Rail height detection method, rail height adjustment method, and rail height detection device

Abstract

This rail height detection method comprises: a light-receiving device installation step (S12) in which a light-receiving-side holding device is installed in a vertically positioned state at a measurement point on a rail, and a light-receiving device held by the light-receiving-side holding device is oriented so as to be able to receive laser light from a light-projecting device; and a height detection step (S13) in which the light-projecting device projects the laser light along the horizontal direction, the projection direction of the laser light being turned about the vertical axis, and the light-receiving device detects the laser-light-receiving height, with the light-receiving device as the reference. The light-receiving device installation step (S12) and the height detection step (S13) are repeatedly performed while the measurement point is moved along the rail.

Description

Rail height detection method, rail height adjustment method, and rail height detection device

[0001] The present invention relates to a rail height detection method for detecting the installation height of a rail.

[0002] An example of such a rail height detection device is shown in Japanese Patent Laid-Open No. 11-194028 (Patent Document 1). Patent Document 1 discloses a rail height detection device in which a laser beam emitted from a light-projecting device (11) installed on the floor or the like is received at a light-receiving point (21A) of a light-receiving device (12) provided on a self-propelled carriage (2). This light-projecting device (11) is configured to emit laser light while rotating, thereby irradiating a beam of light across four rails (1A, 1B) shown as linear rails, and to measure the height levels of these four rails (1A, 1B) without moving the light-projecting device (11).

[0003] Japanese Patent Application Publication No. 11-194028

[0004] However, in the rail height detection device of Patent Document 1, because the light receiving device is mounted on a self-propelled carriage, it is susceptible to the effects of vibrations of the self-propelled carriage, and there are limitations to improving measurement accuracy. Also, if the orientation of the light receiving device relative to the light projecting device changes due to, for example, the self-propelled carriage traveling on a curved section of the rail, it may not be able to properly receive the laser light from the light projecting device. As such, with conventional rail height detection devices and rail height detection methods, it has not been easy to properly detect the rail height at multiple locations along the extension direction of the rail.

[0005] Therefore, it is desirable to realize a technology that can appropriately detect the height of a rail at multiple locations along the extension direction of the rail.

[0006] A rail height detection method according to the present disclosure detects an installation height of a rail that is installed in a state of being suspended from a ceiling to guide a transport vehicle, using a rail height detection device that includes a light-projecting device that projects laser light, a light-receiving device that receives the laser light projected by the light-projecting device, a light-projecting-side holding device that is attached to a target member that is at least one of a ceiling and a member fixed to the ceiling and that holds the light-projecting device, and a light-receiving-side holding device that holds the light-receiving device, the rail height detection method including a light-projecting-device installation step of installing the light-projecting-side holding device that holds the light-projecting device at a first reference position on the ceiling and a light-receiving device installation process in which the light-receiving holding device is installed at a measurement point on the rail while being positioned in the vertical direction, and the light-receiving device held by the light-receiving holding device is oriented so that it can receive the laser light from the light-projecting device; and a height detection process in which the light-projecting device projects the laser light in the horizontal direction and rotates the direction of projection of the laser light around a vertical axis, and the light-receiving device detects the height at which the laser light is received relative to the light-receiving device, and the light-receiving device installation process and the height detection process are repeated while the measurement point is moved along the rail.

[0007] According to this configuration, after installing the light-projecting device at a first reference location on the ceiling, the light-receiving-side holding device holding the light-receiving device is moved to multiple measurement locations while performing height detection. This allows the rail heights at multiple measurement locations to be detected using the light-projecting device at the first reference location as a reference. In this configuration, the direction in which the light-projecting device projects laser light is rotated around the vertical axis, allowing the rail heights at multiple measurement locations to be detected without moving the light-projecting device while it is installed at the first reference location. This facilitates highly accurate rail height detection. Furthermore, according to this configuration, the light-receiving device held by the light-receiving-side holding device during the light-receiving-device installation step is oriented so that it can receive laser light from the light-projecting device, allowing the rail heights at multiple locations along the rail extension direction to be easily detected. Thus, the rail height detection method according to this configuration allows the rail heights at multiple locations along the rail extension direction to be accurately detected.

[0008] The rail height adjustment method according to the present disclosure adjusts the installation height of a rail that is installed in a state of being suspended from a ceiling to guide a transport vehicle, using a rail height detection device that includes a light-projecting device that projects laser light, a light-receiving device that receives the laser light projected by the light-projecting device, a light-projecting-side holding device that is attached to a target member that is at least one of a ceiling and a member fixed to the ceiling and that holds the light-projecting device, and a light-receiving-side holding device that holds the light-receiving device, and the rail height adjustment method includes a light-projecting-side holding device that holds the light-projecting device and a light-receiving-side holding device that holds the light-receiving device. a light-receiving device installation step of installing the light-receiving device in a position facing in the direction perpendicular to the rail, and orienting the light-receiving device held by the light-receiving-side holding device so that it can receive the laser light from the light-projecting device; a height detection step of emitting the laser light from the light-projecting device in a horizontal direction and rotating the direction of emitting the laser light around a vertical axis, and detecting a reception height of the laser light with the light-receiving device as a reference; and an installation height adjustment step of adjusting the installation height of the rail based on the reception height of the laser light, wherein the light-receiving device installation step, the height detection step, and the installation height adjustment step are repeated in the order described while the measurement point is moved along the rail.

[0009] According to this configuration, after installing the light-projecting device at a first reference location on the ceiling, the light-receiving-side holding device holding the light-receiving device is moved to multiple measurement locations while performing height detection. This allows the rail heights at multiple measurement locations to be detected using the light-projecting device at the first reference location as a reference. In this configuration, the light-projecting device rotates the direction in which it projects laser light around its vertical axis, allowing the rail heights at multiple measurement locations to be detected without moving the light-projecting device while it is installed at the first reference location. This facilitates highly accurate rail height detection. Furthermore, according to this configuration, the light-receiving device installation step involves orienting the light-receiving device held by the light-receiving-side holding device so that it can receive laser light from the light-projecting device, thereby easily detecting the rail heights at multiple locations along the rail extension direction. Thus, the rail height detection method according to this configuration allows the rail heights at multiple locations along the rail extension direction to be appropriately detected. Furthermore, according to this configuration, the light-receiving device installation step, height detection step, and installation height adjustment step are repeatedly performed in the order described above while the measurement locations are moved along the rail. Therefore, rather than moving tools used in these three processes, such as tools, carts, and workbenches on which workers stand, after each process is completed, the number of times the tools are moved can be reduced, making it easier to improve work efficiency.

[0010] The rail height detection device according to the present disclosure is a rail height detection device that detects the installation height of a rail that is installed in a state where it is suspended from a ceiling to guide a transport vehicle, and includes a light-projecting device that projects laser light, a light-receiving device that receives the laser light projected by the light-projecting device, a light-projecting side holding device that is attached to a target member that is at least one of the ceiling and a member fixed to the ceiling and that holds the light-projecting device, and a light-receiving side holding device that holds the light-receiving device, and the light-projecting device, while being held by the light-projecting side holding device, The laser beam is projected horizontally and configured to rotate the direction of projection around a vertical axis, and the light-receiving device is configured to detect the height at which the laser beam is received based on the light-receiving device. The light-receiving side holding device comprises a positioned portion that is positioned in the vertical direction by a reference surface of the rail, and a light-receiving side connecting portion that connects the positioned portion and the light-receiving device, and the light-receiving side connecting portion is configured to allow the light-receiving device to rotate freely around a vertical axis relative to the positioned portion.

[0011] According to this configuration, the light-projecting device can be attached to a target member, which is at least one of a ceiling and a member fixed to the ceiling, and the light-receiving device can be positioned relative to the rail reference surface. Therefore, by detecting the height of the received laser light using the light-receiving device, the rail height relative to the target member can be detected with high accuracy. Furthermore, since the direction in which the light-projecting device projects the laser light can be rotated about a vertical axis and the light-receiving device is configured to be freely rotated about a vertical axis relative to the positioned portion, the laser light projected by the light-projecting device can be received by the light-receiving device regardless of the planar positional relationship of the light-receiving device to the light-projecting device. Therefore, by moving the light-receiving device and the light-receiving device held by the light-projecting device to another location on the rail while keeping the positions of the light-projecting device and the light-projecting device held by the light-projecting device fixed, the rail height at multiple locations along the rail extension direction can be easily detected. Thus, the rail height detection device according to this configuration can accurately detect the rail height at multiple locations along the rail extension direction.

[0012] 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.

[0013] A top view showing the transport vehicle and rail according to this embodiment. A front view showing the transport vehicle and rail according to this embodiment. A side view showing the light receiving device of the rail height detection device according to this embodiment. A side view showing the light projecting device of the rail height detection device according to this embodiment. A top view of the light projecting side mounting part of Figure 4. A cross-sectional view taken along VI-VI of the light projecting side holding device of Figure 4. A diagram showing the rail height detection method according to this embodiment. A diagram showing the rail height adjustment method according to this embodiment. A diagram showing another example of the light projecting side mounting part.

[0014] Hereinafter, embodiments of a rail height detection device and a rail height detection method will be described with reference to the drawings.

[0015] FIG. 1 is a diagram schematically illustrating an example of a transport vehicle 12 and a rail 13 according to the present embodiment. FIG. 2 is a diagram schematically illustrating an example of a transport vehicle 12 and a rail 13 according to the present embodiment. In the present embodiment, a transport facility 11 includes the transport vehicle 12 and the rail 13. Examples of the transport vehicle 12 include a transport vehicle that transports goods or personnel, an unmanned transport vehicle, an autonomous vehicle, an electric vehicle, an internal combustion vehicle, etc. In the present embodiment, the transport vehicle 12 is a ceiling-mounted transport vehicle that transports a container (Front Opening Unified Pod; FOUP) that stores semiconductor substrates.

[0016] The rails 13 are provided along the transport path R. In this embodiment, the transport path R has branching and merging sections. The rails 13 have straight and curved sections. In this embodiment, the rails 13 are provided in a dustproof chamber. As shown in FIG. 1 , the transport path R is formed in a loop shape that passes through multiple item processing sections 19.

[0017] The transport vehicle 12 travels along the transport route R to transport items, for example, in accordance with a transport command from a host controller. The transport vehicle 12, for example, carries out items from an item processing unit 19 at the source and transports the items to an item processing unit 19 at the destination. Examples of the item processing unit 19 include a processing device that processes items, a sorting device that sorts items, a transport device for storing items, a loading platform, a storage shelf, etc.

[0018] As shown in FIG. 2 , the rails 13 are disposed below the ceiling 16 on the Z2 side. Here, the direction in which the rails 13 extend is referred to as the extension direction Xr. The width direction of the rails 13 is referred to as the width direction Yr. The rails 13 are installed in a state of being suspended from the ceiling 16 to guide the transport vehicle 12. In this embodiment, the rails 13 are a pair of rails on the left and right, but may also be a monorail. In this embodiment, the rails 13 are traveling rails.

[0019] The conveying equipment 11 includes guide rails 14. The guide rails 14 are provided at branching and merging points of the conveying route R, curved portions of the rails 13, and the like. The guide rails 14 are located between the pair of left and right rails 13 in the width direction Yr and on an upper side Z1 of the rails 13. In this embodiment, the pair of rails 13 are each suspended from the ceiling 16, and the guide rails 14 are located on a lower side Z2 of a U-shaped frame that spans the pair of rails 13 and connects them on their upper side Z1.

[0020] The transport vehicle 12 is equipped with wheels 22. The wheels 22 are rotatably supported by a running section 21 provided on the transport vehicle 12. The wheels 22 roll on the running surface 13a of the rail 13. A plurality of wheels 22 are provided on the left and right sides of the transport vehicle 12. At least one of the plurality of wheels 22 is a drive wheel that is rotationally driven by a drive motor, and provides a propulsive force to the transport vehicle 12.

[0021] The transport vehicle 12 is equipped with guide rollers 24. The guide rollers 24 are rotatably supported by a running unit 21 provided on the transport vehicle 12. The position of the guide rollers 24 in the width direction Yr can be freely switched by a switching mechanism provided on the transport vehicle 12, and the guide rollers 24 roll in contact with either side of the guide rail 14 depending on the position in the width direction Yr. In this embodiment, the transport vehicle 12 is guided in either direction of travel at the branching portion of the transport route R depending on the position of the guide rollers 24 in the width direction Yr.

[0022] The transport vehicle 12 is equipped with side rollers 25. The side rollers 25 are rotatably supported by a running section 21 provided on the transport vehicle 12. A plurality of side rollers 25 are provided on the left and right sides, and roll in contact with the side surfaces of the rails 13. The transport vehicle 12 is equipped with a transfer section 26 in which the articles to be transported are stored. The transfer section 26 is arranged below the wheels 22, in a direction Z2.

[0023] Fig. 3 is a side view schematically showing an example of the light receiving device 51 and the light receiving side holding device 52 of the rail height detection device 10 according to this embodiment. Fig. 4 is a side view schematically showing an example of the light projecting device 31 and the light projecting side holding device 32 of the rail height detection device 10 according to this embodiment. The rail height detection device 10 detects the installation height of the rail 13 that is installed in a suspended state from the ceiling 16 to guide the transport vehicle 12.

[0024] As shown in FIG. 4 , the rail height detection device 10 includes a light projecting device 31 that projects a laser beam B1. The light projecting device 31 is configured to project the laser beam B1 horizontally while being held by a light projecting side holding device 32 (described later) and to rotate the direction of the laser beam B1 around a vertical axis. In this embodiment, the light projecting device 31 can rotate the direction of the laser beam B1 360 degrees around the vertical axis. However, the light projecting device 31 may also rotate within a partial range of all directions around the vertical axis, such as 180 degrees or 270 degrees. Examples of the light projecting device 31 include the T430 (manufactured by Status Pro), the RUGBY640G (manufactured by Leica), and the GL422N (manufactured by Nikon). Here, the central axis of rotation of the laser beam B1 by the light projecting device 31 is defined as a rotation axis A1.

[0025] The rail height detection device 10 is equipped with a light-projecting side holding device 32 that holds a light-projecting device 31. Here, at least one of the ceiling 16 and a member 17 fixed to the ceiling 16 is referred to as the "target member." The light-projecting side holding device 32 is attached to the target member. The light-projecting side holding device 32 is configured to be able to fix at least the position of the light-projecting device 31 in the up-down direction Z relative to the target member. In the illustrated example, the member 17 fixed to the ceiling 16 is the target member.

[0026] The member 17 fixed to the ceiling 16 is a longitudinal member. Here, the longitudinal direction of the member 17 is defined as the first direction Xs. In this embodiment, the member 17 is fixed to the ceiling 16 so that the first direction Xs is a direction along the horizontal direction. Furthermore, a horizontal direction perpendicular to the first direction Xs is defined as the second direction Ys. In this embodiment, the member 17 is a raceway, but it may also be a beam, a pillar, a duct, a wall, a lighting fixture, or the like. In this embodiment, the first direction Xs and the extension direction Xr are parallel to each other, but they do not have to be parallel. In this embodiment, the second direction Ys and the width direction Yr are parallel to each other, but they do not have to be parallel.

[0027] 2, a member 17 fixed to the ceiling 16 holds the rail 13. The member 17 fixed to the ceiling 16 holds the guide rail 14. The member 17 fixed to the ceiling 16 is disposed between the ceiling 16 and the rail 13 in the vertical direction Z.

[0028] 4, the light-emitter-side holding device 32 includes a light-emitter-side mounting portion 34 that is attached to the target member. The light-emitter-side mounting portion 34 is configured to be detachable from the target member. The light-emitter-side mounting portion 34 is disposed on the upper side Z1 of the light-emitter device 31 supported by the light-emitter-side support portion 36.

[0029] The light-emitter-side holding device 32 includes a light-emitter-side support portion 36 that supports the light-emitter device 31. The light-emitter-side support portion 36 is disposed on the lower side Z2 of the target member. In this embodiment, the light-emitter-side support portion 36 supports the light-emitter device 31 so that it cannot move in the vertical direction Z. The light-emitter-side support portion 36 is configured to support the bottom portion 31b of the light-emitter device 31 from the lower side Z2.

[0030] 5 is a top view schematically illustrating an example of the light-emitter-side mounting portion 34. The light-emitter-side holding device 32 includes a horizontal adjustment mechanism 37. In this embodiment, the light-emitter-side mounting portion 34 includes a pair of contact portions 34a that contact the member 17 from both sides in one horizontal direction (in the illustrated example, the second direction Ys). The horizontal adjustment mechanism 37 is configured so that one of the pair of contact portions 34a can be moved in the second direction Ys so that the light-emitter-side mounting portion 34 can be easily attached to and detached from the member 17. In the illustrated example, the horizontal adjustment mechanism 37 is an elongated hole 37a provided in the light-emitter-side mounting portion 34 and a bolt 37b that supports the light-emitter-side connecting portion 38.

[0031] In this embodiment, horizontal adjustment mechanism 37 is configured to be able to fix one of the pair of contact portions 34 a at a plurality of positions in the horizontal direction (in the illustrated example, the second direction Ys), thereby enabling light-emitter-side attachment portion 34 to be attached to members 17 of various widths.

[0032] FIG. 6 is a diagram schematically illustrating an example of a connecting member 38a included in the light-emitter-side connecting portion 38, illustrating a cross section perpendicular to the rotation axis A1. The light-emitter-side holding device 32 includes a light-emitter-side connecting portion 38 that connects the light-emitter-side mounting portion 34 and the light-emitter-side support portion 36 in the vertical direction Z. The light-emitter-side connecting portion 38 includes a plurality of connecting members 38a arranged in two or more locations. Each of the plurality of connecting members 38a is formed to extend in the vertical direction Z. The connecting members 38a are plate-shaped or columnar members. In this embodiment, the connecting members 38a are formed so that their cross sections are polygonal, having long and short sides. In the illustrated example, the cross section of the connecting members 38a is rectangular.

[0033] The connecting member 38a is formed in a thin plate shape with its long sides parallel to the optical axis of the laser light B1 so that the area of ​​the laser light B1 projected from the light-projecting device 31 that is blocked by the connecting member 38a is reduced. In this embodiment, the connecting member 38a is formed in a thin plate shape with its long sides parallel to a radial line centered on the pivot axis A1. In the illustrated example, each of the multiple connecting members 38a is arranged with its long side parallel to a radial line centered on the pivot axis A1.

[0034] In this embodiment, the connecting member 38a is arranged in three or more separate positions surrounding the periphery of the light-projecting device 31 around the vertical axis supported by the light-projecting side support portion 36, and each of the connecting members 38a is formed to extend in the vertical direction Z. In the illustrated example, the connecting member 38a is arranged in four separate positions, but it may be arranged in five or more separate positions. In this embodiment, the connecting member 38a is supported by the light-projecting side attachment portion 34 via the first adjustment portion 41.

[0035] 4, the light-emitter-side connecting portion 38 includes a first vibration-isolating portion 38b. The first vibration-isolating portion 38b suppresses the transmission of vibration in the vertical direction Z between the light-emitter-side mounting portion 34 and the light-emitter-side supporting portion 36. The light-emitter-side connecting portion 38 includes a second vibration-isolating portion 38c. The second vibration-isolating portion 38c suppresses vibration of the light-emitter-side supporting portion 36 at least around the vertical axis.

[0036] The light-emitter-side holding device 32 includes an adjustment mechanism 40. The adjustment mechanism 40 adjusts the holding height of the light-emitter device 31. In this embodiment, the holding height of the light-emitter device 31 is adjusted by changing the position of the light-emitter device 31 at least in the up-down direction Z with respect to the target member.

[0037] The adjustment mechanism 40 includes a first adjustment unit 41 and a second adjustment unit 42. The first adjustment unit 41 is disposed on the upper side Z1 of the second adjustment unit 42.

[0038] The first adjustment unit 41 is disposed on the upper side Z1 of the light-projecting device 31. In this embodiment, the light-projecting side connection unit 38 includes the first adjustment unit 41. In this embodiment, the plurality of connection members 38a are supported by the light-projecting side attachment unit 34 via the first adjustment unit 41.

[0039] The second adjustment unit 42 is disposed on the lower side Z2 of the floodlight device 31. In the present embodiment, the light-emitter support unit 36 ​​is provided with the second adjustment unit 42. The second adjustment unit 42 supports the floodlight device 31 so that it cannot move in the up-and-down direction Z. In the illustrated example, the second adjustment unit 42 supports the bottom 31b of the floodlight device 31 from the lower side Z2.

[0040] The first adjustment unit 41 includes a first input unit 41 a that receives input rotation for adjustment. Examples of the first input unit 41 a include a handle or lever operated by an operator, an input shaft to which rotation of a drive motor is input, etc.

[0041] The first adjustment unit 41 includes a first conversion mechanism 41b that converts the rotation of the first input unit 41a into movement in the up-down direction Z and transmits the movement to the light-projecting device 31. In this embodiment, the first adjustment unit 41 converts the rotation of the first input unit 41a into movement in the up-down direction Z of the light-projecting side support unit 36. Examples of the first conversion mechanism 41b include a female screw and bolt, a rack and pinion, and a lab jack.

[0042] The first adjustment unit 41 includes a fixing portion 41c that fixes the position of the light-emitter support portion 36 in the up-down direction Z relative to the light-emitter attachment portion 34. The first adjustment unit 41 includes a guide portion 41d that guides the light-emitter support portion 36 in the up-down direction Z.

[0043] The second adjustment unit 42 includes a second input unit 42a that receives input rotation for adjustment. Examples of the second input unit 42a include a handle or lever operated by an operator, an input shaft to which rotation of a drive motor is input, etc.

[0044] The second adjustment unit 42 includes a second conversion mechanism 42b that converts the rotation of the second input unit 42a into movement in the up-down direction Z and transmits the movement to the floodlight device 31. In this embodiment, the second adjustment unit 42 converts the rotation of the second input unit 42a into movement in the up-down direction Z of the floodlight device 31. Examples of the second conversion mechanism 42b include a female screw and bolt, a rack and pinion, and a lab jack.

[0045] In this embodiment, the conversion ratio α2 of the second conversion mechanism unit 42b is different from the conversion ratio α1 of the first conversion mechanism unit 41b. In this embodiment, the conversion ratio α2 of the second conversion mechanism unit 42b is smaller than the conversion ratio α1 of the first conversion mechanism unit 41b.

[0046] 3, the rail height detection device 10 includes a light receiving device 51 that receives the laser light B1 projected by the light projecting device 31. The light receiving device 51 is configured to be able to detect the height at which the laser light B1 is received based on the light receiving device 51. Examples of the light receiving device 51 include the R260 (manufactured by Status Pro), Rod Eye 120G (manufactured by Leica), and HL760 (manufactured by Nikon).

[0047] 3, the rail height detection device 10 includes a light-receiving-side holding device 52 that holds the light-receiving device 51. The light-receiving-side holding device 52 is configured to be able to fix at least the position of the light-receiving device 51 in the up-down direction Z relative to the rail 13.

[0048] The light-receiving-side holding device 52 includes a positioned portion 53 that is positioned in the up-down direction Z by a reference surface of the rail 13. In this embodiment, the reference surface of the rail 13 is the surface of the rail 13 that faces the upper side Z1, that is, the running surface 13a of the rail 13. The positioned portion 53 includes a contact portion that comes into surface contact with the reference surface of the rail 13. In this embodiment, a mounting portion 54, which will be described later, is the contact portion that comes into surface contact with the reference surface of the rail 13.

[0049] The positioned portion 53 is configured to be detachable from the rail 13. The positioned portion 53 includes a mounting portion 54 that is placed on a reference surface of the rail 13. In this embodiment, the positioned portion 53 is configured to be detachable from the rail 13. In this embodiment, the positioned portion 53 is configured to be attachable to the rail 13 so that only the mounting portion 54 of the entire light-receiving-side holding device 52 comes into contact with the rail 13.

[0050] The positioned portion 53 is equipped with an inclination adjustment mechanism 55 that adjusts the inclination of the light-receiving-side holding device 52 and the light-receiving device 51. In this embodiment, the inclination adjustment mechanism 55 adjusts the inclination of the light-receiving-side holding device 52 and the light-receiving device 51 so that the contact portion of the positioned portion 53 is in surface contact with the reference surface of the rail 13. Examples of the inclination adjustment mechanism 55 include a weight that adjusts the weight balance of the light-receiving-side holding device 52, and an angle determination mechanism that can determine the angle of the mounting portion 54 with respect to the reference surface of the rail 13.

[0051] The light-receiving-side holding device 52 includes a light-receiving-side support portion 56 that supports the light-receiving device 51. The light-receiving-side support portion 56 is disposed on the lower side Z2 of the rail 13. The light-receiving-side support portion 56 supports the light-receiving device 51 so that it cannot move in the vertical direction Z. In this embodiment, the light-receiving-side support portion 56 supports the bottom portion 51b of the light-receiving device 51 from the lower side Z2.

[0052] In this embodiment, the light-receiving side holding device 52 is configured such that, when the mounting portion 54 is placed on the reference surface of the rail 13, the tilt adjustment mechanism 55 is located on one side of the reference surface of the rail 13 in the width direction Yr, and the light-receiving side support portion 56 is located on the other side.

[0053] The tilt adjustment mechanism 55 includes a weight 55a and a weight mounting portion 55b to which the weight 55a is attached. The weight mounting portion 55b is capable of changing the position of the weight 55a in the width direction Yr of the rail 13. Examples of the weight 55a include a single weight, multiple weights of the same weight, and multiple weights of different weights. In this way, the positioned portion 53 can be attached and detached to rails 13 of various shapes, such as rails 13 with different dimensions in the width direction Yr.

[0054] The light-receiving-side holding device 52 includes a light-receiving-side connecting portion 58 that connects the positioned portion 53 and the light-receiving device 51. In this embodiment, the light-receiving-side connecting portion 58 connects the positioned portion 53 and the light-receiving-side supporting portion 56. The light-receiving-side connecting portion 58 is disposed so as to extend in the vertical direction Z at a position that does not overlap with the rail 13 when viewed in the vertical direction.

[0055] The light-receiving-side connector 58 is configured to allow the light-receiving device 51 to be rotatable about a vertical axis relative to the positioned portion 53. In this embodiment, the light-receiving-side connector 58 is configured to allow the light-receiving-side support portion 56 to be rotatable about a vertical axis relative to the positioned portion 53. In this embodiment, the light-receiving-side connector 58 allows the light-receiving-side support portion 56 to be rotatable 360 ​​degrees about the vertical axis relative to the positioned portion 53, but may also be rotatable within a partial range of all directions about the vertical axis, such as 180 degrees, 270 degrees, etc. In this embodiment, the vertical axis is an axis along the vertical direction.

[0056] 7 is a diagram showing an example of a rail height detection method according to this embodiment. The rail height detection method uses the rail height detection device 10 described above to detect the installation height of the rail 13, which is installed in a suspended state from the ceiling 16 to guide the transport vehicle 12.

[0057] 1 and 7 , the rail height detection method includes a floodlight device installation step S11 in which a floodlight-side holding device 32 that holds a floodlight device 31 is installed at a first reference point P1 on the ceiling 16. In this embodiment, the floodlight-side holding device 32 is installed at the first reference point P1 on the ceiling 16 by being attached to a portion of a member 17 fixed to the ceiling 16 that is located at the first reference point P1.

[0058] The rail height detection method includes a light receiving device installation process S12 in which the light receiving side holding device 52 is installed at the measurement point on the rail 13 while being positioned in the vertical direction Z, and the light receiving device 51 held by the light receiving side holding device 52 is oriented so that it can receive laser light B1 from the light projecting device 31.

[0059] The rail height detection method includes a height detection process S13 in which laser light B1 is projected from a light-projecting device 31 in a horizontal direction while rotating the direction in which the laser light B1 is projected around an up-down axis, and the light-receiving device 51 detects the received height of the laser light B1 based on the light-receiving device 51.

[0060] In the rail height detection method of this embodiment, the measurement point is moved along the rail 13 while the light receiving device installation step S12 and the height detection step S13 are repeatedly performed.

[0061] The rail height detection method of this embodiment further includes a reference point changing process S14 for changing the installation location of the light-emitting side holding device 32 that holds the light-emitting device 31 from the first reference point P1 to the second reference point P2 when the horizontal length of the rail installation area in which the rail 13 is installed is greater than the effective reach of the laser light B1 emitted by the light-emitting device 31.

[0062] Here, the effective reach distance of the laser light B1 projected by the light projecting device 31 held by the light projecting side holding device 32 installed at the first reference point P1 is defined as a first effective reach distance L1. The effective reach distance of the laser light B1 projected by the light projecting device 31 held by the light projecting side holding device 32 installed at the second reference point P2 is defined as a second effective reach distance L2. In this embodiment, the first effective reach distance L1 and the second effective reach distance L2 are the same distance, but they do not have to be the same.

[0063] In this embodiment, the change of the installation location in the reference location changing step S14 is performed by moving both the light-projecting device 31 and the light-projecting side holding device 32 from the first reference location P1 to the second reference location P2, but may also be performed by moving the light-projecting device 31 from the light-projecting side holding device 32 installed at the first reference location P1 to the light-projecting side holding device 32 installed at the second reference location P2. The change of the installation location in the reference location changing step S14 may also be performed by changing the installation location from the light-projecting device 31 held by the light-projecting side holding device 32 installed at the first reference location P1 to another light-projecting device 31 held by the light-projecting side holding device 32 installed at the second reference location P2.

[0064] In this embodiment, the second reference point P2 is located outside the first effective reach L1, but may be located inside the first reference point P1 as long as it is in a different position from the first reference point P1. In this embodiment, the light-emitter-side holding device 32 is installed at the second reference point P2 on the ceiling 16 by being attached to the member 17 fixed to the ceiling 16 at a location that is located at the second reference point P2.

[0065] In the reference point changing step S14, the light-receiving-side holding device 52 holding the light-receiving device 51 is installed at a position P3 that is within the effective reach of both the first reference point P1 and the second reference point P2. In this embodiment, the light-receiving device 51 is installed at the position P3 before the installation position of the light-emitting-side holding device 32 holding the light-emitting device 31 is changed from the first reference point P1 to the second reference point P2.

[0066] The first reference point P1 and the second reference point P2 may be either a point that overlaps with the rail 13 in a vertical view or a point that does not overlap with the rail 13. The point P3 where the light receiving device 51 is installed may be either a point that overlaps with the rail 13 in a vertical view or a point that does not overlap with the rail 13.

[0067] In the reference location changing step S14, the holding height of the light projector 31 by the light projector-side holding device 32 is adjusted with the light projector-side holding device 32 installed at the second reference location P2 so that the light receiving height of the laser light B1 by the light receiving device 51 when the light projector-side holding device 32 holding the light projector 31 is installed at the first reference location P1 matches the light receiving height of the laser light B1 by the light receiving device 51 when the light projector-side holding device 32 holding the light projector 31 is installed at the second reference location P2. The adjustment of the holding height of the light projector 31 is performed using the adjustment mechanism 40. In the present embodiment, in the reference location changing step S14, the holding height of the light projector 31 is adjusted in the up-down direction Z using the first adjustment unit 41 and the second adjustment unit 42.

[0068] In the rail height detection method of this embodiment, after the reference point changing step S14 is performed, the measurement point is moved along the rail 13 while the light receiving device installation step S12 and the height detection step S13 are repeatedly performed.

[0069] In addition, repeatedly performing the light receiving device installation process S12 and the height detection process S13 also includes, for example, a case where the rail height detection method includes another process that is different from both the light receiving device installation process S12 and the height detection process S13, and this other process is repeatedly performed between the light receiving device installation process S12 and the height detection process S13.

[0070] In the rail height detection method of this embodiment, if there are any locations that require measurement outside the first effective reach L1 and the second effective reach L2, the second reference location P2 is regarded as the first reference location P1, and the reference location changing step S14, the light receiving device installation step S12, and the height detection step S13 are repeated. The first reference location P1 and the second reference location P2 are set to be as few in number as possible depending on the size of the rail installation area where the rail 13 is installed and the effective reach of the light receiving device 51.

[0071] In the rail height detection method of this embodiment, the light-emitting side holding device 32 is equipped with an adjustment mechanism 40 that adjusts the holding height of the light-emitting device 31, and the adjustment mechanism 40 is equipped with a first adjustment unit 41 and a second adjustment unit 42, the first adjustment unit 41 is equipped with a first input unit 41a that accepts input rotation for adjustment and a first conversion mechanism unit 41b that converts the rotation of the first input unit 41a into movement in the vertical direction Z and transmits it to the light-emitting device 31, the second adjustment unit 42 is equipped with a second input unit 42a that accepts input rotation for adjustment and a second conversion mechanism unit 42b that converts the rotation of the second input unit 42a into movement in the vertical direction Z and transmits it to the light-emitting device 31, and the conversion ratio α2 in the second conversion mechanism unit 42b is different from the conversion ratio α1 in the first conversion mechanism unit 41b. Details of the light-emitting side holding device 32, adjustment mechanism 40, first adjustment unit 41, first input unit 41a, first conversion mechanism unit 41b, second adjustment unit 42, second input unit 42a, second conversion mechanism unit 42b, etc. in this embodiment are as described above.

[0072] In this embodiment, the adjustment mechanism 40 is equipped with a first adjustment unit 41 and a second adjustment unit 42, and in the reference location change process S14, the holding height of the floodlight device 31 is adjusted using at least one of the first adjustment unit 41 and the second adjustment unit 42, but the holding height may also be adjusted using at least one of the first adjustment unit 41 and the second adjustment unit 42 in the floodlight device installation process S11.

[0073] In the rail height detection method of this embodiment, the light-receiving side holding device 52 comprises a positioned portion 53 that is positioned in the vertical direction Z by the reference surface of the rail 13, a light-receiving side support portion 56 that supports the light-receiving device 51, and a light-receiving side connection portion 58 that connects the positioned portion 53 and the light-receiving side support portion 56, the light-receiving side connection portion 58 is configured to allow the light-receiving side support portion 56 to rotate freely around the vertical axis relative to the positioned portion 53, the light-receiving side support portion 56 is positioned below the rail 13 on the Z2 side, and the light-receiving side connection portion 58 is positioned so as to extend in the vertical direction Z at a position that does not overlap with the rail 13 when viewed in the vertical direction, the reference surface is the surface of the rail 13 that faces the upper side Z1, and the positioned portion 53 comprises a mounting portion 54 that is placed on the reference surface and an inclination adjustment mechanism 55 that adjusts the inclination of the light-receiving side holding device 52 and the light-receiving device 51, and is configured to be freely attached and detached to the rail 13. Details of the light-receiving side holding device 52, the positioned portion 53, the light-receiving side support portion 56, the light-receiving side connection portion 58, the mounting portion 54, the tilt adjustment mechanism 55, etc. of this embodiment are as described above.

[0074] In this embodiment, in the light receiving device installation step S12 , the inclination of the light receiving side holding device 52 and the light receiving device 51 is adjusted using the inclination adjustment mechanism 55 .

[0075] 8 is a diagram showing an example of a rail height adjustment method according to this embodiment. The rail height adjustment method uses the rail height detection device 10 described above to adjust the installation height of the rail 13, which is installed in a suspended state from the ceiling 16 to guide the transport vehicle 12.

[0076] As shown in FIG. 8, the rail height adjustment method includes an installation height adjustment step S21 of adjusting the installation height of the rail 13 based on the light receiving height of the laser light B1.

[0077] The rail height adjustment method includes a light-projecting device installation step S11, a light-receiving device installation step S12, and a height detection step S13. The rail height adjustment method also includes a reference point changing step S14. Details of the light-projecting device installation step S11, the light-receiving device installation step S12, the height detection step S13, and the reference point changing step S14 are as described above.

[0078] The rail height adjustment method includes an installation height adjustment step S21 for adjusting the installation height of the rail 13 based on the light receiving height of the laser light B1. In this embodiment, the installation height adjustment step S21 is performed after the height detection step S13.

[0079] In the rail height adjustment method of this embodiment, the light receiving device installation step S12, the height detection step S13, and the installation height adjustment step S21 are repeatedly performed in the order described above while the measurement location is moved along the rail 13. In this manner, for example, one worker can perform the height detection step S13 and the installation height adjustment step S21 while standing on a workbench (not shown), and then the workbench can be moved to a next location and the height detection step S13 and the installation height adjustment step S21 can be performed with the worker standing on the workbench. This workbench may be a cart, and may be capable of being used to place parts and tools on or store parts and tools.

[0080] In the rail height adjustment method of this embodiment, after performing the reference point changing step S14, the measurement point is moved along the rail 13, while repeatedly performing the light receiving device installation step S12, the height detection step S13, and the installation height adjustment step S21 in the order listed.

[0081] Note that repeating the light receiving device installation step S12, the height detection step S13, and the installation height adjustment step S21 in the order described also includes, for example, a case where the rail height adjustment method includes another step different from any of the light receiving device installation step S12, the height detection step S13, and the installation height adjustment step S21, and this other step is sandwiched between any two of the light receiving device installation step S12, the height detection step S13, and the installation height adjustment step S21, which are arranged in the order described, and these four steps are repeated.

[0082] Next, other embodiments of the rail height detection device 10 or the rail height detection method will be described.

[0083] (1) In the above embodiment, an example has been described in which the horizontal adjustment mechanism 37 can fix one of the pair of contact portions 34a at multiple positions in the horizontal direction. However, the present invention is not limited to such an example. For example, as shown in FIG. 9 , the light-emitter-side holding device 32 may be able to change the position of the light-emitter-side support portion 36 in one horizontal direction while the light-emitter-side mounting portion 34 is attached to the target member. For example, the horizontal adjustment mechanism 37 may be able to fix both of the pair of contact portions 34a at multiple positions in the horizontal direction.

[0084] (2) In the above embodiment, the rail height detection device 10 and the rail height detection method have been described as being configured to detect the installation height of the rail 13, which is a traveling rail. However, the invention is not limited to such an example, and the rail height detection device 10 and the rail height detection method may be configured to detect the installation height of the guide rail 14, for example.

[0085] (3) In the above embodiment, the light-emitter-side attachment portion 34 is disposed on the Z1 side above the light-emitter device 31, and the light-emitter-side connection portion 38 includes the connecting member 38a. However, the present invention is not limited to such an example. For example, the light-emitter-side attachment portion 34 does not have to be disposed on the Z1 side above the light-emitter device 31. Furthermore, for example, the light-emitter-side connection portion 38 does not have to include the connecting member 38a. Furthermore, for example, the light-emitter-side connection portion 38 may be configured to connect the light-emitter-side attachment portion 34 and the light-emitter-side support portion 36 in the horizontal direction.

[0086] (4) In the above embodiment, the configuration in which the light-emitter support portion 36 supports the bottom portion 31b of the light-emitter device 31 from the lower side Z2 has been described as an example. However, without being limited to such an example, for example, the light-emitter support portion 36 may be configured to support the upper portion of the light-emitter device 31 from the upper side Z1. For example, the light-emitter support portion 36 may be configured to support the light-emitter device 31 so as to suspend it from the upper side Z1. Furthermore, for example, the light-emitter support portion 36 may be configured to support the side surface of the light-emitter device 31 so as to be immovable in the vertical direction Z.

[0087] (5) In the above embodiment, the light-receiving-side support portion 56 supports the bottom 51b of the light-receiving device 51 from the lower side Z2. However, without being limited to such an example, for example, the light-receiving-side support portion 56 may support the upper part of the light-receiving device 51 from the upper side Z1. For example, the light-receiving-side support portion 56 may support the light-receiving device 51 so as to suspend it from the upper side Z1. Furthermore, for example, the light-receiving-side support portion 56 may support the side surface of the light-receiving device 51. Furthermore, for example, the light-receiving-side support portion 56 may be included in the light-receiving-side connection portion 58.

[0088] (6) In the above embodiment, an example has been described in which the light-receiving-side support portion 56 is disposed below the rail 13 in the Z2 direction, and the light-receiving-side connection portion 58 is disposed so as to extend in the vertical direction Z at a position that does not overlap with the rail 13 in a vertical view. However, the present invention is not limited to such an example. For example, the light-receiving-side support portion 56 does not have to be disposed below the rail 13 in the Z2 direction. Also, for example, the light-receiving-side connection portion 58 may be disposed at a position that overlaps with the rail 13 in a vertical view. Also, for example, the light-receiving-side connection portion 58 may be disposed so as to extend in the horizontal direction.

[0089] (7) In the above embodiment, the reference surface of the rail 13 is the running surface 13a facing the upper side Z1 of the rail 13. However, without being limited to such an example, the reference surface of the rail 13 may be, for example, a surface of the rail 13 facing the upper side Z1 that is not the running surface 13a. Also, for example, the reference surface may be the upper surface of the guide rail 14, the lower surface of the guide rail 14, the lower surface of the rail 13, the side surface of the rail 13, etc.

[0090] (8) In the above embodiment, an example has been described in which the positioned portion 53 includes the mounting portion 54 and the tilt adjustment mechanism 55 and is configured to be detachable from the rail 13. However, the present invention is not limited to such an example. For example, the positioned portion 53 does not need to include the tilt adjustment mechanism 55. Furthermore, for example, the positioned portion 53 does not need to include the mounting portion 54.

[0091] (9) In the above embodiment, an example has been described in which the adjustment mechanism 40 includes the first adjustment unit 41 and the second adjustment unit 42. However, without being limited to such an example, for example, the adjustment mechanism 40 may include the first adjustment unit 41 or the second adjustment unit 42. Furthermore, for example, a link mechanism may be used in the first adjustment unit 41 or the second adjustment unit 42 to adjust the holding height of the floodlight device 31 in the up-down direction Z.

[0092] (10) In the above embodiment, an example has been described in which the light-receiving-side connector 58 allows the light-receiving-side support 56 to rotate freely about the vertical axis relative to the positioned portion 53. However, the present invention is not limited to such an example. For example, the light-receiving-side connector 58 may not allow the light-receiving-side support 56 to rotate about the vertical axis relative to the positioned portion 53. Furthermore, for example, the light-receiving-side holding device 52 may not include the light-receiving-side connector 58. For example, the light-receiving device 51 and the light-receiving-side holding device 52 may be an integrated device.

[0093] (11) In the above embodiment, an example has been described in which the direction in which the laser light B1 is projected can be rotated about the vertical axis while the light projector 31 is held by the light projector-side holding device 32. However, the present invention is not limited to such an example. For example, the light projector 31 may be configured so that the direction in which the laser light B1 is projected cannot be rotated about the vertical axis, and the light projector-side connecting portion 38 may be configured so that the light projector-side support portion 36 can be rotated about the vertical axis relative to the light projector-side mounting portion 34.

[0094] (12) In the above embodiment, the rail height detection method includes a reference point changing step S14 for changing the installation location of the light-projecting side holding device 32 that holds the light-projecting device 31 from the first reference point P1 to the second reference point P2, and the holding height of the light-projecting device 31 is adjusted so that the reception height of the laser light B1 from the first reference point P1 and the reception height of the laser light B1 from the second reference point P2 match. However, without being limited to such an example, the rail height detection method may be a method in which the reception height of the laser light B1 from the first reference point P1 does not match the reception height of the laser light B1 from the second reference point P2. Furthermore, for example, the rail height detection method may be a method in which rail height detection is terminated without performing the reference point changing step S14 even if the horizontal length of the rail installation area in which the rail 13 is installed is greater than the effective reach of the laser light B1 projected by the light-projecting device 31.

[0095] (13) In the above embodiment, the rail height adjustment method includes a reference point changing step S14 for changing the installation location of the light-projecting side holding device 32 that holds the light-projecting device 31 from the first reference point P1 to the second reference point P2, and the holding height of the light-projecting device 31 is adjusted so that the light-receiving height of the laser light B1 from the first reference point P1 and the light-receiving height of the laser light B1 from the second reference point P2 are the same. However, without being limited to such an example, the rail adjustment method may be a method in which the light-receiving height of the laser light B1 from the first reference point P1 and the light-receiving height of the laser light B1 from the second reference point P2 are not the same. Furthermore, for example, the rail height adjustment method may be a method in which the rail height adjustment is completed without performing the reference point changing step S14 even when the horizontal length of the rail installation area in which the rail 13 is installed is greater than the effective reach of the laser light B1 projected by the light-projecting device 31.

[0096] (14) In the above embodiment, the rail height detection method is described as an example in which the light receiving device installation step S12 and the height detection step S13 are repeatedly performed while the measurement location is moved along the rail 13. However, the present invention is not limited to such an example, and the rail height detection method may be, for example, a method in which the height of the rail 13 at one location on the rail 13 is detected.

[0097] (15) In the above embodiment, the rail height adjustment method has been described as an example in which the light receiving device installation step S12, the height detection step S13, and the installation height adjustment step S21 are repeatedly performed in the described order while moving the measurement location along the rail 13. However, the present invention is not limited to such an example, and the rail height adjustment method may be, for example, a method of adjusting the height of the rail 13 at one location on the rail 13.

[0098] (16) 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.

[0099] The rail height detection device and rail height detection method according to the present disclosure will be described below.

[0100] In one aspect, the rail height detection method detects an installation height of a rail that is installed in a state of being suspended from a ceiling to guide a transport vehicle, using a rail height detection device that includes a light-projecting device that projects laser light, a light-receiving device that receives the laser light projected by the light-projecting device, a light-projecting side holding device that is attached to a target member that is at least one of a ceiling and a member fixed to the ceiling and that holds the light-projecting device, and a light-receiving side holding device that holds the light-receiving device, and the rail height detection method includes a light-projecting device installation work that installs the light-projecting side holding device that holds the light-projecting device at a first reference position on the ceiling. a light-receiving device installation process in which the light-receiving side holding device is installed at a measurement point on the rail while being positioned in the vertical direction, and the light-receiving device held by the light-receiving side holding device is oriented so that it can receive the laser light from the light-projecting device; and a height detection process in which the light-projecting device projects the laser light in the horizontal direction and rotates the direction of projection of the laser light around a vertical axis, and the light-receiving device detects the height at which the laser light is received relative to the light-receiving device, and the light-receiving device installation process and the height detection process are repeated while the measurement point is moved along the rail.

[0101] According to this configuration, after the light-projecting device is installed at a first reference point on the ceiling, the light-receiving-side holding device holding the light-receiving device is moved to multiple measurement points while detecting heights, thereby enabling the rail heights at the multiple measurement points to be detected using the light-projecting device at the first reference point as a reference. In this case, according to this configuration, the direction in which the light-projecting device projects laser light is rotated about the vertical axis, so that the rail heights at the multiple measurement points can be detected without moving the light-projecting device while it is installed at the first reference point. This facilitates highly accurate rail height detection.

[0102] In one aspect, the rail height detection method further includes a reference location changing step of changing the installation location of the light-projecting side holding device that holds the light-projecting device from the first reference location to a second reference location when the horizontal length of the rail installation area in which the rail is installed is greater than the effective reach of the laser light projected by the light-projecting device. In the reference location changing step, the light-receiving side holding device that holds the light-receiving device is installed at a location that is within the effective reach of both the first reference location and the second reference location, and the holding height of the light-projecting device by the light-projecting side holding device is adjusted with the light-projecting side holding device installed at the second reference location so that the height at which the laser light is received by the light-receiving device when the light-projecting side holding device that holds the light-projecting device is installed at the first reference location matches the height at which the laser light is received by the light-receiving device when the light-projecting side holding device that holds the light-projecting device is installed at the second reference location.

[0103] According to this configuration, even if the rail installation area is wider than the effective reach of the laser light emitted by the light-projecting device, the height of the rail installed in the rail installation area can be detected by changing the installation location of the light-projecting holding device that holds the light-projecting device from the first reference location to the second reference location. Furthermore, since the height of the laser light emitted by the light-projecting device relative to the light-receiving device can be kept constant before and after the change from the first reference location to the second reference location, the height of the rail installed in a wide rail installation area can be detected with high accuracy.

[0104] In one aspect, the light-projecting side holding device includes an adjustment mechanism that adjusts the holding height of the light-projecting device, and the adjustment mechanism includes a first adjustment unit and a second adjustment unit, and the first adjustment unit includes a first input unit that accepts input rotation for adjustment and a first conversion mechanism unit that converts the rotation of the first input unit into vertical movement and transmits it to the light-projecting device, and the second adjustment unit includes a second input unit that accepts input rotation for adjustment and a second conversion mechanism unit that converts the rotation of the second input unit into vertical movement and transmits it to the light-projecting device, and the conversion ratio in the second conversion mechanism unit is different from the conversion ratio in the first conversion mechanism unit.

[0105] With this configuration, the floodlight device can be attached at an appropriate height relative to the target member, which is at least one of the ceiling and a member fixed to the ceiling, and by using the first adjustment unit and the second adjustment unit appropriately, it is possible to easily both move the vertical position of the floodlight device by a relatively large amount and to make fine adjustments to the vertical position of the floodlight device.

[0106] In one embodiment, the light-receiving side holding device comprises a positioned portion that is positioned in the vertical direction by a reference surface of the rail, a light-receiving side support portion that supports the light-receiving device, and a light-receiving side connecting portion that connects the positioned portion and the light-receiving side support portion, the light-receiving side connecting portion is configured to allow the light-receiving side support portion to be freely swiveled around a vertical axis relative to the positioned portion, the light-receiving side support portion is positioned below the rail, and the light-receiving side connecting portion is positioned to extend in the vertical direction at a position that does not overlap with the rail when viewed in the vertical direction, the reference surface is a surface of the rail that faces upward, and the positioned portion comprises a mounting portion that is placed on the reference surface and an inclination adjustment mechanism that adjusts the inclination of the light-receiving side holding device and the light-receiving device, and is configured to be freely attached and detached to the rail.

[0107] With this configuration, the light-receiving-side holding device can be easily positioned relative to the rail by placing the mounting portion of the positioned portion on a reference surface. The tilt adjustment mechanism also adjusts the tilt of the light-receiving-side holding device. Furthermore, because the positioned portion is detachable from the rail, the light-receiving-side holding device and the light-receiving device held by it can be easily moved to another location on the rail. Therefore, the rail height can be easily detected at multiple locations along the rail extension direction.

[0108] In one aspect, a rail height adjustment method uses a rail height detection device including a light-projecting device that projects laser light, a light-receiving device that receives the laser light projected by the light-projecting device, a light-projecting side holding device that is attached to a target member that is at least one of a ceiling and a member fixed to the ceiling and that holds the light-projecting device, and a light-receiving side holding device that holds the light-receiving device, to adjust the installation height of a rail that is installed in a state where it is suspended from the ceiling to guide a transport vehicle, the rail height adjustment method including a light-projecting device installation step of installing the light-projecting side holding device that holds the light-projecting device at a first reference position on the ceiling, and a light-receiving side holding device that is attached to a measurement position on the rail ... light-projecting side holding device being attached to a target member that is at least one of a ceiling and a member fixed to the ceiling and that holds the light-projecting device. a light-receiving device installation step of installing the light-receiving device in a position in a horizontal direction and orienting the light-receiving device held by the light-receiving side holding device so that it can receive the laser light from the light-projecting device; a height detection step of emitting the laser light from the light-projecting device in a horizontal direction while rotating the direction in which the laser light is projected around a vertical axis and detecting the reception height of the laser light using the light-receiving device as a reference; and an installation height adjustment step of adjusting the installation height of the rail based on the reception height of the laser light, wherein the light-receiving device installation step, the height detection step, and the installation height adjustment step are repeated in the order described while the measurement point is moved along the rail.

[0109] According to this configuration, after installing the light-projecting device at a first reference location on the ceiling, the light-receiving-side holding device holding the light-receiving device is moved to multiple measurement locations while performing height detection. This allows the rail heights at multiple measurement locations to be detected using the light-projecting device at the first reference location as a reference. In this configuration, the light-projecting device rotates the direction in which it projects laser light around its vertical axis, allowing the rail heights at multiple measurement locations to be detected without moving the light-projecting device while it is installed at the first reference location. This facilitates highly accurate rail height detection. Furthermore, according to this configuration, the light-receiving device installation step involves orienting the light-receiving device held by the light-receiving-side holding device so that it can receive laser light from the light-projecting device, thereby easily detecting the rail heights at multiple locations along the rail extension direction. Thus, the rail height detection method according to this configuration allows the rail heights at multiple locations along the rail extension direction to be appropriately detected. Furthermore, according to this configuration, the light-receiving device installation step, height detection step, and installation height adjustment step are repeatedly performed in the order described above while the measurement locations are moved along the rail. Therefore, rather than moving tools used in these three processes, such as tools, carts, and workbenches on which workers stand, after each process is completed, the number of times the tools are moved can be reduced, making it easier to improve work efficiency.

[0110] In one aspect, the rail height detection device is a rail height detection device that detects the installation height of a rail that is installed in a state where it is suspended from a ceiling to guide a transport vehicle, and includes a light-projecting device that projects laser light, a light-receiving device that receives the laser light projected by the light-projecting device, a light-projecting-side holding device that is attached to a target member that is at least one of the ceiling and a member fixed to the ceiling and that holds the light-projecting device, and a light-receiving-side holding device that holds the light-receiving device, and the light-projecting device, while held by the light-projecting-side holding device, receives the laser light. The light-receiving device is configured to project laser light horizontally and rotate the direction of projection of the laser light around a vertical axis, the light-receiving device is configured to detect the height at which the laser light is received based on the light-receiving device, the light-receiving side holding device includes a positioned part that is positioned in the vertical direction by a reference surface of the rail, and a light-receiving side connecting part that connects the positioned part and the light-receiving device, and the light-receiving side connecting part is configured to allow the light-receiving device to rotate freely around a vertical axis relative to the positioned part.

[0111] According to this configuration, the light-projecting device can be attached to a target member, which is at least one of a ceiling and a member fixed to the ceiling, and the light-receiving device can be positioned relative to the rail reference surface. Therefore, by detecting the height of the received laser light using the light-receiving device, the rail height relative to the target member can be detected with high accuracy. Furthermore, since the direction in which the light-projecting device projects the laser light can be rotated about a vertical axis and the light-receiving device is configured to be freely rotated about a vertical axis relative to the positioned portion, the laser light projected by the light-projecting device can be received by the light-receiving device regardless of the planar positional relationship of the light-receiving device to the light-projecting device. Therefore, by moving the light-receiving device and the light-receiving device held by the light-projecting device to another location on the rail while keeping the positions of the light-projecting device and the light-projecting device held by the light-projecting device fixed, the rail height at multiple locations along the rail extension direction can be easily detected. Thus, the rail height detection device according to this configuration can accurately detect the rail height at multiple locations along the rail extension direction.

[0112] In one embodiment, the light-projecting side holding device comprises a light-projecting side mounting portion that is attached to the target member, a light-projecting side support portion that supports the light-projecting device, and a light-projecting side connecting portion that connects the light-projecting side mounting portion and the light-projecting side support portion in the vertical direction, wherein the light-projecting side support portion is configured to support the bottom of the light-projecting device from below, the light-projecting side mounting portion is positioned above the light-projecting device supported by the light-projecting side support portion, and the light-projecting side connecting portion comprises connecting members that are arranged in three or more locations surrounding the vertical axis of the light-projecting device supported by the light-projecting side support portion, and each of which is formed to extend in the vertical direction.

[0113] This configuration allows the light-projecting device to be stably supported. In addition, because the light-projecting side connection section is provided with connecting members arranged in three or more locations, it is easy to make each connecting member thin, and it is easy to keep the area in which the laser light is blocked by the connecting member small.

[0114] The rail height detection method, rail height adjustment method, and rail height detection device according to the present disclosure may achieve at least one of the above-described effects. The technical features of the rail height detection device according to the present disclosure may also be applied to the rail height detection program.

[0115] 10: Rail height detection device 12: Transport vehicle 13: Rail 13a: Traveling surface (reference surface) 14: Guide rail (rail) 16: Ceiling 17: Member fixed to ceiling 31: Light-emitting device 31b: Bottom 32: Light-emitting side holding device 34: Light-emitting side mounting portion 36: Light-emitting side support portion 38: Light-emitting side connection portion 38a: Connection member 40: Adjustment mechanism 41: First adjustment portion 41a: First input portion 41b: First conversion mechanism portion 42: Second adjustment portion 42a: Second input portion 42b: Second conversion mechanism portion 51: Light-receiving device 52: Light-receiving side holding device 53: Positioned portion 54: Placement portion 55: Tilt adjustment mechanism 56: Light-receiving side support portion 58: Light receiving side connection part B1: Laser light P1: First reference point P2: Second reference point P3: Point S11: Light projecting device installation process S12: Light receiving device installation process S13: Height detection process S14: Reference point change process S21: Installation height adjustment process

Claims

1. A rail height detection method for detecting the installation height of a rail that is installed in a state of being suspended from a ceiling to guide a transport vehicle, using a rail height detection device comprising: a light-projecting device that projects laser light; a light-receiving device that receives the laser light projected by the light-projecting device; a light-projecting side holding device that is attached to a target member that is at least one of a ceiling and a member fixed to the ceiling and that holds the light-projecting device; and a light-receiving side holding device that holds the light-receiving device, the method comprising: a light-projecting device installation step of installing the light-projecting side holding device that holds the light-projecting device at a first reference point on the ceiling; and a light-receiving device installation step of installing the light-receiving side holding device at a measurement point on the rail while positioning it vertically, and orienting the light-receiving device held by the light-receiving side holding device so that it can receive the laser light from the light-projecting device. a height detection step of projecting the laser light from the light projecting device in a horizontal direction while rotating the direction of projection of the laser light around a vertical axis, and detecting the height at which the laser light is received by the light receiving device relative to the light receiving device, wherein the light receiving device installation step and the height detection step are repeatedly performed while the measurement location is moved along the rail.

2. A rail height detection method as set forth in claim 1, further comprising a reference location changing step of changing the installation location of the light-projecting holding device that holds the light-projecting device from the first reference location to a second reference location when the horizontal length of the rail installation area in which the rail is installed is greater than the effective reach of the laser light projected by the light-projecting device, wherein the reference location changing step includes installing the light-receiving holding device that holds the light-receiving device at a location that is within the effective reach of both the first reference location and the second reference location, and adjusting the holding height of the light-projecting device by the light-projecting holding device with the light-projecting holding device installed at the second reference location so that the height at which the laser light is received by the light-receiving device when the light-projecting holding device that holds the light-projecting device is installed at the first reference location matches the height at which the laser light is received by the light-receiving device when the light-projecting holding device that holds the light-projecting device is installed at the second reference location.

3. The rail height detection method according to claim 1 or 2, wherein the light-projecting side holding device is provided with an adjustment mechanism that adjusts the holding height of the light-projecting device, the adjustment mechanism is provided with a first adjustment unit and a second adjustment unit, the first adjustment unit is provided with a first input unit that receives input rotation for adjustment and a first conversion mechanism unit that converts the rotation of the first input unit into vertical movement and transmits it to the light-projecting device, and the second adjustment unit is provided with a second input unit that receives input rotation for adjustment and a second conversion mechanism unit that converts the rotation of the second input unit into vertical movement and transmits it to the light-projecting device, and the conversion ratio in the second conversion mechanism unit is different from the conversion ratio in the first conversion mechanism unit.

4. A rail height detection method as described in claim 1 or 2, wherein the light-receiving side holding device comprises a positioned part that is positioned in the vertical direction by a reference surface of the rail, a light-receiving side support part that supports the light-receiving device, and a light-receiving side connection part that connects the positioned part and the light-receiving side support part, the light-receiving side connection part is configured to allow the light-receiving side support part to be freely swiveled about a vertical axis relative to the positioned part, the light-receiving side support part is arranged below the rail, and the light-receiving side connection part is arranged to extend in the vertical direction at a position that does not overlap with the rail when viewed in the vertical direction, the reference surface is a surface of the rail that faces upward, and the positioned part comprises a mounting part that is placed on the reference surface and an inclination adjustment mechanism that adjusts the inclination of the light-receiving side holding device and the light-receiving device, and is configured to be freely attached and detached to the rail.

5. A rail height adjustment method for adjusting the installation height of a rail that is installed in a state of being suspended from a ceiling to guide a transport vehicle, using a rail height detection device comprising: a light-projecting device that projects laser light; a light-receiving device that receives the laser light projected by the light-projecting device; a light-projecting side holding device that is attached to a target member that is at least one of a ceiling and a member fixed to the ceiling and that holds the light-projecting device; and a light-receiving side holding device that holds the light-receiving device, the method comprising: a light-projecting device installation step of installing the light-projecting side holding device that holds the light-projecting device at a first reference point on the ceiling; and a light-receiving device installation step of installing the light-receiving side holding device at a measurement point on the rail while positioning it vertically, and orienting the light-receiving device held by the light-receiving side holding device so that it can receive the laser light from the light-projecting device. a height detection step of emitting the laser light from the light-emitting device in a horizontal direction while rotating the direction of emitting the laser light around a vertical axis, and detecting a reception height of the laser light with the light-receiving device as a reference; and an installation height adjustment step of adjusting the installation height of the rail based on the reception height of the laser light, wherein the light-receiving device installation step, the height detection step, and the installation height adjustment step are repeated in the order listed while the measurement point is moved along the rail.

6. A rail height detection device that detects the installation height of a rail that is installed in a state where it is suspended from a ceiling to guide a transport vehicle, comprising: a light-projecting device that projects laser light; a light-receiving device that receives the laser light projected by the light-projecting device; a light-projecting side holding device that is attached to a target member that is at least one of the ceiling and a member fixed to the ceiling and that holds the light-projecting device; and a light-receiving side holding device that holds the light-receiving device, wherein the light-projecting device is configured to project the laser light along a horizontal direction while being held by the light-projecting side holding device and to be able to rotate the direction in which the laser light is projected around a vertical axis, and the light-receiving device is configured to be able to detect the height at which the laser light is received based on the light-receiving device, and the light-receiving side holding device comprises a positioned part that is positioned in the vertical direction by a reference surface of the rail, and a light-receiving side connecting part that connects the positioned part and the light-receiving device, A rail height detection device, wherein the light-receiving side connecting portion is configured so that the light-receiving device can be freely rotated about a vertical axis relative to the positioned portion.

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