Goods handling equipment

Abstract

To realize an article carrying facility that facilitates a maintenance of an environment in which a carrier vehicle can operate appropriately.SOLUTION: A carrier vehicle comprises a vehicle-sided control unit 14 for performing motion control of each unit of the carrier vehicle, and a detection unit for detecting a detected body, and is configured to move along a moving path while sequentially detecting a plurality of detected bodies using the detection unit. A management device Ct is configured to cause the vehicle-sided control unit 14 to selectively execute a normal mode and an inspection mode. In the inspection mode, each time the detection unit detects a detected body, the vehicle-sided control unit 14 transmits identification information I4 of the detected body detected by the detection unit, and detection level information IL indicating a detection level of the detected body by the detection unit to the management device Ct.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to an article conveying facility including a conveyance vehicle for conveying articles, a management device communicably connected to the conveyance vehicle and controlling the conveyance vehicle, and a plurality of detected objects each having unique identification information.

Background Art

[0002] An example of such an article conveying facility is disclosed in Japanese Patent No. 7076935 (Patent Document 1). Hereinafter, the reference numerals shown in parentheses in the description of the background art are those of Patent Document 1.

[0003] In the facility disclosed in Patent Document 1, a plurality of marks (9) are arranged on the floor surface at intervals. Each mark (9) is configured to be identifiable by a conveyance vehicle (4). The overall control computer (5) instructs the conveyance vehicle (4) of a plurality of marks (9) to be traversed by the conveyance vehicle (4). The conveyance vehicle (4) travels while sequentially detecting a plurality of marks (9) by a mark sensor (48). That is, the mark (9) constitutes a part of the movement path of the conveyance vehicle (4) and has a function of supporting the travel of the conveyance vehicle (4).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Incidentally, as shown in mark (9) of Patent Document 1, detected objects that are detected by a moving transport vehicle may require replacement or repair due to factors such as dirt or damage. If the degree of dirt or damage is high, the function of the detected object, which is to support the transport vehicle's movement along the travel path, may be impaired. In that case, the transport vehicle will not be able to travel properly along the travel path. Thus, detected objects like the mark (9) of Patent Document 1 are likely to affect the transport vehicle's travel environment.

[0006] In light of the above circumstances, there is a need for the realization of goods transport equipment that facilitates the creation of an environment in which transport vehicles can operate appropriately. [Means for solving the problem]

[0007] A transport vehicle for carrying goods, A control device that is connected to the transport vehicle in a communication manner and controls the transport vehicle, An article conveying device comprising a plurality of objects to be detected, each having unique identification information, The movement path of the transport vehicle is set to connect multiple of the detected objects, The transport vehicle comprises a vehicle-side control unit that controls the operation of each part of the transport vehicle, and a detection unit that detects the object to be detected, and is configured to move along the movement path while sequentially detecting a plurality of the object to be detected by the detection unit. The control device is configured to cause the vehicle-side control unit to selectively execute between normal mode and inspection mode. The vehicle-side control unit is, In the normal mode, each time the detection unit detects the object to be detected, the detection unit transmits to the management device the identification information of the object to be detected and positional relationship information indicating the relative positional relationship between the reference position of the transport vehicle and the object to be detected at the time the identification information was detected by the detection unit. In the inspection mode, each time the detection unit detects the object to be detected, the detection unit transmits the identification information of the object to be detected and the detection level information indicating the detection level of the object to be detected by the detection unit to the management device.

[0008] With this configuration, in normal mode, the management device can obtain identification information and positional relationship information for each of the multiple detected objects that make up the transport vehicle's movement path, making it easier to optimize the control of the transport vehicle. In inspection mode, the management device can obtain detection level information in addition to identification information for each detected object. If the detection level indicated in the detection level information is high, it can be determined that the condition of the detected object is good. On the other hand, if the detection level indicated in the detection level information is low, it can be estimated that there is a high need for replacement or repair of the detected object. Therefore, it becomes easier to take measures such as replacing or repairing the detected object before its condition deteriorates and it becomes unsuitable for use. As described above, with this configuration, it is easier to create an environment in which the transport vehicle can operate properly.

[0009] Further features and advantages of the technology relating to this disclosure will become clearer from the following description of exemplary and non-limiting embodiments, with reference to the drawings. [Brief explanation of the drawing]

[0010] [Figure 1] Plan view of goods handling equipment [Figure 2] Front view of the transport vehicle [Figure 3] Control block diagram [Figure 4] Diagram showing map data [Figure 5] Diagram showing the configuration of the object being detected. [Figure 6] This diagram shows the relative positional relationship between the reference position of the transport vehicle and the detected object when identification information is detected. [Figure 7] Diagram showing the content transmitted from the transport vehicle to the control device in both normal mode and inspection mode. [Figure 8] A diagram showing an example of a display unit on a terminal device. [Modes for carrying out the invention]

[0011] The following describes an embodiment of the goods transport equipment with reference to the drawings.

[0012] As shown in Figure 1, the goods transport equipment 100 includes a transport vehicle 1 for transporting goods 9, a management device Ct (see Figure 3) which is communicatively connected to the transport vehicle 1 and controls the transport vehicle 1, and a plurality of detected objects 4, each having unique identification information I4 (see Figure 4). As will be described in detail later, in this embodiment, the management device Ct includes a higher-level control device 2 and a terminal device 3.

[0013] In this embodiment, the transport vehicle 1 is configured to travel on a travel surface F that extends along a predetermined direction, the X direction, and the Y direction perpendicular to the X direction. The travel surface F is formed on the floor of the goods transport equipment 100. The transport vehicle 1 is configured to travel on the travel surface F along the X direction or the Y direction and to transfer goods 9 between it and the transfer target location 8. In this example, the transport vehicle 1 is configured as a floor transport vehicle that travels on the floor.

[0014] The transport vehicle 1's travel path R is set to connect multiple detected objects 4. In this embodiment, the multiple detected objects 4 are distributed at multiple locations on the travel surface F. The travel path R is set to select any number of detected objects 4 from the multiple detected objects 4 and to connect the selected multiple detected objects 4. The distance between adjacent detected objects 4 is a predetermined set interval. As a result, for example, when the transport vehicle 1 detects a particular detected object 4, it travels at the set interval toward the next detected object 4 and detects the next detected object 4. The transport vehicle 1 is configured to travel to its destination by repeating this process. In this example, multiple detected objects 4 are arranged at equal intervals in some or all of the area of ​​the travel surface F.

[0015] In this embodiment, the movement path R of the transport vehicle 1 is set by a combination of a plurality of objects to be detected 4 arranged continuously along the X direction and a plurality of objects to be detected 4 arranged continuously along the Y direction. In other words, the movement path R of the transport vehicle 1 is composed of a combination of a path extending along the X direction and a path extending along the Y direction.

[0016] For example, FIG. 1 shows a movement path R when the transport vehicle 1 that has received the article 9 at the shipping department 83 transports the article 9 to one of the plurality of storage units 81. In the present embodiment, the movement path R of the transport vehicle 1 is set by the upper control device 2 (see FIG. 3). The upper control device 2 is configured to set the movement path R from the transport source to the transport destination of the article 9 for each transport vehicle 1.

[0017] In the present embodiment, the article 9 includes a pallet 90 and a plurality or a single load 91 placed on the pallet 90. In this example, the transport vehicle 1 is configured to transport the pallet 90 on which the load 91 is placed or an empty pallet 90 on which the load 91 is not placed. The transfer target location 8 is configured to directly place the pallet 90.

[0018] In the present embodiment, the article transport facility 100 includes a storage unit 81 that temporarily stores the article 9, an automated warehouse (not shown) that stores the article 9, a warehousing department 82 for warehousing the article 9 into the automated warehouse, and a shipping department 83 for shipping the article 9 from the automated warehouse. For example, the storage unit 81 is adjacent to the work area. In the work area, work on the article 9 stored in the storage unit 81 is performed by an operator or a robot. For example, picking work, packing work, etc. can be performed in the work area.

[0019] At least a part of each of the storage unit 81, the warehousing department 82, and the shipping department 83 is a transfer target location 8. The transport vehicle 1 is configured to transfer the article 9 between these transfer target locations 8.

[0020] As shown in Figure 2, the transport vehicle 1 comprises a trolley body 10, a plurality of wheels 11, and a transfer unit 12 for transferring articles 9 between the transport vehicle and the transfer target location 8. In this example, the plurality of wheels 11 include at least a pair of wheels 11 spaced apart in the width direction. Each of the pair of wheels 11 is driven independently by a separate motor or the like. By driving the pair of wheels 11 to rotate in opposite directions, the transport vehicle 1 is able to pivot around its vertical axis in place. The transport vehicle 1 is configured to change its direction of travel in the X or Y direction by pivoting.

[0021] The transport vehicle 1 is equipped with a vehicle-side control unit 14 that controls the operation of each part of the transport vehicle 1, and a detection unit 13 that detects objects to be detected 4. The transport vehicle is configured to move along a travel path R while sequentially detecting multiple objects to be detected 4 using the detection unit 13.

[0022] In this embodiment, the detection unit 13 includes an imaging unit 130 that images the object to be detected 4. The detection unit 13 is configured to acquire various information about the object to be detected 4 based on the recognition result of the image of the object to be detected 4 captured by the imaging unit 130.

[0023] The imaging unit 130 is directed toward the travel surface F and is configured to image the travel surface F. In this embodiment, the imaging unit 130 is configured to continuously image the travel surface F at a preset period. This period is determined appropriately according to the performance of the transport vehicle 1, etc. It is also possible to set the period to be as short as possible so that the imaging unit 130 is constantly imaging the travel surface F. For example, while the transport vehicle 1 is traveling, the object to be detected 4 is detected when it falls within the imaging range A based on the field of view of the imaging unit 130 (see Figure 6).

[0024] Figure 3 shows the control block diagram of the goods transport equipment 100.

[0025] As shown in Figure 3, the goods transport equipment 100 comprises a higher-level control device 2 and a transport vehicle 1. The higher-level control device 2 and the transport vehicle 1 are configured to communicate with each other. For example, the higher-level control device 2 transmits a transport command to the transport vehicle 1 specifying the source and destination of the goods 9. The transport vehicle 1 responds to the command from the higher-level control device 2 and transmits its current position to the higher-level control device 2. The transport vehicle 1 is configured to perform the above-mentioned exchanges (sending and receiving signals) with the higher-level control device 2 using a vehicle-side control unit 14 mounted on it.

[0026] The higher-level control unit 2 and the vehicle-side control unit 14 are equipped with, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Each process or function is realized through the cooperation of this hardware and a program executed on the computer or other processor.

[0027] In this embodiment, the goods transport equipment 100 further includes a terminal device 3 that is communicatively connected to a higher-level control device 2. In this example, the higher-level control device 2 and the terminal device 3 are communicatively connected wirelessly. The higher-level control device 2 and the terminal device 3 are included in the management device Ct. The terminal device 3 is a device operated by an operator. For example, an operator can operate the terminal device 3 to input commands to the transport vehicle 1. The commands input by the operator are transmitted indirectly to the transport vehicle 1 via the higher-level control device 2. However, the configuration is not limited to this, and the terminal device 3 and the transport vehicle 1 may be communicatively connected, and commands may be transmitted directly from the terminal device 3 to the transport vehicle 1.

[0028] The terminal device 3 comprises an information acquisition unit 30 for acquiring information, a storage unit 31 for storing information, an information display unit 32, and a display control unit 33. For example, the terminal device 3 is configured using a personal computer, tablet, or smartphone.

[0029] As shown in Figure 4, the higher-level control device 2 is equipped with map information Im as map data, which shows a map of the area that the transport vehicle 1 can move. Alternatively, the higher-level control device 2 is configured to be able to obtain this map data from a database held on a server (including a cloud server).

[0030] Figure 4 shows an image of the map data. The map information Im is a visualization of the map and includes information on at least the driving surface F and the detected object 4.

[0031] The location information Ip, which indicates the position of each of the multiple detected objects 4 on the map, and the identification information I4, which indicates each of the multiple detected objects 4, are associated with each other and reflected in the map information Im as map data.

[0032] Location information Ip indicates the position of the detected object 4, specifically its position in the XY coordinate system (position in the X direction and position in the Y direction). Identification information I4 is unique information that each detected object 4 possesses independently. In this example, identification information I4 is a number assigned to each of the multiple detected objects 4.

[0033] In the map data shown in Figure 4, for example, the detected object 4 whose identification information I4 is "No. 11" is located at position "X1, Y1" in the XY coordinate system. Similarly, for example, the detected object 4 whose identification information I4 is "No. 12" is located at position "X2, Y1" in the XY coordinate system. In this way, the identification information I4 and position information Ip for each detected object 4 are shown in the map data.

[0034] The higher-level control device 2 is configured to set the movement path R of the transport vehicle 1 by referring to map data. The transport vehicle 1 is configured to move while sequentially detecting multiple objects 4 that make up the movement path R.

[0035] As shown in Figure 5, in this embodiment, one object to be detected 4 comprises a group of marks 4G, which is a collection of multiple marks 4a. The object to be detected 4 comprises a plate 40, and the group of marks 4G is attached to the plate 40.

[0036] In this embodiment, each of the multiple marks 4a is a two-dimensional code that holds predetermined information. Each mark 4a holds multiple pieces of information. In this example, all marks 4a belonging to the same mark group 4G hold the same identification information I4, but also hold different mark information I4a.

[0037] Figure 5 shows a detected object 4 whose identification information I4 is "No. 12". In the illustrated example, one of the multiple marks 4a belonging to the mark group 4G of this detected object 4 holds the information "0100012", which is a series of multi-digit numbers. The last two digits of this information, "12", represent "No. 12", which is the identification information I4 of the detected object 4 to which the mark 4a possessing this information is attached. In Figure 5, the other marks 4a hold the information "0400012", and the last two digits of this information, "12", represent "No. 12", which is the identification information I4 of the detected object 4. Thus, each of the multiple marks 4a belonging to the mark group 4G of the detected object 4 holds the identification information I4 of that detected object 4. Therefore, the transport vehicle 1 can obtain the identification information I4 of the detected object 4 by detecting at least one of the multiple marks 4a belonging to the mark group 4G. Furthermore, since the identification information I4 of the detected object 4 is associated with the location information Ip (see Figure 4), the transport vehicle 1 is also able to acquire the location information Ip of the detected object 4.

[0038] On the other hand, each of the multiple marks 4a belonging to mark group 4G possesses unique information. For example, for a mark 4a that possesses the information "0100012", the first two digits of this information, "01", represent the unique mark information I4a of that mark 4a. Similarly, for a mark 4a that possesses the information "0400012", the first two digits of this information, "04", represent the unique mark information I4a of that mark 4a. In this way, each of the multiple marks 4a belonging to a single mark group 4G possesses unique mark information I4a, and when these multiple marks 4a are detected by the transport vehicle 1, the transport vehicle 1 recognizes these multiple marks 4a as separate marks 4a. In other words, the detection unit 13 of the transport vehicle 1 is configured to be able to detect the entire mark group 4G, as well as to be able to detect each of the multiple marks 4a that constitute the mark group 4G.

[0039] The transport vehicle 1 is configured to travel along the travel path R while correcting its own position relative to the detected object 4 based on the recognition results of the image captured by the imaging unit 130.

[0040] Figure 6 shows the imaging range A based on the field of view of the imaging unit 130. When the object to be detected 4 comes into the imaging range A while the transport vehicle 1 is in motion, the identification information I4 of the object to be detected 4 is detected. In this embodiment, the transport vehicle 1 travels while correcting its own position based on the positional relationship information Id, which indicates the relative positional relationship between the transport vehicle 1's reference position C1 (hereinafter sometimes simply referred to as "the reference position C1 of the transport vehicle 1") at the time the identification information I4 of the object to be detected by the detection unit 13 and the object to be detected 4.

[0041] In this embodiment, the positional relationship information Id includes the relative distances in the X and Y directions between the reference position C1 of the transport vehicle 1 and the detected object 4 at the time of identification information detection, and the relative angle between the transport vehicle 1 and the detected object 4 around the Z axis which is orthogonal to both the X and Y directions at the time of identification information detection.

[0042] As shown in Figure 6, the positional relationship information Id includes the relative distance Dx in the X direction and the relative distance Dy in the Y direction between the reference position C1 of the transport vehicle 1 and the center position C4 of the detected object 4. For example, when the transport vehicle 1 is traveling along the Y direction, it corrects its own position so that the relative distance Dx in the X direction (left-right direction relative to the direction of travel) becomes zero. In this case, the relative distance Dy in the Y direction is not corrected because it is an element that constantly changes as the transport vehicle 1 travels. However, in this case, the relative distance Dx in the X direction is used by the transport vehicle 1 to recognize its own current position.

[0043] Furthermore, the positional relationship information Id includes the relative angle θ between the transport vehicle 1 and the detected object 4 around the Z-axis. For example, the relative angle θ around the Z-axis is calculated by the angle between a line parallel to the transport vehicle 1's reference line L1 and a line parallel to the detected object 4's reference line L4. In the illustrated example, the transport vehicle 1's reference line L1 is set to a part of the outer edge of the imaging range A, and the detected object 4's reference line L4 is set to a part of the outer edge of the rectangular plate 40 provided by the detected object 4. The transport vehicle 1 corrects its own position while traveling so that the relative angle θ becomes zero.

[0044] When the detection unit 13 detects an object to be detected 4, it acquires identification information I4 and positional relationship information Id related to the object to be detected 4. The detection unit 13 then acquires detection level information IL (see Figure 7), which indicates the detection level of the object to be detected 4 at the time of detection. In this embodiment, the detection unit 13 is configured to acquire identification information I4, positional relationship information Id, and detection level information IL based on the recognition result of the image of the object to be detected 4 captured by the imaging unit 130.

[0045] As described above with reference to Figure 5, in this embodiment, one object to be detected 4 comprises a group of marks 4G, which is a collection of multiple marks 4a. In this embodiment, the detection level of the object to be detected 4 by the detection unit 13 is an index representing the proportion of the number of marks 4a that the detection unit 13 was able to detect out of all the marks 4a belonging to the group of marks 4G that the object to be detected 4 comprises. In the example shown in Figure 5, 16 marks 4a constitute one group of marks 4G. The detection level is expressed based on the number of marks 4a that the detection unit 13 was able to detect out of the 16 marks 4a.

[0046] In this embodiment, the detection level is set in multiple stages. For example, the detection level is set in three stages: high level, low level, and medium level, which is between the high level and the low level.

[0047] For example, if the detection level is high, it can be determined that the detection sensitivity of the object to be detected 4 by the detection unit 13 is good. In this case, it can be determined that replacement or repair of the detected object to be detected 4 is not necessary at this time. For example, if there are 16 marks 4a belonging to one mark group 4G, and the number detected by the detection unit 13 is between 10 and 16, the detection level is considered high.

[0048] For example, if the detection level is at a medium level, it can be determined that the detection sensitivity of the object to be detected 4 by the detection unit 13 is not good. In this case, replacement or repair of the detected object to be detected 4 is not necessarily required, but replacement or repair is recommended. For example, if there are 16 marks 4a belonging to one mark group 4G, and the number detected by the detection unit 13 is between 5 and 9, the detection level is considered to be at a medium level.

[0049] For example, if the detection level is low, it can be determined that the detection sensitivity of the object to be detected 4 by the detection unit 13 is poor. In this case, it can be determined that the detected object to be detected 4 needs to be replaced or repaired. For example, if there are 16 marks 4a belonging to one mark group 4G, and the number detected by the detection unit 13 is between 0 and 4, the detection level is considered low.

[0050] As shown in Figure 7, the higher-level control device 2 is configured to selectively cause the vehicle-side control unit 14 to execute either the normal mode or the inspection mode. That is, the higher-level control device 2 causes the vehicle-side control unit 14 to execute the normal mode, or causes the vehicle-side control unit 14 to execute the inspection mode. When the normal mode is executed, the transport vehicle 1 transports the items 9 according to the command of the higher-level control device 2. When the inspection mode is executed, the transport vehicle 1 inspects the objects to be detected 4.

[0051] In normal mode, the vehicle-side control unit 14 is configured to transmit to the higher-level control device 2, each time the detection unit 13 detects an object to be detected 4, the identification information I4 of the object to be detected 4 detected by the detection unit 13, and positional relationship information Id, which indicates the relative positional relationship between the reference position C1 of the transport vehicle 1 at the time of identification information detection and the object to be detected 4.

[0052] The identification information I4 of the detected object 4 is associated with the location information Ip of the detected object 4. Therefore, when the transport vehicle 1 transmits the identification information I4 of the detected object 4 detected by the detection unit 13 to the higher-level control device 2, the higher-level control device 2 can determine the current location of the transport vehicle 1. Furthermore, the higher-level control device 2 can determine the detailed current location of the transport vehicle 1 based on the location relationship information Id transmitted from the transport vehicle 1. In addition, for example, by accumulating the location relationship information Id as data, it becomes possible to analyze the detected object 4, which is prone to discrepancies with the transport vehicle 1, using this data.

[0053] In inspection mode, the vehicle-side control unit 14 transmits to the higher-level control device 2, each time the detection unit 13 detects an object to be detected 4, the identification information I4 of the object to be detected 4 detected by the detection unit 13 and the detection level information IL indicating the detection level of the object to be detected 4 by the detection unit 13.

[0054] If the detection level indicated in the detection level information IL is high, it can be determined that the condition of the detected object 4 is good. On the other hand, if the detection level indicated in the detection level information IL is low, it can be estimated that there is a high need for replacement or repair of the detected object 4. Therefore, it becomes easier to take measures such as replacing or repairing the detected object 4 before its condition deteriorates and it becomes unsuitable for use. As described above, in this embodiment, the detection level is set in multiple stages. Therefore, it is possible to take appropriate measures according to the stage of the detection level.

[0055] In this embodiment, the higher-level control device 2 identifies a detected object 4 as a defective object if the detection level indicated in the detection level information IL received from the vehicle-side control unit 14 is below a preset threshold. As described above, in this embodiment, the detection level is set in three stages: high level, medium level, and low level. The higher-level control device 2 identifies a detected object 4 as a defective object if the detection level indicated in the detection level information IL received from the vehicle-side control unit 14 is at a low level. In this example, if the number of marks 4a (see Figure 5) on the detected object 4 is 0 to 4, the detection level is determined to be at a low level, and the detected object 4 is identified as a defective object. In other words, in this embodiment, the preset threshold is "4", and a detected object 4 in which the number of marks 4a detected by the detection unit 13 is "4" or less is identified as a defective object.

[0056] For example, the higher-level control device 2 may be configured to notify the terminal device 3 of the identification information I4 of the detected object 4, the location information Ip, and information indicating that the detected object 4 is a defective object when it determines that the detected object 4 is a defective object. This would allow the operator of the terminal device 3 to be prompted to replace or repair the defective object.

[0057] In this embodiment, the higher-level control device 2 is configured to set a part or all of the movable area of ​​the transport vehicle 1 as an inspection area and to cause the vehicle-side control unit 14 of the transport vehicle 1 located in the inspection area to execute an inspection mode.

[0058] If a portion of the movable area is designated as an inspection area, the object to be detected 4 can be inspected only within the inspection area, and the item 9 can be transported in areas other than the inspection area.

[0059] The higher-level control device 2 may, for example, set the entire movable area as the inspection area when the goods transport equipment 100 is not in operation, such as at night. This allows the inspection of the object to be detected 4 to be performed in the entire movable area of ​​the transport vehicle by utilizing the state when the goods transport equipment 100 is not in operation.

[0060] In this embodiment, the higher-level control device 2 is configured to designate some or all of the multiple transport vehicles 1 provided in the article transport equipment 100 and to cause the vehicle-side control units 14 of the designated some or all of the transport vehicles 1 to execute an inspection mode. The more transport vehicles 1 designated, the sooner the inspection of the objects to be detected 4 in the inspection area can be completed. The fewer transport vehicles 1 designated, the more transport vehicles 1 can be assigned to transport the articles 9, thereby ensuring a higher operating rate for the equipment.

[0061] In this embodiment, the maximum speed limit of the transport vehicle 1 in inspection mode is set lower than the maximum speed limit of the transport vehicle in normal mode. In inspection mode, the transport vehicle 1 needs to acquire detection level information IL for the object to be detected 4, and if the transport vehicle 1 is moving too fast, it becomes difficult to properly acquire the detection level information IL. In this embodiment, acquiring the detection level information IL for the object to be detected 4 requires detecting 16 marks 4a provided on the object to be detected 4. Therefore, if the speed of the transport vehicle 1 at the time of detection is too fast, it becomes difficult to detect all of these 16 marks 4a. For example, the maximum speed limit of the transport vehicle 1 in inspection mode should be set to 10% to 20% of the maximum speed limit of the transport vehicle in normal mode.

[0062] Figure 8 shows an example of terminal device 3. In the illustrated example, terminal device 3 is configured using a tablet.

[0063] As described above, the terminal device 3 includes an information acquisition unit 30 for acquiring information, a storage unit 31 for storing information, an information display unit 32, and a display control unit 33 (see also Figure 3).

[0064] In this embodiment, the information acquisition unit 30 is configured to acquire detection level information IL for at least multiple detected objects 4 from the higher-level control device 2. That is, the detection level information IL for the detected objects 4 detected by the transport vehicle 1 is transmitted to the higher-level control device 2 in inspection mode. Then, the detection level information IL is transmitted from the higher-level control device 2 to the terminal device 3.

[0065] The storage unit 31 stores map information Im, which shows a map of the area that the transport vehicle 1 can move, as map data. This map data is pre-stored in the storage unit 31. Alternatively, the terminal device 3 may be configured to acquire map data from a database held by the higher-level control device 2 or a server (including a cloud server), and the acquired map data may be stored in the storage unit 31.

[0066] In this embodiment, the storage unit 31 stores location information Ip indicating the position of each of the multiple detected objects 4 on the map, and identification information I4 for each of the multiple detected objects 4, as map data, relating them to each other. For example, map data like that shown in Figure 4 is stored in the storage unit 31. The storage unit 31 is also configured to store detection level information IL acquired by the information acquisition unit 30.

[0067] The display unit 32 is configured to display information stored in the storage unit 31. The display unit 32 is controlled by the display control unit 33 and is configured to display information specified by the display control unit 33.

[0068] The display control unit 33 is configured to control the display unit 32. In this embodiment, the display control unit 33 is configured to display a map of the movable area of ​​the transport vehicle 1 on the display unit 32, and to display the detection level information IL of each of the multiple detected objects 4 at their respective locations on the map. In addition, the display control unit 33 is configured to display identification information I4 and location information Ip for each of the multiple detected objects 4 on the display unit 32. In the example shown in Figure 8, for the sake of explanation, the identification information I4 and location information Ip for each detected object 4 are omitted.

[0069] As shown in Figure 8, in this embodiment, the display control unit 33 is configured to display detection level information IL in different ways depending on the detection level of each detected object 4. As described above, in this embodiment, the detection level is set in three stages: high level, medium level, and low level. In the example in Figure 8, the detection level information IL indicating a high detection level is shown by a white circle. The detection level information IL indicating a medium detection level is shown by a hatched circle. The detection level information IL indicating a low detection level is shown by a finely hatched circle. With this configuration, the operator operating the terminal device 3 can easily recognize the status of each of the multiple detected objects 4 installed on the travel surface F by checking the display unit 32.

[0070] The detection level information IL may be displayed on the display unit 32 in a manner other than that described above. For example, the detection level information IL may be displayed in different colors such as "green," "yellow," and "red" depending on the level of the detection level, or in different symbols such as "○," "△," and "×," or in different characters such as "good," "caution," and "bad." These displays may be made by an operator operating the terminal device 3, or the display control unit 33 may be configured to display them automatically.

[0071] According to the item transport equipment 100 described above, detection level information IL for the object to be detected 4 can be acquired in inspection mode. Therefore, it becomes easier to take measures such as replacing or repairing the object to be detected 4 before its condition deteriorates and it becomes unsuitable for use. Consequently, it becomes easier to create an environment in which the transport vehicle 1 can operate properly.

[0072] [Other Embodiments] Next, other embodiments will be described.

[0073] (1) In the above embodiment, an example was described in which the object to be detected 4 has multiple marks 4a configured using a two-dimensional code. However, the example is not limited to this example, and the marks 4a on the object to be detected 4 may be characters or symbols represented in a manner that can be identified by the detection unit 13. Alternatively, the object to be detected 4 may have an IC tag. The configuration of the detection unit 13 is determined according to the configuration of the object to be detected 4.

[0074] (2) In the above embodiment, the detection level of the object to be detected 4 by the detection unit 13 was described as an index representing the proportion of the number of marks 4a that the detection unit 13 was able to detect out of all the marks 4a belonging to the mark group 4G that a single object to be detected 4 possesses. However, the example is not limited to this example, and for example, if the object to be detected 4 is made up of an IC tag, the detection level may be an index representing the radio wave intensity.

[0075] (3) In the above embodiment, the display control unit 33 was configured to display a map of the movable area of ​​the transport vehicle 1 on the display unit 32, and to display the detection level information IL of each of the multiple detected objects 4 at their respective locations on the map. However, the display control unit 33 is not limited to this example, and may, for example, display a graph of the relationship between each detected object 4 and the detection level information IL on the display unit 32.

[0076] (4) In the above embodiment, an example was described in which the transport vehicle 1 is configured as a floor transport vehicle that travels on the floor. However, the transport vehicle 1 is not limited to such an example, and may be configured as a railed transport vehicle that travels on rails. If the rails are installed near the ceiling, the transport vehicle 1 is configured as a so-called ceiling transport vehicle. In these cases, a plurality of objects to be detected 4 are installed at intervals along the rails, and the transport vehicle 1 travels along the rails while sequentially detecting the plurality of objects to be detected 4.

[0077] (5) In the above embodiment, an example was described in which the management device Ct includes a higher-level control device 2 and a terminal device 3, which are configured as separate devices. However, the management device Ct is not limited to this example, and the terminal device 3 may not be included. In this case, the terminal device 3 and the higher-level control device 2 included in the management device Ct may be configured as a single device. For example, the terminal device 3 may be configured as a personal computer or monitor connected to the higher-level control device 2 by a wire.

[0078] (6) 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.

[0079] [Summary of this embodiment] The following is a summary of this embodiment.

[0080] A transport vehicle for carrying goods, A control device that is connected to the transport vehicle in a communication manner and controls the transport vehicle, An article conveying device comprising a plurality of objects to be detected, each having unique identification information, The movement path of the transport vehicle is set to connect multiple of the detected objects, The transport vehicle comprises a vehicle-side control unit that controls the operation of each part of the transport vehicle, and a detection unit that detects the object to be detected, and is configured to move along the movement path while sequentially detecting a plurality of the object to be detected by the detection unit. The control device is configured to cause the vehicle-side control unit to selectively execute between normal mode and inspection mode. The vehicle-side control unit is, In the normal mode, each time the detection unit detects the object to be detected, the detection unit transmits to the management device the identification information of the object to be detected and positional relationship information indicating the relative positional relationship between the reference position of the transport vehicle and the object to be detected at the time the identification information was detected by the detection unit. In the inspection mode, each time the detection unit detects the object to be detected, the detection unit transmits the identification information of the object to be detected and the detection level information indicating the detection level of the object to be detected by the detection unit to the management device.

[0081] With this configuration, in normal mode, the management device can obtain identification information and positional relationship information for each of the multiple detected objects that make up the transport vehicle's movement path, making it easier to optimize the control of the transport vehicle. In inspection mode, the management device can obtain detection level information in addition to identification information for each detected object. If the detection level indicated in the detection level information is high, it can be determined that the condition of the detected object is good. On the other hand, if the detection level indicated in the detection level information is low, it can be estimated that there is a high need for replacement or repair of the detected object. Therefore, it becomes easier to take measures such as replacing or repairing the detected object before its condition deteriorates and it becomes unsuitable for use. As described above, with this configuration, it is easier to create an environment in which the transport vehicle can operate properly.

[0082] The detection unit includes an imaging unit for imaging the object to be detected, The detection unit is preferably configured to acquire the identification information, the positional relationship information, and the detection level information based on the recognition result of the image of the object to be detected captured by the imaging unit.

[0083] This configuration makes it possible to acquire identification information, positional relationship information, and detection level information relatively easily using the imaging unit.

[0084] The transport vehicle is configured to travel on a travel surface that extends along a predetermined direction, the X direction, and the Y direction perpendicular to the X direction. Multiple of the detected objects are distributed and arranged at multiple locations on the running surface. The aforementioned movement path is set so as to select any number of the detected objects from among the plurality of detected objects and to connect the selected plurality of detected objects. Preferably, the positional relationship information includes the relative distance in the X and Y directions between the reference position of the transport vehicle and the detected object at the time of identification information detection, and the relative angle between the transport vehicle and the detected object around the Z axis which is orthogonal to both the X and Y directions at the time of identification information detection.

[0085] This configuration is particularly suitable for use in goods transport equipment equipped with an automated guided vehicle (AGV) capable of traveling along any path set on the travel surface.

[0086] One of the detected objects comprises a group of marks, which is a collection of multiple marks. The detection unit is capable of detecting the entire group of marks, and is also capable of detecting each of the multiple marks that constitute the group of marks. Preferably, the detection level is an index representing the proportion of the number of marks that the detection unit was able to detect out of all the marks belonging to the group of marks on one of the objects to be detected.

[0087] With this configuration, the detection level can be represented based on the number of marks detected by the detection unit. Therefore, it is easy to define the detection level appropriately.

[0088] Each of the aforementioned marks is a two-dimensional code that holds predetermined information. It is preferable that all marks belonging to the same group of marks possess the same identification information as each other, while also possessing different mark information as each other.

[0089] In this configuration, since all marks belonging to the same group of marks possess the same identification information, if even one of the multiple marks belonging to the group of marks on a single object can be detected, the identification information of that object can be obtained. Furthermore, since all marks belonging to the same group of marks possess different mark information, it is easy to determine which of the multiple marks were detected and which were not.

[0090] The aforementioned control device is An information acquisition unit that acquires the detection level information for a plurality of the detected objects, A storage unit stores map information showing the movable area of ​​the transport vehicle, location information showing the position of each of the multiple detected objects on the map, and identification information for each of the multiple detected objects, as map data, relating them to each other. A display unit that displays the information stored in the storage unit, The system comprises a display control unit for controlling the display unit, Preferably, the display control unit is configured to display the map on the display unit and to display the detection level information of each of the multiple detected objects at their respective locations on the map.

[0091] With this configuration, the operator can easily recognize the status of each of the multiple objects to be detected installed on the travel surface by checking the display unit of the terminal device. [Industrial applicability]

[0092] The technology relating to this disclosure can be used in an article transport system comprising a transport vehicle for transporting articles, a management device that is communicably connected to the transport vehicle and controls the transport vehicle, and a plurality of detected objects, each having unique identification information. [Explanation of Symbols]

[0093] 100: Goods handling equipment 1: Transport vehicle 13: Detection unit 130: Imaging Unit 14: Vehicle-side control unit Ct: Management device 2: Higher-level control unit 3: Terminal device 30: Information acquisition department 31: Storage section 32: Display section 33: Display Control Unit 4: Detected object 4G: Mark group 4a: Mark 9: Goods F: Running surface R: Travel path C1: Reference position Dx: Relative distance Dy: relative distance θ: relative angle I4: Identification Information I4a: Mark Information IL: Detection Level Information ID: Location information Im: Map Information IP: Location information

Claims

1. A transport vehicle for carrying goods, A control device that is connected to the transport vehicle in a communication manner and controls the transport vehicle, An article conveying device comprising a plurality of objects to be detected, each having unique identification information, The movement path of the transport vehicle is set to connect multiple of the detected objects, The transport vehicle comprises a vehicle-side control unit that controls the operation of each part of the transport vehicle, and a detection unit that detects the object to be detected, and is configured to move along the movement path while sequentially detecting a plurality of the object to be detected by the detection unit. The control device is configured to cause the vehicle-side control unit to selectively execute between normal mode and inspection mode. The vehicle-side control unit is, In the normal mode, each time the detection unit detects the object to be detected, the detection unit transmits to the management device the identification information of the object to be detected and positional relationship information indicating the relative positional relationship between the reference position of the transport vehicle and the object to be detected at the time the identification information was detected by the detection unit. In the inspection mode, the item transport equipment transmits to the management device, each time the detection unit detects an object to be detected, the identification information of the object to be detected by the detection unit and the detection level information indicating the detection level of the object to be detected by the detection unit.

2. The detection unit includes an imaging unit for imaging the object to be detected, The article transport equipment according to claim 1, wherein the detection unit is configured to acquire the identification information, the positional relationship information, and the detection level information based on the recognition result of the image of the object to be detected captured by the imaging unit.

3. The transport vehicle is configured to travel on a travel surface that extends along a predetermined direction, the X direction, and the Y direction perpendicular to the X direction. Multiple of the detected objects are distributed and arranged at multiple locations on the running surface. The aforementioned movement path is set so that any number of the detected objects are selected from a plurality of the detected objects and the selected plurality of detected objects are connected. The article transport equipment according to claim 1, wherein the positional relationship information includes the relative distance in the X and Y directions between the reference position of the transport vehicle and the detected object at the time of identification information detection, and the relative angle between the transport vehicle and the detected object around the Z axis which is orthogonal to both the X and Y directions at the time of identification information detection.

4. One of the detected objects comprises a group of marks, which is a collection of multiple marks. The detection unit is capable of detecting the entire group of marks, and is also capable of detecting each of the multiple marks that constitute the group of marks. The article conveying equipment according to claim 1, wherein the detection level is an index representing the proportion of the number of marks that the detection unit was able to detect out of all the marks belonging to the group of marks that a single object to be detected possesses.

5. Each of the aforementioned marks is a two-dimensional code that holds predetermined information. The article conveying equipment according to claim 4, wherein all marks belonging to the same group of marks possess the same identification information as each other, while also possessing different mark information as each other.

6. The aforementioned control device is An information acquisition unit that acquires the detection level information for a plurality of the detected objects, A storage unit stores map information showing the movable area of ​​the transport vehicle, location information showing the position of each of the multiple detected objects on the map, and identification information for each of the multiple detected objects, as map data, relating them to each other. A display unit that displays the information stored in the storage unit, The system comprises a display control unit for controlling the display unit, The article transport equipment according to any one of claims 1 to 5, wherein the display control unit is configured to display the map on the display unit and to display the detection level information of each of the plurality of detected objects at each of their respective locations on the map.

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