Traveling vehicle system
Patent Information
- Application Number
- JP2025565102
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Priority Date
- 2023-12-21
- Filing Date
- 2024-10-25
- Publication Date
- 2025-06-26
AI Technical Summary
Conventional traveling vehicle systems face challenges in obtaining accurate inspection results due to variations in sensor sensitivity and increased communication load from transmitting inspection data from each vehicle to the control device.
A traveling vehicle system with sensors installed on the track in the inspection section, allowing for the detection of vibration and sound, and an evaluation unit that assesses the state of the target vehicle based on its own and other vehicles' detection results, reducing the need for individual vehicle data transmission.
This configuration reduces variations in inspection results and decreases communication load by using track-installed sensors and centralized evaluation, enabling accurate and efficient inspections.
Abstract
Description
Vehicle System
[0001] One aspect of the present invention relates to a traveling vehicle system.
[0002] Vehicles that travel on tracks to transport articles are known. Patent Document 1 describes an article transport system for acquiring status information for determining when such vehicles (transport vehicles) require maintenance. More specifically, in the article transport system described in Patent Document 1, each of the vehicles is equipped with a sensor that detects the behavior of the vehicle while traveling. A control device controls multiple vehicles so that only one vehicle is present in an inspection section, and acquires inspection data based on the sensor detection results from the target vehicle when it travels in a predetermined driving pattern in the inspection section.
[0003] Japanese Patent Application Laid-Open No. 2021-185353
[0004] However, in the conventional article conveying equipment, since each vehicle is equipped with a sensor, variations in sensor sensitivity may result in some vehicles not providing accurate inspection results. Furthermore, the inspection results are transmitted from each sensor installed in each vehicle to the control device, which increases the communication load.
[0005] Therefore, an object of one aspect of the present invention is to provide a traveling vehicle system that can reduce variations in inspection results due to variations in sensor sensitivity and reduce communication load.
[0006] (1) A vehicle system according to one aspect of the present invention comprises a plurality of vehicles that travel along a track and a controller that controls the travel of the vehicles. A part of the track has an inspection section set up where a target vehicle designated as an inspection target from among the plurality of vehicles can enter. The vehicle system comprises a sensor that detects at least one of vibrations of the track in the inspection section and sounds generated in the inspection section, a memory unit that stores the detection results by the sensor, an evaluation unit that evaluates the condition of the target vehicle, and a communication unit that transmits the evaluation results evaluated by the evaluation unit to the controller. The controller controls the plurality of vehicles so that only one target vehicle is present in the inspection section, and causes the target vehicle to travel in a predefined driving pattern in the inspection section. The evaluation unit evaluates the condition of the target vehicle based on the detection results of the target vehicle and the detection results of vehicles other than the target vehicle that are stored in the memory unit.
[0007] In a traveling vehicle system with this configuration, multiple traveling vehicles that make up the traveling vehicle system can be inspected using sensors installed on the track in the inspection section, so inspection results can be obtained that are not affected by variations in sensor sensitivity. Furthermore, because only the evaluation results evaluated by the evaluation unit are sent to the controller, the data volume is smaller than if the inspection results themselves (values acquired by the sensors) were sent from each of the multiple traveling vehicles to the controller, reducing the communication load. Furthermore, because the detection results can be compared with vehicles other than the own vehicle, multiple comparison data can be obtained quickly.
[0008] (2) In the traveling vehicle system described in (1) above, the traveling pattern may be configured by combining at least two of acceleration, deceleration, and constant speed traveling. In this configuration, abnormalities according to the traveling state (acceleration, deceleration, and constant speed traveling) can be detected.
[0009] (3) In the vehicle system described in (1) or (2) above, the track may include a main track constituting a main track section, which is a section for transporting goods, and a separation track constituting a separation section that branches off from the main track section and rejoins the main track section, and the inspection section may be set in at least a portion of the separation track. This configuration reduces the possibility that the vehicle being inspected will interfere with the movement of other vehicles in normal operation transporting goods. Furthermore, this configuration reduces the impact of the inspection (at least one of vibration and sound) caused by the movement of other vehicles, compared to when the inspection section is set on the main track.
[0010] (4) In the vehicle system described in (3) above, the branching section that branches the separation track from the main track, the merging section that merges the separation track branched by the branching section, the separation track, and the sensor provided on the separation track may be integrally formed as an inspection unit, and the inspection unit may be detachably provided on the main track. With this configuration, an inspection section can be easily retrofitted to the track of an existing vehicle system. Furthermore, even in a vehicle system configured without a separation track, an inspection section can be provided on the separation track.
[0011] (5) In the traveling vehicle system described in (1) or (2) above, the track may have a curved section along which the traveling vehicles are controlled to pass one by one, and the inspection section may be provided in the curved section. In this configuration, the inspection section can be configured at low cost by simply adding a sensor, a storage unit, an evaluation unit, and a communication unit to the curved section of a conventional traveling vehicle system.
[0012] According to one aspect of the present invention, it is possible to reduce variations in test results due to variations in sensor sensitivity, and also reduce communication load.
[0013] Fig. 1 is a schematic plan view showing the configuration of a traveling vehicle system according to one embodiment. Fig. 2 is a front view of a traveling vehicle as seen from the front in the traveling direction. Fig. 3 is a side view of an inspection section as seen from the side. Fig. 4 is a plan view of an inspection section as seen from above. Fig. 5 is a block diagram showing the configuration of a traveling vehicle system according to one embodiment.
[0014] Hereinafter, a traveling vehicle system according to an embodiment will be described with reference to the drawings. In the description of the drawings, the same elements are given the same reference numerals and duplicated explanations will be omitted.
[0015] 1 and 2 , the traveling vehicle system 1 is a system for transporting an article 10 using an overhead traveling vehicle 6 (hereinafter referred to as a "traveling vehicle 6") that can move along a track 4. The article 10 includes, for example, containers such as a FOUP (Front Opening Unified Pod) that stores multiple semiconductor wafers and a reticle pod that stores glass substrates, as well as general parts. The traveling vehicle system 1 includes the track 4, multiple traveling vehicles 6, multiple placement units 9, an inspection system 100, and an area controller (controller) 90.
[0016] The track 4 is installed, for example, near the ceiling, which is the overhead space for a worker. The track 4 is suspended from the ceiling, for example. The track 4 is a predetermined running path for the traveling vehicle 6 to run on. The track 4 is supported by supports 40A, 40A. The track 4 of the traveling vehicle system 1 includes a main track 4A along which the traveling vehicle 6 patrols a predetermined area in one direction D1, and a separation track 4B in which an inspection section S3 for inspecting the traveling vehicle 6 is set in part. Note that on the separation track 4B as well, the traveling vehicle 6 moves in the predetermined one direction D1.
[0017] The track 4 has a cylindrical rail main body 40 with a portion open, a power supply unit 40E, and a magnetic plate 40F. The rail main body 40 has a pair of bottom surface units 40B, 40B, a pair of side surface units 40C, 40C, and a top surface unit 40D. The rail main body 40 forms an internal space A1 separated from an external space A2. The internal space A1 extends along the extension direction of the track 4. The rail main body 40 accommodates the running unit 50 of the running vehicle 6, which will be described in detail later. The bottom surface unit 40B extends in the running direction D1 of the running vehicle 6 and constitutes the lower surface of the rail main body 40. The bottom surface unit 40B is a plate-shaped member on which the running rollers 51 of the running vehicle 6 roll (the running vehicle 6 travels). The side surface unit 40C extends in the running direction D1 of the running vehicle 6 and constitutes the side surface of the rail main body 40. The top surface portion 40D extends in the traveling direction D1 of the traveling vehicle 6 and forms the upper surface of the rail main body portion 40.
[0018] The power supply unit 40E supplies power to the power supply core 57 of the traveling vehicle 6 and transmits and receives signals to and from the power supply core 57. The power supply unit 40E is fixed to each of the pair of side surface portions 40C, 40C and extends along the traveling direction D1. The power supply unit 40E supplies power to the power supply core 57 in a non-contact state. The magnetic plate 40F generates a magnetic force in an LDM (Linear DC Motor) 59 of the traveling vehicle 6 to cause it to travel or stop. The magnetic plate 40F is fixed to the top surface portion 40D and extends along the traveling direction D1.
[0019] The traveling vehicle 6 travels along the track 4 and transports the article 10. The traveling vehicle 6 is configured to be able to transfer the article 10. The traveling vehicle 6 is an overhead traveling unmanned traveling vehicle. The number of traveling vehicles 6 included in the traveling vehicle system 1 is not particularly limited and may be more than one. The traveling vehicle 6 has a main body unit 7, a traveling unit 50, and a main body controller 35. The main body unit 7 has a main body frame 22, a lateral feed unit 24, a θ drive 26, an elevation drive unit 28, an elevation platform 30, and a cover 33.
[0020] The main frame 22 is connected to the travel unit 50 and supports the lateral feed unit 24, the θ drive 26, the lift drive unit 28, the lift platform 30, and a cover 33. The lateral feed unit 24 collectively moves the θ drive 26, the lift drive unit 28, and the lift platform 30 laterally in a direction perpendicular to the extension direction of the track 4. The θ drive 26 rotates at least one of the lift drive unit 28 and the lift platform 30 within a predetermined angular range in a horizontal plane. The lift drive unit 28 raises and lowers the lift platform 30 by winding or unwinding a suspending material such as a wire, rope, or belt. The lift platform 30 is provided with a chuck that can freely grip or release the article 10. A pair of covers 33 are provided, for example, at the front and rear of the travel direction D1 of the travel vehicle 6. The cover 33 has protruding and retracting claws (not shown) to prevent the article 10 from falling during transport.
[0021] As described above, the running section 50 runs in the internal space A1 formed in the track 4. The running section 50 mainly includes running rollers 51, side rollers 52, a power supply core 57, and an LDM 59. The running rollers 51 are a pair of rollers consisting of an outer wheel serving as a running wheel and an inner wheel serving as a running auxiliary wheel. The running rollers 51 are arranged at both the front, rear, left, and right ends of the running section 50. The running rollers 51 roll on a pair of lower surface portions 40B, 40B of the track 4.
[0022] The side rollers 52 are arranged to sandwich the outer rings of the running rollers 51 in the front-to-rear direction. The side rollers 52 are arranged to be able to come into contact with the side surface portions 40C of the track 4. The power supply cores 57 are arranged at the front and rear of the running unit 50 and are arranged to sandwich the LDM 59 in the left-to-right direction. The power supply unit 40E arranged on the track 4 supplies power and transmits and receives various signals in a non-contact manner with the power supply cores 57. The power supply cores 57 also exchange signals with the main body controller 35. The LDM 59 is arranged at the front and rear of the running unit 50. The LDM 59 generates a magnetic force for running or stopping by using an electromagnet between the LDM 59 and a magnetic plate 40F arranged on the top surface of the track 4.
[0023] The traveling unit 50 is controlled by an area controller (controller) 90, which will be described in detail later, via the main body controller 35. Specifically, a command from the area controller 90 is transmitted to the main body controller 35, and the main body controller 35, upon receiving the command, controls the traveling unit 50.
[0024] The placement units 9 are arranged along the track 4 and are provided at positions where the traveling vehicles 6 can transfer the articles 10. The placement units 9 include a buffer and a delivery port. The buffer is a placement unit where the articles 10 are temporarily placed. The buffer is a placement unit where the articles 10 are temporarily placed when, for example, the article 10 being transported by the traveling vehicle 6 cannot be transferred to the intended delivery port because another article 10 is placed at the intended delivery port. The delivery port is a placement unit for transferring the articles 10 to semiconductor processing equipment (not shown), such as a cleaning equipment, a film forming equipment, a lithography equipment, an etching equipment, a heat treatment equipment, or a planarization equipment. The processing equipment is not particularly limited and may be various types of equipment.
[0025] For example, the placement unit 9 is disposed to the side of the track 4. In this case, the traveling vehicle 6 transfers the article 10 to and from the placement unit 9 by using the lateral feed unit 24 to laterally feed the lifting drive unit 28 and the like, and slightly raising and lowering the lifting platform 30. Although not shown, the placement unit 9 may also be disposed directly below the track 4. In this case, the traveling vehicle 6 transfers the article 10 to and from the placement unit 9 by raising and lowering the lifting platform 30.
[0026] The main body controller 35 is an electronic control unit including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The main body controller 35 controls various operations of the traveling vehicle 6. Specifically, the main body controller 35 controls the traveling unit 50, the traverse unit 24, the θ drive 26, the lifting drive unit 28, and the lifting platform 30. The main body controller 35 can be configured as software in which a program stored in the ROM is loaded onto the RAM and executed by the CPU, for example. The main body controller 35 may also be configured as hardware including electronic circuits, etc. The main body controller 35 communicates with the area controller 90 using the power supply unit 40E (power supply line) of the track 4, etc.
[0027] As shown in Figures 3 to 5, the inspection system 100 includes a vibration sensor 61, a sound sensor 63, an entry permission sensor 65, an area detection sensor 67, a relay box 71, a sensor controller 73, and an inspection unit controller 75.
[0028] Returning to Fig. 1, the track 4 is configured to include a main track 4A that constitutes the main track section S1, which is a section for transporting articles 10, and a separation track 4B that constitutes a separation section S2 that branches off from the main track section S1 and rejoins the main track section S1. As shown in Fig. 2, the separation track 4B has the same configuration as the track 4 described above. In the separation section S2, the traveling vehicle 6 moves in a predetermined direction D1.
[0029] 3 and 4 , in the inspection section S3, which is at least a part of the separation track 4B, a vibration sensor 61, a sound sensor 63, an entry permission sensor 65, an area detection sensor 67, and a relay box 71, which constitute part of the inspection system 100, are arranged. The inspection section S3 is a section into which a traveling vehicle 6 to be inspected by the inspection system 100 enters. The inspection system 100 of this embodiment is a section into which one traveling vehicle 6 designated as an inspection target from among a plurality of traveling vehicles 6 (hereinafter also referred to as "target traveling vehicle 6") enters.
[0030] The vibration sensor 61 detects vibrations occurring in the inspection section S3. The vibration sensor 61 is disposed in the external space A2 (see FIG. 2 ) of the separation track 4B. The vibration sensor 61 is disposed, for example, on the upper surface of the top surface portion 40D that constitutes the separation track 4B. The vibration sensor 61 is connected to a sensor controller 73 via a relay box 71, and is controlled by the sensor controller 73.
[0031] The sound sensor 63 detects sounds generated in the inspection section S3. The sound sensor 63 is disposed in the internal space A1 of the separation track 4B. The sound sensor 63 is disposed on, for example, the inner surface of the top surface 40D that constitutes the separation track 4B so as not to interfere with the traveling unit 50 that travels in the internal space A1. The sound sensor 63 is connected to the sensor controller 73 via a relay box 71, and is controlled by the sensor controller 73.
[0032] The entry permission sensor 65 detects the presence or absence of a traveling vehicle 6 attempting to enter the inspection section S3. The entry permission sensor 65 is arranged upstream of the inspection section S3 in one direction D1, and is provided at a frame-shaped gate 80A through which traveling vehicles 6 traveling on the separation track 4B can pass. The entry permission sensor 65 detects traveling vehicles 6 approaching the gate 80A. More specifically, the entry permission sensor 65 detects traveling vehicles 6 present within a predetermined distance upstream of the entry permission sensor 65. The entry permission sensor 65 is connected to the sensor controller 73 via a relay box 71 and is controlled by the sensor controller 73.
[0033] The area detection sensor 67 detects the presence or absence of a traveling vehicle 6 in the inspection section S3. The area detection sensor 67 has a light-emitting unit 67A and a light-receiving unit 67B. The light-emitting unit 67A is provided at the gate 80A. The light-receiving unit 67B is provided at a frame-shaped gate 80B, which is located downstream of the inspection section S3 in one direction D1 and through which traveling vehicles 6 traveling on the separation track 4B can pass. The light-emitting unit 67A and the light-receiving unit 67B are connected to the sensor controller 73 via a relay box 71 and controlled by the sensor controller 73. The presence or absence of a traveling vehicle 6 in the inspection section S3 is determined by the sensor controller 73 based on information transmitted from the light-emitting unit 67A and the light-receiving unit 67B. Note that the light-emitting unit 67A may be provided at the gate 80B, and the light-receiving unit 67B may be provided at the gate 80A.
[0034] In this embodiment, the inspection system 100 includes a branch rail constituting a branch section BP where the separation track 4B branches off from the main track 4A, a merging rail constituting a merging section CP where the separation track 4B merges with the main track 4A, the separation track 4B, and a vibration sensor 61 and a sound sensor 63 provided on the separation track 4B, which are integrally formed as an inspection unit 100A. The inspection unit 100A is provided so as to be detachable from the main track 4A.
[0035] The sensor controller 73 is an electronic control unit including a CPU, a ROM, a RAM, etc. The sensor controller 73 controls various operations of the vibration sensor 61, the sound sensor 63, the entry permission sensor 65, and the area detection sensor 67, and receives information regarding the presence or absence of detection by the vibration sensor 61, the sound sensor 63, the entry permission sensor 65, and the area detection sensor 67. The sensor controller 73 transmits the detection results of the vibration sensor 61 and the sound sensor 63 to the inspection unit controller 75.
[0036] The sensor controller 73 determines that a traveling vehicle 6 is present in the inspection section S3 when the light projected from the light projecting unit 67A is received by the light receiving unit 67B, and determines that a traveling vehicle 6 is not present in the inspection section S3 when the light projected from the light projecting unit 67A is not received by the light receiving unit 67B. The sensor controller 73 transmits information regarding the determined presence or absence of a traveling vehicle 6 to the area controller 90 via the inspection unit controller 75.
[0037] The inspection unit controller 75 can be configured as software in which a program stored in a ROM is loaded onto a RAM and executed by a CPU, for example. The inspection unit controller 75 may also be configured as hardware such as an electronic circuit. The inspection unit controller 75 has a memory unit 75A that stores the inspection results of the vibration sensor 61 and the sound sensor 63 transmitted from the sensor controller 73. The memory unit 75A is configured with an SSD (Solid State Drive), an HDD (Hard Disk Drive), or the like. The memory unit 75A stores the inspection results of the vibration sensor 61 and the sound sensor 63 of each of the multiple traveling vehicles 6 in chronological order. The inspection results of the vibration sensor 61 and the sound sensor 63 may be stored as waveform data or text data.
[0038] The inspection unit controller 75 also has an evaluation unit 75B as a functional component. The evaluation unit 75B is configured, for example, as software in which a program stored in ROM is loaded onto RAM and executed by the CPU. The evaluation unit 75B evaluates the state of the target traveling vehicle 6. The evaluation unit 75B of this embodiment evaluates the state of the target traveling vehicle 6 based on both the detection results of the vibration sensor 61 and sound sensor 63 in the target traveling vehicle 6 stored in the memory unit 75A and the detection results of the vibration sensors 61 and sound sensors 63 in all traveling vehicles 6 other than the target traveling vehicle 6.
[0039] An example of a method for evaluating the target traveling vehicle 6 by the evaluation unit 75B will be described. As preprocessing, the evaluation unit 75B decomposes the input waveform (waveform data) of the target traveling vehicle 6 stored in the storage unit 75A into a trend waveform, a seasonality waveform, and a residual waveform. The evaluation unit 75B makes each waveform constant as necessary (downsampling). Next, the evaluation unit 75B converts the dimension using an algorithm such as matrix profile, TFT (fast Fourier transform), or approximate distance. Note that the converted waveform may be a vector or a scalar, not just a conversion of units.
[0040] Next, the evaluation unit 75B extracts singular points common to the waveforms of all the traveling vehicles 6. This allows the evaluation unit 75B to eliminate singular points caused by the structure of the separation track 4B (e.g., joints) or the like. The evaluation unit 75B may, for example, extract a peculiar traveling vehicle 6 (i.e., a traveling vehicle 6 having a malfunction or a traveling vehicle 6 about to experience a malfunction) from the waveform data for each of the n traveling vehicles 6 stored in the storage unit 75A, or may extract a peculiar traveling vehicle 6 for each of the n traveling vehicles 6 (i.e., a traveling vehicle 6 having a malfunction or a traveling vehicle 6 about to experience a malfunction) from the waveform data for each of the n traveling vehicles 6 stored in the storage unit 75A. The evaluation unit 75B can extract a traveling vehicle 6 having a malfunction or a traveling vehicle 6 about to experience a malfunction (in other words, the time when a peculiar phenomenon occurred) using, for example, pattern analysis, correlation analysis, a machine learning model, or the like.
[0041] Next, the evaluation unit 75B determines whether or not there is an abnormality for the extracted peculiar traveling vehicle 6 or the peculiar time (point in time) based on a predetermined threshold. The threshold used for determining whether or not there is an abnormality can be set based on a value calculated using a statistical method, a value selected from values set heuristically, or the like.
[0042] The present inventors have found that abnormal vibrations and abnormal sounds caused by roller peeling can be extracted by calculating the number or rate of changes in the diameter of the running rollers 51 from the waveform data of each of the n running vehicles 6 stored in the memory unit 75A and based on the number or rate of changes in the diameter of the running rollers 51. The present inventors have also found that, starting from the time when the running rollers 51 are replaced with new ones, the number or rate of abnormal vibrations and abnormal sounds caused by roller peeling remains below a predetermined threshold for an initial period, and then, after a predetermined time has passed, the number of times the number exceeds the predetermined threshold increases slightly. After a further period of time, the number of times the number exceeds the predetermined threshold increases dramatically. Therefore, the evaluation unit 75B may determine a running vehicle 6 in which the number of times the number exceeds the predetermined threshold increases slightly as an abnormal running vehicle 6, or may determine a running vehicle 6 in which the number of times the number exceeds the predetermined threshold increases dramatically as an abnormal running vehicle 6. When the former determination method is used to determine the presence of an abnormal running vehicle 6, it is possible to take measures such as replacing the running rollers 51 before the running vehicle 6 becomes completely unable to run.
[0043] If the evaluation unit 75B determines that there is an unusual traveling vehicle 6, it may notify the worker or manager by displaying this on a display unit (not shown) or by sending it to a terminal owned by the worker or manager.
[0044] The communication unit 75C transmits the evaluation result obtained by the evaluation unit 75B to the area controller 90. The communication unit 75C transmits, for example, to the area controller 90, information that an anomalous traveling vehicle 6 has occurred and information that identifies the anomalous traveling vehicle 6.
[0045] 5, the area controller 90 controls the plurality of traveling vehicles 6 traveling on the track 4 via the main body controller 35. The area controller 90 is also connected to the inspection unit controller 75 so as to be able to communicate with each other.
[0046] The area controller 90 causes the traveling vehicle 6 to enter the separation track 4B when a predetermined condition is met. The predetermined condition may be, for example, when an inspection start command is input by an operator via an input unit (not shown), when a traveling vehicle 6 appears after a predetermined time has passed since the previous inspection, or when a traveling vehicle 6 appears after traveling a predetermined distance since the previous inspection. The area controller 90 causes the traveling vehicle 6 that meets the predetermined condition to travel to the upstream side of the gate 80A.
[0047] The area controller 90 controls the multiple traveling vehicles 6 so that only one target traveling vehicle 6 is present in the inspection section S3. The area controller 90 of this embodiment determines that the traveling vehicle 6 has arrived upstream of the gate 80A based on whether or not the entry permission sensor 65 has detected anything. Next, when the area detection sensor 67 detects the presence of the traveling vehicle 6, the area controller 90 causes the traveling vehicle 6 to wait upstream of the gate 80A. On the other hand, when the area detection sensor 67 detects that no traveling vehicle 6 is present, the area controller 90 causes the traveling vehicle 6 to enter the inspection section S3.
[0048] Next, the area controller 90 causes the target vehicle 6 to travel in the inspection section S3 according to a predetermined travel pattern. The travel pattern can be configured by combining at least two of acceleration, deceleration, and constant speed travel. In this embodiment, the area controller 90 causes the target vehicle 6 to travel based on a travel pattern in which the target vehicle 6 stops at the entrance of the inspection section S3, accelerates to a predetermined speed at a predetermined acceleration, travels at a constant speed (zero acceleration), and then decelerates at a predetermined deceleration to stop at the exit of the inspection section S3. The area controller 90 then causes the target vehicle 6 to exit the inspection section S3.
[0049] When the area controller 90 receives information from the inspection unit controller 75 that the target vehicle 6 that has traveled through the inspection section S3 has been determined to be an anomalous vehicle 6, the area controller 90 may stop the target vehicle 6 that has been determined to be anomalous after it leaves the inspection section S3, limit its traveling speed after returning to the main track 4A, cause it to enter a section where another inspection device (e.g., an imaging device, a size measuring device, etc.) is installed, or set the cycle until the next inspection to be shorter.
[0050] The effects of the traveling vehicle system 1 of the above embodiment will be described. In the traveling vehicle system 1 of the above embodiment, inspections of the multiple traveling vehicles 6 constituting the traveling vehicle system 1 can be performed using one vibration sensor 61 and one sound sensor 63 installed on the separation track 4B of the inspection section S3, thereby obtaining inspection results that are not affected by variations in sensor sensitivity. Furthermore, in the traveling vehicle system 1, the multiple traveling vehicles 6 are controlled so that only one target traveling vehicle 6 is present in the inspection section S3, thereby preventing the separation track 4B constituting the inspection section S3 from vibrating or generating noise around the separation track 4B due to the movement of traveling vehicles 6 other than the target traveling vehicle 6. As a result, in the traveling vehicle system 1, accurate inspection data for one vehicle can be obtained even in inspections that are easily affected (vibrations and noise) by the movement of other traveling vehicles 6 on the track 4.
[0051] Furthermore, in the traveling vehicle system 1, all traveling vehicles 6 travel in the inspection section S3 using the same driving pattern, making it possible to accurately compare inspection results between multiple traveling vehicles 6. Furthermore, in the traveling vehicle system 1, only the evaluation results evaluated by the evaluation unit 75B are transmitted to the area controller 90, so the data volume is smaller than when the raw data acquired by the vibration sensor 61 and the sound sensor 63 is transmitted as is, making it possible to reduce the communication load.
[0052] In the traveling vehicle system 1, the traveling pattern is configured by combining acceleration, deceleration, and constant speed traveling, so that abnormalities according to the traveling state (acceleration, deceleration, and constant speed traveling) can be detected.
[0053] In the traveling vehicle system 1, the inspection section S3 is set in a section of the separation track 4B separated from the main track 4A, which reduces the possibility that the target traveling vehicle 6 undergoing inspection will interfere with the travel of other traveling vehicles 6 in normal travel to transport the articles 10. Furthermore, in the traveling vehicle system 1, the inspection (vibrations and noise) can be less affected by the travel of other traveling vehicles 6 compared to when the inspection section S3 is provided on the main track 4A.
[0054] In the above-described traveling vehicle system 1, the inspection system 100 includes the branch rails that make up the diverging section BP, the merging rails that make up the merging section CP, the separation track 4B, and the vibration sensor 61 and sound sensor 63 provided on the separation track 4B, which are integrally formed as an inspection unit 100A and are detachably attached to the main track 4A. With this configuration, it is easy to retrofit the inspection section S3 to the track 4 of an existing traveling vehicle system 1. Furthermore, even in a traveling vehicle system that does not have a separation track 4B, the traveling vehicle system 1 can be configured so that the inspection section S3 is provided on the separation track 4B.
[0055] Although one embodiment has been described above, one aspect of the present invention is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the invention.
[0056] In the above embodiment of the traveling vehicle system 1, the inspection system 100 is described as being installed in a portion of the separation track 4B. However, the inspection system 100 may also be installed in a portion of the main track 4A. In this case, in addition to the above-described method of providing an entry permission sensor 65 and an area detection sensor 67, a method of controlling the multiple traveling vehicles 6 so that only one target traveling vehicle 6 is present in the inspection section S3 may be provided in a section subject to known block control (i.e., restricting the entry of traveling vehicles 6 into a specified section). In the main track 4A, sections where such block control is implemented include curved sections. In this modified configuration, the above inspection section S3 can be configured at low cost by simply adding sensors (e.g., a vibration sensor 61 and a sound sensor 63), a memory unit 75A, an evaluation unit 75B, and a communication unit 75C to the curved section of a conventional traveling vehicle system.
[0057] In the above embodiment of the traveling vehicle system 1, an example was given in which both a vibration sensor 61 and a sound sensor 63 are arranged as sensors for inspecting the traveling vehicle 6, but only one of them may be arranged.
[0058] Although the evaluation unit 75B of the traveling vehicle system 1 in the above embodiment and Modification 1 has been described as evaluating the state of the target traveling vehicle 6 based on the detection results of the target traveling vehicle 6 and the detection results of all traveling vehicles 6 other than the target traveling vehicle 6 stored in the memory unit 75A, the present invention is not limited to this. For example, the evaluation unit 75B may evaluate the state of the target traveling vehicle 6 based on the detection results of the target traveling vehicle 6 stored in the memory unit 75A and the detection results of some traveling vehicles 6 other than the target traveling vehicle 6. Here, the some traveling vehicles 6 other than the target traveling vehicle 6 stored in the memory unit 75A refers to a group of traveling vehicles 6 excluding, from all traveling vehicles 6 other than the target traveling vehicle 6, traveling vehicles 6 determined to be peculiar by the evaluation unit 75B or traveling vehicles 6 extracted based on a predetermined rule (such as old data acquisition date).
[0059] The evaluation unit 75B of the running vehicle system 1 in the above embodiment and variant example 1 has been described as acquiring abnormal vibrations and abnormal sounds caused by peeling of the roller portion and evaluating the running vehicle 6, but it may also be possible to acquire at least one of abnormal vibrations and abnormal sounds caused by an abnormality in the gearbox and evaluate the running vehicle 6, for example.
[0060] In the above embodiment and modified examples, the inspection section S3 may be separated from sections other than the inspection section S3 (i.e., not integral with the inspection section S3). In this case, vibrations from other traveling vehicles 6 traveling in sections other than the inspection section S3 are less likely to be picked up (detected) by the vibration sensor 61 installed in the inspection section S3. Furthermore, when separating the inspection section S3 from sections other than the inspection section S3, a connection portion 4C as shown in FIG. 4 may be formed. Forming an oblique connection portion 4C in this manner reduces vibrations that occur when a traveling vehicle 6 transfers across the connection portion 4C due to the separation. Furthermore, the location where the separation occurs may be, for example, the boundary between the main track 4A and the separation track 4B.
[0061] In the above embodiment and modified example, the area controller 90 has been described as stopping the moving vehicle 6 at the entrance and exit of the inspection section S3, but the area controller 90 may also allow the moving vehicle 6 to enter and exit the inspection section S3 without stopping it at the entrance and exit.
[0062] 1...Traveling vehicle system, 4...Track, 4A...Main line track, 4B...Separation track, 6...Overhead traveling vehicle (traveling vehicle / target traveling vehicle), 51...Traveling roller, 61...Vibration sensor (sensor), 63...Sound sensor (sensor), 65...Entry permission sensor, 67...Area detection sensor, 73...Sensor controller, 75...Inspection unit controller, 75A...Memory unit, 75B...Evaluation unit, 75C...Communication unit, 90...Area controller (controller), 100...Inspection system, 100A...Inspection unit, BP...Branch section, CP...Merge section, S1...Main line section, S2...Separation section, S3...Inspection section.
Claims
1. A traveling vehicle system comprising: a plurality of traveling vehicles that travel along a track; and a controller that controls the travel of the traveling vehicles, wherein a portion of the track is set as an inspection section into which a target traveling vehicle designated as an inspection target from among the plurality of traveling vehicles enters; the traveling vehicle system further comprising: a sensor that detects at least one of vibrations of the track in the inspection section and sounds generated in the inspection section; a memory unit that stores the detection results of the sensor; an evaluation unit that evaluates the condition of the target traveling vehicle; and a communication unit that transmits the evaluation results evaluated by the evaluation unit to the controller, wherein the controller controls the plurality of traveling vehicles so that only one target traveling vehicle is present in the inspection section, and causes the target traveling vehicle to travel in a predefined driving pattern in the inspection section, and the evaluation unit evaluates the condition of the target traveling vehicle based on the detection results of the target traveling vehicle stored in the memory unit and the detection results of traveling vehicles other than the target traveling vehicle.
2. The traveling vehicle system according to claim 1, wherein the driving pattern is configured by combining at least two of acceleration, deceleration and constant speed driving.
3. A traveling vehicle system as described in claim 1 or 2, wherein the track includes a main line track constituting a main line section which is a section for transporting goods, and a separation track constituting a separation section which branches off from the main line section and rejoins the main line section, and the inspection section is set in at least a portion of the separation track.
4. A traveling vehicle system as described in claim 3, wherein a branching section which branches off the separation track from the main track, a merging section which merges the separation track branched off by the branching section, the separation track, and the sensor provided on the separation track are integrally formed as an inspection unit, and the inspection unit is provided so as to be freely attached and detached to the main track.
5. A traveling vehicle system as claimed in claim 1 or 2, wherein the track has a curved section through which the traveling vehicles are controlled to pass one at a time, and the inspection section is provided in the curved section.