device 31, the second adjustment unit 42 is equipped with a second input unit 42a for receiving input rotation for adjustment and a second conversion mechanism unit 42b for converting the rotation of the second input unit 42a into vertical Z movement and transmitting it to the light-emitting device 31, and the conversion ratio α2 in the second conversion mechanism unit 42b and the conversion ratio α1 in the first conversion mechanism unit 41b are different. Details of the light-emitting side holding device 32, adjustment mechanism 40, first adjustment unit 41, first input unit 41a, first conversion mechanism unit 41b, second adjustment unit 42, second input unit 42a, second conversion mechanism unit 42b, etc. in this embodiment are as described above.

[0071] In this embodiment, the adjustment mechanism 40 comprises a first adjustment unit 41 and a second adjustment unit 42, and the holding height of the light projector 31 is adjusted using at least one of the first adjustment unit 41 and the second adjustment unit 42 in the reference location changing step S14. However, the holding height may also be adjusted using at least one of the first adjustment unit 41 and the second adjustment unit 42 in the light projector installation step S11.

[0072] In the rail height detection method of this embodiment, the light-receiving side holding device 52 includes a positioned portion 53 that is positioned in the vertical direction Z by the reference surface of the rail 13, a light-receiving side support portion 56 that supports the light-receiving device 51, and a light-receiving side connecting portion 58 that connects the positioned portion 53 and the light-receiving side support portion 56. The light-receiving side connecting portion 58 is configured to allow the light-receiving side support portion 56 to pivot freely around the vertical axis relative to the positioned portion 53. The light-receiving side support portion 56 is positioned below the rail 13 Z2, and the light-receiving side connecting portion 58 is positioned to extend in the vertical direction Z at a position that does not overlap with the rail 13 when viewed in the vertical direction. The reference surface is the surface of the rail 13 facing upward Z1. The positioned portion 53 includes a mounting portion 54 that is placed on the reference surface and a tilt adjustment mechanism 55 that adjusts the tilt of the light-receiving side holding device 52 and the light-receiving device 51, and is configured to be detachably attached to the rail 13. Details of the light-receiving side holding device 52, positioning part 53, light-receiving side support part 56, light-receiving side connection part 58, mounting part 54, tilt adjustment mechanism 55, etc. in this embodiment are as described above.

[0073] In this embodiment, during the light receiving device installation step S12, the tilt adjustment mechanism 55 is used to adjust the tilt of the light receiving side holding device 52 and the light receiving device 51.

[0074] Figure 8 shows an example of a rail height adjustment method according to this embodiment. The rail height adjustment method is a method of adjusting the installation height of the rail 13, which is suspended from the ceiling 16 to guide the transport vehicle 12, using the rail height detection device 10 described above.

[0075] As shown in Figure 8, the rail height adjustment method includes an installation height adjustment step S21 in which the installation height of the rail 13 is adjusted based on the receiving height of the laser beam B1.

[0076] The rail height adjustment method comprises a light projection device installation step S11, a light receiving device installation step S12, and a height detection step S13. The rail height adjustment method also comprises a reference point change step S14. Details of the light projection device installation step S11, the light receiving device installation step S12, the height detection step S13, and the reference point change step S14 are as described above.

[0077] The rail height adjustment method includes an installation height adjustment step S21 that adjusts the installation height of the rail 13 based on the reception height of the laser beam B1. In this embodiment, the installation height adjustment step S21 is performed after the height detection step S13.

[0078] In the rail height adjustment method of this embodiment, the measurement point is moved along the rail 13, and the light receiving device installation step S12, height detection step S13, and installation height adjustment step S21 are repeatedly performed in the order described. In this way, for example, one worker can stand on a workbench (not shown) and perform the height detection step S13 and installation height adjustment step S21, then move the workbench to the next location, and repeat the height detection step S13 and installation height adjustment step S21 with the worker standing on the workbench. This workbench may be a trolley and may be capable of holding parts and tools, storing parts and tools, etc.

[0079] In the rail height adjustment method of this embodiment, after performing the reference point change step S14, the measurement point is moved along the rail 13, and the light receiving device installation step S12, height detection step S13, and installation height adjustment step S21 are repeatedly performed in the order described above.

[0080] Furthermore, the repeated execution of the light receiving device installation process S12, the height detection process S13, and the installation height adjustment process S21 in the order described above also includes, for example, the rail height adjustment method having another process different from any of the light receiving device installation process S12, the height detection process S13, and the installation height adjustment process S21, and this other process being sandwiched between any two of the light receiving device installation process S12, the height detection process S13, and the installation height adjustment process S21, which are arranged in the order described above, so that these four processes are repeated.

[0081] [Other Embodiments] Next, other embodiments of the rail height detection device 10 or the rail height detection method will be described.

[0082] (1) In the above embodiment, a configuration was described as in which the horizontal adjustment mechanism 37 can fix one of the pair of contact portions 34a at multiple positions in the horizontal direction. However, the invention is not limited to such an example, and for example, as shown in Figure 9, the light-emitting side holding device 32 may be able to change the position of the light-emitting side support portion 36 in one direction in the horizontal direction while the light-emitting side mounting portion 34 is attached to the target member. For example, the horizontal adjustment mechanism 37 may be able to fix both of the pair of contact portions 34a at multiple positions in the horizontal direction.

[0083] (2) In the above embodiment, the rail height detection device 10 and the rail height detection method were described as being configured to detect the installation height of the rail 13, which is the running rail. However, the invention is not limited to such an example, and for example, the rail height detection device 10 and the rail height detection method may be devices that detect the installation height of the guide rail 14.

[0084] (3) In the above embodiment, a configuration in which the light-emitting side mounting portion 34 is located above the light-emitting device 31 Z1 and the light-emitting side connecting portion 38 is provided with a connecting member 38a was described as an example. However, the embodiment is not limited to such an example, for example, the light-emitting side mounting portion 34 may not be located above the light-emitting device 31 Z1. Also, for example, the light-emitting side connecting portion 38 may not be provided with a connecting member 38a. Also, for example, the light-emitting side connecting portion 38 may be configured to connect the light-emitting side mounting portion 34 and the light-emitting side support portion 36 in the horizontal direction.

[0085] (4) In the above embodiment, a configuration in which the light-emitting support portion 36 supports the bottom portion 31b of the light-emitting device 31 from below Z2 was described as an example. However, the example is not limited to such an example, and for example, the light-emitting support portion 36 may support the upper part of the light-emitting device 31 from above Z1. For example, the light-emitting support portion 36 may support the light-emitting device 31 in a manner that suspends it from above Z1. Also, for example, the light-emitting support portion 36 may support the side of the light-emitting device 31 so that it cannot move in the vertical direction Z.

[0086] (5) In the above embodiment, a configuration in which the light-receiving support portion 56 supports the bottom portion 51b of the light-receiving device 51 from below Z2 was described as an example. However, the configuration is not limited to such an example, and for example, the light-receiving support portion 56 may support the upper part of the light-receiving device 51 from above Z1. For example, the light-receiving support portion 56 may support the light-receiving device 51 in a manner that suspends it from above Z1. Also, for example, the light-receiving support portion 56 may support the side of the light-receiving device 51. Also, for example, the light-receiving support portion 56 may be included in the light-receiving connection portion 58.

[0087] (6) In the above embodiment, a configuration was described as in which the light-receiving support portion 56 is located below the rail 13 Z2, and the light-receiving connection portion 58 is located at a position that does not overlap with the rail 13 when viewed in the vertical direction and extends in the vertical direction Z. However, the embodiment is not limited to such an example, for example, the light-receiving support portion 56 does not have to be located below the rail 13 Z2. Also, for example, the light-receiving connection portion 58 may be located at a position that overlaps with the rail 13 when viewed in the vertical direction. Also, for example, the light-receiving connection portion 58 may be located to extend in the horizontal direction.

[0088] (7) In the above embodiment, a configuration in which the reference surface of the rail 13 is the running surface 13a facing the upper side Z1 of the rail 13 was described as an example. However, the example is not limited to such an example, and for example, the reference surface of the rail 13 may be a surface facing the upper side Z1 of the rail 13 that is not the running surface 13a. Alternatively, for example, it may be the upper surface of the guide rail 14, the lower surface of the guide rail 14, the lower surface of the rail 13, the side surface of the rail 13, etc.

[0089] (8) In the above embodiment, a configuration was described as in which the positioning portion 53 is equipped with a mounting portion 54 and a tilt adjustment mechanism 55 and is detachably attached to the rail 13. However, the invention is not limited to such an example, and for example, the positioning portion 53 may not be equipped with a tilt adjustment mechanism 55. Also, for example, the positioning portion 53 may not be equipped with a mounting portion 54.

[0090] (9) In the above embodiment, a configuration in which the adjustment mechanism 40 comprises a first adjustment unit 41 and a second adjustment unit 42 was described as an example. However, the invention is not limited to such an example, and for example, the adjustment mechanism 40 may be configured to comprise either the first adjustment unit 41 or the second adjustment unit 42. Alternatively, for example, a link mechanism may be used in the first adjustment unit 41 or the second adjustment unit 42 to adjust the holding height of the light projector 31 in the vertical direction Z.

[0091] (10) In the above embodiment, a configuration was described as in which the light-receiving side connection part 58 allows the light-receiving side support part 56 to rotate around the vertical axis relative to the positioned part 53. However, the embodiment is not limited to such an example, and for example, the light-receiving side connection part 58 may not allow the light-receiving side support part 56 to rotate around the vertical axis relative to the positioned part 53. Also, for example, the light-receiving side holding device 52 may not be equipped with a light-receiving side connection part 58. For example, the light-receiving device 51 and the light-receiving side holding device 52 may be an integrated device.

[0092] (11) In the above embodiment, a configuration was described as one in which the direction in which the laser beam B1 is projected can be rotated around the vertical axis while the light projecting device 31 is held by the light projecting side holding device 32. However, the embodiment is not limited to such an example, and for example, the light projecting device 31 may not be able to rotate the direction in which the laser beam B1 is projected around the vertical axis, and the light projecting side connection part 38 may be configured to allow the light projecting side support part 36 to rotate around the vertical axis relative to the light projecting side mounting part 34.

[0093] (12) In the above embodiment, the rail height detection method includes a reference location changing step S14 in which the installation location of the light-emitting side holding device 32 that holds the light-emitting device 31 is changed from a first reference location P1 to a second reference location P2, and the holding height of the light-emitting device 31 is adjusted so that the receiving height of the laser light B1 from the first reference location P1 matches the receiving height of the laser light B1 from the second reference location P2. However, the invention is not limited to such an example, and for example, the rail height detection method may be a method in which the receiving height of the laser light B1 from the first reference location P1 does not match the receiving height of the laser light B1 from the second reference location P2. Also, for example, the rail height detection method may be a method in which the rail height detection is terminated without performing the reference location changing step S14 even if the horizontal length of the rail installation area in which the rail 13 is installed is greater than the effective reach distance of the laser light B1 emitted by the light-emitting device 31.

[0094] (13) In the above embodiment, the rail height adjustment method includes a reference point changing step S14 in which the installation location of the light-emitting side holding device 32 that holds the light-emitting device 31 is changed from a first reference point P1 to a second reference point P2, and the holding height of the light-emitting device 31 is adjusted so that the receiving height of the laser light B1 from the first reference point P1 matches the receiving height of the laser light B1 from the second reference point P2. However, the invention is not limited to such an example, and for example, the rail adjustment method may be a method in which the receiving height of the laser light B1 from the first reference point P1 does not match the receiving height of the laser light B1 from the second reference point P2. Also, for example, the rail height adjustment method may be a method in which the rail height adjustment is completed without performing the reference point changing step S14 even if the horizontal length of the rail installation area in which the rail 13 is installed is greater than the effective reach distance of the laser light B1 emitted by the light-emitting device 31.

[0095] (14) In the above embodiment, the rail height detection method was described as a configuration in which the light receiving device installation step S12 and the height detection step S13 are repeatedly performed while moving the measurement point along the rail 13. However, the method is not limited to such an example, and for example, the rail height detection method may be a method that detects the height of the rail 13 at one point on the rail 13.

[0096] (15) In the above embodiment, the rail height adjustment method was described as an example in which the light receiving device installation step S12, the height detection step S13, and the installation height adjustment step S21 are repeatedly performed in the order described above while moving the measurement point along the rail 13. However, the method is not limited to such an example, and for example, the rail height adjustment method may be a method of adjusting the height of the rail 13 at one point on the rail 13.

[0097] (16) The configurations disclosed in the embodiments described above can also 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.

[0098] [Summary of the above embodiments] The rail height detection device and rail height detection method related to this disclosure will be described below.

[0099] In one embodiment, a rail height detection method is a rail height detection method that uses a rail height detection device comprising: a light-emitting device that emits laser light; a light-receiving device that receives the laser light emitted by the light-emitting device; a light-emitting side holding device attached to a target member which is at least one of the ceiling and a member fixed to the ceiling and holds the light-emitting device; and a light-receiving side holding device that holds the light-receiving device to detect the installation height of a rail that is suspended from the ceiling to guide a transport vehicle, wherein the light-emitting device installation work is performed by installing the light-emitting side holding device that holds the light-emitting device at a first reference point on the ceiling. The procedure includes: a step of installing the light-receiving device at a measurement location on the rail in a vertical position, and positioning the light-receiving device held by the light-receiving device so that it can receive the laser light from the light-emitting device; and a height detection step of emitting the laser light from the light-emitting device along the horizontal direction and rotating the direction in which the laser light is emitted around the vertical axis, and detecting the height at which the laser light is received by the light-receiving device with respect to the light-receiving device, wherein the light-receiving device installation step and the height detection step are repeatedly performed while moving the measurement location along the rail.

[0100] According to this configuration, after installing the light-emitting device at a first reference point on the ceiling, the height of the rail at multiple measurement points can be detected by moving the light-receiving device, which holds the light-receiving device, to multiple measurement points while performing height detection. In this case, because this configuration rotates the direction in which the light-emitting device emits laser light around its vertical axis, the height of the rail at multiple measurement points can be detected without moving the light-emitting device while it is installed at the first reference point. Therefore, it is easy to detect the height of the rail with high accuracy.

[0101] In one embodiment, the rail height detection method further includes a reference location changing step in which, if the horizontal length of the rail installation area on which the rail is installed is greater than the effective reach distance of the laser light emitted by the light projector, the installation location of the light projector-side holding device that holds the light projector is changed from the first reference location to the second reference location, wherein in the reference location changing step, the light receiving-side holding device that holds the light receiving device is installed at a location within the effective reach distance from both the first reference location and the second reference location, and the holding height of the light projector by the light projector-side holding device is adjusted with the light projector-side holding device installed at the second reference location so that the height at which the laser light is received by the light receiving device when the light projector-side holding device that holds the light projector is installed at the first reference location matches the height at which the laser light is received by the light receiving device when the light projector-side holding device that holds the light projector is installed at the second reference location.

[0102] With this configuration, even if the rail installation area is wider than the effective range of the laser beam emitted by the light emitter, the height of the rails installed in the rail installation area can be detected by changing the installation location of the light emitter-side holding device, which holds the light emitter, from a first reference location to a second reference location. Furthermore, since the height of the laser beam emitted by the light emitter relative to the light receiving device does not change before and after such a change from the first reference location to the second reference location, the height of rails installed in a wide rail installation area can be detected with high accuracy.

[0103] In one embodiment, the light-emitting side holding device includes an adjustment mechanism for adjusting the holding height of the light-emitting device, the adjustment mechanism comprises a first adjustment section and a second adjustment section, the first adjustment section comprises a first input section for receiving an input rotation for adjustment and a first conversion mechanism section for converting the rotation of the first input section into vertical movement and transmitting it to the light-emitting device, the second adjustment section comprises a second input section for receiving an input rotation for adjustment and a second conversion mechanism section for converting the rotation of the second input section into vertical movement and transmitting it to the light-emitting device, the conversion ratio in the second conversion mechanism section and the conversion ratio in the first conversion mechanism section are different.

[0104] This configuration allows the floodlight device to be mounted at an appropriate height on a target component, which is either the ceiling or a component fixed to the ceiling. Furthermore, by using the first adjustment unit and the second adjustment unit, it is possible to easily move the vertical position of the floodlight device relatively large and to finely adjust its vertical position.

[0105] In one embodiment, the light-receiving side holding device comprises a positioned portion that is positioned vertically by a reference surface of the rail, a light-receiving side support portion that supports the light-receiving device, and a light-receiving side connecting portion that connects the positioned portion and the light-receiving side support portion, wherein the light-receiving side connecting portion is configured to allow the light-receiving side support portion to pivot freely around a vertical axis relative to the positioned portion, the light-receiving side support portion is positioned below the rail, the light-receiving side connecting portion is positioned to extend vertically at a position that does not overlap with the rail when viewed vertically, the reference surface is the surface of the rail facing upward, and the positioned portion comprises a mounting portion that is placed on the reference surface and a tilt adjustment mechanism for adjusting the tilt of the light-receiving side holding device and the light-receiving device, and is configured to be detachably attached to the rail.

[0106] With this configuration, the light-receiving holder can be easily positioned relative to the rail by placing the mounting portion of the positioning portion on a reference surface. Furthermore, the tilt of the light-receiving holder can be adjusted by the tilt adjustment mechanism. Additionally, since the positioning portion is detachably mounted to the rail, the light-receiving holder and the light-receiving device held by it can be easily moved to other locations on the rail. Therefore, the height of the rail at multiple locations along the rail's extension direction can be easily detected.

[0107] In one embodiment, a rail height adjustment method is a rail height detection device comprising: a light-emitting device that emits laser light; a light-receiving device that receives the laser light emitted by the light-emitting device; a light-emitting side holding device attached to a target member which is at least one of the ceiling and a member fixed to the ceiling and which holds the light-emitting device; and a light-receiving side holding device which holds the light-receiving device, to adjust the installation height of a rail that is suspended from the ceiling to guide a transport vehicle, the method comprising: a light-emitting device installation step of installing the light-emitting side holding device which holds the light-emitting device at a first reference point on the ceiling; and moving the light-receiving side holding device up and down at a measurement point on the rail. The method includes: a light receiving device installation step, in which the light receiving device is positioned in a direction and held by the light receiving side holding device, and the light receiving device is oriented so as to be able to receive the laser light from the light emitting device; a height detection step, in which the laser light is emitted from the light emitting device along the horizontal direction and the direction in which the laser light is emitted is rotated around the vertical axis, and the light receiving device detects the height at which the laser light is received with respect to the light receiving device; and an installation height adjustment step, in which the installation height of the rail is adjusted based on the height at which the laser light is received. The light receiving device installation step, the height detection step, and the installation height adjustment step are repeated in the order described above while the measurement point is moved along the rail.

[0108] According to this configuration, after installing the light-emitting device at a first reference point on the ceiling, the height of the rail at multiple measurement points can be detected by moving the light-receiving device, which holds the light-receiving device, to multiple measurement points while performing height detection. This allows the height of the rail at multiple measurement points to be detected using the light-emitting device at the first reference point as a reference. In this case, because the direction in which the light-emitting device emits laser light is rotated around the vertical axis, the height of the rail at multiple measurement points can be detected without moving the light-emitting device while it is installed at the first reference point. Therefore, it is easy to detect the rail height with high accuracy. Furthermore, according to this configuration, by positioning the light-receiving device held by the light-receiving device in the light-receiving device mounting step so that it can receive laser light from the light-emitting device, the height of the rail at multiple points along the direction of the rail extension can be easily detected. Thus, according to the rail height detection method according to this configuration, the height of the rail at multiple points along the direction of the rail extension can be appropriately detected. Furthermore, according to this configuration, the light-receiving device mounting step, the height detection step, and the mounting height adjustment step are repeatedly performed in the order described above while moving the measurement point along the rail. Therefore, instead of moving tools, carts, and workbenches used in these three processes after each process, moving them after all three processes are completed reduces the number of times tools need to be moved, making it easier to improve work efficiency.

[0109] In one embodiment, the rail height detection device is a rail height detection device for detecting the installation height of a rail that is suspended from the ceiling to guide a transport vehicle, and comprises a light-emitting device that emits laser light, a light-receiving device that receives the laser light emitted by the light-emitting device, a light-emitting side holding device attached to a target member which is at least one of the ceiling and a member fixed to the ceiling and holds the light-emitting device, and a light-receiving side holding device that holds the light-receiving device, wherein the light-emitting device, while held by the light-emitting side holding device, emits the laser light The device is configured to project light horizontally and to rotate the direction in which the laser light is projected around a vertical axis, the light receiving device is configured to detect the height at which the laser light is received with respect to the light receiving device, the light receiving side holding device comprises a positioned part that is positioned vertically by a reference plane of the rail, and a light receiving side connecting part that connects the positioned part and the light receiving device, the light receiving side connecting part is configured to allow the light receiving device to rotate around a vertical axis relative to the positioned part.

[0110] With this configuration, a light-emitting device can be attached to a target member, which is at least one of the ceiling and a member fixed to the ceiling, and a light-receiving device can be positioned relative to the reference plane of the rail. Therefore, by detecting the height at which the laser beam is received by the light-receiving device, the height of the rail relative to the target member can be detected with high accuracy. Furthermore, since the direction in which the light-emitting device emits laser light can be rotated around the vertical axis, and the light-receiving device is configured to be rotatable around the vertical axis relative to the positioned part, the laser beam emitted by the light-emitting device can be received by the light-receiving device regardless of the planar positional relationship of the light-receiving device to the light-emitting device. Therefore, by moving the light-receiving device and the light-receiving device held therein to another location on the rail while the positions of the light-emitting device-holding device and the light-emitting device held therein are fixed, the height of the rail at multiple locations along the extension direction of the rail can be easily detected. Thus, with the rail height detection device according to this configuration, the height of the rail at multiple locations along the extension direction of the rail can be appropriately detected.

[0111] In one embodiment, the light-emitting side holding device comprises a light-emitting side mounting portion attached to the target member, a light-emitting side support portion supporting the light-emitting device, and a light-emitting side connecting portion connecting the light-emitting side mounting portion and the light-emitting side support portion in the vertical direction, wherein the light-emitting side support portion is configured to support the bottom of the light-emitting device from below, the light-emitting side mounting portion is positioned above the light-emitting device supported by the light-emitting side support portion, and the light-emitting side connecting portion comprises connecting members that are divided into three or more locations surrounding the vertical axis of the light-emitting device supported by the light-emitting side support portion, and each is formed to extend in the vertical direction.

[0112] This configuration allows for stable support of the light projection device. Furthermore, because the light projection side connection section is provided with connecting members arranged in three or more separate locations, it is easy to make the width of each connecting member thin, and thus it is easy to minimize the area over which the laser light is blocked by the connecting members.

[0113] The rail height detection method, rail height adjustment method, and rail height detection device according to this disclosure only need to achieve at least one of the effects described above. The technical features of the rail height detection device according to this disclosure are also applicable to rail height detection programs. [Explanation of symbols]

[0114] 10: Rail height detection device 12: Transport vehicle 13: Rail 13a: Running surface (reference surface) 14: Guide rail (rail) 16: Ceiling 17: Components fixed to the ceiling 31: Floodlighting device 31b: Bottom 32: Light-emitting side holding device 34: Light source mounting section 36: Light source support section 38: Light-emitting side connection part 38a: Connecting member 40:Adjustment mechanism 41: 1st adjustment section 41a: First input section 41b: First conversion mechanism 42:Second adjustment section 42a: Second input section 42b: Second conversion mechanism 51: Light receiving device 52: Light receiving side holding device 53: Positioning part 54: Mounting section 55: Tilt adjustment mechanism 56: Light receiving side support part 58: Light-receiving side connection part B1: Laser light P1: First reference point P2: Second reference point P3: Location S11: Floodlight installation process S12: Light receiving device installation process S13: Height detection process S14: Reference point change process S21: Installation height adjustment process

Claims

1. A light projector that projects laser light, A light receiving device that receives the laser light emitted by the light projection device, Attached to the target member, which is at least one of the ceiling and the member fixed to the ceiling, A light-emitting side holding device for holding the aforementioned light-emitting device, A light-receiving side holding device that holds the light-receiving device, Using a rail height detection device equipped with, A rail height detection method for detecting the installation height of a rail suspended from the ceiling to guide a transport vehicle, A light-emitting device installation step involves installing the light-emitting device holding device, which holds the light-emitting device, at a first reference location on the ceiling. A light-receiving device installation step involves positioning the light-receiving device at the measurement location on the rail in the vertical direction, and positioning the light-receiving device held by the light-receiving device so that it can receive the laser light from the light-emitting device. A height detection step involves projecting the laser light from the light projector along the horizontal direction and rotating the direction of projection of the laser light around the vertical axis, and detecting the height at which the laser light is received by the light receiving device with respect to the light receiving device. Equipped with, While moving the measurement point along the rail, the light receiving device installation step and the height detection step are repeatedly performed. The light-receiving side holding device comprises a positioning portion that is positioned vertically by the reference plane of the rail, a light-receiving side support portion that supports the light-receiving device, and a light-receiving side connecting portion that connects the positioning portion and the light-receiving side support portion. The light-receiving connection portion is configured to allow the light-receiving support portion to rotate freely around the vertical axis relative to the positioning portion. The light-receiving support portion is positioned below the rail. The light-receiving connection portion is positioned to extend vertically at a location that does not overlap with the rail when viewed from above. The aforementioned reference surface is the surface facing upward on the rail, A rail height detection method comprising a mounting portion that is placed on the reference surface, and a tilt adjustment mechanism for adjusting the tilt of the light-receiving side holding device and the light-receiving device, wherein the positioning portion is configured to be detachably attached to the rail.

2. The system further includes a reference location changing step, in which, if the horizontal length of the rail installation area on which the rail is installed is greater than the effective reach distance of the laser light emitted by the light-emitting device, the installation location of the light-emitting side holding device that holds the light-emitting device is changed from the first reference location to the second reference location. The rail height detection method according to claim 1, wherein in the reference location changing step, the light-receiving side holding device holding the light-receiving device is installed at a location within the effective reach distance from both the first reference location and the second reference location, and the holding height of the light-emitting device by the light-emitting side holding device is adjusted with the light-emitting side holding device installed at the second reference location so that the light-receiving height of the laser light by the light-receiving device when the light-emitting side holding device holding the light-emitting device is installed at the first reference location matches the light-receiving height of the laser light by the light-receiving device when the light-emitting side holding device holding the light-emitting device is installed at the second reference location.

3. The light-emitting side holding device includes an adjustment mechanism for adjusting the holding height of the light-emitting device, The adjustment mechanism comprises a first adjustment unit and a second adjustment unit. The first adjustment unit comprises a first input unit that receives an input rotation for adjustment, and a first conversion mechanism unit that converts the rotation of the first input unit into vertical movement and transmits it to the light projection device. The second adjustment unit comprises a second input unit that receives an input rotation for adjustment, and a second conversion mechanism that converts the rotation of the second input unit into vertical movement and transmits it to the light projection device. The rail height detection method according to claim 1 or 2, wherein the conversion ratio in the second conversion mechanism and the conversion ratio in the first conversion mechanism are different.

4. The rail height detection method according to claim 1 or 2, wherein the light-receiving connection portion is configured to allow the light-receiving device to pivot freely around the vertical axis with respect to the positioning portion of the positioned portion.

5. A light projector that projects laser light, A light receiving device that receives the laser light emitted by the light projection device, A light-emitting side holding device is attached to a target member which is at least one of the ceiling and a member fixed to the ceiling, and holds the light-emitting device, A light-receiving side holding device that holds the light-receiving device, Using a rail height detection device equipped with, A rail height adjustment method for adjusting the installation height of a rail that is suspended from the ceiling to guide a transport vehicle, A light-emitting device installation step involves installing the light-emitting device holding device, which holds the light-emitting device, at a first reference location on the ceiling. The light-receiving holding device comprises a positioned portion that is positioned vertically by the reference plane of the rail, a light-receiving support portion that supports the light-receiving device, and a light-receiving connection portion that connects the positioned portion and the light-receiving support portion, wherein the light-receiving connection portion is configured to allow the light-receiving support portion to pivot freely around the vertical axis relative to the positioned portion, the light-receiving support portion is positioned below the rail, and the light-receiving connection portion is positioned to extend vertically at a position that does not overlap with the rail when viewed vertically. The positioning unit comprises a mounting unit placed on the reference surface and a tilt adjustment mechanism for adjusting the tilt of the light-receiving side holding device and the light-receiving device, and is configured to be detachably attached to the rail, the reference surface being the upper-facing surface of the rail, and the light-receiving device installation step involves placing the mounting unit described above on the reference surface at the measurement point on the rail to position the light-receiving side holding device vertically, and positioning the light-receiving device held by the light-receiving side holding device so that it can receive the laser light from the light-emitting device, A height detection step involves projecting the laser light from the light projector along the horizontal direction and rotating the direction of projection of the laser light around the vertical axis, and detecting the height at which the laser light is received by the light receiving device with respect to the light receiving device. An installation height adjustment step, which adjusts the installation height of the rail based on the receiving height of the laser light, Equipped with, A rail height adjustment method, comprising moving the measurement point along the rail and repeatedly performing the light receiving device installation step, the height detection step, and the installation height adjustment step in the order described above.

6. A rail height detection device for detecting the installation height of rails that are suspended from the ceiling to guide transport vehicles, A light projector that projects laser light, A light receiving device that receives the laser light emitted by the light projection device, A light-emitting side holding device is attached to a target member which is at least one of the ceiling and the member fixed to the ceiling, and holds the light-emitting device. A light-receiving side holding device that holds the light-receiving device, Equipped with, The light-emitting device is configured to project the laser beam horizontally while being held by the light-emitting side holding device, and to rotate the direction in which the laser beam is projected around the vertical axis. The light receiving device is configured to detect the light receiving height of the laser light with respect to the light receiving device, The light-receiving side holding device comprises a positioning portion that is positioned vertically by a reference surface which is an upward-facing surface on the rail, a light-receiving side support portion that supports the light-receiving device, and a light-receiving side connecting portion that connects the positioning portion and the light-receiving side support portion that supports the light-receiving device. The positioning portion comprises a mounting portion that is placed on the reference surface, and a tilt adjustment mechanism for adjusting the tilt of the light-receiving side holding device and the light-receiving device, and is configured to be detachably attached to the rail. The light-receiving side connection portion is configured such that the light-receiving side support portion, which supports the light-receiving device, can rotate around the vertical axis with respect to the positioning portion of the positioned portion. The light-receiving support portion is positioned below the rail. The light-receiving connection portion is positioned to extend vertically at a location that does not overlap with the rail when viewed from above, in a rail height detection device.

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