Traveling vehicle system

Abstract

This traveling vehicle system (1) collects detection results from a sensor (34A) provided to a traveling vehicle (6) traveling on a predetermined route (4). The traveling vehicle (6) has: a storage unit (37) that stores a detection result of the sensor (34A) at preset detection positions (P1, P2); and a display unit (38) that indicates information relating to the detection result stored in the storage unit (37). The traveling vehicle system (1) comprises a reading device (60) that is disposed along a route and reads information relating to a detection result indicated on the display unit (38) of the traveling vehicle (6) positioned at a preset reading position (P3).

Description

Traveling vehicle system

[0001] One aspect of the present invention relates to a traveling vehicle system.

[0002] There is known a traveling vehicle that travels on a track and conveys articles. Such a traveling vehicle is provided with various sensors, and the traveling of the traveling vehicle is controlled based on the detection results by the various sensors. For example, Patent Document 1 discloses a traveling vehicle system for periodically inspecting whether an obstacle sensor that detects an obstacle that may become an obstacle when traveling on a track is operating properly.

[0003] International Publication No. 2022 / 264579

[0004] In such a traveling vehicle system, it is required to obtain the detection results of the sensors from the traveling vehicle, for example, a server device, and determine whether the sensors are operating properly. In this case, it is necessary to obtain the detection results of the sensors from the traveling vehicle. As a solution to such a problem, for example, it is conceivable to use an existing communication device provided for controlling the traveling vehicle. However, considering communication delays to the traveling vehicle, etc., the method of using an existing communication device that imposes a communication load is not practical.

[0005] Therefore, an object of one aspect of the present invention is to provide a traveling vehicle system capable of obtaining the detection results by sensors mounted on the traveling vehicle without significantly increasing the communication load.

[0006] (1) A traveling vehicle system according to one aspect of the present invention is a traveling vehicle system that collects the detection results of sensors provided in a traveling vehicle that travels on a predetermined route, the traveling vehicle having a storage unit that stores the detection results of the sensors at a preset detection position, and a display unit that indicates information regarding the detection results stored in the storage unit, and the traveling vehicle system is provided at a preset reading position along the route and includes a reading device that reads the information regarding the detection results indicated on the display unit of the traveling vehicle.

[0007] In this vehicle-based system configuration, information regarding the detection results is displayed on a display unit in the vehicle, and reading devices positioned along the route read the information displayed on the display unit, thereby acquiring information regarding the detection results. As a result, the reading devices can acquire the detection results from sensors mounted on the vehicle without using a communication device. Consequently, detection results from sensors mounted on the vehicle can be acquired without significantly increasing the communication load.

[0008] (2) In the vehicle driving system described in (1) above, the display unit may show information related to the detection result when it reaches the reading position. In this configuration, information other than information related to the sensor's detection result can be shown when the vehicle is not at the reading position. For this reason, for example, the function of the display unit that normally shows information indicating the status of the vehicle, such as error information, can be combined with this function.

[0009] (3) In the vehicle system described in (1) or (2) above, the vehicle may stop once it reaches the reading position. This configuration makes it possible to improve the reading accuracy of the information regarding the sensor detection result in the reading device.

[0010] (4) In the vehicle system described in any one of (1) to (3) above, multiple detection results corresponding to multiple detection locations may be stored in the memory unit, and information regarding the multiple detection results may be displayed on the display unit together with information regarding the detection locations. In this configuration, detection results detected by the vehicle at multiple locations can be acquired by a single reader by displaying them with their respective location information linked. As a result, even if the amount of information would increase the communication load if transmitted via a communication device, information regarding the sensor's detection results can be acquired without going through a communication device.

[0011] (5) In the vehicle system described in any one of (1) to (3) above, the vehicle may store multiple detection results corresponding to multiple detection positions in a storage unit, and display information about the multiple detection results in order from furthest away from the reading position or in reverse order on the display unit. In this configuration, the detection results detected by the vehicle at multiple positions can be acquired by a single reading device by displaying them with their respective position information linked. As a result, a large amount of information can be acquired even if a simple display unit that cannot display a large amount of information at once is used.

[0012] (6) In the vehicle driving system described in any one of (1) to (5) above, the sensor may be a distance sensor that detects the distance between the vehicle and the location where the reading device is installed. In this configuration, information regarding the distance, which is the detection result of the distance sensor, can be obtained.

[0013] (7) In the vehicle driving system described in any one of (1) to (6) above, the vehicle is controlled to decelerate when the distance to the vehicle ahead becomes a first distance, and to stop when the distance to the vehicle ahead becomes a second distance which is shorter than the first distance, and a first detection position where the distance from the position where the reading device is installed to the vehicle is the first distance, and a second detection position where the distance from the position where the reading device is installed to the vehicle is the second distance may be set in advance as detection positions. In this configuration, information can be obtained by the sensor to determine whether the first distance and the second distance have been properly acquired.

[0014] According to one aspect of the present invention, detection results from sensors mounted on a moving vehicle can be obtained without increasing the communication load.

[0015] Figure 1 is a schematic plan view showing the configuration of a vehicle system according to one embodiment. Figure 2 is a front view of the vehicle as seen from the front in the direction of travel. Figure 3 is a side view of the inspection unit as seen from the side. Figure 4 is a front view of the inspection device of Figure 3 as seen from the upstream side in the direction of travel. Figure 5 is a perspective view of the inspection device of Figure 3 as seen from a diagonal downstream direction in the direction of travel. Figure 6 is a perspective view of the inspection device of Figure 3 as seen from a diagonal upstream direction in the direction of travel. Figure 7 is a perspective view of the inspection device of Figure 3 as seen from the downstream side in the direction of travel. Figure 8 is a perspective view showing an example of an image captured by the imaging device of Figure 3. Figure 9 is a block diagram showing the configuration of the vehicle system. Figure 10(A) is an enlarged view of the display unit provided in the vehicle of Figure 2. Figure 10(B) is an enlarged view of the display unit according to a modified example. Figure 10(C) is an enlarged view of the display unit according to a further modified example.

[0016] A preferred embodiment of one aspect of the present invention will be described in detail below with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant descriptions are omitted.

[0017] As shown in Figures 1 and 2, the vehicle transport system 1 is a system for transporting articles 10 using overhead transport vehicles 6 (hereinafter referred to as "transport vehicles 6") that can move along a track (a predetermined route) 4. The articles 10 include, for example, containers such as FOUPs (Front Opening Unified Pods) that store multiple semiconductor wafers and reticle pods that store glass substrates, as well as general parts. The vehicle transport system 1 comprises a track 4, multiple transport vehicles 6, multiple mounting units 9, an inspection unit 100, a transport controller 90, and an inspection controller 95.

[0018] The track 4 is laid, for example, near the ceiling, which is the space above the workers' heads. The track 4 is suspended from the ceiling, for example. The track 4 is a predetermined path for the vehicle 6 to travel on. The track 4 is supported by pillars 40A, 40A. The track 4 of the vehicle system 1 has a main line section 4A on which the vehicle 6 travels in one direction D1 over a predetermined area, and a retraction section 4B on which the vehicle 6 is brought into an inspection unit 100 for inspection. In the retraction section 4B as well, the vehicle 6 moves in a predetermined one direction D1.

[0019] The track 4 has a pair of lower surfaces 40B, 40B, a pair of side surfaces 40C, 40C, and a top surface 40D, and includes a partially open cylindrical rail body 40, a power supply unit 40E, and a magnetic plate 40F. The rail body 40 forms an internal space A1 separated from the external space A2. The internal space A1 extends along the direction of extension of the track 4. The rail body 40 houses the running section 50 of the vehicle 6, which will be described in detail later. The lower surface 40B extends in the direction of travel D1 of the vehicle 6 and constitutes the lower surface of the rail body 40. The lower surface 40B is a plate-like member on which the running rollers 51 of the vehicle 6 roll, causing the vehicle 6 to travel. The side surfaces 40C extend in the direction of travel D1 of the vehicle 6 and constitute the side surfaces of the rail body 40. The top surface portion 40D extends in the direction D1 of travel of the vehicle 6 and constitutes the upper surface of the rail body portion 40.

[0020] The power supply unit 40E is the part that supplies power to the power supply core 57 of the vehicle 6 and also transmits and receives signals with the power supply core 57. The power supply unit 40E is fixed to each of the pair of side portions 40C, 40C and extends along the direction of travel D1. The power supply unit 40E supplies power to the power supply core 57 in a non-contact manner. The magnetic plate 40F generates a magnetic force for the LDM (Linear DC Motor) 59 of the vehicle 6 to move or stop. The magnetic plate 40F is fixed to the top portion 40D and extends along the direction of travel D1.

[0021] The vehicle 6 travels along the track 4 and transports the goods 10. The vehicle 6 is configured to be able to transfer the goods 10. The vehicle 6 is an overhead-traveling unmanned vehicle. The number of vehicles 6 provided in the vehicle system 1 is not particularly limited and can be multiple. The vehicle 6 has a main body 7, a driving unit 50, and a main body controller 35. The main body 7 has a main body frame 22, a lateral feed unit 24, a θ drive 26, a lifting drive unit 28, a lifting platform 30, a cover 33, a collision prevention sensor (sensor) 34A, an obstacle sensor 34B, a storage unit 37, and a display unit 38.

[0022] The main frame 22 is connected to the travel unit 50 and supports the lateral feed unit 24, the θ drive 26, the lifting drive unit 28, the lifting platform 30, and the cover 33. The lateral feed unit 24 moves the θ drive 26, the lifting drive unit 28, and the lifting platform 30 together in a direction perpendicular to the extending direction of the track 4. The θ drive 26 rotates at least one of the lifting drive unit 28 and the lifting platform 30 within a predetermined angular range in the horizontal plane. The lifting drive unit 28 raises and lowers the lifting platform 30 by winding or unwinding a suspension material such as a wire, rope, or belt. The lifting platform 30 is provided with a chuck, which allows for easy gripping or release of the article 10. The cover 33 is provided in pairs, for example, at the front and rear in the travel direction D1 of the travel vehicle 6. The cover 33 extends and retracts claws (not shown) to prevent the article 10 from falling during transport.

[0023] The collision prevention sensor 34A is installed above the front cover 33 of a pair of covers 33, 33. The collision prevention sensor 34A emits light forward in the direction of travel D1 and detects the presence or absence of another vehicle 6 located ahead in the direction of travel D1 based on the detection of the reflected light. The collision prevention sensor 34A has a light-emitting unit and a light-receiving unit. The collision prevention sensor 34A in this embodiment is a distance sensor. The collision prevention sensor 34A detects the distance between the vehicle 6 on which the collision prevention sensor 34A is installed and the vehicle 6 located ahead of the vehicle 6. In other words, the detection result of the collision prevention sensor 34A is information related to distance. In the inspection unit 100, the collision prevention sensor 34A in this embodiment can detect the distance to the first target plate 84 in the inspection device 80 where the imaging device (reading device) 60 is installed. The detection result (for example, information related to distance) obtained by the collision prevention sensor 34A is stored in the storage unit 37.

[0024] The obstacle sensor 34B is located below the front cover 33 of a pair of covers 33, 33. The obstacle sensor 34B emits light forward in the direction of travel D1 and detects the presence or absence of an obstacle located in front of the direction of travel D1 based on the detection of the reflected light. That is, the obstacle sensor 34B has a light-emitting unit and a light-receiving unit. The detection results from the collision prevention sensor 34A and the obstacle sensor 34B (for example, information regarding the presence or absence of detection) are acquired by the main unit controller 35, for example, via the power supply unit 40E.

[0025] The storage unit 37 stores the detection results of the collision prevention sensor 34A at a preset inspection position (detection position). In this embodiment, the storage unit 37 stores the preset inspection position and the detection results of the collision prevention sensor 34A in association with each other. In this embodiment, the storage unit 37 stores the detection results of the collision prevention sensor 34A at the first inspection position (first detection position) P1 and the second inspection position (second detection position) P2, which will be described in detail later. The storage unit 37 is composed of an SSD (Solid State Drive), an HDD (Hard Disk Drive), etc.

[0026] The display unit 38 is located on the front cover 33 of the pair of covers 33, 33. The display unit 38 is the part that displays (shows) the status of the vehicle 6 to the operator or other personnel. For example, if an error occurs in the vehicle 6, the display unit 38 will display an error number or the like corresponding to the error. The display unit 38 can, for example, use a 7-segment LED (Light Emitting Diode), which is a digital display module specialized for displaying numerical information. Here, an example in which the lighting part is composed of LEDs has been given, but it may also be composed of other things such as a liquid crystal display (LCD), cold cathode discharge lamp, fluorescent display tube, incandescent filament, etc.

[0027] Furthermore, the display unit 38 in this embodiment displays information related to the detection results stored in the storage unit 37. The content displayed on the display unit 38 and the timing of displaying the information related to the detection results stored in the storage unit 37 on the display unit 38 are controlled by the main unit controller 35 or by the inspection controller 95 via the main unit controller 35. When the vehicle 6 of this embodiment reaches the reading position P3 by the imaging device 60 provided on the frame-shaped main unit 82 of the inspection device 80, the display unit 38 displays the information related to the detection results stored in the storage unit 37.

[0028] As described above, the running section 50 travels in the internal space A1 formed in the track 4. The running section 50 mainly consists of running rollers 51, side rollers 52, a power supply core 57, and an LDM 59. The running rollers 51 are a pair of rollers consisting of an outer ring as a running wheel and an inner ring as a running aid wheel. The running rollers 51 are positioned at both the left and right ends of the front and rear of the running section 50. The running rollers 51 roll on a pair of lower surfaces 40B, 40B of the track 4.

[0029] The side rollers 52 are positioned to sandwich each of the outer rings of the running rollers 51 in the front-rear direction. The side rollers 52 are provided so as to be able to contact the side surface 40C of the track 4. The power supply core 57 is positioned at the front and rear of the running unit 50, and is positioned to sandwich the LDM 59 in the left-right direction. The power supply unit 40E, located on the track 4, provides non-contact power supply and transmits and receives various signals with the power supply core 57. The power supply core 57 also exchanges signals with the main unit controller 35. The LDM 59 is located at the front and rear of the running unit 50. The LDM 59 generates a magnetic force for running or stopping in relation to the magnetic plate 40F located on the upper surface of the track 4 by means of an electromagnet.

[0030] The travel unit 50 is controlled via the main unit controller 35 by a transport controller 90 or inspection controller 95, which will be described in detail later. Specifically, commands from the transport controller 90 or inspection controller 95 are transmitted to the main unit controller 35, and the main unit controller 35, upon receiving the commands, controls the travel unit 50.

[0031] The loading section 9 is arranged along the track 4 and is positioned so that the vehicle 6 can transfer the article 10. The loading section 9 includes a buffer and a transfer port. The buffer is a loading section where the article 10 is temporarily placed. The buffer is a loading section where the article 10 is temporarily placed when the vehicle 6 cannot transfer the article 10 being transported to the transfer port for reasons such as another article 10 being placed in the intended transfer port. The transfer port is a loading section for transferring the article 10 to semiconductor processing equipment (not shown), such as a cleaning device, a film deposition device, a lithography device, an etching device, a heat treatment device, or a planarization device. The processing equipment is not particularly limited and may be various types of equipment.

[0032] For example, the loading section 9 is located to the side of the track 4. In this case, the vehicle 6 moves the lifting drive unit 28 etc. laterally using the lateral movement unit 24, and by slightly raising and lowering the lifting platform 30, it transfers the goods 10 between the loading section 9 and the loading section 9. Although not shown in the figures, the loading section 9 may also be located directly below the track 4. In this case, the vehicle 6 transfers the goods 10 between the loading section 9 and the loading section 9 by raising and lowering the lifting platform 30.

[0033] The main controller 35 is an electronic control unit consisting of a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc. The main controller 35 controls various operations of the vehicle 6. Specifically, the main controller 35 controls the travel unit 50, the lateral feed unit 24, the θ drive 26, the lifting drive unit 28, and the lifting platform 30. The main controller 35 can be configured as software, for example, in which a program stored in ROM is loaded onto RAM and executed by the CPU. The main controller 35 may also be configured as hardware, such as an electronic circuit. The main controller 35 communicates with the transport controller 90 using the power supply unit 40E (power supply line), etc., of the track 4.

[0034] The main controller 35 controls the driving unit 50 to decelerate when the distance to the vehicle 6 traveling ahead reaches a first distance L1 (for example, 3000 mm), and to perform an emergency stop when the distance to the vehicle 6 traveling ahead reaches a second distance L2 (for example, 1500 mm), which is shorter than the first distance L1. The first distance L1 is also called the deceleration start distance, and the second distance L2 is also called the emergency stop distance. The distance to the vehicle 6 traveling ahead is obtained by the collision prevention sensor 34A. The main controller 35 executes control to decelerate or perform an emergency stop of the driving unit 50 according to the distance obtained by the collision prevention sensor 34A. The main controller 35 also controls the display content and display timing displayed on the display unit 38.

[0035] As shown in Figure 1, the inspection unit 100 is installed in a part of the retraction section 4B and, as shown in Figure 3, is a group of devices that check the operation of the collision prevention sensor 34A and the obstacle sensor 34B mounted on the vehicle 6. The inspection unit 100 is composed of an inspection device 80.

[0036] As shown in Figures 3 and 4, the inspection device 80 is located at the downstream end of the inspection unit 100 in the travel direction D1. The inspection device 80 is a device that checks whether the collision prevention sensor 34A and the obstacle sensor 34B mounted on the vehicle 6 are functioning correctly at the first inspection position P1 and the second inspection position P2.

[0037] The first inspection position P1 is located upstream in the travel direction D1 from the reading position P3 of the display unit 38 in the imaging device 60 of the inspection device 80. More specifically, the first inspection position P1 is located at a distance of first distance L1 (for example, 3000 mm) from the reading position P3. In other words, the first inspection position P1 is set to be the distance to the vehicle in front of the vehicle 6 that triggers the vehicle 6 to begin decelerating when the vehicle 6 is traveling at its normal speed.

[0038] The second inspection position P2 is located upstream in the travel direction D1 from the reading position P3 of the display unit 38 in the imaging device 60 of the inspection device 80. More specifically, the second inspection position P2 is located at a distance of a second distance L2 (for example, 1500 mm) from the reading position P3. In other words, the second inspection position P2 is set to be the distance to the vehicle in front of the vehicle 6 that triggers the vehicle 6 to initiate an emergency stop when the vehicle 6 is traveling at a deceleration slower than its normal speed.

[0039] As shown in Figures 3 to 7, the inspection device 80 comprises a fixed part 81, a frame-shaped main body part 82, a first target plate 84, a second target plate 85, a left slide mechanism 87A, a first drive unit 88A, a right slide mechanism 87B, a second drive unit 88B, and an imaging device (reading device) 60. The parts constituting the inspection device 80 will be described in detail below. In Figures 5 and 6, the first target plate 84 and the second target plate 85 are shown in a retracted position (descended) and have moved into the lower part of the frame-shaped main body part 82.

[0040] The fixing part 81 is fixed to the ceiling or track 4 and supports the frame-shaped main body part 82 in a suspended state. The frame-shaped main body part 82 is formed to surround the running space of the running vehicle 6 so that the running vehicle 6 can pass through when viewed from the X direction.

[0041] The first target plate 84 is configured to advance (rise) into the vehicle's travel space within the frame-shaped main body 82 when inspecting whether the collision prevention sensor 34A is functioning correctly, and to retract to a retracted position below the vehicle's travel space within the frame-shaped main body 82 when the vehicle 6 passes through that travel space (during normal operation when the collision prevention sensor 34A is not being checked for proper functioning). The first target plate 84 has a reflective seal attached to it, similar to the reflective seal attached to at least a part of the cover 33 of the vehicle 6. The first target plate 84 reflects the light emitted from the collision prevention sensor 34A using the reflective seal. The light emitted from the collision prevention sensor 34A is reflected only by the reflective seal and not by any other components.

[0042] The first target plate 84 is connected to a left slide mechanism 87A disposed on the left side of the frame-shaped main body 82 when the inspection device 80 is viewed from the downstream side in the traveling direction D1. The left slide mechanism 87A is, for example, a linear guide and supports the first target plate 84 so as to be movable in the Z direction. The left slide mechanism 87A is driven by a first drive unit 88A. The first drive unit 88A is provided to be communicable with an inspection controller 95 (see FIG. 9) and is controlled by the inspection controller 95. By being attached to such a left slide mechanism 87A, the first target plate 84 can move forward and backward (up and down) with respect to the traveling space of the traveling vehicle 6.

[0043] The second target plate 85 advances into the traveling space of the traveling vehicle 6 in the frame-shaped main body 82 during an inspection to confirm whether or not the obstacle sensor 34B operates correctly, and retreats to a retreat position below the traveling space of the traveling vehicle 6 in the frame-shaped main body 82 when the traveling vehicle 6 passes through the traveling space (during normal times when it is not confirmed whether or not the obstacle sensor 34B operates correctly). Unlike the first target plate 84, no reflective sheet is attached to the second target plate 85. The second target plate 85 reflects the light projected from the obstacle sensor 34B.

[0044] The second target plate 85 is connected to a right slide mechanism 87B disposed on the right side of the frame-shaped main body 82 when the inspection device 80 is viewed from the downstream side in the traveling direction D1. The right slide mechanism 87B is, for example, a linear guide and supports the second target plate 85 so as to be movable in the Z direction. The right slide mechanism 87B is driven by a second drive unit 88B. The second drive unit 88B is provided to be communicable with an inspection controller 95 (see FIG. 9) and is controlled by the inspection controller 95. By being attached to such a right slide mechanism 87B, the second target plate 85 can move forward and backward with respect to the traveling space of the traveling vehicle 6.

[0045] In addition, when power supply to the inspection device 80 is interrupted due to some cause (e.g., power failure), the first target plate 84 and the second target plate 85 are configured to retract below the travel space due to their own weight. At the retracted positions of the first target plate 84 and the second target plate 85, buffer members are provided to mitigate the impact during the fall due to the weight of the first target plate 84 and the second target plate 85.

[0046] The position detection sensor 83 detects the positions of the first target plate 84 and the second target plate 85. That is, the position detection sensor 83 detects whether or not the first target plate 84 and the second target plate 85 have advanced into the travel space of the traveling vehicle 6. The detection result by the position detection sensor 83 is acquired by the inspection controller 95.

[0047] The imaging device 60 is disposed at a preset reading position P3 along the track 4. The imaging device 60 reads information regarding the detection result shown on the display unit 38 of the traveling vehicle 6. In the present embodiment, the imaging device 60 images the information regarding the distance displayed on the display unit 38 of the traveling vehicle 6 located at the reading position P3, and extracts the information regarding the distance from the captured image (see FIG. 8). The information regarding the distance extracted by the imaging device 60 is acquired by the inspection controller 95. Note that the extraction of the information regarding the distance from the captured image may be performed by the inspection controller 95.

[0048] As shown in FIGS. 1 and 9, the conveyance controller 90 is an electronic control unit including a CPU, a ROM, a RAM, etc. As shown in FIG. 9, the conveyance controller 90 controls a plurality of traveling vehicles 6 traveling on the track 4 via the main body controller 35.

[0049] The inspection controller 95 is an electronic control unit consisting of a CPU, ROM, RAM, etc. The inspection controller 95 controls multiple vehicles 6 that travel on the track 4 within the inspection unit 100 via the main unit controller 35. The inspection controller 95 controls the first drive unit 88A and the second drive unit 88B included in the inspection unit 100. It also collects distance information extracted by the imaging device 60. Based on the distance information extracted by the imaging device 60, the inspection controller 95 determines whether the collision prevention sensor 34A is functioning correctly. The inspection controller 95 also determines the state of the obstacle sensor 34B based on the detection results from the obstacle sensor 34B.

[0050] The inspection controller 95 controls the main unit controller 35 to drive the vehicle 6 to the first inspection position P1 and store the detection result of the collision prevention sensor 34A at the point where the vehicle reaches the first inspection position P1 in the storage unit 37. The inspection controller 95 also controls the main unit controller 35 to drive the vehicle 6 to the second inspection position P2 and store the detection result of the collision prevention sensor 34A at the point where the vehicle reaches the second inspection position P2 in the storage unit 37. Furthermore, the inspection controller 95 controls the main unit controller 35 to drive the vehicle 6 to the reading position P3, stop the vehicle 6 at the reading position P3, and display the detection results at the first inspection position P1 and the second inspection position P2 stored in the storage unit 37 on the display unit 38. Information regarding the first inspection position P1, the second inspection position P2, and the reading position P3 is preset by being stored in the storage unit (not shown) of the inspection controller 95.

[0051] Next, the operation of the collision prevention sensor 34A and obstacle sensor 34B of the vehicle 6 when they are inspected in the inspection unit 100 will be described. The transport controller 90 causes the vehicle 6 to travel to the inspection unit 100 when predetermined conditions are triggered. These predetermined conditions include, for example, when an inspection start command is input by an operator via an input unit (not shown), when a vehicle 6 appears after a predetermined time has elapsed since the last inspection, or when a vehicle 6 appears after traveling a predetermined distance since the last inspection.

[0052] When the vehicle 6 arrives at the inspection unit 100, the inspection controller 95 drives the vehicle 6 toward the first inspection position P1. When the vehicle 6 arrives at the first inspection position P1, the inspection controller 95 controls the first drive unit 88A to advance the first target plate 84 into the vehicle 6's travel space, and controls the second drive unit 88B to advance the second target plate 85 into the vehicle 6's travel space. The vehicle 6 controls the collision prevention sensor 34A to emit light. The inspection controller 95 stores the detection result from the collision prevention sensor 34A at this time in the storage unit 37. More specifically, the inspection controller 95 stores the distance information acquired by the collision prevention sensor 34A along with the inspection position (i.e., information identifying the first inspection position P1).

[0053] Next, the vehicle 6 controls the obstacle sensor 34B to emit light into the light emitter. The inspection controller 95 determines the state of the obstacle sensor 34B based on the detection result from the obstacle sensor 34B at this time. The inspection controller 95 acquires the detection result from the obstacle sensor 34B, for example, via the power supply unit 40E. If the light receiving unit can detect light, the inspection controller 95 determines that there is no abnormality in the obstacle sensor 34B, and if the light receiving unit cannot detect light, it determines that there is an abnormality in the obstacle sensor 34B.

[0054] Next, the inspection controller 95 starts the vehicle 6 from the first inspection position P1 and drives the vehicle 6 toward the second inspection position P2. When the vehicle 6 arrives at the second inspection position P2, the inspection controller 95 controls the first drive unit 88A to advance the first target plate 84 into the vehicle 6's driving space, and controls the second drive unit 88B to advance the second target plate 85 into the vehicle 6's driving space. The vehicle 6 controls the collision prevention sensor 34A to emit light. The inspection controller 95 stores the detection result from the collision prevention sensor 34A at this time in the storage unit 37. More specifically, the inspection controller 95 stores the distance information acquired by the collision prevention sensor 34A along with the inspection position (i.e., information identifying the second inspection position P2).

[0055] Next, the vehicle 6 controls the obstacle sensor 34B to emit light into the light-emitting unit. The inspection controller 95 determines the state of the obstacle sensor 34B based on the detection result from the obstacle sensor 34B at this time. The method by which the inspection controller 95 determines the state of the obstacle sensor 34B at this time is the same as the method used for determination at the first inspection position P1. Note that the determination of the state of the obstacle sensor 34B does not need to be performed at the second inspection position P2.

[0056] Next, the inspection controller 95 causes the vehicle 6 to depart from the second inspection position P2, to travel toward the reading position P3, and to temporarily stop the vehicle 6 at the reading position P3. When the vehicle 6 arrives at the reading position P3, the inspection controller 95 controls the first drive unit 88A to retract the first target plate 84 from the vehicle 6's travel space, and controls the second drive unit 88B to retract the second target plate 85 from the vehicle 6's travel space.

[0057] Furthermore, when the vehicle 6 arrives at the reading position P3, the inspection controller 95 displays information regarding the distance acquired by the collision prevention sensor 34A on the display unit 38. More specifically, as shown in Figure 10(A), the inspection controller 95 displays information regarding the distance acquired by the collision prevention sensor 34A along with the inspection position (i.e., information identifying the first inspection position P1). In this embodiment, the display unit 38 displays a five-digit number using seven-segment LEDs. The first digit of these seven-segment LEDs 38A indicates information regarding the inspection position ("1" indicates the first inspection position P1, and "2" indicates the second inspection position P2), while the remaining four digits of the seven-segment LEDs 38B indicate information regarding the distance (in mm).

[0058] The inspection controller 95 displays information regarding the detection results (multiple detection results) at the first inspection position P1 and the second inspection position P2 on the display unit 38 in order of furthest from the reading position P3 or in reverse order. For example, when the vehicle 6 stops at the reading position P3, the inspection controller 95 first displays the detection result (distance information) at the first inspection position P1, and then displays the detection result (distance information) at the second inspection position P2. For example, when the vehicle 6 stops at the reading position P3, the inspection controller 95 displays "13000" or the like, and then displays "21500" or the like.

[0059] The inspection controller 95 causes the imaging device 60 to capture the information displayed on the display unit 38, and obtains the detection result (distance information) of the collision prevention sensor 34A acquired by the imaging device 60. Note that known methods such as pattern matching and AI-based image analysis can be used to obtain position information and distance information consisting of numerical information from the captured image (see Figure 8). The acquisition of position information and distance information from the captured image may be performed on the imaging device 60 side or on the inspection controller 95 side. Based on the position information and distance information thus acquired, the inspection controller 95 determines whether the collision prevention sensor 34A is functioning properly.

[0060] When the information displayed on the display unit 38 is captured by the imaging device 60, the inspection controller 95 restarts the movement of the vehicle 6 from the reading position P3. The inspection controller 95 causes the vehicle 6 to exit the inspection unit 100 by passing it through the frame-shaped main body 82 of the inspection device 80. If the inspection controller 95 determines, based on the detection result of the position detection sensor 83, that at least one of the first target plate 84 and the second target plate 85 has advanced into the vehicle 6's travel space, it prohibits the vehicle 6 from entering the inspection device 80.

[0061] The effects and advantages of the vehicle system 1 of the above embodiment will now be explained. In the vehicle system 1 of the above embodiment, information regarding the detection result is displayed on a display unit 38 provided on the vehicle 6, and the displayed information is captured by an imaging device 60 positioned along the track 4, thereby acquiring information regarding the detection result. As a result, the imaging device 60 can acquire the detection result of the collision prevention sensor 34A mounted on the vehicle 6 without going through a communication device. As a result, the detection result from the collision prevention sensor 34A mounted on the vehicle 6 can be acquired without increasing the communication load.

[0062] In the above embodiment, the display unit 38 of the vehicle system 1 displays information related to the detection result by the collision prevention sensor 34A when it reaches the reading position P3. This allows the display unit to show information other than the detection result of the collision prevention sensor 34A when the vehicle 6 is not located at the reading position P3. For this reason, the display unit 38 can also be used to display information indicating the status of the vehicle 6, such as error information, under normal circumstances.

[0063] In the above embodiment, the vehicle 6 of the vehicle system 1 stops once it reaches the reading position P3. This prevents blurring of the image captured by the imaging device 60 (see Figure 8), resulting in a clearer image. As a result, the accuracy of the imaging device 60's reading of the information regarding the detection result of the collision prevention sensor 34A can be improved.

[0064] In the vehicle system 1 of the above embodiment, multiple detection results corresponding to multiple inspection positions (first inspection position P1 and second inspection position P2) are stored in the storage unit 37, and information regarding the multiple detection results is displayed on the display unit 38 together with information regarding the inspection positions, as shown in Figure 10(A). This allows the detection results detected by the vehicle 6 at multiple positions (first inspection position P1 and second inspection position P2) to be acquired by a single imaging device 60, with the respective position information linked to each result. Furthermore, even if the amount of information would significantly increase the communication load if transmitted via a communication device, information regarding the detection results of the collision prevention sensor 34A can be acquired without using a communication device.

[0065] In the above embodiment, the vehicle 6 of the vehicle system 1 displays information regarding multiple detection results on the display unit 38 in order of furthest from the reading position P3 or in reverse order. This allows the detection results detected by the vehicle 6 at multiple positions (first inspection position P1 and second inspection position P2) to be acquired by a single imaging device 60 by displaying them with their respective position information linked. As a result, even if an inexpensive display unit 38 that cannot display a large amount of information at once is used, a large amount of information can be acquired.

[0066] Furthermore, in the above embodiment, the collision prevention sensor 34A is activated at two inspection positions (first inspection position P1 and second inspection position P2). For this reason, it is also conceivable to display information regarding the detection result on the display unit 38 at each of the two inspection positions, and to have the imaging device 60 capture the information regarding the detection result displayed on the display unit 38. However, since the two inspection positions P1 and P2 are far apart from each other, it is difficult for a single imaging device 60 placed in the inspection device 80 to capture both display units 38 when the vehicle 6 stops at the two inspection positions P1 and P2 in a single field of view. In this regard, in the vehicle 6 of the vehicle system 1 of the above embodiment, information regarding the detection results at multiple inspection positions P1 and P2 is displayed at a single reading position P3, so by placing a single imaging device 60, it is possible to obtain information regarding the detection result of the collision prevention sensor 34A.

[0067] In the above embodiment, the vehicle 6 of the vehicle system 1 is controlled to decelerate when the distance to the vehicle ahead reaches a first distance L1, and to stop when the distance to the vehicle ahead reaches a second distance L2, which is shorter than the first distance L1. A first inspection position P1 is set as the inspection position, where the distance from the position where the imaging device 60 is installed to the vehicle 6 is the first distance L1, and a second inspection position P2 is set as the inspection position, where the distance from the position where the imaging device 60 is installed to the vehicle 6 is the second distance L2. As a result, for example, the inspection controller 95 can acquire information to determine whether the first distance L1 and the second distance L2 have been appropriately acquired by the collision prevention sensor 34A.

[0068] Although one embodiment has been described above, one aspect of the present invention is not limited to the above embodiment. Various modifications are possible without departing from the spirit of the invention.

[0069] In the above embodiment of the vehicle system 1, an example was given in which distance information, which is the detection result of the collision prevention sensor 34A, is displayed on the display unit 38 of the vehicle 6. However, for example, the display unit 38 may also display ON / OFF information, which is information regarding whether or not detection occurred, information regarding the driving position of the vehicle 6, information regarding the status of the vehicle 6, etc.

[0070] The display unit 38 in the vehicle 6 of the above embodiment and modified vehicle system 1 has been described using an example where it is configured with a 7-segment LED as shown in Figure 10(A), but it is not limited to this. For example, as shown in Figure 10(B), a display unit 38 with another configuration, such as a liquid crystal or organic EL, which can display more information than a 7-segment LED, may be used.

[0071] Furthermore, when employing a display unit 38 capable of displaying such a large amount of information, instead of displaying the detection results from multiple inspection positions on the display unit 38 by switching them with a time difference, as described in the above embodiment, the detection results from multiple inspection positions may be displayed together. For example, in the example shown in Figure 10(B), the distance information 38C acquired at the first inspection position P1 and the distance information 38D acquired at the second inspection position P2 are displayed together on the display unit 38 (in a state where they are captured at once by the imaging device 60).

[0072] In the above embodiment of the vehicle system 1, an example in which an imaging device 60 is used as the reading device was described, but for example, the reading device may be a barcode reader or the like. In addition, the information displayed on the display unit 38 may not only display distance information as numerical information, but may also display, for example, a barcode or two-dimensional code that codes distance information. Furthermore, as an example of a display unit 38 that displays information other than numerical information, it may be configured as an LED array consisting of five LEDs (LED38E, LED38F, LED38G, LED38H, LED38J) as shown in Figure 10(C). In this case, the LED array may distinguish and display (notify) the information acquired by the collision prevention sensor 34A by changing the combination of whether the five LEDs (LED38E, LED38F, LED38G, LED38H, LED38J) are lit or not.

[0073] In the above embodiment and modified examples of the vehicle system 1, an example was given in which the inspection unit 100 is located in the retraction section 4B, which is moved away from the main line section 4A. However, it may also be located in the main line section 4A.

[0074] In the above embodiment and modified version of the vehicle system 1, the example of the vehicle running section 50 running in the internal space A1 of the track 4 was described, but the vehicle running section 50 may also run on a track 4 that is exposed to the external space A2. In addition, in the above embodiment and modified version of the vehicle system 1, the overhead vehicle 6 was described as an example of a vehicle, but other examples of vehicles include unmanned vehicles that run on a track 4 arranged on the floor or a frame.

[0075] In the above embodiment and modified examples of the vehicle system 1, various inspections in the inspection unit 100 are performed by the transport controller 90 and the inspection controller 95, but the system is not limited to these examples. For example, a dedicated controller may be provided to control the vehicle 6 during inspection, including the control of each component of the inspection unit 100.

[0076] 1...Travel vehicle system, 4...Track (predetermined route), 6...Overhead vehicle (traveling vehicle), 33...Cover, 34A...Collision prevention sensor (sensor), 34B...Obstacle sensor, 35...Main controller, 37...Storage unit, 38...Display unit, 40...Rail main unit, 50...Travel unit, 60...Imaging device (reading device), 80...Inspection device, 84...First target plate, 85...Second target plate, 90...Transport controller, 95...Inspection controller, 100...Inspection unit, D1...Travel direction, L1...First distance, L2...Second distance, P1...First inspection position (first detection position), P2...Second inspection position (second detection position), P3...Reading position.

Claims

1. A vehicle system for collecting detection results from sensors on a vehicle traveling along a predetermined route, wherein the vehicle has a storage unit for storing detection results from the sensors at a predetermined detection position, and a display unit for displaying information relating to the detection results stored in the storage unit, and the vehicle system includes a reading device positioned at a predetermined reading position along the route for reading information relating to the detection results displayed on the display unit of the vehicle.

2. The vehicle system according to claim 1, wherein the display unit displays information regarding the detection result when it reaches the reading position.

3. The vehicle system according to claim 1 or 2, wherein the vehicle stops once it reaches the reading position.

4. The vehicle system according to claim 1 or 2, wherein the vehicle stores a plurality of detection results corresponding to a plurality of detection positions in the storage unit, and displays information relating to the plurality of detection results together with information relating to the detection positions in the display unit.

5. The vehicle system according to claim 1 or 2, wherein the vehicle stores a plurality of detection results corresponding to a plurality of detection positions in the storage unit, and displays information regarding the plurality of detection results in the display unit in order from furthest away from the reading position or in reverse order.

6. The vehicle system according to claim 1 or 2, wherein the sensor is a distance sensor that detects the distance between the vehicle and the location where the reading device is provided.

7. The vehicle system according to claim 1 or 2, wherein the vehicle is controlled to decelerate when the distance to a vehicle traveling ahead becomes a first distance, and to stop when the distance to the vehicle becomes a second distance which is shorter than the first distance, and a first detection position is set as the detection position, where the distance from the position where the reading device is provided to the vehicle is the first distance, and a second detection position is set as the detection position, where the distance from the position where the reading device is provided to the vehicle is the second distance.

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