Goods handling equipment

Abstract

To realize an article conveyance facility which can reduce the possibility of lowering of conveyance efficiency of articles in the article conveyance facility, while properly performing maintenance of a conveyance vehicle.SOLUTION: A control system classifies an inspection result of a conveyance vehicle 12 acquired by an inspection device 60 into a normal level, an operation possible abnormal level which is an abnormal level that has not reached the normal level but can continue conveyance of articles, and an operation impossible abnormal level which is an abnormal level that cannot continue the conveyance of articles by the conveyance vehicle 12. With respect to the conveyance vehicle 12 in which the inspection result of the conveyance vehicle 12 is classified as the operation impossible abnormal level, exit processing is executed for making it exit to the outside of a movement path 15 from an exit part 69 set at the movement path 15.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an article conveying facility including a plurality of carrier vehicles for conveying articles.

Background Art

[0002] An article conveying facility including a plurality of carrier vehicles for conveying articles is known. Japanese Patent Application Laid-Open No. 2023-097841 (Patent Document 1) describes an article conveying facility including a plurality of carrier vehicles (10) that move along predetermined movement paths (81a, 81b) to convey an article (100).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Patent Document 1 describes a recovery mechanism for recovering a carrier vehicle that has stopped abnormally. However, in order to minimize the reduction in the conveyance efficiency of articles in the article conveying facility, it is desirable to detect an abnormality by inspection before the carrier vehicle stops abnormally and move it out of the movement path. However, if the criteria for exiting during inspection are too low, abnormal stops are likely to occur within the movement path, and if the criteria are too high, the number of carrier vehicles within the movement path decreases, and in either case, the conveyance efficiency of articles in the article conveying facility is likely to decrease.

[0005] Therefore, it is desired to realize an article conveying facility that can appropriately maintain the carrier vehicle while reducing the possibility of a decrease in the conveyance efficiency of articles in the article conveying facility.

Means for Solving the Problems

[0006] The article transport equipment relating to this disclosure comprises a plurality of transport vehicles that transport articles by moving along a predetermined travel path, an inspection device positioned in an inspection area set on the travel path to inspect the transport vehicles, and a control system that controls the plurality of transport vehicles and the inspection device, wherein the control system classifies the inspection results of the transport vehicles obtained by the inspection device into a normal level, an operational abnormal level which is an abnormal level that has not reached the normal level but can continue to transport the articles, and an operational abnormal level which is an abnormal level which cannot continue to transport the articles by the transport vehicles, and executes an exit process for transport vehicles whose inspection results are classified as operational abnormal level, causing them to exit the travel path from an exit section set on the travel path.

[0007] This configuration allows for the removal of transport vehicles that have been classified as operationally unusable based on inspection results. This enables the rapid removal of vehicles that cannot continue transporting goods from their routes, allowing for proper maintenance and repair of those vehicles. Furthermore, even if the inspection results are not at a normal level, vehicles classified as being at an abnormal level that still allows for continued transport of goods are not subject to the removal process, thus allowing them to continue transporting goods. Consequently, the possibility of a decrease in the efficiency of goods transport in the goods transport facility due to an excessive number of vehicles being subject to removal is reduced. [Brief explanation of the drawing]

[0008] [Figure 1] A diagram showing an example of a goods handling system. [Figure 2] Figure 1 shows an example of a transport vehicle. [Figure 3] Perspective view of the transport vehicle in Figure 1. [Figure 4] Figure 1 shows an example of a retaining part inspection device. [Figure 5] Figure 1 shows an example of a control system in an item handling facility. [Figure 6] Figure 5 shows an example of control in the control system. [Modes for carrying out the invention]

[0009] [First Embodiment] In the following, the article transport equipment 10 according to the first embodiment will be described with reference to the drawings. Figure 1 is a top view showing an example of the article transport equipment 10 and a travel path 15. The article transport equipment 10 is equipped with a plurality of transport vehicles 12 that transport articles W by moving along a predetermined travel path 15. Here, the longitudinal direction of the travel path 15 is denoted as the path direction X, and the width direction of the travel path 15 is denoted as the width direction Y (see Figure 3). The width direction Y is a direction perpendicular to both the path direction X and the vertical direction Z.

[0010] The transport vehicle 12 travels along the travel path 15 to transport the goods W. Examples of the transport vehicle 12 include an automated guided vehicle, a transport vehicle that transports personnel and goods, an autonomous transport vehicle, a non-autonomous transport vehicle, an overhead transport vehicle, a transport vehicle that travels on the floor, a sorting cart, a magnetic levitation transport vehicle, and the like.

[0011] The travel path 15 may be physically formed or virtually formed. Examples of the travel path 15 include paths formed by rails, 2D codes, RF (Radio Frequency) tags, magnetic tape, and pathway shapes. In this embodiment, the travel path 15 is formed by a pair of running rails 21 (see Figures 2 and 3) spaced apart in the width direction Y. The running rails 21 are suspended and supported from the ceiling. In this embodiment, the travel path 15 is one-way, but it does not have to be one-way.

[0012] In this embodiment, multiple transfer target locations 17 are arranged along the movement path 15. Examples of transfer target locations 17 include an processing device for processing articles W, a storage device for storing articles W, a support stand arranged adjacent to a storage shelf for articles W, a buffer for temporarily holding articles W, a shipping transport device, an receiving transport device, and so on. In this embodiment, the transfer target locations 17 are provided with article support stands 17a for supporting articles W. The transport vehicle 12, for example, transports articles W before processing by the processing device from a transport source (not shown) to the article support stand 17a, and transports articles W after processing by the processing device from the article support stand 17a to a transport destination (not shown).

[0013] Figure 2 is a side view showing an example of a transport vehicle 12 and an article W. The article W is not particularly limited, but in this embodiment, the article W is a container that holds an object to be processed by the processing apparatus. In this embodiment, the "processing of the article" mentioned above means processing of the object to be processed contained in the article W. The article W may be a wafer storage container (so-called FOUP: Front Opening Unified Pod) that stores wafers, or a reticle storage container (so-called reticle pod) that stores reticles. When the article W is a FOUP, the object to be processed is a wafer. When the article W is a reticle pod, the object to be processed is a reticle.

[0014] The article W is provided with a flange portion Wa at the upper end of the article W and supported by the transport vehicle 12, a housing portion Wb located below the flange portion Wa for housing multiple semiconductor substrates, and a removable cover (not shown) that closes a substrate opening formed on the front of the housing portion Wb for loading and unloading substrates. The transport vehicle 12 transports the article W with the flange portion Wa suspended and supported.

[0015] Figure 3 is a perspective view showing an example of a transport vehicle 12 and a travel path 15. Guide rails 37 are provided in some sections of the travel path 15. The guide rails 37 are positioned above the running rails 21 at a distance Z1. In a vertical view, the guide rails 37 are positioned between a pair of running rails 21 that are spaced apart in the width direction Y.

[0016] Multiple information holders 23, each holding location information for its respective installation position, are installed at multiple locations along the movement path 15. The information holders 23 are discretely arranged along the movement path 15. Examples of information holders 23 include one-dimensional barcodes, two-dimensional barcodes, numbers, characters, images, and wireless tags. The information holders 23 are installed, for example, on the running rails 21, guide rails 37, holding members that hold the running rails 21 or guide rails 37, and on the road surface.

[0017] The transport vehicle 12 is equipped with a reader 31 that reads position information held by the information holder 23, and is configured to recognize its position on its own travel path 15 based on the information read by the reader 31. Examples of the reader 31 include a barcode reader, an image recognition device, a character recognition device that recognizes numbers and letters, and a wireless identification device. The transport vehicle 12 recognizes its current position based, for example, on the position information read by the reader 31 and the distance traveled since the reader 31 read the position information. The distance traveled by the transport vehicle 12 is measured, for example, using a rotary encoder. The transport vehicle 12 may also be configured to recognize its current position based on the output of a positioning device such as a GNSS (Global Navigation Satellite System) receiver.

[0018] The transport vehicle 12 includes a guided part 32 that is guided by the guide rail 37 by contacting the guide rail 37 from either side in the width direction Y, and a guide drive part 33 (for example, a solenoid or an electric motor) that moves the guided part 32 in the width direction Y. The movement of the guided part 32 in the width direction Y by the guide drive part 33 is performed, for example, by driving only the guided part 32 in the width direction Y, or by driving the guided part 32 in the width direction Y together with a support part that supports the guided part 32.

[0019] The transport vehicle 12 includes a movement detection sensor 34 that detects the movement of the guided part 32 in the width direction Y. The control system 70 described later detects that the guided part 32 has moved in the width direction Y by acquiring the detection result of the movement of the guided part 32 in the width direction Y by the movement detection sensor 34.

[0020] The transport vehicle 12 includes an obstacle sensor 38 that detects an obstacle existing on the downstream side X1 in the path direction X. For example, when an obstacle is detected by the obstacle sensor 38 during the travel of the transport vehicle 12, the transport vehicle 12 decelerates or stops. Examples of obstacles include workers, work robots, foreign objects, other transport vehicles 12, etc. within the movement path 15. Examples of the obstacle sensor 38 include an optical sensor, an ultrasonic sensor, an image sensor, a millimeter wave sensor, a laser sensor, etc. The detection result by the obstacle sensor 38 is transmitted to the control system 70 described later. In the present embodiment, the obstacle sensor 38 is configured to be able to project light to the downstream side X1 in the path direction X and measure the distance to the obstacle by the reflected light. The obstacle sensor 38 is disposed on the front surface of the transport vehicle 12.

[0021] The carrier vehicle 12 is provided with a collision prevention sensor 39 that detects other carrier vehicles 12 existing on the downstream side X1 in the path direction X. Examples of the collision prevention sensor 39 include an optical sensor, an ultrasonic sensor, an image sensor, a millimeter wave sensor, a laser sensor, and the like. The collision prevention sensor 39 is disposed on the traveling rail 21 side rather than the obstacle sensor 38 in the vertical direction Z at the front of the carrier vehicle 12. The collision prevention sensor 39 is configured to project light, for example, to the downstream side X1 in the path direction X and detect the reflection by a reflection member disposed on the upstream side X2 surface of another carrier vehicle 12. The collision prevention sensor 39 is disposed on the front surface of the carrier vehicle 12.

[0022] The carrier vehicle 12 is provided with a traveling unit 41 that travels along the moving path 15. The traveling unit 41 includes a first traveling unit on the downstream side X1 and a second traveling unit on the upstream side X2. The traveling unit 41 includes traveling wheels 42 that roll on the traveling surface of the traveling rail 21 (here, the surface facing the upper side Z1), and a traveling drive unit 43 (for example, an electric motor such as a servo motor) that rotates the traveling wheels 42. By the traveling wheels 42 being rotationally driven by the traveling drive unit 43, the traveling unit 41 travels along the traveling rail 21. The carrier vehicle 12 is provided with a cover 44 that is suspended and supported by the traveling unit 41.

[0023] The carrier vehicle 12 is provided with a holding unit 51 that holds the article W. The holding unit 51 is connected to the traveling unit 41. The article W is conveyed by the carrier vehicle 12 in a state of being accommodated in the holding unit 51. The holding unit 51 is disposed on the lower side Z2 with respect to the traveling unit 41 and is supported by the traveling unit 41.

[0024] The carrier vehicle 12 is provided with an in-vehicle lifting device 45 that raises and lowers the holding unit 51 with respect to the traveling unit 41. The in-vehicle lifting device 45 raises and lowers the holding unit 51 in the vertical direction Z between a traveling position P1 (see FIG. 2) and a transfer position P2 (see FIG. 4). The in-vehicle lifting device 45 raises and lowers the holding unit 51 in the vertical direction Z between the traveling position P1 and the transfer position P2 by winding and unwinding a plurality of suspension members 46 while suspending the holding unit 51 by the plurality of suspension members 46.

[0025] The travel position P1 is the position for traveling along the travel path 15, and the transfer position P2 is the position for transferring the item W between the transfer target location 17 and the holding unit 51. When the holding unit 51 is in the transfer position P2, it is positioned at a height corresponding to the item support base 17a of the transfer target location 17.

[0026] The holding unit 51 includes a pair of gripping claws 52 and a gripping motor (not shown) that moves the pair of gripping claws 52 closer to and further apart from each other. By driving this gripping motor, the pair of gripping claws 52 are moved closer to or further apart from each other, thereby switching between a gripping state in which the pair of gripping claws 52 grip the flange portion Wa of the article W and a gripping release state in which the gripping state is released.

[0027] The goods transport equipment 10 is equipped with an inspection device 60 for inspecting the transport vehicle 12. The inspection device 60 is located in an inspection area E1 set on the travel path 15. The inspection area E1 may be a single area, a series of consecutive areas, or a series of discontinuous areas.

[0028] The inspection device 60 is configured to perform an inspection on at least one inspection item. In this embodiment, the inspection device 60 is configured to perform an inspection on multiple inspection items. Examples of inspection items for the transport vehicle 12 include wheel wear inspection, obstacle sensor 38 inspection, collision prevention sensor 39 inspection, holding part 51 inspection, degree of wheel deterioration inspection, movement detection sensor 34 inspection, vibration state inspection of the transport vehicle 12, vibration state inspection of the holding part 51, abnormal noise inspection of the transport vehicle 12, inspection of the battery equipped in the transport vehicle 12, and so on.

[0029] The inspection device 60 includes a holding part inspection device 61 for inspecting the holding part 51, a wear inspection device 62 for inspecting the wear of the wheels, an obstacle sensor inspection device 63 for inspecting the obstacle sensor 38, and a collision prevention sensor inspection device 64 for inspecting the collision prevention sensor 39. Examples of wheel wear inspection include measuring the diameter of the running wheel 42 and measuring the diameter of the guide wheel, which is the guided part 32.

[0030] Examples of inspections of the obstacle sensor 38 include measuring the detection range in the vertical Z direction, measuring the detection range in the width Y direction, measuring the laser tilt in the vertical Z direction, measuring the laser tilt in the width Y direction, and measuring the laser intensity. Examples of inspections of the rear-end collision prevention sensor 39 include measuring the detection range in the vertical Z direction, measuring the detection range in the width Y direction, measuring the laser tilt in the vertical Z direction, measuring the laser tilt in the width Y direction, and measuring the laser intensity.

[0031] Examples of inspection of the holding part 51 include measuring the inclination of the holding part 51 around an axis parallel to the path direction X at the traveling position P1 or the transfer position P2, measuring the inclination of the holding part 51 around an axis parallel to the width direction Y at the traveling position P1 or the transfer position P2, and measuring the inclination of the holding part 51 around an axis parallel to the vertical direction Z at the traveling position P1 or the transfer position P2.

[0032] Figure 4 is a side view showing an example of a holding unit inspection device 61. The holding unit inspection device 61 includes an inspection table 65 on which a detectable object 66 is provided. The transport vehicle 12 includes a position detection unit 53 for detecting the position of the detectable object 66 provided on the inspection table 65. The detectable object 66 has a two-dimensional code. The position detection unit 53 is equipped with a two-dimensional image sensor. The inclination of the holding unit 51 in the path direction X, width direction Y, and vertical direction Z, and the position of the holding unit 51 in the path direction X, width direction Y, and vertical direction Z at the travel position P1 or transfer position P2, etc., are derived, for example, from the inclination and distance of the detectable object 66 relative to the position detection unit 53. The inclination and distance of the detectable object 66 relative to the position detection unit 53 are derived, for example, from the size, angle, position, etc. of the detectable object 66 captured by the position detection unit 53.

[0033] As shown in Figure 1, the movement path 15 is provided with an exit section 69 for moving the transport vehicle 12 out of the movement path 15. The exit section 69 is located on the downstream side X1 of the inspection area E1. In the illustrated example, the exit section 69 is located adjacent to the inspection area E1. Examples of the exit section 69 include a lifting device for moving the transport vehicle 12 out of the movement path 15, a transport device for moving the transport vehicle 12 out of the movement path 15, and an exit path branching off from the movement path 15.

[0034] Figure 5 is a control block diagram of the goods transport equipment 10. The goods transport equipment 10 includes a control system 70 that controls a plurality of transport vehicles 12. Each function of the control system 70 is realized through the cooperation of hardware such as a processing unit and a program executed on that hardware. The control system 70 may be entirely provided on the transport vehicles 12, or part of it may be provided on the transport vehicles 12 and part of it may be provided on an external control device (a control device provided outside the transport vehicles 12 that can communicate with the transport vehicles 12). The control system 70 may be entirely provided on an external control device. Here, the external control device may not be a single device, but a collection of multiple devices that can communicate with each other. The control system 70 controls the movement of the plurality of transport vehicles 12 so that each reaches its destination. In this embodiment, the control system 70 includes a higher-level control device 71 provided outside the transport vehicles 12.

[0035] The transport vehicle 12 is equipped with a vehicle control device 72 that controls the guide drive unit 33, the travel drive unit 43, the on-board lifting device 45, etc. If at least a part of the control system 70 is provided on an external control device, the vehicle control device 72 provided on the transport vehicle 12 operates in response to commands from the external control device. If at least a part of the control system 70 is provided on the transport vehicle 12, the vehicle control device 72 provided on the transport vehicle 12 may constitute that at least part of the control system 70.

[0036] The goods transport equipment 10 is equipped with a vehicle speed detection unit 73 that detects the travel speed of the transport vehicle 12. The vehicle speed detection unit 73 is mounted on the transport vehicle 12. The vehicle speed detection unit 73 detects the travel speed of the transport vehicle 12 by measuring the rotational speed of the traveling wheels 42.

[0037] The control system 70 is configured to control the inspection device 60. The control of the inspection device 60 and the control of the transport vehicle 12 may be performed by different control devices in the control system 70, or by the same control device. A part of the control system 70 may be provided in the inspection device 60.

[0038] The control system 70 limits the number of transport vehicles 12 to be inspected by the inspection device 60, Ns, within a set period Ts, to less than or equal to a set upper limit of Nsm. The set period Ts may be a value that is manually changed by the administrator, a value that is automatically changed by the control system 70, or a fixed value. Examples of the set period Ts include 1 hour, 6 hours, 12 hours, 1 day, 7 days, etc. Examples of the upper limit of Nsm include a value determined according to the operating status of the inspection device 60, a value determined according to the operating status of the goods transport equipment 10, a value determined according to the operating status of the multiple transport vehicles 12 that the goods transport equipment 10 has, etc.

[0039] The control system 70 is configured to perform, for example, the following: deriving the travel position P1 of the transport vehicle 12 based on information read by the reading device 31; deriving the tilt and position of the holding unit 51 based on information detected by the position detection unit 53; deriving the travel speed of the transport vehicle 12 based on information detected by the vehicle speed detection unit 73; and so on.

[0040] Figure 6 is a flowchart showing an example of a transport vehicle inspection process (process) by the control system 70. In this embodiment, the transport vehicle inspection process is performed periodically, but it may also be performed manually, for example. The transport vehicle inspection process may be performed during the non-operating time of the goods transport equipment 10, which is the time when the transport vehicle 12 is not transporting goods W, or during the operating time of the goods transport equipment 10, which is the time when the transport vehicle 12 is transporting goods W. The control system 70 moves the transport vehicle 12 to the inspection area E1 and executes an "inspection start process S1" to start the inspection by the inspection device 60. In this embodiment, the inspection start process S1 is performed on the transport vehicle 12 when it is not transporting goods W.

[0041] The control system 70 classifies the inspection results of the transport vehicle 12 obtained by the inspection device 60 into three categories: normal level A1, operational abnormal level B11 which does not reach normal level A1 but allows transport of goods W to continue, and operational abnormal level B12 which is an abnormal level B1 which does not allow transport of goods W by the transport vehicle 12 to continue.

[0042] The control system 70 classifies the individual inspection results, which are the inspection results for each of the multiple inspection items, into normal level A1, operational abnormal level B11, and operational abnormal level B12. The control system 70 classifies the inspection results of the transport vehicle 12 into normal level A1, operational abnormal level B11, and operational abnormal level B12 according to the multiple individual inspection results. In this embodiment, the control system 70 classifies the inspection results of the transport vehicle 12 into operational abnormal level B12 if at least one individual inspection result is classified as operational abnormal level B12.

[0043] The inspection results from the inspection device 60 include classification information, and the control system 70 classifies the inspection results into three levels based on this classification information. In this embodiment, the classification information is an index D that represents the inspection results from the inspection device 60 and increases as the degree of abnormality increases. The control system 70 classifies the inspection results into normal level A1 if index D is less than the first judgment value Da1. The control system 70 classifies the inspection results into operational abnormal level B11 if index D is greater than or equal to the first judgment value Da1 and less than the second judgment value Da2. The control system 70 classifies the inspection results into operational abnormal level B12 if index D is greater than or equal to the second judgment value Da2. Here, the second judgment value Da2 is a value greater than the first judgment value Da1.

[0044] In this embodiment, index D is an index representing the inspection results for each item, and its value increases as the degree of abnormality increases. Examples of index D include the diameter of the driving wheel 42, the tilt of the laser of the obstacle sensor 38, the tilt of the laser of the collision prevention sensor 39, the tilt of the holding part 51, and the magnitude of abnormal noise. If, in the inspection for each item, a smaller measured value indicates a greater degree of abnormality, the reciprocal of the measured value may be used as index D. Index D may be an index representing the inspection results for each item, and its value decreases as the degree of abnormality increases, and the second judgment value Da2 may be a value smaller than the first judgment value Da1.

[0045] In this embodiment, the above classification is performed on the itemized inspection results and the inspection results of the transport vehicle 12 in the inspection start process S1, but the above classification may also be performed in the normal determination process S2 and the operational determination process S3 described later.

[0046] The control system 70 executes a "normal determination process S2" to determine whether the inspection result classification of the transport vehicle 12 is normal level A1 or not. If the inspection result classification of the transport vehicle 12 is normal level A1, the inspection completion process S4 described later is executed on the transport vehicle 12. If the inspection result classification of the transport vehicle 12 is not normal level A1, the operation readiness determination process S3 described later is executed on the transport vehicle 12.

[0047] The control system 70 moves the transport vehicle 12 from the inspection area E1 if the inspection result of the transport vehicle 12 is classified as normal level A1. In this embodiment, the control system 70 executes an "inspection completion process S4" to move the transport vehicle 12 from the inspection area E1 so that the transport of the item W can begin. In the inspection completion process S4, the transport vehicle 12 moves to, for example, the source of the item W to be transported next, the charging position of the transport vehicle 12, the pre-charging waiting position of the transport vehicle 12, etc., which are set within the movement path 15. In this embodiment, the transport vehicle 12 moves under its own power in the inspection completion process S4, but it may be towed or otherwise.

[0048] The control system 70 moves the transport vehicle 12 from the inspection area E1 if the inspection result of the transport vehicle 12 is classified as operational abnormality level B11. In this embodiment, the control system 70 executes an "operational determination process S3" to determine whether the classification of the inspection result of the transport vehicle 12 is operational abnormality level B11 or not. If the classification of the inspection result of the transport vehicle 12 is operational abnormality level B11, the control system 70 executes a "waiting process S5" to make the transport vehicle 12 wait. If the classification of the inspection result of the transport vehicle 12 is not operational abnormality level B11, the inspection result of the transport vehicle 12 is classified as operational abnormality level B12, and the exit process S6 described later is executed for the transport vehicle 12.

[0049] In the standby process S5, the transport vehicle 12 moves from the inspection area E1 to a standby position set in, for example, the travel path 15, the inspection area E1, or an unshown maintenance area, and waits there. This standby position may be the pre-charging standby position of the transport vehicle 12. In this embodiment, the transport vehicle 12 moves under its own power in the standby process S5, but it may be towed or otherwise operated.

[0050] In the next transport vehicle inspection process, the control system 70 prioritizes the inspection of transport vehicles 12 classified as operationally abnormal level B11 over those classified as normal level A1. For example, the control system 70 sets the time until the next inspection start process S1 shorter for transport vehicles 12 whose inspection result is classified as operationally abnormal level B11 than for transport vehicles 12 classified as normal level A1.

[0051] The control system 70 executes an "exit process S6" for transport vehicles 12 whose inspection results are classified as operationally unusable abnormal level B12, causing them to exit the travel path 15 from the exit section 69 set on the travel path 15.

[0052] Although not shown in Figure 6, if the number N2 of transport vehicles 12 that are subject to exit processing S6 (first exit processing) because their inspection results are classified as operational abnormal level B12 is less than the set exit limit Nmax, the control system 70 will also execute exit processing S6 (second exit processing) for transport vehicles 12 whose inspection results are classified as operational abnormal level B11 until the number N of transport vehicles 12 that have undergone exit processing S6 reaches the exit limit Nmax.

[0053] After the exit process S6 (first exit process and second exit process) is performed, the transport vehicle 12 moves to, for example, a maintenance area (not shown) where maintenance or repair is performed. In this embodiment, the lifting device of the exit section 69 is used to move the transport vehicle 12 in the exit process S6, but it may also be moved by self-propulsion or towing.

[0054] If the number N2 of transport vehicles 12 that are subject to exit processing S6 because their inspection results have been classified as operationally unusable abnormal level B12 exceeds the set exit limit Nmax, the control system 70 executes exit processing S6 for the N2 transport vehicles 12 that have been classified as operationally unusable abnormal level B12.

[0055] The maximum number of vehicles that can exit, Nmax, is set according to factors such as the maintenance and repair capacity in the maintenance area, the operating status of the goods transport equipment 10, and the operating status of the multiple transport vehicles 12 that the goods transport equipment 10 has. It may be a value that is changed manually by the administrator, a value that is changed automatically by the control system 70, or a fixed value. The number of transport vehicles 12 that have performed exit processing S6, N, is the value obtained by subtracting the number of transport vehicles 12 that have returned to the movement route 15 after maintenance or repair has been completed. The number of transport vehicles 12 that have performed exit processing S6, N1, N2, etc., that have been classified as operational abnormal level B11 in the inspection results may be the number of vehicles over a certain period, for example, 12 hours, 24 hours, 3 days, 7 days, etc.

[0056] The control system 70 executes exit process S6 on the N2 transport vehicles 12 that are subject to exit process S6 because their inspection results were classified as operational abnormality level B12. Subsequently, if the number N2 is less than the upper limit of exit vehicles Nmax, the control system 70 executes exit process S6 on the N1 transport vehicles 12 that were classified as operational abnormality level B11 and underwent standby process S5, for a number of vehicles obtained by subtracting the number N2 from the upper limit of exit vehicles Nmax. For the N1 transport vehicles 12 that were classified as operational abnormality level B11 and did not undergo exit process S6, inspection completion process S4 is executed.

[0057] In Figure 6, instead of the waiting process S5, the inspection completion process S4 may be performed, and the exit process S6 may be performed on the number of transport vehicles 12 that have been classified as operational abnormality level B11 and for which the inspection completion process S4 has been performed, by subtracting the number N2 from the maximum number of vehicles that can exit Nmax. In this way, it is not necessary to set up a waiting position for the transport vehicles 12 that have been classified as operational abnormality level B11.

[0058] If the number N2 of transport vehicles 12 that are subject to exit processing S6 because at least one item-specific inspection result is classified as operational abnormal level B12 is less than the set exit limit Nmax, the control system 70 will execute exit processing S6 starting with transport vehicles 12 that have a large number of item-specific inspection results classified as operational abnormal level B11, until the number N of transport vehicles 12 that have undergone exit processing S6 reaches the exit limit Nmax.

[0059] Furthermore, the control system 70 may be configured to execute exit processing S6 prioritizing transport vehicles 12 with fewer item-specific inspection results classified as operational abnormal level B11, until the number of transport vehicles 12 that have undergone exit processing S6 reaches the exit limit Nmax, if the number of transport vehicles 12 that have undergone exit processing S6 N reaches the exit limit Nmax. In this way, exit processing S6 can be prioritized for transport vehicles 12 that are likely to have a short maintenance or repair period.

[0060] If there are multiple transport vehicles 12 with the same number of item-specific inspection results classified as operational abnormality level B11, the control system 70 prioritizes executing the exit process S6 on the transport vehicle 12 with the longest operating time after maintenance or repair.

[0061] The transport vehicle inspection process by the control system 70 ends when the number of transport vehicles 12 inspected within the set period Ts reaches the inspection limit Nsm, by executing inspection termination process S4 on the waiting transport vehicles 12 via standby process S5.

[0062] In this embodiment, in the next transport vehicle inspection process, transport vehicles 12 that were not inspected in the previous transport vehicle inspection process are inspected by the inspection device 60 with priority over the transport vehicles 12 that were inspected. In this embodiment, transport vehicles 12 with longer elapsed days, operating hours, travel time, travel distance, etc., since their last inspection by the inspection device 60 are inspected with priority.

[0063] In this embodiment, in the next transport vehicle inspection process, transport vehicles 12 that were classified as operational abnormal level B11 in the previous transport vehicle inspection process and for which exit processing S6 was not performed are inspected by the inspection device 60 with priority over transport vehicles 12 classified as normal level A1. In this embodiment, in the next transport vehicle inspection process, transport vehicles 12 that were classified as normal level A1 are inspected by the inspection device 60 with priority over transport vehicles 12 for which exit processing S6 was performed in the previous transport vehicle inspection process.

[0064] [Second Embodiment] The following describes the article transport equipment 10 according to the second embodiment. This embodiment differs from the first embodiment in that the control system 70 does not classify the item-specific inspection results into operational abnormality level B11 and operational abnormality level B12. The following description will focus on the differences from the first embodiment. Points that are not specifically described are the same as in the first embodiment.

[0065] In this embodiment, the control system 70 classifies the individual inspection results, which are the inspection results for each of the multiple inspection items, into normal level A1 and abnormal level B1. The control system 70 then classifies the inspection results of the transport vehicle 12 into operational abnormal level B11 and operational abnormal level B12, according to the number of inspection items whose individual inspection results are classified as abnormal level B1.

[0066] In this embodiment, index D is an index representing the test results for each item, and its value increases as the degree of abnormality increases. The control system 70 classifies the test result as normal level A1 if index D is less than the first judgment value Db1. The control system 70 classifies the test result as abnormal level B1 if index D is equal to or greater than the first judgment value Db1.

[0067] In this embodiment, if the inspection results for an item classified as abnormal level B1 are less than the second judgment value Db2, the control system 70 classifies the inspection results of the transport vehicle 12 as an operational abnormal level B11. If the inspection results for an item classified as abnormal level B1 are greater than or equal to the second judgment value Db2, the control system 70 classifies the inspection results of the transport vehicle 12 as an operational abnormal level B12.

[0068] In this embodiment, if the number N2 of transport vehicles 12 that are subject to exit processing S6 because their inspection results are classified as operational abnormal level B12 is less than the set upper limit of exit vehicles Nmax, the control system 70 will execute exit processing S6 prioritizing transport vehicles 12 that are subject to exit processing S6 because they are classified as operational abnormal level B11, starting with those with a large or small number of inspection items whose item-specific inspection results are classified as abnormal level B1.

[0069] In this embodiment, if there are multiple transport vehicles 12 with the same number of item-specific inspection results classified as abnormal level B1, the control system 70 prioritizes executing the exit process S6 on the transport vehicle 12 with the longest operating time after maintenance or repair.

[0070] [Third Embodiment] The following describes the article transport equipment 10 according to the third embodiment. The following description will focus on the differences from the first embodiment described above. This embodiment differs from the first embodiment in that it prioritizes transport vehicles 12 in which the inspection items with higher priority are classified as operational abnormality level B11, rather than the number of inspection results for each item classified as operational abnormality level B11. Points that are not specifically described are the same as in the first embodiment described above.

[0071] In this embodiment, a priority order is set for multiple inspection items. If the number N2 of transport vehicles 12 that are subject to exit processing S6 because at least one item-specific inspection result is classified as operational abnormal level B12 is less than the set exit limit Nmax, the control system 70 will execute exit processing S6 starting with transport vehicles 12 whose item-specific inspection results for higher priority inspection items are operational abnormal level B11, until the number N of transport vehicles 12 that have undergone exit processing S6 reaches the exit limit Nmax.

[0072] Examples of prioritizing inspection items include giving higher priority to the inspection of the holding unit 51, obstacle sensor 38, and collision prevention sensor 39 than to the inspection of the driving wheels 42; giving higher priority to the inspection of the driving wheels 42, obstacle sensor 38, and collision prevention sensor 39 than to the inspection of the holding unit 51; and giving higher priority to the inspection of the driving wheels 42 and the inspection of the holding unit 51 than to the inspection of the obstacle sensor 38 and collision prevention sensor 39.

[0073] In this embodiment, if the highest priority item-specific inspection result is the same operational abnormality level B11 for multiple transport vehicles 12, the control system 70 prioritizes executing the exit process S6 for the transport vehicle 12 whose next highest priority inspection item-specific inspection result is also operational abnormality level B11.

[0074] Furthermore, if the control system 70 determines that the highest priority item-specific inspection result is the same operational abnormality level B11 for multiple transport vehicles 12, it may prioritize executing the exit process S6 starting with the transport vehicle 12 with the longest operating time after maintenance or repair.

[0075] Furthermore, if the control system 70 determines that the highest priority item-specific inspection result is the same operational abnormality level B11 for multiple transport vehicles 12, it may prioritize executing the exit process S6 starting with the transport vehicle 12 that has the most item-specific inspection results classified as operational abnormality level B11.

[0076] Furthermore, if the control system 70 determines that the highest priority item-specific inspection result is the same operational abnormality level B11 for multiple transport vehicles 12, it may prioritize executing the exit process S6 starting with the transport vehicle 12 with the fewest item-specific inspection results classified as operational abnormality level B11.

[0077] Priorities can be set for one or more test items, or for two or more test items. For example, priorities may be set for all of the test items, or only one or two test items may be set to have priority.

[0078] [Other Embodiments] Next, other embodiments of the goods conveying equipment will be described.

[0079] (1) In the above embodiment, the control system 70 was described as an example in which the inspection results of the transport vehicle 12 are classified into three categories: normal level A1, operational abnormal level B11, and operational abnormal level B12. However, the system is not limited to such an example, and for example, the operational abnormal level B11 or operational abnormal level B12 may be divided into multiple levels, so that the inspection results of the transport vehicle 12 are classified into four or more categories.

[0080] (2) In the above embodiment, an exit limit Nmax was set, and the control system 70 was described as an example in which the exit process S6 is executed even for transport vehicles 12 classified as operational abnormal level B11. However, the system is not limited to such an example, and for example, the exit process S6 may not be executed for transport vehicles 12 classified as operational abnormal level B11, and the period until the next inspection start process S1 may be set to be shorter than that for transport vehicles 12 classified as normal level A1. Also, for example, the exit limit Nmax may not be set.

[0081] (3) In the above embodiment, the inspection device 60 is configured to perform inspections on multiple inspection items, and an exit process S6 is described as an example in which the exit process S6 is performed on a transport vehicle 12 in which at least one item-specific inspection result is classified as an operational abnormal level B12. However, the embodiment is not limited to such an example, for example, a transport vehicle 12 in which one item-specific inspection result is classified as an operational abnormal level B11 may be classified as an operational abnormal level B11. Alternatively, for example, the inspection device 60 may be configured to perform inspections on only one inspection item.

[0082] (4) In the above embodiment, a configuration was described as in which the control system 70 limits the number of transport vehicles 12 to be inspected by the inspection device 60 within the set period Ts to less than or equal to the set upper limit number of vehicles Nsm. However, the system is not limited to such an example, and for example, the transport vehicle inspection process may be completed when the inspection by the inspection device 60 is completed for all transport vehicles 12 in the movement path 15, even if the set period Ts and the upper limit number of vehicles Nsm are not set. Alternatively, for example, the transport vehicle inspection process may be completed when the number of transport vehicles 12 that have performed the exit process S6 reaches the upper limit number of vehicles Nmax.

[0083] (5) In the above embodiment, an example was described in which, in the next transport vehicle inspection process, transport vehicles 12 that were not inspected in the previous transport vehicle inspection process are given priority over transport vehicles 12 that were inspected in the previous transport vehicle inspection process. However, the example is not limited to such an example, and for example, transport vehicles 12 with longer operating hours after maintenance or repair may be given priority for inspection by the inspection device 60. Alternatively, for example, transport vehicles 12 with shorter operating hours after maintenance or repair may be given priority for inspection by the inspection device 60. Alternatively, for example, the priority of transport vehicles 12 may be determined according to any or more of the number of days elapsed since the inspection by the inspection device 60, operating hours, travel time, travel distance, etc., and inspection by the inspection device 60 may be performed accordingly.

[0084] (6) In the above embodiment, the inspection device 60 was described as having a configuration that includes a holding part inspection device 61, a wear inspection device 62, an obstacle sensor inspection device 63, and a rear-end collision prevention sensor inspection device 64. However, the inspection device 60 is not limited to such an example, and may have a configuration that does not include any or more of the holding part inspection device 61, the wear inspection device 62, the obstacle sensor inspection device 63, and the rear-end collision prevention sensor inspection device 64. Also, for example, multiple types of inspection devices, such as the obstacle sensor inspection device 63 and the rear-end collision prevention sensor inspection device 64, may be integrated into a single device.

[0085] (7) In the above embodiment, the exit section 69 was described as being located downstream X1 adjacent to the inspection area E1 as an example. However, the invention is not limited to such an example, and for example, the exit section 69 may be located in a position not adjacent to the inspection area E1. Also, for example, the exit section 69 may be set at only one location on the travel path 15, or it may be set at multiple locations.

[0086] (8) In the above embodiment, a configuration in which the inspection device 60 is located in an inspection area E1 set on the travel path 15 was described as an example. However, the example is not limited to such an example, and for example, the inspection device 60 may be mounted on the transport vehicle 12. For example, any or more of the holding part inspection device 61, wear inspection device 62, obstacle sensor inspection device 63, and rear-end collision prevention sensor inspection device 64 may be mounted on the transport vehicle 12.

[0087] (9) In the above embodiment, a configuration in which the control system 70 performs the operational readiness determination process S3 after the normal readiness determination process S2 was described as an example. However, the system is not limited to such an example, and for example, the normal readiness determination process S2 may be performed after the operational readiness determination process S3. Alternatively, for example, instead of the normal readiness determination process S2 or the operational readiness determination process S3, an operational readiness determination process may be performed to determine whether the inspection result of the transport vehicle 12 is classified as an operational readiness abnormality level B12.

[0088] (10) The configurations disclosed in 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.

[0089] [Summary of the above embodiments] The following describes the article handling equipment related to this disclosure.

[0090] In one embodiment, the goods transport equipment comprises a plurality of transport vehicles that transport goods by moving along a predetermined travel path, an inspection device positioned in an inspection area set on the travel path to inspect the transport vehicles, and a control system that controls the plurality of transport vehicles and the inspection device, wherein the control system classifies the inspection results of the transport vehicles obtained by the inspection device into a normal level, an operational abnormal level which is an abnormal level that has not reached the normal level but can continue to transport the goods, and an operational abnormal level which is an abnormal level which cannot continue to transport the goods by the transport vehicle, and executes an exit process for the transport vehicles whose inspection results are classified as operational abnormal level, causing them to exit the travel path from an exit section set on the travel path.

[0091] This configuration allows for the removal of transport vehicles that have been classified as operationally unusable based on inspection results. This enables the rapid removal of vehicles that cannot continue transporting goods from their routes, allowing for proper maintenance and repair of those vehicles. Furthermore, even if the inspection results are not at a normal level, vehicles classified as being at an abnormal level that still allows for continued transport of goods are not subject to the removal process, thus allowing them to continue transporting goods. Consequently, the possibility of a decrease in the efficiency of goods transport in the goods transport facility due to an excessive number of vehicles being subject to removal is reduced.

[0092] In one embodiment, if the number of transport vehicles that are subject to the exit process because the inspection result is classified as an abnormal level of unoperable operation is less than the set maximum number of vehicles that can be exited, the control system will also perform the exit process on transport vehicles whose inspection result is classified as an abnormal level of usable operation until the number of transport vehicles that have undergone the exit process reaches the maximum number of vehicles that can be exited.

[0093] This configuration allows for the appropriate suppression of the decline in the efficiency of goods transport in the goods transport equipment by limiting the number of transport vehicles subject to exit processing to the maximum number of vehicles that can be exited, while also enabling maintenance and repairs to be carried out relatively early for transport vehicles that have received inspection results classified as being at an operational abnormal level.

[0094] In one embodiment, the inspection device is configured to perform inspections on a plurality of inspection items, and the control system classifies the item-specific inspection results, which are the inspection results for each of the plurality of inspection items, into the normal level, the operational abnormal level, and the operational abnormal level, and executes the exit process for the transport vehicle in which at least one of the item-specific inspection results is classified as the operational abnormal level, and if the number of transport vehicles that are subject to the exit process because at least one of the item-specific inspection results is classified as the operational abnormal level is less than the set exit limit, the system executes the exit process prioritizing the transport vehicles in which the number of inspection items classified as the operational abnormal level is greater until the number of transport vehicles that have undergone the exit process reaches the exit limit.

[0095] This configuration allows for the appropriate suppression of the decline in the efficiency of goods transport in the goods transport equipment by limiting the number of transport vehicles subject to exit processing to the maximum number of vehicles that can be exited. At the same time, it makes it possible to prioritize maintenance and repairs on transport vehicles that have many inspection items classified as "operable but abnormal" in their individual inspection results, even if there are no inspection items classified as "unoperable abnormal" in their individual inspection results. Therefore, maintenance and repairs can be appropriately carried out on multiple transport vehicles.

[0096] In one embodiment, the inspection device is configured to perform inspections on a plurality of inspection items, and the control system classifies the item-specific inspection results, which are the inspection results for each of the plurality of inspection items, into the normal level and the abnormal level, and classifies the inspection results of the transport vehicle into the operational abnormal level and the operational abnormal level according to the number of inspection items whose item-specific inspection results are classified as the abnormal level.

[0097] This configuration allows for the appropriate classification of operational abnormality levels and operational abnormality levels based on the results of multiple itemized inspections for each transport vehicle.

[0098] In one embodiment, the control system limits the number of transport vehicles to be inspected by the inspection device within a set period to less than or equal to a set upper limit for inspection.

[0099] This configuration allows for limiting the number of transport vehicles inspected within a set period, thereby minimizing the reduction in transport efficiency caused by transport vehicles being unable to transport goods while being inspected.

[0100] The technical features of the goods transport equipment described herein are also applicable to inspection methods and inspection programs for transport vehicles. [Explanation of symbols]

[0101] 10: Goods handling equipment 12: Transport vehicle 15: Travel Route 60: Inspection equipment 69: Exit section 70: Control System E1: Inspection Area Ts: Setting period W:Goods

Claims

1. Multiple transport vehicles that move along predetermined routes to transport goods, An inspection device positioned in an inspection area set along the aforementioned travel path to perform inspections of the transport vehicle, A control system that controls multiple transport vehicles and inspection devices, A material handling system equipped with, The control system classifies the inspection results of the transport vehicle obtained by the inspection device into three categories: a normal level, an operational abnormal level which is an abnormal level that has not reached the normal level but allows the transport of the goods to continue, and an operational abnormal level which is an abnormal level which prevents the transport of the goods by the transport vehicle from continuing. For transport vehicles whose inspection results are classified as operational abnormal levels, the system performs an exit process which causes them to exit the movement path from an exit section set on the movement path.

2. The article transport equipment according to claim 1, wherein the control system, if the number of transport vehicles that are subject to the exit process because the inspection result is classified as an abnormal level of unoperable status is less than the set maximum number of vehicles that can be exited, will also perform the exit process on transport vehicles whose inspection result is classified as an abnormal level of usable status until the number of transport vehicles that have undergone the exit process reaches the maximum number of vehicles that can be exited.

3. The inspection device is configured to perform inspections on multiple inspection items, The control system is The item-specific inspection results, which are the inspection results for each of the multiple inspection items, are classified into the normal level, the operational abnormal level, and the operational abnormal level. The exit procedure is performed on the transport vehicle in which at least one of the item-specific inspection results is classified as an abnormal level of inoperability, The article transport equipment according to claim 1, wherein if the number of transport vehicles subject to the exit process because at least one of the item-specific inspection results is classified as an abnormal level of unoperable status is less than the set exit limit, the exit process is performed prioritizing the transport vehicles with a large number of inspection items classified as an abnormal level of usable status until the number of transport vehicles that have undergone the exit process reaches the exit limit.

4. The inspection device is configured to perform inspections on multiple inspection items, The control system is The individual test results, which are the test results for each of the multiple test items, are classified into the normal level and the abnormal level. The article transport equipment according to claim 1, wherein the inspection results of the transport vehicle are classified into operational abnormal levels and operational abnormal levels according to the number of inspection items whose individual inspection results are classified into the abnormal level.

5. The article transport equipment according to any one of claims 1 to 4, wherein the control system limits the number of transport vehicles to be inspected by the inspection device within a set period to less than or equal to a set upper limit for inspection.

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