Article transport facility

Abstract

A transport vehicle according to the present invention includes a vehicle-side control unit (14) that controls operation of each unit of the transport vehicle, and a detection unit that detects an object to be detected. The transport vehicle is configured to move along a movement path while sequentially detecting a plurality of the objects to be detected by the detection unit. A management device (Ct) is configured to cause the vehicle-side control unit (14) to selectively execute a normal mode and an inspection mode. In the inspection mode, each time the detection unit detects the object to be detected, the vehicle-side control unit (14) transmits, to the management device (Ct), identification information (I4) of the object to be detected that has been detected by the detection unit, and detection level information (IL) indicating a detection level of the object to be detected by the detection unit.

Description

ARTICLE TRANSPORT FACILITY

[0001] The present invention relates to an item transport facility comprising a transport vehicle for transporting items, a management device communicatively connected to the transport vehicle and controlling the transport vehicle, and a plurality of detectable objects, each having unique identification information.

[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 equipment disclosed in Patent Document 1, multiple marks (9) are scattered on the floor. 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 multiple marks (9) that the transport vehicle (4) should follow. The transport vehicle (4) travels while sequentially detecting the multiple marks (9) using a mark sensor (48). In other words, the marks (9) form part of the travel path of the transport vehicle (4) and have the function of supporting the travel of the transport vehicle (4).

[0004] Patent No. 7076935

[0005] Incidentally, detectable objects, such as the mark (9) in Patent Document 1, that are detected by a traveling transport vehicle may need to be replaced or repaired due to dirt, damage, or other factors. If the degree of dirt or damage is high, the function of the detectable object to support the travel of the transport vehicle along the travel path may be impaired. In such a case, the transport vehicle will not be able to travel properly along the travel path. In this way, detectable objects, such as the mark (9) in Patent Document 1, are likely to affect the travel environment of the transport vehicle.

[0006] In view of the above situation, it is desirable to realize an article transport facility that makes it easy to create an environment in which transport vehicles can travel appropriately.

[0007] an article transport facility comprising: a transport vehicle for transporting articles; a management device communicatively connected to the transport vehicle and controlling the transport vehicle; and a plurality of detectable objects each having unique identification information, wherein the travel route of the transport vehicle is set to connect the plurality of detectable objects; the transport vehicle comprises a vehicle-side control unit that controls the operation of each unit equipped on the transport vehicle, and a detection unit that detects the detectable objects, and is configured to travel along the travel route while the detection unit sequentially detects the plurality of detectable objects; the management device is configured to cause the vehicle-side control unit to selectively execute a normal mode or an inspection mode; and in the normal mode, the vehicle-side control unit, each time the detection unit detects a detectable object, transmits to the management device the identification information of the detectable object detected by the detection unit and positional relationship information that indicates the relative positional relationship between the detectable object and a reference position of the transport vehicle at the time the identification information was detected by the detection unit; In the inspection mode, each time the detection unit detects the detectable object, the identification information of the detectable object detected by the detection unit and detection level information indicating the detection level of the detectable object by the detection unit are transmitted to the management device.

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

[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 Figure showing map data Figure showing the configuration of the object to be detected Figure showing the relative positional relationship between the reference position of the transport vehicle and the object to be detected when identification information is detected Figure showing the contents transmitted from the transport vehicle to the management device in normal mode and inspection mode Figure showing an example of the display unit of the terminal device

[0011] Hereinafter, an embodiment of an article transport facility will be described with reference to the drawings.

[0012] 1, the article conveying facility 100 includes a transport vehicle 1 that conveys an article 9, a management device Ct (see FIG. 3) that is communicatively connected to the transport vehicle 1 and controls the transport vehicle 1, and a plurality of detectable objects 4, each having unique identification information I4 (see FIG. 4). In this embodiment, the management device Ct includes a host control device 2 and a terminal device 3, as will be described in detail later.

[0013] In this embodiment, the transport vehicle 1 is configured to travel on a travel surface F that extends along a predetermined X direction and a Y direction perpendicular to the X direction. The travel surface F is formed on the floor of the article 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 transfer the article 9 between the transport vehicle 1 and a 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] The travel route R of the transport vehicle 1 is set to connect multiple detectable objects 4. In this embodiment, the multiple detectable objects 4 are distributed and arranged at multiple locations on the travel surface F. The travel route R is set so that any number of detectable objects 4 are selected from the multiple detectable objects 4 and connect the selected multiple detectable objects 4. The interval between adjacent detectable objects 4 is a predetermined set interval. As a result, for example, the transport vehicle 1 that has detected a specific detectable object 4 travels the set interval toward the next detectable object 4 and detects the next detectable object 4. The transport vehicle 1 is configured to travel to the destination by repeating this process. In this example, the multiple detectable objects 4 are arranged at equal intervals in some or all areas of the travel surface F.

[0015] In this embodiment, the movement route R of the transport vehicle 1 is set by a combination of a plurality of detectable objects 4 arranged consecutively along the X direction and a plurality of detectable objects 4 arranged consecutively along the Y direction. In other words, the movement route R of the transport vehicle 1 is configured by a combination of a route extending along the X direction and a route extending along the Y direction.

[0016] 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 host control device 2 (see Fig. 3). The host control 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[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 the detectable object 4, and is configured to move along the travel path R while the detection unit 13 sequentially detects multiple detectable objects 4.

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

[0023] The imaging unit 130 is directed toward the traveling surface F and is configured to capture an image of the traveling surface F. In this embodiment, the imaging unit 130 is configured to continuously capture an image of the traveling surface F at a preset cycle. This cycle is determined as appropriate depending on the performance of the transport vehicle 1, etc. The cycle can also be set as short as possible so that the imaging unit 130 constantly captures the traveling surface F. For example, while the transport vehicle 1 is traveling, the detectable object 4 is detected when it falls within an imaging range A based on the angle of view of the imaging unit 130 (see FIG. 6 ).

[0024] FIG. 3 shows a control block diagram of the article transport facility 100.

[0025] As shown in Figure 3, the article conveying facility 100 includes a host controller 2 and a transport vehicle 1. The host controller 2 and the transport vehicle 1 are configured to be able to communicate with each other. For example, the host controller 2 transmits a transport command to the transport vehicle 1, specifying the origin and destination of the article 9. The transport vehicle 1 responds to the command from the host controller 2 and transmits its current location to the host controller 2. The transport vehicle 1 is configured to perform the above-mentioned communication (sending and receiving signals) with the host controller 2 using a vehicle-side control unit 14 installed on the transport vehicle 1.

[0026] The host control device 2 and the vehicle-side control unit 14 each include, for example, a processor such as a microcomputer, peripheral circuits such as a memory, etc. Each process or function is realized by cooperation between this hardware and a program executed on the processor of a computer or the like.

[0027] In this embodiment, the article transport equipment 100 further includes a terminal device 3 communicatively connected to the host control device 2. In this example, the host control device 2 and the terminal device 3 are communicatively connected wirelessly. The host 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, the operator can operate the terminal device 3 to input commands to the transport vehicle 1. The commands input by the operator are indirectly transmitted to the transport vehicle 1 via the host control device 2. However, without being limited to this configuration, 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 includes an information acquisition unit 30 that acquires information, a storage unit 31 that stores information, a display unit 32 that displays information, and a display control unit 33. For example, the terminal device 3 is configured using a personal computer, a tablet, a smartphone, or the like.

[0029] 4, the upper control device 2 has map information Im as map data, which indicates a map of the area where the transport vehicle 1 can move. Alternatively, the upper control device 2 is configured to be able to acquire the map data from a database held in a server (including a cloud server).

[0030] 4 shows an image of the map data. The map information Im is information that visualizes a map, and includes at least information on the traveling surface F and the object 4 to be detected.

[0031] Position information Ip indicating the position on the map of each of the plurality of detectable objects 4 and identification information I4 of each of the plurality of detectable objects 4 are associated with each other and reflected in map information Im as map data.

[0032] The position information Ip is information indicating the position of the detectable object 4, and indicates the position of the detectable object 4 in the XY coordinate system (the position in the X direction and the position in the Y direction). The identification information I4 is information unique to each detectable object 4. In this example, the identification information I4 is a number assigned to each of the multiple detectable objects 4.

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

[0034] The upper control device 2 is configured to refer to the map data and set a travel route R for the transport vehicle 1. The transport vehicle 1 is configured to move while sequentially detecting a plurality of detectable objects 4 that make up the travel route R.

[0035] 5, in this embodiment, one detectable object 4 includes a mark group 4G, which is a collection of a plurality of marks 4a. The detectable object 4 includes a plate 40, and the mark group 4G is attached to the plate 40.

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

[0037] FIG. 5 shows a detectable 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 detectable object 4 has information "0100012," a multi-digit number sequence. The last two digits of this information, "12," represent "No. 12," which is the identification information I4 of the detectable object 4 to which the mark 4a having this information is attached. In FIG. 5, the other marks 4a have information "0400012," and the last two digits of this information, "12," represent "No. 12," which is the identification information I4 of the detectable object 4. In this way, each of the multiple marks 4a belonging to the mark group 4G of the detectable object 4 has the identification information I4 of the detectable object 4. Therefore, the transport vehicle 1 can acquire the identification information I4 of the detectable 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 object 4 is associated with the position information Ip (see FIG. 4), the transport vehicle 1 can also acquire the position information Ip of the object 4.

[0038] On the other hand, each of the multiple marks 4a belonging to mark group 4G has unique information. For example, for a mark 4a having 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 having the information "0400012," the first two digits of this information, "04," represent the unique mark information I4a of that mark 4a. In this way, the multiple marks 4a belonging to one mark group 4G each have 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 different 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 detect each of the multiple marks 4a constituting mark group 4G.

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

[0040] 6 shows an imaging range A based on the angle of view of the imaging unit 130. When the detectable object 4 falls within the imaging range A while the transport vehicle 1 is traveling, the identification information I4 of the detectable object 4 is detected. In this embodiment, the transport vehicle 1 travels while correcting its own position based on positional relationship information Id indicating the relative positional relationship between the detectable object 4 and a reference position C1 of the transport vehicle 1 at the time of identification information detection when the detection unit 13 detects the identification information I4 of the detectable object 4 (hereinafter, may be simply referred to as the "reference position C1 of the transport vehicle 1").

[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 object to be detected 4 when the identification information is detected, and the relative angle around the Z axis perpendicular to both the X and Y directions between the transport vehicle 1 and the object to be detected 4 when the identification information is detected.

[0042] As shown in FIG. 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 object 4. For example, when the transport vehicle 1 is traveling along the Y direction, the transport vehicle 1 corrects its own position so that the relative distance Dx in the X direction (left and right with respect to the traveling direction) is zero. In this case, the relative distance Dy in the Y direction is not corrected because it is a factor that constantly changes as the transport vehicle 1 travels. In this case, the relative distance Dy in the Y direction is used by the transport vehicle 1 to recognize its current position. On the other hand, when the transport vehicle 1 is traveling along the X direction, the transport vehicle 1 corrects its own position so that the relative distance Dy in the Y direction (left and right with respect to the traveling direction) is zero. In this case, the relative distance Dx in the X direction is not corrected because it is a factor that constantly changes as the transport vehicle 1 travels. However, the relative distance Dx in the X direction is used by the transport vehicle 1 to recognize its current position.

[0043] The positional relationship information Id also includes the relative angle θ between the transport vehicle 1 and the object to be detected 4 around the Z-axis. For example, the relative angle θ around the Z-axis is calculated from the angle between a line parallel to the reference line L1 of the transport vehicle 1 and a line parallel to the reference line L4 of the object to be detected 4. In the illustrated example, the reference line L1 of the transport vehicle 1 is set to a part of the outer edge of the imaging range A, and the reference line L4 of the object to be detected 4 is set to a part of the outer edge of the rectangular plate 40 provided on the object to be detected 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 a detectable object 4, it acquires identification information I4 and positional relationship information Id related to the detectable object 4. Then, the detection unit 13 acquires detection level information IL (see FIG. 7 ) indicating the detection level of the detectable object 4 at the time of detection. In this embodiment, the detection unit 13 is configured to acquire the identification information I4, positional relationship information Id, and detection level information IL based on the recognition result of the image of the detectable object 4 captured by the imaging unit 130.

[0045] As described above with reference to Fig. 5 , in this embodiment, one detectable object 4 includes a mark group 4G that is a collection of multiple marks 4a. In this embodiment, the detection level of the detectable object 4 by the detection unit 13 is an index that represents the proportion of the number of marks 4a that the detection unit 13 was able to detect out of all the marks 4a that belong to the mark group 4G included in one detectable object 4. In the example shown in Fig. 5 , 16 marks 4a make up one mark group 4G. The detection level is represented 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 a plurality of stages, for example, the detection level is set in three stages: a high level, a low level, and a medium level which is a level 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 detection unit 13 for the detectable object 4 is good. In this case, it can be determined that there is currently no need to replace or repair the detected detectable object 4. For example, if the number of marks 4a belonging to one mark group 4G is 16 and the number detected by the detection unit 13 is 10 to 16, the detection level is determined to be high.

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

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

[0050] As shown in Fig. 7, the host controller 2 is configured to selectively cause the vehicle-side control unit 14 to execute a normal mode or an inspection mode. That is, the host controller 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 article 9 in response to a command from the host controller 2. When the inspection mode is executed, the transport vehicle 1 inspects the object 4 to be detected.

[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 a detectable object 4, identification information I4 of the detectable object 4 detected by the detection unit 13 and positional relationship information Id indicating the relative positional relationship between the reference position C1 of the transport vehicle 1 and the detectable object 4 at the time the detection unit 13 detected the identification information I4.

[0052] The identification information I4 of the detectable object 4 is associated with the position information Ip of the detectable object 4. Therefore, when the transport vehicle 1 transmits the identification information I4 of the detectable object 4 detected by the detection unit 13 to the upper control device 2, the upper control device 2 can grasp the current position of the transport vehicle 1. Furthermore, the upper control device 2 can grasp the detailed current position of the transport vehicle 1 based on the positional relationship information Id transmitted from the transport vehicle 1. Furthermore, for example, by accumulating the positional relationship information Id as data, it becomes possible to use the data to analyze the detectable object 4 that is likely to deviate from the transport vehicle 1.

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

[0054] When the detection level indicated in the detection level information IL is high, it can be determined that the condition of the detectable object 4 is good. On the other hand, when the detection level indicated in the detection level information IL is low, it can be estimated that the detectable object 4 is highly in need of replacement or repair. Therefore, it becomes easier to take measures such as replacing or repairing the detectable object 4 before the condition of the detectable object 4 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 depending on the detection level stage.

[0055] In this embodiment, the host control device 2 recognizes a detectable object 4 whose detection level indicated in the detection level information IL received from the vehicle-side control unit 14 is equal to or lower than a preset threshold as a defective detectable object. As described above, in this embodiment, the detection level is set to three levels: high, medium, and low. The host control device 2 recognizes a detectable object 4 as a defective detectable object when the detection level indicated in the detection level information IL received from the vehicle-side control unit 14 is low. As in this example, when the number of marks 4a detected by the detection unit 13 is 0 to 4 out of 16 marks 4a (see FIG. 5) on the detectable object 4, the detection level is determined to be low, and the detectable object 4 is recognized as a defective detectable object. In other words, in this embodiment, the preset threshold is "4," and a detectable object 4 whose number of marks 4a detected by the detection unit 13 is "4" or less is recognized as a defective detectable object.

[0056] For example, when the upper control device 2 determines that the detectable object 4 is a defective detectable object, it may be configured to notify the terminal device 3 of the identification information I4 and position information Ip of the detectable object 4, and information that the detectable object 4 is a defective detectable object. This allows the worker operating the terminal device 3 to be prompted to replace or repair the defective detectable object.

[0057] In this embodiment, the upper control device 2 is configured to set part or all of the area in which the transport vehicle 1 can move 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] When a part of the movable area is set as an inspection area, the object 4 can be inspected only in the inspection area, and the article 9 can be transported in an area other than the inspection area.

[0059] The upper control device 2 may set the entire movable area as the inspection area when the article transport equipment 100 is not operating, for example, at night. In this way, the state in which the article transport equipment 100 is not operating can be used to inspect the detectable objects 4 in the entire movable area of ​​the transport vehicle.

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

[0061] In this embodiment, the maximum speed limit of the transport vehicle 1 in the inspection mode is set lower than the maximum speed limit of the transport vehicle in the normal mode. In the inspection mode, the transport vehicle 1 needs to acquire detection level information IL for the detectable object 4, and if the travel speed of the transport vehicle 1 is too fast, it is difficult to properly acquire the detection level information IL. In this embodiment, to acquire the detection level information IL for the detectable object 4, the transport vehicle 1 attempts to detect 16 marks 4a provided on the detectable object 4. Therefore, if the speed of the transport vehicle 1 during detection is too fast, it is difficult to detect all 16 marks 4a. For example, the maximum speed limit of the transport vehicle 1 in the inspection mode may be set to 10% to 20% of the maximum speed limit of the transport vehicle in the normal mode.

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

[0063] As described above, the terminal device 3 includes an information acquisition unit 30 that acquires information, a storage unit 31 that stores information, a display unit 32 that displays information, and a display control unit 33 (see also FIG. 3).

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

[0065] The storage unit 31 stores, as map data, map information Im that indicates a map of the area in which the transport vehicle 1 can move. The map data is stored in advance in the storage unit 31. Alternatively, the terminal device 3 may be configured to be able to acquire map data from a database held in the upper 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, as map data, position information Ip indicating the position on the map of each of the plurality of detectable objects 4 and identification information I4 of each of the plurality of detectable objects 4 in association with each other. For example, map data such as that shown in FIG. 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 the 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 detection level information IL of each of the plurality of detectable objects 4 at the position of each of the plurality of detectable objects 4 on the map. In addition, the display control unit 33 is configured to display identification information I4 and position information Ip for each of the plurality of detectable objects 4 on the display unit 32. In the example shown in FIG. 8 , for the sake of convenience of explanation, the identification information I4 and position information Ip for each of the detectable objects 4 are omitted.

[0069] As shown in FIG. 8 , in this embodiment, the display control unit 33 is configured to display the detection level information IL in different ways depending on the detection level of each detectable object 4. As described above, in this embodiment, the detection level is set to three levels: high, medium, and low. In the example of FIG. 8 , the detection level information IL indicating a high detection level is indicated by a white circle. The detection level information IL indicating a medium detection level is indicated by a hatched circle. The detection level information IL indicating a low detection level is indicated by a lightly hatched circle. With this configuration, the worker operating the terminal device 3 can easily recognize the status of each of the multiple detectable objects 4 placed 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 different from 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 may be displayed with different symbols such as "○," "△," and "×," or may be displayed with different letters such as "good," "caution," and "bad." These displays may be performed by the worker operating the terminal device 3, or may be automatically displayed by the display control unit 33.

[0071] According to the article conveying equipment 100 described above, it is possible to acquire the detection level information IL for the detectable object 4 in the inspection mode. This makes it easier to take measures such as replacing or repairing the detectable object 4 before the condition of the detectable object 4 deteriorates and it becomes unsuitable for use. This makes it easier to create an environment in which the transport vehicle 1 can travel properly.

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

[0073] (1) In the above embodiment, an example has been described in which the detectable object 4 has a plurality of marks 4a configured using two-dimensional codes. However, the present invention is not limited to such an example, and the marks 4a on the detectable object 4 may be letters or symbols that are displayed in a manner that can be identified by the detection unit 13. Alternatively, the detectable object 4 may have an IC tag. The configuration of the detection unit 13 is determined according to the configuration of the detectable object 4 to be detected.

[0074] (2) In the above embodiment, an example has been described in which the detection level of the detectable object 4 by the detector 13 is an index representing the proportion of the number of marks 4 a that the detector 13 was able to detect to all of the marks 4 a that belong to the mark group 4G that one detectable object 4 has. However, without being limited to this example, for example, if the detectable object 4 is configured using an IC tag, the detection level may be an index representing radio wave intensity.

[0075] (3) In the above embodiment, an example has been described in which 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 plurality of detectable objects 4 at the position of each of the detectable objects 4 on the map. However, without being limited to this example, the display control unit 33 may, for example, display a graph on the display unit 32 showing the relationship between each of the detectable objects 4 and the detection level information IL.

[0076] (4) In the above embodiment, an example has been described in which the transport vehicle 1 is configured as a floor-mounted 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-mounted transport vehicle. In these cases, multiple detectable objects 4 are installed at intervals along the rail, and the transport vehicle 1 travels along the rail while sequentially detecting the multiple detectable objects 4.

[0077] (5) In the above embodiment, an example has been described in which the management device Ct includes the upper control device 2 and the terminal device 3, which are configured as separate devices. However, the present invention is not limited to this example, and the management device Ct does not necessarily include the terminal device 3. In this case, the terminal device 3 and the upper control device 2 included in the management device Ct may be configured as an integrated device. For example, the terminal device 3 is configured as a personal computer or monitor connected to the upper control device 2 by wire.

[0078] (6) 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.

[0079] Summary of the Present Embodiment The summary of the present embodiment will be described below.

[0080] an article transport facility comprising: a transport vehicle for transporting articles; a management device communicatively connected to the transport vehicle and controlling the transport vehicle; and a plurality of detectable objects each having unique identification information, wherein the travel route of the transport vehicle is set to connect the plurality of detectable objects; the transport vehicle comprises a vehicle-side control unit that controls the operation of each unit equipped on the transport vehicle, and a detection unit that detects the detectable objects, and is configured to travel along the travel route while the detection unit sequentially detects the plurality of detectable objects; the management device is configured to cause the vehicle-side control unit to selectively execute a normal mode or an inspection mode; and in the normal mode, the vehicle-side control unit, each time the detection unit detects a detectable object, transmits to the management device the identification information of the detectable object detected by the detection unit and positional relationship information that indicates the relative positional relationship between the detectable object and a reference position of the transport vehicle at the time the identification information was detected by the detection unit; In the inspection mode, each time the detection unit detects the detectable object, the identification information of the detectable object detected by the detection unit and detection level information indicating the detection level of the detectable object by the detection unit are transmitted to the management device.

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

[0082] Preferably, the detection unit includes an imaging unit that images the detectable object, and the detection unit is configured to acquire the identification information, the positional relationship information, and the detection level information based on a recognition result of the image of the detectable object captured by the imaging unit.

[0083] According to this configuration, it is possible to relatively easily obtain the identification information, the positional relationship information, and the detection level information using the imaging unit.

[0084] Preferably, the transport vehicle is configured to travel on a travel surface that extends along an X direction that is a predetermined direction and a Y direction that is perpendicular to the X direction, the plurality of detectable objects are disposed in a distributed manner at a plurality of locations on the travel surface, an arbitrary number of the plurality of detectable objects are selected from the plurality of detectable objects, and the travel path is set to connect the selected plurality of detectable objects, and the positional relationship information includes the relative distances in the X direction and the Y direction between the reference position of the transport vehicle and the detectable objects when the identification information is detected, and the relative angle around a Z direction axis that is perpendicular to both the X direction and the Y direction between the transport vehicle and the detectable objects when the identification information is detected.

[0085] 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.

[0086] Preferably, one of the detectable objects comprises a mark group which is a collection of a plurality of marks, the detection unit is capable of detecting the entire mark group and also capable of detecting each of the plurality of marks that make up the mark group, and the detection level is an index that represents the proportion of the number of marks that the detection unit was able to detect out of all the marks that belong to the mark group that one of the detectable objects comprises.

[0087] According to this configuration, the detection level can be expressed based on the number of marks that the detection unit was able to detect, which makes it easy to appropriately define the detection level.

[0088] Preferably, each of the plurality of marks is a two-dimensional code having predetermined information, and all the marks belonging to the same mark group have the same identification information but different mark information from each other.

[0089] According to this configuration, since all marks belonging to the same mark group have the same identification information, if any one of the marks belonging to the mark group on one detectable object can be detected, the identification information of the detectable object can be obtained. Furthermore, since all marks belonging to the same mark group have different mark information, it is easy to identify which of the multiple marks can be detected and which cannot.

[0090] The management device preferably comprises: an information acquisition unit that acquires the detection level information for the plurality of detectable objects; a memory unit that stores map information showing a map of the movable area of ​​the transport vehicle, position information showing the position of each of the plurality of detectable objects on the map, and the identification information for each of the plurality of detectable objects as map data in association with each other; a display unit that displays the information stored in the memory unit; and a display control unit that controls the display unit, wherein the display control unit is configured to display the map on the display unit and to display the detection level information for each of the plurality of detectable objects at each position of the plurality of detectable objects on the map.

[0091] According to this configuration, the worker can easily recognize the state of each of the multiple detectable objects placed on the travel surface by checking the display unit of the terminal device.

[0092] The technology disclosed herein can be used in an item transport facility that includes a transport vehicle for transporting items, a management device that is communicatively connected to the transport vehicle and controls the transport vehicle, and a plurality of detectable objects, each of which has unique identification information.

[0093] 100: Item transport equipment 1: Transport vehicle 13: Detection unit 130: Imaging unit 14: Vehicle-side control unit Ct: Management device 2: Upper control device 3: Terminal device 30: Information acquisition unit 31: Storage unit 32: Display unit 33: Display control unit 4: Detectable object 4G: Mark group 4a: Mark 9: Item F: Travel surface R: Movement path C1: Reference position Dx: Relative distance Dy: Relative distance θ: Relative angle I4: Identification information I4a: Mark information IL: Detection level information Id: Positional relationship information Im: Map information Ip: Positional information

Claims

1. An article transport facility comprising: a transport vehicle for transporting articles; a management device communicatively connected to the transport vehicle and controlling the transport vehicle; and a plurality of detectable objects each having unique identification information, wherein the travel route of the transport vehicle is set to connect the plurality of detectable objects, 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 travel along the travel route while the detection unit sequentially detects the plurality of detectable objects, the management device is configured to cause the vehicle-side control unit to selectively execute a normal mode or an inspection mode, and in the normal mode, the vehicle-side control unit transmits to the management device, each time the detection unit detects a detectable object, the identification information of the detectable object detected by the detection unit, and positional relationship information indicating the relative positional relationship between the detectable object and a reference position of the transport vehicle at the time when the identification information was detected by the detection unit, In the inspection mode, each time the detection unit detects the detectable object, the item transport equipment transmits to the management device the identification information of the detectable object detected by the detection unit and detection level information indicating the detection level of the detectable object by the detection unit.

2. The item transport equipment of claim 1, wherein the detection unit includes an imaging unit that images the detectable object, and the detection unit is configured to obtain the identification information, the positional relationship information, and the detection level information based on the recognition result of the image of the detectable object captured by the imaging unit.

3. The article transport facility according to claim 1, wherein the transport vehicle is configured to travel on a travel surface that extends along a predetermined X direction and a Y direction perpendicular to the X direction, the plurality of detectable objects are disposed in a distributed manner at a plurality of locations on the travel surface, the movement path is set so that an arbitrary number of the plurality of detectable objects are selected from the plurality of detectable objects and the movement path is set so as to connect the selected plurality of detectable objects, and the positional relationship information includes relative distances in the X direction and the Y direction between the reference position of the transport vehicle and the detectable objects when the identification information is detected, and a relative angle around a Z direction axis perpendicular to both the X direction and the Y direction between the transport vehicle and the detectable objects when the identification information is detected.

4. An article transport equipment as described in claim 1, wherein one of the detectable objects comprises a mark group which is a collection of a plurality of marks, the detection unit is capable of detecting the entire mark group and is also capable of detecting each of the plurality of marks which constitute the mark group, and the detection level is an index representing the proportion of the number of marks which the detection unit was able to detect out of all the marks belonging to the mark group which one of the detectable objects comprises.

5. An article transport facility as described in claim 4, wherein each of the plurality of marks is a two-dimensional code having predetermined information, and all of the marks belonging to the same mark group have the same identification information and different mark information from each other.

6. The item transport equipment described in any one of claims 1 to 5, wherein the management device comprises: an information acquisition unit that acquires the detection level information for the plurality of detectable objects; a memory unit that stores map information indicating a map of the movable area of ​​the transport vehicle, position information indicating the position on the map of each of the plurality of detectable objects, and the identification information of each of the plurality of detectable objects as map data in association with each other; a display unit that displays the information stored in the memory unit; and a display control unit that controls the display unit, 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 detectable objects at the respective positions of the plurality of detectable objects on the map.

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