Article transport facility

Abstract

This article transport facility is provided with a management device. A processing unit with which the management device is provided is configured to perform a reception process, a confirmation process, and an update process. In the reception process, when one of a plurality of objects to be detected is replaced, input of positional information of the replacement object to be detected that has replaced the replaced object to be detected is received. In the confirmation process, a command to a vehicle-side control unit causes a transport vehicle to travel to the replacement object to be detected, and causes a detection unit to detect the replacement object to be detected and to transmit identification information of the replacement object to be detected obtained as the detection result to the management device. In the update process, map data is updated on the basis of the identification information of the replacement object to be detected, which is detected in the confirmation process.

Description

ARTICLE TRANSPORT FACILITY

[0001] The present invention relates to an article transport facility that includes a transport vehicle that travels along a travel surface to transport articles, a plurality of detectable objects that are placed on the travel surface and each have unique identification information, and a management device that is communicatively connected to the transport vehicle, controls the transport vehicle, and manages the plurality of detectable objects.

[0002] An example of such an article transport facility is disclosed in Japanese Patent No. 7076935 (Patent Document 1). References in parentheses in the following description of the background art refer to those in Patent Document 1.

[0003] In the facility disclosed in Patent Document 1, a plurality of marks (9) are scattered on the floor surface. Each mark (9) is configured to be identifiable by a transport vehicle (4). An overall control computer (5) instructs the transport vehicle (4) on the plurality of marks (9) that the transport vehicle (4) should follow. The transport vehicle (4) travels while sequentially detecting the plurality of marks (9) using a mark sensor (48).

[0004] Patent No. 7076935

[0005] In such technical fields, marks may be replaced due to deterioration over time, damage, or the like. In this case, information about the replaced mark is replaced with information about the mark before replacement in the map data. That is, the map data is updated based on the information about the replaced mark. Generally, information about the replaced mark is input into a management device by an operator, and the map data is updated. However, if a human error, such as an input error, occurs, the map data will not be updated appropriately.

[0006] In view of the above situation, it is desirable to realize an article transport facility that is capable of appropriately updating map data.

[0007] 1. An article transport facility comprising: a transport vehicle that travels along a travel surface to transport an article; a plurality of detectable objects each having unique identification information; and a management device communicably connected to the transport vehicle, controlling the transport vehicle and managing the plurality of detectable objects, wherein the transport vehicle comprises a vehicle-side control unit that controls the operation of each unit provided on the transport vehicle, and a detection unit that detects the detectable objects, and is configured to move while sequentially detecting the plurality of detectable objects using the detection unit, the management device comprises a memory unit and a processing unit that performs arithmetic processing, the memory unit stores position information indicating the positions of the plurality of detectable objects on a map and the identification information of each of the plurality of detectable objects in association with each other as map data, and the processing unit is configured to execute a reception process, a confirmation process, and an update process, wherein the reception process receives input of the position information of a replaced detectable object, which is the replaced detectable object, when a part of the plurality of detectable objects is replaced, In the confirmation process, the vehicle-side control unit is instructed to drive the transport vehicle to the replaced detectable object received in the reception process, the detection unit detects the replaced detectable object, and the identification information of the replaced detectable object obtained as a detection result is sent to the management device; and in the update process, the map data is updated based on the identification information of the replaced detectable object detected by the confirmation process.

[0008] According to this configuration, the confirmation process causes the transport vehicle to move to detect the replaced detectable object, and the identification information of the replaced detectable object obtained through this detection is transmitted to the management device. In this configuration, the reception process accepts the input of the position information of the replaced detectable object, but the update process that updates the map data uses the identification information of the replaced detectable object detected through the confirmation process. Therefore, the map data is updated based on the results of the transport vehicle actually detecting the replaced detectable object. This reduces the possibility of human error in the update process. As described above, according to this configuration, it is possible to appropriately update the map data.

[0009] Further features and advantages of the techniques according to the present disclosure will become more apparent from the following description of exemplary and non-limiting embodiments, which proceeds with reference to the drawings.

[0010] Plan view of the article transport facility Front view of the transport vehicle Control block diagram Diagram showing map data Flowchart showing the processing procedure for updating map data Diagram explaining the update of map data Flowchart showing the processing procedure for updating map data in the second embodiment Diagram explaining the update of map data in the second embodiment

[0011] First Embodiment First, a first embodiment of an article transport facility will be described.

[0012] As shown in Figure 1, the item conveying equipment 100 includes a transport vehicle 1 that travels along a running surface F to transport items 9, a plurality of detectable objects 3 that are installed on the running surface F and each have unique identification information In (see Figure 4), and a management device 2 (see Figure 3) that is communicatively connected to the transport vehicle 1 and controls the transport vehicle 1 and manages the plurality of detectable objects 3.

[0013] In this embodiment, the running surface F is a surface that extends along the X direction, which is a predetermined direction, and the Y direction, which is perpendicular to the X direction. The running surface F is formed on the floor of the article conveying equipment 100. The transport vehicle 1 is configured to travel on the running surface F in the X direction or the Y direction, and transfer the article 9 between the transport vehicle 1 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 surface.

[0014] In this embodiment, the article 9 includes a pallet 90 and one or more loads 91 placed on the pallet 90. In this example, the transport vehicle 1 is configured to transport a pallet 90 on which the loads 91 are placed, or an empty pallet 90 on which no loads 91 are placed. The transfer target location 8 is configured to directly place the pallet 90 thereon.

[0015] In this embodiment, the article conveying equipment 100 includes a storage unit 81 that temporarily stores the articles 9, an automated warehouse (not shown) that keeps the articles 9, an input unit 82 for inputting the articles 9 into the automated warehouse, and an output unit 83 for outputting the articles 9 from the automated warehouse. For example, the storage unit 81 is adjacent to a work area. In the work area, work on the articles 9 stored in the storage unit 81 is performed by a worker or a robot. For example, picking work, packing work, and the like can be performed in the work area.

[0016] At least a portion of each of the storage section 81, the receiving section 82, and the discharging section 83 is designated as a transfer target location 8. The transport vehicle 1 is configured to transfer items 9 between these transfer target locations 8.

[0017] As shown in Figure 2, the transport vehicle 1 includes a carriage body 10, a plurality of wheels 11, and a transfer unit 12 that transfers an item 9 between a transfer target location 8. In this example, the plurality of wheels 11 includes at least a pair of wheels 11 arranged spaced apart in the width direction. Each of the pair of wheels 11 is independently driven by a separate motor or the like. The pair of wheels 11 are driven to rotate in opposite directions, allowing the transport vehicle 1 to rotate around a vertical axis on the spot. The transport vehicle 1 is configured to change its own traveling direction to the X direction or the Y direction by the rotational movement.

[0018] The transport vehicle 1 includes a vehicle-side control unit 14 that controls the operation of each unit included in the transport vehicle 1, and a detection unit 13 that detects detectable objects 3, and is configured to move while sequentially detecting multiple detectable objects 3 using the detection unit 13. The transport vehicle 1 is configured to move while recognizing its own current position based on identification information In (see FIG. 4) held by the detected detectable objects 3. In this example, the transport vehicle 1 includes a travel distance detection unit (not shown) and is configured to be able to grasp the distance it has traveled. The transport vehicle 1 is configured to move on the travel surface F based on the detection result by the travel distance detection unit.

[0019] As shown in FIG. 1 , a plurality of detectable objects 3 are distributed and arranged at a plurality of locations on the travel surface F. In this embodiment, the plurality of detectable objects 3 are arranged side by side along both the X direction and the Y direction. The interval between adjacent detectable objects 3 is a predetermined set interval. As a result, for example, a transport vehicle 1 that has detected a specific detectable object 3 travels the set interval toward the next detectable object 3 and detects the next detectable object 3. The transport vehicle 1 is configured to travel to the destination by repeating this process. In this example, a plurality of detectable objects 3 are arranged at equal intervals in some or all areas of the travel surface F.

[0020] The movement route R of the transport vehicle 1 is set by selecting any number of the plurality of detectable objects 3 from the plurality of detectable objects 3 and connecting the selected plurality of detectable objects 3. In this embodiment, the movement route R of the transport vehicle 1 is set by combining a plurality of detectable objects 3 arranged consecutively along the X direction and a plurality of detectable objects 3 arranged consecutively along the Y direction. In other words, the movement route R of the transport vehicle 1 is configured by combining a route extending along the X direction and a route extending along the Y direction.

[0021] For example, Fig. 1 shows a movement route R when a transport vehicle 1 receives an item 9 at the delivery section 83 and transports the item 9 to one of the multiple storage sections 81. In this embodiment, the movement route R of the transport vehicle 1 is set by a management device 2 (see Fig. 3). The management device 2 is configured to set, for each transport vehicle 1, the movement route R from the source of the item 9 to the destination of the item 9.

[0022] As shown in FIG. 2 , the detectable object 3 is placed on the travel surface F. In this example, the detectable object 3 is configured using an identification code such as a one-dimensional code or a two-dimensional code. The detection unit 13 of the transport vehicle 1 is configured using a code reader that reads the identification code. However, without being limited to this configuration, for example, the detectable object 3 may be configured using an IC tag, and the detection unit 13 may be configured using an IC tag reader. Alternatively, the detectable object 3 may be configured using a mark, and the detection unit 13 may be configured using an imaging device that images the mark.

[0023] 3, the article transport facility 100 includes a management device 2 that controls the transport vehicle 1 and manages a plurality of detectable objects 3. The management device 2 is configured to be able to communicate with the transport vehicle 1.

[0024] The management device 2 includes a storage unit 21 and a processing unit 20 that performs arithmetic processing. In this embodiment, the management device 2 includes an input operation unit 22 that is operated by an operator to input information. For example, the input operation unit 22 is configured using a keyboard, a mouse, a switch, a tablet terminal, or the like. Note that the management device 2 may not be configured as a single piece of hardware, but may be configured as a collection of multiple pieces of hardware that can communicate with each other.

[0025] The memory unit 21 stores map information Im that indicates a map of the area in which the transport vehicle 1 can move. The memory unit 21 also stores position information Ip that indicates the positions of multiple detectable objects 3 on the map and identification information In of each of the multiple detectable objects 3, which are associated with each other and stored as map data (see FIG. 4).

[0026] 4 shows an image of map data. Map information Im is information that visualizes the map and includes at least information on the traveling surface F and the detectable objects 3. Position information Ip is information that indicates the position of the detectable objects 3, and indicates the position of the detectable objects 3 in the XY coordinate system (position in the X direction and position in the Y direction). Identification information In is information that is unique to each detectable object 3. In this example, the identification information In is a number assigned to each of the multiple detectable objects 3.

[0027] In the map data shown in Fig. 4, for example, a detectable object 3 whose identification information In is "No. 1001" is located at a position of "X1, Y1" in the XY coordinate system. Also, for example, a detectable object 3 whose identification information In is "No. 1002" is located at a position of "X2, Y1" in the XY coordinate system. In this way, the identification information In and position information Ip for each detectable object 3 are shown in the map data.

[0028] As described above, this map data is stored in the storage unit 21 (see FIG. 3 ) of the management device 2. The management device 2 is configured to refer to the map data and set the movement route R of each transport vehicle 1 so as to connect multiple detectable objects 3 that exist between the transport source and the transport destination.

[0029] Here, the detectable object 3 may be replaced due to deterioration over time, damage, or the like. Generally, the detectable object 3 is replaced by an operator, and the information on the detectable object 3 before replacement and the information on the replaced detectable object 3 in the map data are also replaced by the operator through input work. The map data is then updated based on the input content by the operator. However, if a human error such as an input error occurs, the map data will not be updated appropriately. The article conveying facility 100 according to the present disclosure aims to appropriately update the map data by reducing the possibility of human error in the update process.

[0030] The processing unit 20 (see FIG. 3) in the management device 2 is configured to execute a reception process, a confirmation process, and an update process. The processing unit 20 executes the reception process, the confirmation process, and the update process when at least some of the plurality of detectable objects 3 placed on the traveling surface F are replaced.

[0031] 5 , the reception process is a process that is executed before the confirmation process and the update process (step #11) when a part of the plurality of detectable objects 3 is replaced. In the reception process, when a part of the plurality of detectable objects 3 is replaced, the processing unit 20 receives input of position information Ip of the replaced detectable object 3, which is the replaced detectable object 3.

[0032] The confirmation process is executed after the acceptance process and before the update process (step #12). In the confirmation process, the processing unit 20 instructs the vehicle-side control unit 14 (see FIG. 3) to drive the transport vehicle 1 to the replaced detectable object 3, cause the detection unit 13 to detect the replaced detectable object 3, and transmits the identification information In of the replaced detectable object 3 obtained as a detection result to the management device 2. In other words, by executing the confirmation process, the replaced detectable object 3 is detected by the transport vehicle 1, and the identification information In of the replaced detectable object 3 is transmitted to the management device 2.

[0033] When a detectable object 3 that holds rewritable position information Ip is used and the position information Ip held by the replaced detectable object 3 is rewritten in advance to information about the replacement position of the replaced detectable object 3, the following configuration can also be used. In the confirmation process, the processing unit 20 causes the transport vehicle 1 that has traveled to the replaced detectable object 3 to detect the position information Ip using the detection unit 13 in addition to the identification information In of the replaced detectable object 3, and causes the position information Ip of the replaced detectable object 3 acquired as a detection result to be transmitted to the management device 2 together with the identification information In. In other words, when the confirmation process is executed, the replaced detectable object 3 is detected by the transport vehicle 1, and the identification information In and position information Ip of the replaced detectable object 3 are transmitted to the management device 2.

[0034] The update process is executed after the confirmation process (step #13). In the update process, the processing unit 20 updates the map data based on the identification information In of the replaced detectable object 3 detected in the confirmation process. That is, in the update process, the identification information In of the detectable object 3 before replacement stored in the map data is replaced with the identification information In of the replaced detectable object 3, thereby updating the identification information In of the detectable object 3 in the map data.

[0035] When a detectable object 3 that holds rewritable position information Ip is used and the position information Ip held by the replaced detectable object 3 is rewritten in advance to information about the replacement position of the replaced detectable object 3, the following configuration can also be used. In the update process, the processing unit 20 updates the map data based on the position information Ip of the replaced detectable object 3, in addition to the identification information In of the replaced detectable object 3 detected in the confirmation process. However, the replaced detectable object 3 is installed in the same position as the detectable object 3 before replacement. Therefore, the position information Ip of the detectable object 3 before replacement and the position information Ip of the replaced detectable object 3 basically match.

[0036] As shown in FIG. 4 , for example, consider the case where the detectable object 3 with "No. 1012" located at the position "X2, Y2" in the XY coordinate system is replaced with a new detectable object 3. FIG. 6 shows the state after the detectable object 3 has been replaced. In FIG. 6 , the detectable object 3 shown in black is the replaced detectable object 3. In this embodiment, a detectable object 3 arbitrarily selected from a plurality of detectable objects 3 stored for replacement is placed on the running surface F in place of the detectable object 3 to be replaced. The management device 2 is in a state where it does not know the identification information In (here, the number) of the replaced detectable object 3.

[0037] The processing unit 20 executes the reception process to accept input of the position information Ip of the replaced detectable object 3. When the detectable object 3 is replaced, the new detectable object 3 is replaced with the new one. Therefore, the position information Ip of the replaced detectable object 3 is basically the same as the position information Ip of the new detectable object 3. In this example, when the "No. 1012" detectable object 3 (see FIG. 4) located at "X2, Y2" in the XY coordinate system is replaced with an arbitrarily selected new detectable object 3 with an unknown number, the position of the replaced detectable object 3 in the XY coordinate system is "X2, Y2." Therefore, while the processing unit 20 is executing the reception process, the operator inputs the position "X2, Y2" of the replaced detectable object 3 in the XY coordinate system via the input operation unit 22. In this manner, the input of the position information Ip of the replaced detectable object 3 during the reception process is accepted by the input operation unit 22.

[0038] For example, the position information Ip of the replaced detectable object 3 may be input by the operator clicking or tapping the position of the replaced detectable object 3 on map data displayed on a tablet screen. Alternatively, if there is list data that compiles the identification information In and position information Ip for each of a plurality of detectable objects 3, the position information Ip of the replaced detectable object 3 may be input into the list data.

[0039] The processing unit 20 executes a confirmation process after executing the reception process. In this embodiment, the processing unit 20 sets the position of the replaced detectable object 3 as a destination based on the input position information Ip of the replaced detectable object 3, and sets a movement route R for the transport vehicle 1 to move toward the destination. In the illustrated example, the movement route R for the transport vehicle 1 is set so as to connect the detectable object 3 "No. 1001", the detectable object 3 "No. 1011", and the replaced detectable object 3.

[0040] During the confirmation process, the transport vehicle 1 moves along the travel route R set by the processing unit 20 toward the replaced detectable object 3 (see FIG. 6( a)). Then, when the transport vehicle 1 arrives at the position of the replaced detectable object 3, the transport vehicle 1 detects the replaced detectable object 3 using the detection unit 13. In the illustrated example, the transport vehicle 1 detects the replaced detectable object 3 and acquires "No. XXX", which is the identification information In of the replaced detectable object 3. The transport vehicle 1 transmits the acquired identification information In of the replaced detectable object 3 to the management device 2. Note that in a configuration in which the replaced detectable object 3 holds its own position information Ip and the transport vehicle 1 detects the position information Ip, the transport vehicle 1 may transmit the position information Ip to the management device 2 in addition to the identification information In of the replaced detectable object 3.

[0041] Thereafter, the processing unit 20 executes an update process. The processing unit 20 updates the map data based on the position information Ip of the replaced detectable object 3 input in the reception process and the identification information In of the replaced detectable object 3 transmitted to the management device 2 in the confirmation process. In this example, the processing unit 20 updates the identification information In of the replaced detectable object 3 (replaced detectable object 3) installed in the XY coordinate system "X2, Y2" (see FIG. 4) to "No. XXX." Note that, when the transport vehicle 1 detects the position information Ip of the replaced detectable object 3 and transmits the position information Ip to the management device 2, the processing unit 20 may compare the position information Ip input by the operator with the position information Ip transmitted by the transport vehicle 1, and perform the update process if they match.

[0042] The article conveying equipment 100 described above enables map data to be appropriately updated. Furthermore, in the past, when replacing a detectable object 3, it was necessary to prepare a new detectable object 3 having the same identification information In (here, a number) as the detectable object 3 to be replaced. However, each of the multiple detectable objects 3 installed on the traveling surface F has its own unique identification information In. Therefore, in the past, it was necessary to prepare multiple stocks for each of the multiple detectable objects 3 set on the traveling surface F, which increased costs. According to the article conveying equipment 100 disclosed herein, the map data is updated using the identification information In of the replaced detectable object 3 actually detected by the confirmation process. Therefore, a new detectable object 3 to be used for replacement can be arbitrarily selected from the multiple detectable objects 3 stored for replacement. Therefore, there is no need to prepare a new detectable object 3 having the same identification information In as the detectable object 3 to be replaced, thereby reducing costs.

[0043] Second Embodiment Next, a second embodiment of the article conveying equipment 100 will be described with reference to Figures 7 and 8. The following mainly describes the differences from the first embodiment. Points that are not specifically described are the same as those in the first embodiment.

[0044] The processing unit 20 in the management device 2 is configured to execute a reception process, a confirmation process, and an update process. In this embodiment, the processing unit 20 is further configured to execute a temporary reflection process and a determination process.

[0045] 7, the reception process is the first process executed in each of the above processes (step #21). The reception process according to this embodiment receives input of the identification information In of the replaced detectable object 3. Thus, unlike the first embodiment, this embodiment receives the identification information In of the replaced detectable object 3 in addition to the position information Ip of the replaced detectable object 3.

[0046] 8(a), "No. XXX" is input as the identification information In of the replaced detectable object 3. That is, in this embodiment, the management device 2 knows the identification information In (here, the number) of the replaced detectable object 3 at the stage of the reception process prior to the confirmation process.

[0047] The provisional reflection process is executed after the acceptance process and before the determination process (step #22). In this embodiment, the provisional reflection process is also executed before the confirmation process. In the provisional reflection process, the processing unit 20 provisionally reflects the identification information In of the replaced detectable object 3 accepted in the acceptance process in the map data. In this specification, "provisional reflection" means that the target data is reflected as provisional data, rather than as final data.

[0048] In the example shown in FIG. 8A, "No. XXX", which is the identification information In of the replaced detectable element 3, is provisionally reflected in the map data.

[0049] The confirmation process is executed after the acceptance process and before the determination process (step #23). In this embodiment, the confirmation process is also executed after the temporary reflection process. In the confirmation process, the processing unit 20 causes the transport vehicle 1 to travel to the replaced detectable object 3, causes the detection unit 13 to detect the replaced detectable object, and transmits the identification information In of the replaced detectable object 3 obtained as the detection result to the management device 2. In other words, by executing the confirmation process, the replaced detectable object 3 is detected by the transport vehicle 1, and the identification information In of the replaced detectable object 3 is transmitted to the management device 2.

[0050] In the example shown in Figure 8(b), the processing unit 20 sets the position of the replaced detectable object 3 as a destination based on the input position information Ip of the replaced detectable object 3, and sets a movement route R for the transport vehicle 1 to move toward the destination. In the example shown, the movement route R for the transport vehicle 1 is set to connect the detectable object 3 with "No. 1001", the detectable object 3 with "No. 1011", and the replaced detectable object 3 that is expected to be "No. XXX". In the example shown in Figure 8(c), the replaced detectable object 3 is detected by the transport vehicle 1. The identification information In of the detected replaced detectable object 3 is "No. XXX".

[0051] The determination process is executed after the temporary reflection process and the confirmation process, but before the update process (step #24). In the determination process, the processing unit 20 determines whether the identification information In of the replaced detectable object 3 acquired from the transport vehicle 1 matches the identification information In of the replaced detectable object 3 temporarily reflected by the temporary reflection process.

[0052] After the determination process is performed, the update process is performed (step #25). In the update process, if the determination process determines that the two map data match, the processing unit 20 updates the map data after the temporary reflection process to the correct map data.

[0053] In the example shown in FIG. 8(c), the identification information In of the replaced detectable object 3 acquired from the transport vehicle 1 is "No. XXX", and the identification information In of the replaced detectable object 3 temporarily reflected by the temporary reflection process is "No. XXX", and the two match. In this case, the judgment process determines that they "match". Then, in the update process, the map data is updated with the identification information In of the replaced detectable object 3 being "No. XXX".

[0054] If the confirmation process determines that there is a "mismatch," i.e., if the identification information In of the replaced detectable object 3 acquired from the transport vehicle 1 does not match the identification information In of the replaced detectable object 3 temporarily reflected by the temporary reflection process, the processing unit 20 issues a warning. However, since the detection result by the transport vehicle 1 is basically correct, after issuing the warning, the processing unit 20 updates the map data based on the identification information In of the replaced detectable object 3 detected by the transport vehicle 1, on the condition that the consent of the worker or the like is obtained.

[0055] Other Embodiments Next, other embodiments will be described.

[0056] (1) In the above embodiment, the processing unit 20 sets the position of the replaced detectable object 3 as a destination and sets the movement route R of the transport vehicle 1 toward the destination based on the input position information Ip of the replaced detectable object 3. However, without being limited to this example, the processing unit 20 may set the position of the replaced detectable object 3 as a destination and set the movement route R of the transport vehicle 1 toward the destination based on the position information Ip of the previous detectable object 3. In other words, since the position of the previous detectable object 3 is the same as the position of the previous detectable object 3, the processing unit 20 can direct the transport vehicle 1 to the position where the previous detectable object 3 was located, thereby ultimately directing the transport vehicle 1 to the position of the replaced detectable object 3. Therefore, with this configuration, the transport vehicle 1 can be moved to the position of the replaced detectable object 3 based on the information before replacement and detect the replaced detectable object 3. In this case, the position of the previous detectable object 3 may be automatically input in the reception process.

[0057] (2) In the above embodiment, an example has been described in which at least the reception process, the confirmation process, and the update process are executed when one of the multiple detectable objects 3 placed on the travel surface F is replaced. However, the present invention is not limited to this example. Even when two or more detectable objects 3 are replaced, the map data can be appropriately updated by executing at least the reception process, the confirmation process, and the update process. In this case, the respective processes may be executed simultaneously for two or more replaced detectable objects 3, or the respective processes may be executed individually for two or more replaced detectable objects 3.

[0058] (3) In the above embodiment, an example has been described in which the transport vehicle 1 is configured as a transport vehicle that travels on a floor surface. However, without being limited to this example, the transport vehicle 1 may be configured as a rail-guided 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, the running surface F is any surface extending along the rail, and the object 3 to be detected is placed on this running surface F. The transport vehicle 1 is configured to move while sequentially detecting multiple objects to be detected 3 placed along the rail.

[0059] (4) The configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments, as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope of the present disclosure.

[0060] Summary of the Present Embodiment The summary of the present embodiment will be described below.

[0061] 1. An article transport facility comprising: a transport vehicle that travels along a travel surface to transport an article; a plurality of detectable objects each having unique identification information; and a management device communicably connected to the transport vehicle, controlling the transport vehicle and managing the plurality of detectable objects, wherein the transport vehicle comprises a vehicle-side control unit that controls the operation of each unit provided on the transport vehicle, and a detection unit that detects the detectable objects, and is configured to move while sequentially detecting the plurality of detectable objects using the detection unit, the management device comprises a memory unit and a processing unit that performs arithmetic processing, the memory unit stores position information indicating the positions of the plurality of detectable objects on a map and the identification information of each of the plurality of detectable objects in association with each other as map data, and the processing unit is configured to execute a reception process, a confirmation process, and an update process, wherein the reception process receives input of the position information of a replaced detectable object, which is the replaced detectable object, when a part of the plurality of detectable objects is replaced, In the confirmation process, the vehicle-side control unit is instructed to drive the transport vehicle to the replaced detectable object received in the reception process, the detection unit detects the replaced detectable object, and the identification information of the replaced detectable object obtained as a detection result is sent to the management device; and in the update process, the map data is updated based on the identification information of the replaced detectable object detected by the confirmation process.

[0062] According to this configuration, the confirmation process causes the transport vehicle to move to detect the replaced detectable object, and the identification information of the replaced detectable object obtained through this detection is transmitted to the management device. In this configuration, the reception process accepts the input of the position information of the replaced detectable object, but the update process that updates the map data uses the identification information of the replaced detectable object detected through the confirmation process. Therefore, the map data is updated based on the results of the transport vehicle actually detecting the replaced detectable object. This reduces the possibility of human error in the update process. As described above, according to this configuration, it is possible to appropriately update the map data.

[0063] The processing unit is preferably configured to further execute a temporary reflection process and a judgment process, wherein the reception process accepts input of the identification information of the replaced detectable object, the temporary reflection process temporarily reflects the identification information of the replaced detectable object accepted in the reception process in the map data, the judgment process determines whether the identification information of the replaced detectable object acquired from the transport vehicle matches the identification information of the replaced detectable object temporarily reflected by the temporary reflection process, and the update process updates the map data after temporary reflection by the temporary reflection process to the correct map data if it is determined in the judgment process that they match.

[0064] According to this configuration, when some of the multiple detectable objects are replaced, it is possible to use the transport vehicle to check whether the input identification information of the replaced detectable objects is correct.The map data is then updated only if it is determined as a result of the check that the map data is correct.Therefore, according to this configuration, when the map data is provisionally reflected based on the input identification information of the replaced detectable objects, it is easy to update the map data with the correct information by comparing the input identification information with the identification information actually detected by the transport vehicle.

[0065] Preferably, the plurality of detectable objects are distributed and arranged at a plurality of locations on the traveling surface, and the travel path of the transport vehicle is set so that any number of the plurality of detectable objects are selected from the plurality of detectable objects and so as to connect the selected plurality of detectable objects.

[0066] This configuration is easily and suitably applied to an article transport facility equipped with an automated guided vehicle that can travel along any route set on a travel surface.

[0067] Preferably, the management device includes an input operation unit that is operated by an operator to input information, and the input of the position information of the replaced detectable object in the reception process is received by the input operation unit.

[0068] According to this configuration, after an operator replaces a detectable object, information about the replaced detectable object can be input to the management device. While the information input by the operator may contain errors, as described above, according to this configuration, the map data is updated based on the results of the transfer vehicle actually detecting the replaced detectable object. This reduces the possibility of human error in the update process. Therefore, the map data can be updated appropriately.

[0069] The technology disclosed herein can be used in an item transport facility that includes a transport vehicle that travels along a travel surface to transport items, a plurality of detectable objects that are installed on the travel surface and each have unique identification information, and a management device that is communicatively connected to the transport vehicle and controls the transport vehicle and manages the plurality of detectable objects.

[0070] 100: Item transport facility 1: Transport vehicle 13: Detector 14: Vehicle-side controller 2: Management device 20: Processor 21: Memory 22: Input operation unit 3: Detectable object 9: Item F: Travel surface Im: Map information In: Identification information Ip: Position information R: Travel route

Claims

1. An article transport facility comprising: a transport vehicle that travels along a travel surface to transport articles; a plurality of detectable objects, each having unique identification information; and a management device communicatively connected to the transport vehicle, controlling the transport vehicle and managing the plurality of detectable objects, wherein the transport vehicle comprises a vehicle-side control unit that controls the operation of each unit of the transport vehicle, and a detection unit that detects the detectable objects, and is configured to move while sequentially detecting the plurality of detectable objects using the detection unit; the management device comprises a memory unit and a processing unit that performs arithmetic processing; the memory unit stores position information indicating the positions of the plurality of detectable objects on a map and the identification information of each of the plurality of detectable objects in association with each other as map data; and the processing unit is configured to execute a reception process, a confirmation process, and an update process, wherein in the reception process, when a portion of the plurality of detectable objects is replaced, an input of the position information of the replaced detectable object, which is the detected object that has been replaced, is received; In the confirmation process, by instructing the vehicle-side control unit, the transport vehicle is driven to the replaced detectable object received in the reception process, the detection unit is caused to detect the replaced detectable object, and the identification information of the replaced detectable object obtained as a detection result is transmitted to the management device, and in the update process, the map data is updated based on the identification information of the replaced detectable object detected by the confirmation process.

2. The processing unit is configured to further execute a temporary reflection process and a judgment process, wherein the reception process accepts input of the identification information of the replaced detectable object, the temporary reflection process temporarily reflects the identification information of the replaced detectable object received in the reception process in the map data, the judgment process judges whether the identification information of the replaced detectable object obtained from the transport vehicle matches the identification information of the replaced detectable object temporarily reflected by the temporary reflection process, and the update process updates the map data after temporary reflection by the temporary reflection process to the correct map data if it is judged in the judgment process that they match.

3. The article transport equipment described in claim 1, wherein the multiple detectable objects are distributed and positioned at multiple locations on the traveling surface, and the travel path of the transport vehicle is set so that any number of the multiple detectable objects are selected from the multiple detectable objects and so as to connect the selected multiple detectable objects.

4. An item transport facility as described in any one of claims 1 to 3, wherein the management device is provided with an input operation unit that is operated by an operator to input information, and the input of the position information of the replaced detectable object in the reception process is received by the input operation unit.

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