JP2018041409A - Article delivery equipment - Google Patents

Article delivery equipment Download PDF

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JP2018041409A
JP2018041409A JP2016176970A JP2016176970A JP2018041409A JP 2018041409 A JP2018041409 A JP 2018041409A JP 2016176970 A JP2016176970 A JP 2016176970A JP 2016176970 A JP2016176970 A JP 2016176970A JP 2018041409 A JP2018041409 A JP 2018041409A
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detected
stop position
additional information
detected object
detection
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JP6809062B2 (en
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吉成 和田
Yoshinari Wada
吉成 和田
西川　直
Sunao Nishikawa
直 西川
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Daifuku Co Ltd
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Priority to KR1020170106717A priority patent/KR102390053B1/en
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67724—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations by means of a cart or a vehicule
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/67005—Apparatus not specifically provided for elsewhere
    • H01L21/67242—Apparatus for monitoring, sorting or marking
    • H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67706—Mechanical details, e.g. roller, belt

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

PROBLEM TO BE SOLVED: To provide article delivery equipment which can make two detected bodies approach to a travel direction, and easily suppress production cost of a travel bogie.SOLUTION: A travel bogie comprises a detection device for detecting a first detected body T1 and a second detected body T2. The first detected body T1 has first addition information which indicates a fact that the detected body is the first detected body T1. The second detected body T2 is provided on an upstream side of the first detected body T1 in the travel direction and does not comprise the addition information. When existence of the second detected body T2 is detected by the detection device, a control device executes stop processing based on detection information of the existence of the second detected body T2, and executes discrimination processing of discriminating of whether or not, the travel bogie is stopped at a set stop position P1 in a state in which the travel bogie is stopped by the stop processing.SELECTED DRAWING: Figure 7

Description

本発明は、走行経路に沿って走行する走行台車と、前記走行台車を制御する制御装置と、前記走行台車の停止位置として設定されている設定停止位置に対応して設置された被検出体と、を備え、前記走行台車は、前記被検出体を検出する検出装置を備え、前記制御装置は、前記検出装置による前記被検出体の検出情報に基づいて前記走行台車を停止させる物品搬送設備に関する。   The present invention relates to a traveling vehicle that travels along a traveling route, a control device that controls the traveling vehicle, and a detection object that is installed corresponding to a set stop position that is set as a stop position of the traveling vehicle. The traveling carriage includes a detection device that detects the detected object, and the control device relates to an article transporting facility that stops the traveling carriage based on detection information of the detected object by the detection device. .

かかる物品搬送設備の従来例が、特開２００５−２０２４６４号公報（特許文献１）に記載されている。特許文献１の物品搬送設備は、被検出体として、停止位置用のマークと事前検出用のＩＤタグとを備え、検出装置として、マークを検出するための絶対位置センサと、ＩＤタグを検出するためのバーコードリーダと、を備えている。ＩＤタグには、設定停止位置を示す座標情報を付加情報として表示されている。マークは、設定停止位置に走行台車が停止している状態で絶対位置センサにて検出可能な位置に設置され、ＩＤタグは、マークより上流側に設置されている。
そして、制御装置は、走行台車を設定停止位置に向けて走行しているときにバーコードリーダによりＩＤタグを検出して付加情報を読み取ると、その付加情報に基づいて減速処理を行って設定停止位置に停止する。また、制御装置は、減速処理により停止した状態において絶対位置センサによるマークの存否の検出情報に基づいて、走行台車が設定停止位置に停止しているか否かを判別する判別処理を行っている。 A conventional example of such an article conveyance facility is described in Japanese Patent Laid-Open No. 2005-202464 (Patent Document 1). The article conveying facility of Patent Literature 1 includes a stop position mark and a pre-detection ID tag as a detected object, and detects an absolute position sensor and an ID tag as a detection device. A barcode reader. On the ID tag, coordinate information indicating the set stop position is displayed as additional information. The mark is installed at a position that can be detected by the absolute position sensor while the traveling carriage is stopped at the set stop position, and the ID tag is installed upstream of the mark.
Then, when the control device detects the ID tag by the barcode reader and reads the additional information while traveling toward the set stop position, the control device performs the deceleration process based on the additional information and stops the setting. Stop in position. Further, the control device performs a determination process for determining whether or not the traveling carriage is stopped at the set stop position based on the detection information of the presence or absence of the mark by the absolute position sensor in the state stopped by the deceleration process.

特開２００５−２０２４６４号公報JP 2005-202464 A

上記した物品搬送設備では、バーコードリーダにてＩＤタグに表示されている設定停止位置を示す座標情報を読み取り、その情報に基づいて設定停止位置を判別して減速処理を行う。このようにバーコードリーダにて座標情報を読み取って設定停止位置までの距離を演算して減速処理を行うときに、制御装置による処理に長い時間がかかると、走行台車がバーコードリーダによりＩＤタグを検出してから設定停止位置に至るまでの時間が長くなる。そのために、ＩＤタグは、マークに対して比較的離れた位置に設置する必要がある。これにより、ＩＤタグとマークとを同じ支持体に支持する場合に、支持体を走行方向に長く形成する必要があるため、ＩＤタグとマークとを同じ支持体に支持し難い等の問題が生じる。
また、上記した物品搬送設備では、バーコードリーダと絶対位置センサとの２つの検出装置を走行台車に備える必要があるため、走行台車の製造コストが高くなり易い。 In the article transport facility described above, the coordinate information indicating the set stop position displayed on the ID tag is read by the bar code reader, and the set stop position is determined based on the information to perform the deceleration process. In this way, when the coordinate information is read by the barcode reader, the distance to the set stop position is calculated and the deceleration process is performed, if the processing by the control device takes a long time, the traveling carriage is ID-tagged by the barcode reader. It takes a long time from the detection to the set stop position. Therefore, the ID tag needs to be installed at a position relatively distant from the mark. As a result, when the ID tag and the mark are supported on the same support body, it is necessary to form the support body long in the traveling direction, which causes problems such as difficulty in supporting the ID tag and the mark on the same support body. .
Moreover, in the above article transport facility, since it is necessary to provide the traveling carriage with two detection devices, that is, a barcode reader and an absolute position sensor, the manufacturing cost of the traveling carriage tends to increase.

そこで、２つの被検出体を走行方向に近づけることができるとともに走行台車の製造コストを抑え易い物品搬送設備が求められる。   Accordingly, there is a demand for an article transport facility that can bring the two detected bodies closer to the traveling direction and can easily reduce the manufacturing cost of the traveling carriage.

本発明に係る物品搬送設備の特徴構成は、走行経路に沿って走行する走行台車と、前記走行台車を制御する制御装置と、前記走行台車の停止位置として設定されている設定停止位置に対応して設置された被検出体と、を備え、前記走行台車は、前記被検出体を検出する検出装置を備え、前記制御装置は、前記検出装置による前記被検出体の検出情報に基づいて前記走行台車を停止させる物品搬送設備において、
前記被検出体として、第１被検出体と第２被検出体とを備え、前記第１被検出体は、前記設定停止位置に前記走行台車が位置している状態で前記検出装置により検出可能な位置に設置され、少なくとも当該被検出体が第１被検出体であることを示す第１付加情報を備え、前記第２被検出体は、前記第１被検出体より走行方向で上流側に設置され、前記第１付加情報より少ない情報量の第２付加情報を備え又は当該第２付加情報を備えず、前記検出装置は、前記第１被検出体及び前記第２被検出体の存在を検出可能であって、且つ、存在を検出した前記第１被検出体の前記第１付加情報を読み取り可能であり、更に、存在を検出した前記第２被検出体が前記第２付加情報を備えている場合は当該第２付加情報を読み取り可能であり、前記制御装置は、前記走行台車を前記設定停止位置に向けて走行させているときに前記検出装置により前記第２被検出体の存在が検出された場合は、当該第２被検出体の存在の検出情報及び前記第２付加情報が読み取られた場合には当該第２付加情報にも基づいて、前記設定停止位置を目標停止位置として停止させるように前記走行台車を減速させる停止処理を実行し、前記停止処理により前記走行台車が停止した状態において、前記検出装置による前記第１被検出体の存在の検出情報及び前記第１付加情報に基づいて、前記走行台車が前記設定停止位置に停止しているか否かを判別する判別処理を実行する点にある。 The characteristic configuration of the article transport facility according to the present invention corresponds to a traveling carriage that travels along a traveling route, a control device that controls the traveling carriage, and a set stop position that is set as a stop position of the traveling carriage. And the traveling carriage includes a detection device that detects the detected body, and the control device detects the traveling based on detection information of the detected body by the detection device. In the article transport facility that stops the cart,
The detection object includes a first detection object and a second detection object, and the first detection object can be detected by the detection device in a state where the traveling carriage is located at the set stop position. 1st additional information which shows that the said to-be-detected body is a 1st to-be-detected body at least, and the said 2nd to-be-detected body is upstream in the running direction from the said 1st to-be-detected body Installed and provided with the second additional information having a smaller amount of information than the first additional information or without the second additional information, the detection device detects the presence of the first detected object and the second detected object. The first additional information of the first detected object that can be detected and has been detected can be read, and the second detected object that has detected the presence further includes the second additional information. The second additional information can be read, and the control device If the detection device detects the presence of the second detected object when the traveling carriage is traveling toward the set stop position, the detection information of the presence of the second detected object and When the second additional information is read, based on the second additional information, a stop process for decelerating the traveling carriage so as to stop the set stop position as a target stop position is executed, and the stop process Whether the traveling carriage is stopped at the set stop position based on the detection information of the presence of the first detected object by the detection device and the first additional information in a state where the traveling carriage is stopped by The point is that a discrimination process for discriminating is executed.

この特徴構成によれば、走行台車を設定停止位置に向けて走行しているときに検出装置により第２被検出体が検出される。そして、第２被検出体に付加情報が備えられているときは、検出装置により第２被検出体に備えられている付加情報も読み取られる。
具体的には、例えば、第２被検出体に付加情報が備えられていない場合は、第２被検出体と設定停止位置との離間距離情報を制御装置に記憶しておくことが考えられる。このように離間距離情報を制御装置に記憶しておくことで、検出装置により第２被検出体の存在を検出するだけで第２被検出体を検出した位置から設定停止位置までの走行距離を判別できるため、この走行距離に基づいて停止処理を実行することにより、走行台車を設定停止位置に停止させることができる。
また、例えば、第２被検出体に付加情報が備えられている場合は、現在位置から設定停止位置までの走行距離を符号情報として第２被検出体に備えることが考えられる。このように第２被検出体に符号情報を備えておくことで、検出装置により第２被検出体の存在を検出して符号情報を読み取ることで第２被検出体を検出した位置から設定停止位置までの走行距離を判別できるため、この走行距離に基づいて停止処理を実行することにより、走行台車を設定停止位置に停止させることができる。 According to this characteristic configuration, the second detection object is detected by the detection device when the traveling carriage is traveling toward the set stop position. And when additional information is provided in the 2nd detected object, additional information provided in the 2nd detected object is also read by a detecting device.
Specifically, for example, when additional information is not provided in the second detected object, it is conceivable to store the distance information between the second detected object and the set stop position in the control device. By storing the separation distance information in the control device in this way, the travel distance from the position where the second detected object is detected to the set stop position can be determined only by detecting the presence of the second detected object by the detecting device. Since the determination can be made, the traveling carriage can be stopped at the set stop position by executing the stop process based on the travel distance.
For example, when additional information is provided in the second detected object, it is conceivable that the second detected object is provided with the travel distance from the current position to the set stop position as code information. Thus, by providing the second detected body with code information, the detection device detects the presence of the second detected body and reads the code information to stop the setting from the position where the second detected body is detected. Since the travel distance to the position can be determined, the travel cart can be stopped at the set stop position by executing the stop process based on the travel distance.

そして、判別処理では、停止処理により走行台車が停止した状態において、検出装置により第１被検出体の存在を検出するとともに、その検出した第１被検出体に備えられている第１付加情報を読み取る。第１付加情報としては、第１被検出体が設置されている位置を示す情報を第１被検出体に備えておくことや、第１被検出体であることを示す情報を第１被検出体に備えておくことが考えられる。
第１被検出体が設置されている位置を示す情報を第１付加情報として第１被検出体に備えておくことで、検出装置により第１被検出体の存在を検出して第１付加情報を読み取り、その第１付加情報が示す情報が目標停止位置と同様の情報を示していれば、制御装置は、走行台車が目標停止位置に停止していると判別できる。
また、第１被検出体であることを示す情報を第１付加情報として第１被検出体に備えておき、検出装置により第１被検出体の存在を検出して第１付加情報を読み取ることで、制御装置は、第１被検出体に対応する位置に停止しているか否かを判別できるので、第１被検出体以外のものを第１被検出体と誤検出することによって、制御装置が目標停止位置に停止していると誤って判別することを回避できる。 In the determination process, in the state where the traveling carriage is stopped by the stop process, the presence of the first detected object is detected by the detection device, and the first additional information provided in the detected first detected object is detected. read. As the first additional information, information indicating the position where the first detection target is installed is provided in the first detection target, or information indicating that the first detection target is the first detection target. It is possible to prepare for the body.
By providing the first detected object with information indicating the position where the first detected object is installed as the first additional information, the first additional information is detected by detecting the presence of the first detected object by the detection device. If the information indicated by the first additional information indicates the same information as the target stop position, the control device can determine that the traveling carriage is stopped at the target stop position.
Also, information indicating the first detected object is provided in the first detected object as the first additional information, and the first additional information is read by detecting the presence of the first detected object by the detection device. Thus, since the control device can determine whether or not the vehicle is stopped at a position corresponding to the first detected object, the control device is erroneously detected as a first detected object other than the first detected object. Can be prevented from being erroneously determined as having stopped at the target stop position.

そして、第２被検出体には、第２付加情報が備えられていない、又は、第２付加情報が備えられている場合でもその第２付加情報は第１付加情報より情報量が少ない。そのため、検出装置にて第２被検出体の存在を検出したときに、第２付加情報を読み取る必要がない、又は、第２付加情報の情報量が比較的少ない情報量であるので、制御装置が第１検出装置からの情報の処理に要する時間を短くできる。よって、走行台車が第２被検出体の存在を検出してから停止するまでの時間を短くできるため、第２被検出体を、第１被検出体に対して比較的近い位置に設置できる。
また、第１被検出体を検出する検出装置と第２被検出体を検出する検出装置とを別々に備える必要がないため、走行台車の製造コストを抑え易い。
このように、２つの被検出体を走行方向に近づけることができるとともに走行台車の製造コストを抑え易い。 The second detected information is not provided with the second additional information, or the second additional information has a smaller amount of information than the first additional information even when the second additional information is provided. Therefore, when the detection device detects the presence of the second object to be detected, it is not necessary to read the second additional information, or the information amount of the second additional information is a relatively small amount of information. However, the time required for processing information from the first detection device can be shortened. Therefore, since the time from when the traveling carriage detects the presence of the second detected object until it stops can be shortened, the second detected object can be installed at a position relatively close to the first detected object.
Moreover, since it is not necessary to separately provide a detection device that detects the first detection object and a detection device that detects the second detection object, it is easy to reduce the manufacturing cost of the traveling carriage.
In this way, the two detected bodies can be brought close to the traveling direction, and the manufacturing cost of the traveling carriage can be easily suppressed.

ここで、前記走行台車が、前記走行経路に沿って設置された走行レール上を走行し、前記走行レール又は前記走行レールを支持する部材は、支持体を備え、前記第１被検出体と前記第２被検出体とは、前記検出装置の検出範囲内に同時に含まれるように、前記走行経路の長手方向に並ぶ状態で、同じ前記支持体によって支持されていると好適である。   Here, the traveling carriage travels on a traveling rail installed along the traveling route, and the traveling rail or a member that supports the traveling rail includes a support, and the first detected body and the member It is preferable that the second detected body is supported by the same support body in a state of being arranged in the longitudinal direction of the travel route so as to be simultaneously included in the detection range of the detection device.

この構成によれば、第１被検出体と第２被検出体とを同じ支持体に支持させることで、これら第１被支持体と第２被支持体とを別々の支持体に支持させる場合に比べて、支持体の数を減らすことができる。しかも、第２被検出体と第１被検出体とは、走行経路の長手方向で比較的近い位置に設置できるために、支持体における走行経路の長手方向の長さを短くでき、支持体のコンパクト化を図ることができる。また、第１被検出体と第２被検出体とは、検出装置の検出範囲内に同時に含まれる程度しか離れていないため、検出装置が第２被検出体を検出してから設定停止位置に停止するまでに、第１被検出体及び第２被検出体の少なくとも一方の被検出体を検出装置により検出することができる。   According to this configuration, when the first detected body and the second detected body are supported on the same support body, the first supported body and the second supported body are supported on separate support bodies. Compared to the above, the number of supports can be reduced. In addition, since the second object to be detected and the first object to be detected can be installed at a relatively close position in the longitudinal direction of the travel path, the length of the support path in the longitudinal direction of the travel path can be shortened. Compactness can be achieved. In addition, since the first detection object and the second detection object are separated from each other only by being included in the detection range of the detection device at the same time, the detection device detects the second detection object and then moves to the set stop position. Before stopping, at least one of the first detection object and the second detection object can be detected by the detection device.

また、前記設定停止位置を第１停止位置として、前記第１停止位置とは別に、前記走行台車が停止する停止位置として第２停止位置が設定され、前記走行台車は、前記第２停止位置に停止した状態で第３被検出体を検出する第２検出装置を備え、前記第３被検出体は、前記走行レールに支持され、当該被検出体が第３被検出体であることを示す第３付加情報を備え、前記第２検出装置は、前記第３被検出体の存在を検出可能であって、且つ、前記第３被検出体の前記第３付加情報を読み取り可能であり、前記制御装置は、前記第２検出装置による前記第３被検出体の存在の検出情報及び前記第３付加情報に基づいて、前記走行台車が前記第２停止位置に停止しているか否かを判別する第２判別処理を実行すると好適である。   In addition, the set stop position is set as the first stop position, and a second stop position is set as a stop position at which the traveling carriage stops separately from the first stop position, and the traveling carriage is moved to the second stop position. A second detecting device for detecting a third detected object in a stopped state; the third detected object is supported by the travel rail; and the detected object is a third detected object. 3 additional information, the second detection device can detect the presence of the third detected object, and can read the third additional information of the third detected object, and the control The apparatus determines whether or not the traveling carriage is stopped at the second stop position based on detection information of the presence of the third detected object by the second detection apparatus and the third additional information. It is preferable to execute the two discrimination process.

この構成によれば、検出装置が検出する第１被検出体及び第２被検出体と、第２検出装置が検出する第３被検出体が別の部材に支持されているため、これら第１被検出体及び第２被検出体と、第３被検出体と、を上下方向や経路幅方向に離して設置し易い。そのため、検出装置により第３被検出体を誤検出することや、第２検出装置により第１被検出体や第２被検出体を誤検出することを未然に防止できる。   According to this configuration, since the first and second detected bodies detected by the detection device and the third detected body detected by the second detection device are supported by different members, the first and second detected bodies are supported by the first member. It is easy to install the detected body, the second detected body, and the third detected body apart from each other in the vertical direction or the path width direction. Therefore, it is possible to prevent the third detection object from being erroneously detected by the detection device and the first detection object and the second detection object from being erroneously detected by the second detection device.

また、前記第１被検出体は、前記検出装置に向く面に前記第１付加情報が読み取り可能に表示され、前記第２被検出体は、前記検出装置に向く面が単色であり前記第２付加情報が表示されていないと好適である。   The first object to be detected is displayed on the surface facing the detection device so that the first additional information can be read. The second object to be detected is monochromatic on the surface facing the detection device. It is preferable that the additional information is not displayed.

この構成によれば、検出装置は、第１被検出体の表面に二次元コード等で表示された情報を読み取ることで、第１付加情報を読み取ることができ、第１被検出体の外形を検出することや第１被検出体の表面に表示された情報の存在を検出する等により、第１被検出体の存在を検出できる。また、検出装置は、第２被検出体の外形を検出する等により、第２被検出体の存在を検出できる。
そして、第２被検出体には、第２付加情報が備えられていないため、検出装置にて第２被検出体の存在を検出したときに、第２付加情報を読み取る必要がないので、制御装置が第１検出装置からの情報の処理に要する時間を短くできる。 According to this configuration, the detection device can read the first additional information by reading the information displayed on the surface of the first detection object with a two-dimensional code or the like, and the outer shape of the first detection object can be read. The presence of the first detection target can be detected by detecting or detecting the presence of information displayed on the surface of the first detection target. In addition, the detection device can detect the presence of the second detected body by detecting the outer shape of the second detected body.
Since the second additional object is not provided with the second additional information, it is not necessary to read the second additional information when the detection device detects the presence of the second additional object. The time required for the apparatus to process information from the first detection apparatus can be shortened.

物品搬送設備の側面図Side view of goods transport equipment 物品搬送設備の正面図Front view of goods transport equipment 物品搬送車の正面図Front view of goods transport vehicle 物品搬送車と保管棚とを示す正面図Front view showing an article transport vehicle and a storage shelf 物品搬送さの上部を示す正面図Front view showing the upper part of the article transport 第１検出装置にて第２被検出体を検出した状態を示す図The figure which shows the state which detected the 2nd to-be-detected body in the 1st detection apparatus. 第１検出装置にて第１被検出体を検出した状態を示す図The figure which shows the state which detected the 1st to-be-detected body in the 1st detection apparatus. 第３被検出体及び第４被検出体を示す図The figure which shows a 3rd to-be-detected body and a 4th to-be-detected body 第１速度制御における物品搬送車の走行速度を示す図The figure which shows the travel speed of the article conveyance vehicle in 1st speed control.

以下、本発明にかかる物品搬送設備の実施形態を図面に基づいて説明する。
図１及び図２に示すように、物品搬送設備には、物品搬送車１と走行レール２と処理装置３と保管棚４とが備えられている。走行レール２は、走行経路に沿って設置されており、天井に吊り下げ支持されている。物品搬送車１は、走行経路に沿って走行レール２上を走行して物品Ｗを搬送する。この物品搬送車１は、走行経路に沿って走行する走行台車に相当する。処理装置３は、物品Ｗに対する処理行う装置であり、床面上に設置されている。この処理装置３に隣接する状態で支持台５が設置されている。保管棚４は、天井に吊り下げ支持されており、複数の物品Ｗを保管可能に構成されている。
尚、走行経路に沿う方向を経路長手方向と称し、上下方向に見て経路長手方向と直交する方向を経路幅方向と称する場合がある。また、経路幅方向の一方向を第１方向と称し、その反対方向を第２方向と称する場合がある。 Hereinafter, an embodiment of an article conveyance facility according to the present invention will be described with reference to the drawings.
As shown in FIGS. 1 and 2, the article conveyance facility includes an article conveyance vehicle 1, a traveling rail 2, a processing device 3, and a storage shelf 4. The traveling rail 2 is installed along the traveling route, and is supported by being suspended from the ceiling. The article transport vehicle 1 travels on the travel rail 2 along the travel route and transports the article W. The article transport vehicle 1 corresponds to a traveling carriage that travels along a traveling route. The processing device 3 is a device that performs processing on the article W, and is installed on the floor surface. A support base 5 is installed adjacent to the processing apparatus 3. The storage shelf 4 is suspended and supported on the ceiling, and is configured to be able to store a plurality of articles W.
A direction along the travel route is sometimes referred to as a route longitudinal direction, and a direction perpendicular to the route longitudinal direction when viewed in the vertical direction is sometimes referred to as a route width direction. One direction of the path width direction may be referred to as a first direction, and the opposite direction may be referred to as a second direction.

図２に示すように、物品Ｗは、複数枚の基板を収納可能で且つ基板の出し入れ口を塞ぐ蓋が着脱自在に備えられている容器であり、本実施形態では、基板を半導体ウェハーとし、その半導体ウェハーを収容するＦＯＵＰ（Front Opening Unified Pod）を容器としている。
支持台５は、物品搬送車１の走行経路の直下に設置されており、経路長手方向に沿って複数設置されている。保管棚４は、物品搬送車１の走行経路の横側方に設置されており、経路長手方向に沿って複数設置されている。 As shown in FIG. 2, the article W is a container that can store a plurality of substrates and is detachably provided with a lid that closes the entrance / exit of the substrate. In this embodiment, the substrate is a semiconductor wafer, The container is a FOUP (Front Opening Unified Pod) that accommodates the semiconductor wafer.
The support base 5 is installed immediately below the travel route of the article transport vehicle 1, and a plurality of support tables 5 are installed along the longitudinal direction of the route. The storage shelves 4 are installed on the lateral sides of the travel route of the article transport vehicle 1, and a plurality of storage shelves 4 are installed along the longitudinal direction of the route.

物品搬送車１は、物品Ｗを保管棚４の保管部４ａに搬送して保管部４ａに物品Ｗを保管するとともに、保管部４ａに保管されている物品Ｗを保管部４ａから搬送する。また、物品搬送車１は、物品Ｗを支持台５に搬送するとともに、物品Ｗを支持台５から搬送する。
そして、図外の搬送装置により、物品Ｗ全体又は物品Ｗ内の基板のみが、支持台５と処理装置３との間で搬送される。 The article transport vehicle 1 transports the article W to the storage section 4a of the storage shelf 4 to store the article W in the storage section 4a, and also transports the article W stored in the storage section 4a from the storage section 4a. Further, the article transport vehicle 1 transports the article W to the support base 5 and transports the article W from the support base 5.
Then, the entire article W or only the substrate in the article W is transported between the support base 5 and the processing apparatus 3 by a transport device (not shown).

〔走行レール及び保管棚〕
図３に示すように、走行レール２は一対のレール部２ａを備えており、一対のレール部２ａは、経路幅方向に一定間隔で互いに平行に配置されている。一対のレール部２ａは、経路長手方向視で逆Ｕ字状に形成された第１連結部材７により連結されている。また、一対のレール部２ａの夫々は、第１支持部材８により天井に吊り下げ支持されている。 [Running rail and storage shelf]
As shown in FIG. 3, the traveling rail 2 includes a pair of rail portions 2a, and the pair of rail portions 2a are arranged in parallel to each other at regular intervals in the path width direction. A pair of rail part 2a is connected by the 1st connection member 7 formed in reverse U shape by the path | route longitudinal direction view. In addition, each of the pair of rail portions 2 a is supported by being suspended from the ceiling by the first support member 8.

保管棚４は、物品Ｗを支持する支持板９を備えており、支持板９上に経路長手方向に沿って複数の保管部４ａが形成されている。保管棚４は、１つの保管部４ａに１つの物品Ｗを収納する状態で、複数の物品Ｗを保管可能に構成されている。保管棚４の支持板９は、上下方向に延びる第２支持部材１０により天井に吊り下げ支持されている。
第２支持部材１０は、経路長手方向に沿って複数設置されており、この複数の第２支持部材１０は、経路長手方向に延びる第２連結部材１１により互いに連結されている。 The storage shelf 4 includes a support plate 9 that supports the article W, and a plurality of storage units 4 a are formed on the support plate 9 along the longitudinal direction of the path. The storage shelf 4 is configured to be able to store a plurality of articles W in a state where one article W is stored in one storage unit 4a. The support plate 9 of the storage shelf 4 is suspended and supported on the ceiling by a second support member 10 extending in the vertical direction.
A plurality of second support members 10 are installed along the longitudinal direction of the path, and the plurality of second support members 10 are connected to each other by a second connecting member 11 extending in the longitudinal direction of the path.

保管棚４は、走行レール２に対して、経路幅方向の第１方向と第２方向との双方に設置されている。そして、一対のレール部２ａにおける第１方向に位置するレール部２ａと、走行レール２に対して第１方向に位置する第２連結部材１１とが、経路幅方向に延びる第３連結部材１３により連結されている。また、同様に、一対のレール部２ａにおける第２方向に位置するレール部２ａと、走行レール２に対して第２方向に位置する第２連結部材１１とが、経路幅方向に延びる第３連結部材１３により連結されている。
このように、走行レール２と保管棚４とが、連結部材（第２支持部材１０と第２連結部材１１と第３連結部材１３）により互いに連結されている。そして、走行レール２と保管棚４とが連結されていることで、走行レール２は、第１支持部材８に加えて、第２支持部材１０と第２連結部材１１とによっても支持されている。
第２支持部材１０に、支持体１２が連結されている。このように第２支持部材１０に支持体１２が連結されていることで、走行レール２を支持する部材に、支持体１２が備えられている。 The storage shelf 4 is installed in both the first direction and the second direction in the path width direction with respect to the traveling rail 2. And the rail part 2a located in the 1st direction in a pair of rail part 2a, and the 2nd connection member 11 located in a 1st direction with respect to the running rail 2 by the 3rd connection member 13 extended in a path | route width direction. It is connected. Similarly, the rail portion 2a positioned in the second direction of the pair of rail portions 2a and the second connecting member 11 positioned in the second direction with respect to the traveling rail 2 extend in the path width direction. The members 13 are connected.
Thus, the traveling rail 2 and the storage shelf 4 are connected to each other by the connecting members (the second support member 10, the second connecting member 11, and the third connecting member 13). And since the traveling rail 2 and the storage shelf 4 are connected, the traveling rail 2 is supported by the second supporting member 10 and the second connecting member 11 in addition to the first supporting member 8. .
A support 12 is connected to the second support member 10. Thus, the support body 12 is provided in the member which supports the traveling rail 2 by the support body 12 being connected with the 2nd support member 10. FIG.

〔物品搬送車〕
次に、この物品搬送車１について説明する。
図４に示すように、物品搬送車１は、走行レール２上を走行する走行部１５と、走行レール２の下方に位置するように走行部１５に吊り下げ支持された本体部１６と、を備えて構成されている。
物品搬送車１の本体部１６は、物品Ｗを支持する支持機構１８と、支持機構１８を昇降移動させる昇降操作機構１９と、昇降操作機構１９及び支持機構１８を経路幅方向に移動させるスライド操作機構２０と、支持機構１８にて支持された物品Ｗの上方側及び経路長手方向の両側を覆うカバー体２１と、を備えている。 [Goods transporter]
Next, the article transport vehicle 1 will be described.
As shown in FIG. 4, the article transport vehicle 1 includes a traveling unit 15 that travels on the traveling rail 2 and a main body unit 16 that is supported by being suspended from the traveling unit 15 so as to be positioned below the traveling rail 2. It is prepared for.
The main body portion 16 of the article transport vehicle 1 includes a support mechanism 18 that supports the article W, an elevating operation mechanism 19 that moves the support mechanism 18 up and down, and a slide operation that moves the elevating operation mechanism 19 and the support mechanism 18 in the path width direction. A mechanism 20 and a cover body 21 that covers the upper side of the article W supported by the support mechanism 18 and both sides in the longitudinal direction of the path are provided.

支持機構１８には、横軸心周りに揺動自在な一対の把持爪１８ａが備えられている。一対の把持爪１８ａは、物品Ｗを把持する把持姿勢と物品Ｗに対する把持を解除する解除姿勢とに姿勢変更自在に構成されている。
昇降操作機構１９は、先端部に支持機構１８が連結された巻き取りベルト１９ａを巻取り及び繰出し自在に構成されている。昇降操作機構１９は、巻き取りベルト１９ａを巻き取り及び繰り出し操作することで、支持機構１８を上下方向に沿って移動させるように構成されている。 The support mechanism 18 is provided with a pair of gripping claws 18a that can swing around the horizontal axis. The pair of gripping claws 18a are configured to be freely changeable in a gripping posture for gripping the article W and a releasing posture for releasing the gripping of the article W.
The raising / lowering operation mechanism 19 is configured to be capable of winding and unwinding a winding belt 19a having a support mechanism 18 connected to a tip portion. The raising / lowering operation mechanism 19 is configured to move the support mechanism 18 in the vertical direction by winding and unwinding the winding belt 19a.

スライド操作機構２０は、昇降操作機構１９が連結された支持部分２０ａを経路幅方向に沿ってスライド移動自在に構成されている。スライド操作機構２０は、支持部分２０ａを経路幅方向にスライド移動させることで、支持機構１８を引退位置と第１突出位置と第２突出位置とに移動自在に構成されている。引退位置は、支持機構１８が走行レール２の直下で且つカバー体２１内に位置する位置である。第１突出位置は、引退位置から経路幅方向の第１方向側に突出させた位置（図２及び図４において実線で示す位置）である。第２突出位置は、引退位置から経路幅方向の第２方向側に突出させた位置（図２において仮想線で示す位置）である。   The slide operation mechanism 20 is configured to be slidable along the path width direction on the support portion 20a to which the elevation operation mechanism 19 is connected. The slide operation mechanism 20 is configured to be able to move the support mechanism 18 to the retracted position, the first protruding position, and the second protruding position by sliding the supporting portion 20a in the path width direction. The retraction position is a position where the support mechanism 18 is located directly under the traveling rail 2 and in the cover body 21. The first protruding position is a position (a position indicated by a solid line in FIGS. 2 and 4) that protrudes from the retracted position to the first direction side in the path width direction. The second protruding position is a position (a position indicated by an imaginary line in FIG. 2) that protrudes from the retracted position to the second direction side in the path width direction.

図５に示すように、本体部１６のカバー体２１には、第１検出装置Ｓ１と第２検出装置Ｓ２と第３検出装置Ｓ３とが備えられている。尚、第１検出装置Ｓ１が、被検出体Ｔを検出する検出装置に相当する。
第１検出装置Ｓ１は、２次元コードリーダにて構成されており、被検出体Ｔに表示されたＱＲコード（登録商標）等の２次元コードを読み取る機能とともに被検出体Ｔの存否を検出する機能が備えられている。被検出体Ｔの存否を検出する機能としては、例えば、被検出体Ｔに表示されたＱＲコードの存在を検出するか否かにより被検出体Ｔの存否を検出するようにしてもよく、また、被検出体Ｔの外周縁を検出するか否かにより被検出体Ｔの存否を検出するようにしてもよい。つまり、第１検出装置Ｓ１は、後述する第１被検出体Ｔ１及び第２被検出体Ｔ２の存在を検出可能であって、且つ、存在を検出した第１被検出体Ｔ１の第１付加情報（２次元コードで示された情報）を読み取り可能に構成されている。
第２検出装置Ｓ２は、１次元コードを読み取り可能な１次元コードリーダにて構成されており、第３被検出体Ｔ３に表示されたバーコード等の１次元コードを読み取る機能とともに第３被検出体Ｔ３の存否を検出する機能が備えられている。第３被検出体Ｔ３の存否を検出する機能としては、例えば、第３被検出体Ｔ３に表示されたバーコードの存在を検出するか否かにより第３被検出体Ｔ３の存否を検出するようにしている。つまり、第２検出装置Ｓ２は、後述する第３被検出体Ｔ３の存在を検出可能であって、且つ、第３被検出体Ｔ３に表示された第３付加情報（１次元コードで示された情報）を読み取り可能に構成されている。
第３検出装置Ｓ３は、第４被検出体Ｔ４の存否を検出可能な光学センサにて構成されている。 As shown in FIG. 5, the cover body 21 of the main body 16 includes a first detection device S1, a second detection device S2, and a third detection device S3. The first detection device S1 corresponds to a detection device that detects the detection target T.
The first detection device S1 is configured by a two-dimensional code reader, and detects the presence or absence of the detection target T together with a function of reading a two-dimensional code such as a QR code (registered trademark) displayed on the detection target T. Features are provided. As a function of detecting the presence or absence of the detection target T, for example, the presence or absence of the detection target T may be detected based on whether or not the presence of the QR code displayed on the detection target T is detected. The presence or absence of the detection target T may be detected based on whether or not the outer periphery of the detection target T is detected. That is, the first detection device S1 can detect the presence of a first detection target T1 and a second detection target T2, which will be described later, and the first additional information of the first detection target T1 that has detected the presence. (Information indicated by a two-dimensional code) can be read.
The second detection device S2 is configured by a one-dimensional code reader capable of reading a one-dimensional code, and has a third detection target with a function of reading a one-dimensional code such as a barcode displayed on the third detection target T3. A function for detecting the presence or absence of the body T3 is provided. As a function of detecting the presence / absence of the third detected object T3, for example, the presence / absence of the third detected object T3 is detected based on whether or not the presence of the barcode displayed on the third detected object T3 is detected. I have to. That is, the second detection device S2 can detect the presence of a third detected object T3, which will be described later, and the third additional information (indicated by a one-dimensional code) displayed on the third detected object T3. Information).
The third detection device S3 is configured by an optical sensor that can detect the presence or absence of the fourth detection target T4.

図６及び図７に示すように、走行経路には、第１停止位置Ｐ１と第２停止位置Ｐ２とが設定されている。第１停止位置Ｐ１は、物品搬送車１が保管棚４との間で物品Ｗを移載するときに物品搬送車１が停止する位置であり、複数の保管部４ａの夫々に対して設定されている。第２停止位置Ｐ２は、物品搬送車１が支持台５との間で物品Ｗを移載するときに物品搬送車１が停止する位置であり、複数の支持台５の夫々に対して設定されている。
このように、物品搬送車１が停止する停止位置として、第１停止位置Ｐ１と、この第１停止位置Ｐ１とは別の第２停止位置Ｐ２とが設定されている。尚、第１停止位置Ｐ１が、設定停止位置に相当する。
ちなみに、「第１停止位置Ｐ１とは別の第２停止位置Ｐ２」とは、第１停止位置Ｐ１と第２停止位置Ｐ２とは設定する対象が異なることを意味しており、保管部４ａと支持台５との位置関係によっては、第１停止位置Ｐ１と第２停止位置Ｐ２とが経路長手方向で同じ位置に設定される場合がある。 As shown in FIGS. 6 and 7, a first stop position P1 and a second stop position P2 are set on the travel route. The first stop position P1 is a position where the article transport vehicle 1 stops when the article transport vehicle 1 transfers the article W to and from the storage shelf 4, and is set for each of the plurality of storage units 4a. ing. The second stop position P <b> 2 is a position where the article transport vehicle 1 stops when the article transport vehicle 1 transfers the article W to and from the support base 5, and is set for each of the plurality of support bases 5. ing.
Thus, the first stop position P1 and the second stop position P2 different from the first stop position P1 are set as stop positions at which the article transport vehicle 1 stops. The first stop position P1 corresponds to the set stop position.
Incidentally, the “second stop position P2 different from the first stop position P1” means that the first stop position P1 and the second stop position P2 are set differently, and the storage unit 4a Depending on the positional relationship with the support base 5, the first stop position P1 and the second stop position P2 may be set at the same position in the path longitudinal direction.

図５及び図６に示すように、物品搬送設備には、第１停止位置Ｐ１に対応して設置された被検出体Ｔが備えられている。この被検出体Ｔとして、第１被検出体Ｔ１と第２被検出体Ｔ２とを備えている。つまり、第１被検出体Ｔ１及び第２被検出体Ｔ２は、第１停止位置Ｐ１に対応して設置されている。
また、図５及び図７に示すように、物品搬送設備には、第３被検出体Ｔ３と第４被検出体Ｔ４とが備えられており、これら第３被検出体Ｔ３及び第４被検出体Ｔ４は、第２停止位置Ｐ２に対応して設置されている。 As shown in FIGS. 5 and 6, the article transport facility includes a detection target T that is installed corresponding to the first stop position P1. As this detection object T, the 1st detection object T1 and the 2nd detection object T2 are provided. That is, the first detected object T1 and the second detected object T2 are installed corresponding to the first stop position P1.
Further, as shown in FIGS. 5 and 7, the article transport facility includes a third detected body T3 and a fourth detected body T4, and the third detected body T3 and the fourth detected body. The body T4 is installed corresponding to the second stop position P2.

第１被検出体Ｔ１は、第１停止位置Ｐ１に物品搬送車１が位置している状態で物品搬送車１の第１検出装置Ｓ１により検出可能な位置に設置されている。また、第１被検出体Ｔ１は、少なくとも当該被検出体が第１被検出体Ｔ１であることを示す第１付加情報を備えている。具体的には、第１被検出体Ｔ１には、当該第１被検出体Ｔ１が設置されている位置を示すアドレス情報を第１付加情報として備えている。このように、第１付加情報として、第１被検出体Ｔ１が備えられているアドレス情報を備えており、このアドレス情報を、第１被検出体Ｔ１であることを示す第１付加情報としている。
第１被検出体Ｔ１は、第１検出装置Ｓ１に向く面に第１付加情報が読み取り可能に表示されている。具体的には、第１付加情報を、第１検出装置Ｓ１が読み取り可能なＱＲコード等の２次元コードで表示している。第１被検出体Ｔ１は、板状の部材にて構成して表面に２次元コードを表示し、その第１被検出体Ｔ１を支持体１２に固定している。 The first detected object T1 is installed at a position that can be detected by the first detection device S1 of the article transport vehicle 1 in a state where the article transport vehicle 1 is located at the first stop position P1. The first detected object T1 includes at least first additional information indicating that the detected object is the first detected object T1. Specifically, the first detected object T1 includes address information indicating the position where the first detected object T1 is installed as the first additional information. As described above, the first additional information includes the address information provided with the first detected object T1, and this address information is the first additional information indicating the first detected object T1. .
The first additional object T1 is displayed such that the first additional information can be read on the surface facing the first detection device S1. Specifically, the first additional information is displayed as a two-dimensional code such as a QR code that can be read by the first detection device S1. The first detected body T1 is composed of a plate-like member, displays a two-dimensional code on the surface, and the first detected body T1 is fixed to the support body 12.

第２被検出体Ｔ２は、第１被検出体Ｔ１より走行方向（経路長手方向）で上流側に、第１被検出体Ｔ１に対して離れた位置に設置されている。
このように、第２被検出体Ｔ２は、第１被検出体Ｔ１より第１設定距離だけ上流側に設定された第１設定位置に設置されている。第１設定距離は、物品搬送車１が第１停止位置Ｐ１に停止するべく走行しているときに、第１検出装置Ｓ１により第２被検出体Ｔ２が検出されてから後述の第１減速制御により第１停止位置Ｐ１に停止するのに適した距離に設定されている。第２被検出体Ｔ２は、第１設定位置に物品搬送車１が位置している状態で物品搬送車１の第１検出装置Ｓ１により検出可能な位置に設置されている。
第２被検出体Ｔ２は、第１検出装置Ｓ１に向く面が単色であり付加情報（例えば、第１付加情報より少ない情報量の第２付加情報等）は表示されていない。第２被検出体Ｔ２は、板状の部材にて構成して支持体１２に固定されている。第２被検出体Ｔ２における第１検出装置Ｓ１に向く面（経路幅方向の一方向を向く面）は、支持体１２とは異なる色で形成されている。
ちなみに、ここでいう単色や異なる色は、第１検出装置Ｓ１が認識する色についてであり、例えば、第２被検出体Ｔ２の表面を肉眼で見れば複数の色が表示されているように見える場合であったとしても、第１検出装置Ｓ１が第２被検出体Ｔ２の表面を単色と認識する場合は、第１検出装置Ｓ１は単色である。 The second detected object T2 is installed at a position away from the first detected object T1 on the upstream side in the traveling direction (path longitudinal direction) from the first detected object T1.
In this way, the second detected body T2 is installed at the first setting position set upstream from the first detected body T1 by the first set distance. The first set distance is the first deceleration control to be described later after the second detection object T2 is detected by the first detection device S1 when the article transport vehicle 1 is traveling to stop at the first stop position P1. Thus, the distance suitable for stopping at the first stop position P1 is set. The second detected object T2 is installed at a position that can be detected by the first detection device S1 of the article transport vehicle 1 in a state where the article transport vehicle 1 is located at the first setting position.
The second detection object T2 has a monochrome surface facing the first detection device S1, and no additional information (for example, second additional information having a smaller information amount than the first additional information) is displayed. The second detected body T2 is configured by a plate-like member and is fixed to the support body 12. The surface of the second detection target T2 facing the first detection device S1 (the surface facing one direction in the path width direction) is formed in a color different from that of the support body 12.
Incidentally, the single color or the different color referred to here is a color recognized by the first detection device S1, and for example, if the surface of the second detection target T2 is viewed with the naked eye, a plurality of colors appear to be displayed. Even if it is a case, when 1st detection apparatus S1 recognizes the surface of 2nd to-be-detected body T2 as a single color, 1st detection apparatus S1 is a single color.

第１被検出体Ｔ１と第２被検出体Ｔ２とは、第１検出装置Ｓ１の検出範囲Ｅ内に同時に含まれるように、経路長手方向に並ぶ状態で、同じ支持体１２によって支持されている。
説明を加えると、第１検出装置Ｓ１の検出範囲Ｅの経路長手方向の長さが、第１被検出体Ｔ１の上流側端と第２被検出体Ｔ２の下流側端との間隔より広く、第１被検出体Ｔ１の下流側端と第２被検出体Ｔ２の上流側端との間隔より狭くなるように、第１被検出体Ｔ１と第２被検出体Ｔ２とを経路長手方向に離間した状態で設置している。 The first detection target T1 and the second detection target T2 are supported by the same support 12 in a state of being aligned in the longitudinal direction of the path so as to be simultaneously included in the detection range E of the first detection device S1. .
In other words, the length in the path longitudinal direction of the detection range E of the first detection device S1 is wider than the interval between the upstream end of the first detection target T1 and the downstream end of the second detection target T2, The first detection target T1 and the second detection target T2 are spaced apart in the longitudinal direction of the path so as to be narrower than the distance between the downstream end of the first detection target T1 and the upstream end of the second detection target T2. It has been installed in the state.

図８に示すように、第３被検出体Ｔ３及び第４被検出体Ｔ４は、第２停止位置Ｐ２からこの第２停止位置Ｐ２より走行方向（経路長手方向）で上流側に設定された第２設定位置まで設置されている。そのため、第３被検出体Ｔ３は、物品搬送車１が第２設定位置から第２停止位置Ｐ２まで走行する間、及び、第２停止位置Ｐ２に物品搬送車１が位置している状態で、物品搬送車１の第２検出装置Ｓ２により検出可能に設置されている。
また、第４被検出体Ｔ４は、物品搬送車１が第２設定位置から第２停止位置Ｐ２まで走行する間、及び、第２停止位置Ｐ２に物品搬送車１が位置している状態で、物品搬送車１の第３検出装置Ｓ３により検出可能に設置されている。 As shown in FIG. 8, the third detected body T3 and the fourth detected body T4 are set to the upstream side in the traveling direction (path longitudinal direction) from the second stop position P2 to the second stop position P2. Up to 2 setting positions. Therefore, the third detected object T3 is in a state where the article transport vehicle 1 is located at the second stop position P2 while the article transport vehicle 1 travels from the second set position to the second stop position P2. It is installed so that it can be detected by the second detection device S2 of the article transport vehicle 1.
In addition, the fourth detection target T4 is in a state where the article transport vehicle 1 travels from the second set position to the second stop position P2 and in a state where the article transport vehicle 1 is located at the second stop position P2. It is installed so that it can be detected by the third detection device S3 of the article transport vehicle 1.

第３被検出体Ｔ３は、少なくとも当該被検出体が第３被検出体Ｔ３であることを示す第３付加情報を備えている。第３被検出体Ｔ３には、当該第３被検出体Ｔ３が設置されている位置を示すアドレス情報を第３付加情報として備えている。
第３被検出体Ｔ３には、第２検出装置Ｓ２に向く面に第３付加情報が読み取り可能に表示されている。具体的には、第３被検出体Ｔ３には、第３付加情報を示すバーコード等の１次元コードが表示されている。第３被検出体Ｔ３は、板状の部材にて構成して表面に１次元コードを表示し、その第３被検出体Ｔ３をレール部２ａに直接固定されている。
第４被検出体Ｔ４は、反射板にて構成されており、レール部２ａに直接固定することで当該レール部２ａに支持されている。 The third detected object T3 includes at least third additional information indicating that the detected object is the third detected object T3. The third detected object T3 includes address information indicating the position where the third detected object T3 is installed as third additional information.
On the third object T3, the third additional information is readable and displayed on the surface facing the second detection device S2. Specifically, a one-dimensional code such as a barcode indicating the third additional information is displayed on the third detected object T3. The third detected object T3 is configured by a plate-like member, displays a one-dimensional code on the surface, and the third detected object T3 is directly fixed to the rail portion 2a.
The fourth detected object T4 is configured by a reflecting plate, and is supported by the rail portion 2a by being directly fixed to the rail portion 2a.

〔制御装置〕
物品搬送設備には、物品搬送車１を制御する制御装置Ｈが備えられている。この制御装置Ｈは、図４に示すように、走行経路を走行する物品搬送車１の夫々に設けられている。
制御装置Ｈは、地上側に設置される上位コントローラ（図示せず）からの搬送指令に基づいて、物品Ｗを搬送元（保管棚４又は支持台５）から受け取るべく走行制御と受取制御とを実行し、物品Ｗを搬送先（保管棚４又は支持台５）に受け渡すべく走行制御と受取制御を実行するべく、物品搬送車１を制御するように構成されている。
走行制御は、搬送元又は搬送先に対応して設定されている停止位置（第１停止位置Ｐ１又は第２停止位置Ｐ２）に物品搬送車１を停止させる制御である。受取制御は、停止位置に停止した状態で搬送元（保管棚４又は支持台５）に位置している物品Ｗを支持機構１８で支持するように物品Ｗを受け取る制御である。受渡制御は、停止位置に停止した状態で支持機構１８により支持している物品Ｗを搬送先（保管棚４又は支持台５）に受け渡す制御である。 〔Control device〕
The article transport facility includes a control device H that controls the article transport vehicle 1. As shown in FIG. 4, the control device H is provided in each of the article transport vehicles 1 that travel on the travel route.
The control device H performs traveling control and receiving control to receive the article W from the transport source (the storage shelf 4 or the support base 5) based on a transport command from a host controller (not shown) installed on the ground side. The article transport vehicle 1 is controlled to execute the running control and the receiving control so as to execute and deliver the article W to the transport destination (the storage shelf 4 or the support base 5).
The travel control is control for stopping the article transport vehicle 1 at a stop position (first stop position P1 or second stop position P2) set corresponding to the transport source or transport destination. The receipt control is control for receiving the article W so that the article W positioned on the transport source (the storage shelf 4 or the support base 5) is supported by the support mechanism 18 while stopped at the stop position. The delivery control is a control for delivering the article W supported by the support mechanism 18 while stopped at the stop position to the transport destination (the storage shelf 4 or the support base 5).

制御装置Ｈは、走行制御として、保管棚４に対応する停止位置である第１停止位置Ｐ１に物品搬送車１を停止させる第１走行制御と、支持台５に対応する停止位置である第２停止位置Ｐ２に物品搬送車１を停止させる第２走行制御と、を実行する。
また、搬送指令には搬送元及び搬送先を示すアドレス情報が含まれており、制御装置Ｈは、搬送指令に含まれるアドレス情報に基づいて、搬送元のアドレス情報が示す停止位置（第１停止位置Ｐ１又は第２停止位置Ｐ２）と搬送先のアドレス情報が示す停止位置（第１停止位置Ｐ１又は第２停止位置Ｐ２）とを判別する。 The control device H, as travel control, first travel control that stops the article transport vehicle 1 at a first stop position P1 that is a stop position corresponding to the storage shelf 4, and a second stop position that corresponds to the support base 5. And second traveling control for stopping the article transport vehicle 1 at the stop position P2.
Further, the transport command includes address information indicating the transport source and the transport destination, and the control device H determines the stop position (first stop) indicated by the transport source address information based on the address information included in the transport command. The position P1 or the second stop position P2) and the stop position (first stop position P1 or second stop position P2) indicated by the address information of the transport destination are determined.

第１走行制御及び第２走行制御では、物品搬送車１が停止している状態から、物品搬送車１の走行速度を設定走行速度まで設定加速度で加速する加速処理と、設定走行速度で走行する定速処理と、物品搬送車１が減速開始位置まで走行した場合に、物品搬送車１の走行速度を設定減速度で減速して停止位置に停止させる停止処理と、を実行するべく、走行部１５を制御する。
設定走行速度や設定加速度や設定減速度は、物品搬送車１の性能、支持機構１８が物品Ｗを支持しているか否か及び停止位置までの走行距離等に基づいて予め設定されている。これら設定走行速度や設定加速度や設定減速度を示す値は制御装置Ｈに記憶されている。
また、減速開始位置は、物品搬送車１が停止位置より設定距離手前の位置に設定され、設定走行速度の物品搬送車１が設定減速度で減速した場合に停止位置に停止させることができる位置に設定されている。減速開始位置は、制御装置Ｈが停止位置を示す情報から演算により求められる。 In the first travel control and the second travel control, from the state in which the article transport vehicle 1 is stopped, the traveling speed of the article transport vehicle 1 is accelerated to the set travel speed with the set acceleration, and the travel is performed at the set travel speed. In order to execute a constant speed process and a stop process in which when the article transport vehicle 1 travels to a deceleration start position, the travel speed of the article transport vehicle 1 is decelerated at a set deceleration and stopped at the stop position. 15 is controlled.
The set travel speed, the set acceleration, and the set deceleration are set in advance based on the performance of the article transport vehicle 1, whether or not the support mechanism 18 supports the article W, the travel distance to the stop position, and the like. Values indicating the set travel speed, the set acceleration, and the set deceleration are stored in the control device H.
The deceleration start position is a position at which the article transport vehicle 1 can be stopped at the stop position when the article transport vehicle 1 at the set travel speed is set at a position before the stop position and the article transport vehicle 1 at the set travel speed decelerates at the set deceleration. Is set to The deceleration start position is obtained by calculation from information indicating the stop position by the control device H.

物品搬送車１を停止位置に停止させるべく走行させている途中において車輪のスリップ等が生じることにより、物品搬送車１を走行制御により停止位置に停止させようとしても物品搬送車１が停止位置からずれて停止する可能性がある。そのため、制御装置Ｈは、減速処理の実行中に、減速度を修正する処理（停止処理）を行っている。また、制御装置Ｈは、走行処理（走行処理における停止処理）により停止した状態で停止位置に停止しているか否かを判別する処理（判別処理）を実行している。   When the article transport vehicle 1 is traveling to stop at the stop position, a slip of a wheel or the like occurs, so that the article transport vehicle 1 is moved from the stop position even if the article transport vehicle 1 is stopped at the stop position by travel control. There is a possibility of stopping after shifting. Therefore, the control device H performs a process (stop process) for correcting the deceleration during the deceleration process. Moreover, the control apparatus H is performing the process (discrimination process) which discriminate | determines whether it has stopped at the stop position in the state stopped by the driving process (stop process in a driving process).

次に、第１走行制御における停止処理及び判別処理と、第２走行制御における停止処理及び判別処理と、について説明する。ちなみに、第１走行制御における判別処理が、第１走行制御の停止処理により物品搬送車１が停止した状態において、第１検出装置Ｓ１による第１被検出体Ｔ１の存在の検出情報及び第１付加情報に基づいて、物品搬送車１が第１停止位置Ｐ１に停止しているか否かを判別する判別処理に相当する。また、第２走行制御における判別処理が、第２走行制御の停止処理により物品搬送車１が停止した状態において、第２検出装置Ｓ２による第３被検出体Ｔ３の存在の検出情報及び第３付加情報に基づいて、物品搬送車１が第２停止位置Ｐ２に停止しているか否かを判別する第２判別処理に相当する。   Next, the stop process and determination process in the first travel control and the stop process and determination process in the second travel control will be described. Incidentally, in the determination process in the first travel control, in the state where the article transport vehicle 1 is stopped by the stop process of the first travel control, the detection information and the first addition of the first detected object T1 by the first detection device S1. This corresponds to a determination process for determining whether or not the article transport vehicle 1 is stopped at the first stop position P1 based on the information. Further, in the determination process in the second traveling control, in the state where the article transport vehicle 1 is stopped by the stopping process of the second traveling control, the detection information and the third addition of the third detected object T3 by the second detection device S2 This corresponds to a second determination process for determining whether the article transport vehicle 1 is stopped at the second stop position P2 based on the information.

〔第１走行制御〕
第１走行制御における停止処理について説明する。
制御装置Ｈは、物品搬送車１を第１設定位置に向けて走行させる第１走行制御の実行中（詳しくは、第１走行制御における減速処理の実行中）に、図６に示すように、第１検出装置Ｓ１により第２被検出体Ｔ２の存在が検出された場合（図６に示す状態であり、図９における（１）の時点）は、減速度を調節する停止処理を実行する。この停止処理では、第１検出装置Ｓ１にて第２被検出体Ｔ２の存在を検出したときの物品搬送車１の走行速度と、第２被検出体Ｔ２から第１停止位置Ｐ１までの距離と、に基づいて調整後の減速度（調整減速度）を設定する。そして、調整減速度で減速してクリープ用走行速度まで減速した場合（図９における（２）の時点）は、クリープ用走行速度で一定距離走行し、その後停止（図９における（３）の時点）する。
このように、制御装置Ｈは、第１検出装置Ｓ１にて第２被検出体Ｔ２の存在を検出した情報に基づいて、第１停止位置Ｐ１を目標停止位置として停止させるように物品搬送車１を減速させる停止処理を実行する。 [First travel control]
The stop process in the first travel control will be described.
As shown in FIG. 6, the control device H performs the first traveling control for traveling the article transport vehicle 1 toward the first set position (specifically, during the execution of the deceleration process in the first traveling control). When the presence of the second detection target T2 is detected by the first detection device S1 (the state shown in FIG. 6 and the time (1) in FIG. 9), a stop process for adjusting the deceleration is executed. In this stop process, the traveling speed of the article transport vehicle 1 when the first detection device S1 detects the presence of the second detected object T2, the distance from the second detected object T2 to the first stop position P1, and Based on, the adjusted deceleration (adjusted deceleration) is set. When the speed is reduced to the creep travel speed by adjusting the deceleration (time (2) in FIG. 9), the vehicle travels a certain distance at the creep travel speed and then stops (time (3) in FIG. 9). )
Thus, the control apparatus H is the goods conveyance vehicle 1 so that it may stop as the 1st stop position P1 as a target stop position based on the information which detected presence of the 2nd to-be-detected body T2 in 1st detection apparatus S1. Execute stop processing to decelerate.

第１走行制御における判別処理について説明する。
制御装置Ｈは、第１走行制御の停止処理により物品搬送車１が停止した状態において、判別処理を実行する。この判別処理では、まず、検出範囲Ｅに適正な位置（検出範囲Ｅにおける経路長手方向で中心の位置）に第１被検出体Ｔ１の存在が検出されているか否かを判別する。第１被検出体Ｔ１の存在が検出範囲Ｅの適正な位置に検出されている場合は、次のアドレス情報の確認に移行し、第１被検出体Ｔ１の存在が検出範囲Ｅの適正な位置から経路長手方向にずれている場合は、適正な位置に検出されるように、物品搬送車１を経路長手方向に沿って移動させるべく制御した後に、アドレス情報の確認に移行する。
次に、第１検出装置Ｓ１により、目標停止位置としてのアドレス情報と、第１被検出体Ｔ１から読み取ったアドレス情報とが一致するか否かを判別し、一致していれば、走行制御を終了し、一致していなければ、目標停止位置と異なる位置に停止していることを示すエラー情報をコントローラに送信する。 A determination process in the first traveling control will be described.
The control device H executes the determination process in a state where the article transport vehicle 1 is stopped by the stop process of the first traveling control. In this determination process, first, it is determined whether or not the presence of the first detection target T1 is detected at a position appropriate for the detection range E (a center position in the longitudinal direction of the path in the detection range E). When the presence of the first detection target T1 is detected at an appropriate position in the detection range E, the process proceeds to confirmation of the next address information, and the presence of the first detection target T1 is detected at an appropriate position of the detection range E. If the vehicle is shifted in the longitudinal direction of the route, control is performed to move the article transport vehicle 1 along the longitudinal direction of the route so that it can be detected at an appropriate position.
Next, the first detection device S1 determines whether or not the address information as the target stop position matches the address information read from the first detected object T1, and if they match, the travel control is performed. If it does not coincide, error information indicating that the vehicle is stopped at a position different from the target stop position is transmitted to the controller.

〔第２走行制御〕
第２走行制御における停止処理について説明する。
制御装置Ｈは、物品搬送車１を第２設定位置に向けて走行させる第２走行制御の実行中（詳しくは、第２走行制御における減速処理の実行中）に、第３検出装置Ｓ３により第４被検出体Ｔ４の存在が検出された場合は、減速度を調節する。説明を加えると、第３検出装置Ｓ３にて第４被検出体Ｔ４の存在を検出したときの物品搬送車１の走行速度と、第４被検出体Ｔ４から第２停止位置Ｐ２までの距離と、に基づいて調整後の減速度（調整減速度）を設定する。そして、調整減速度で減速してクリープ用走行速度まで減速した場合は、クリープ用走行速度で一定距離走行し、その後停止する。
このように、制御装置Ｈは、第３検出装置Ｓ３にて第４被検出体Ｔ４の存在を検出した情報に基づいて、第２停止位置Ｐ２を目標停止位置として停止させるように物品搬送車１を減速させる停止処理を実行する。 [Second travel control]
A stop process in the second traveling control will be described.
The control device H performs the second detection by the third detection device S3 during execution of the second travel control that causes the article transport vehicle 1 to travel toward the second set position (specifically, during execution of the deceleration process in the second travel control). If the presence of the four detected objects T4 is detected, the deceleration is adjusted. In other words, the traveling speed of the article transport vehicle 1 when the third detection device S3 detects the presence of the fourth detected object T4, and the distance from the fourth detected object T4 to the second stop position P2 Based on, the adjusted deceleration (adjusted deceleration) is set. When the speed is reduced to the creep travel speed by adjusting the deceleration, the vehicle travels a fixed distance at the creep travel speed and then stops.
In this way, the control device H is configured to stop the article transport vehicle 1 so as to stop the second stop position P2 as the target stop position based on the information that the third detection device S3 detects the presence of the fourth detection target T4. Execute stop processing to decelerate.

第２走行制御における判別制御について説明する。
制御装置Ｈは、第２走行制御の停止処理により物品搬送車１が停止した状態において、判別処理を実行する。判別処理では、まず、第２検出装置Ｓ２により第３被検出体Ｔ３の存在が検出されているか否かを判別し、第２検出装置Ｓ２により第３被検出体Ｔ３の存在が検出されている場合は、次のアドレス情報の確認に移行し、第２検出装置Ｓ２により第３被検出体Ｔ３の存在が検出されていない場合は、目標停止位置と異なる位置に停止していることを示すエラー情報をコントローラに送信する。
次に、第３検出装置Ｓ３により、目標停止位置としてのアドレス情報と、第３被検出体Ｔ３から読み取ったアドレス情報とが一致するか否かを判別し、一致していれば、走行制御を終了し、一致していなければ、目標停止位置と異なる位置に停止していることを示すエラー情報をコントローラに送信する。 The discrimination control in the second traveling control will be described.
The control device H executes the determination process in a state where the article transport vehicle 1 is stopped by the stop process of the second traveling control. In the determination process, first, it is determined whether or not the presence of the third detection target T3 is detected by the second detection device S2, and the presence of the third detection target T3 is detected by the second detection device S2. In this case, the process proceeds to the confirmation of the next address information, and if the presence of the third detected object T3 is not detected by the second detection device S2, an error indicating that the vehicle stops at a position different from the target stop position Send information to the controller.
Next, the third detection device S3 determines whether the address information as the target stop position matches the address information read from the third detected object T3. If they match, the travel control is performed. If it does not coincide, error information indicating that the vehicle is stopped at a position different from the target stop position is transmitted to the controller.

このように、第２被検出体Ｔ２には、第１被検出体Ｔ１の第１付加情報のような付加情報が備えられていない。そのため、第１検出装置Ｓ１にて第２被検出体Ｔ２の存在を検出したときに、制御装置Ｈが第１検出装置Ｓ１からの情報の処理に要する時間を短くできる。そのため、物品搬送車１が第２被検出体Ｔ２の存在を検出してから停止に至るまでの時間を短くできるので、第２被検出体Ｔ２は、第１被検出体Ｔ１に対して比較的近い位置に設置できる。また、第１被検出体Ｔ１を検出する検出装置と第２被検出体Ｔ２を検出する検出装置とを別々に備える必要がないため、物品搬送車１の製造コストを抑えることができる。   Thus, the second detected object T2 is not provided with additional information such as the first additional information of the first detected object T1. Therefore, when the first detection device S1 detects the presence of the second detection target T2, the time required for the control device H to process information from the first detection device S1 can be shortened. Therefore, the time from when the article transport vehicle 1 detects the presence of the second detected body T2 to when it stops can be shortened, so that the second detected body T2 is relatively less than the first detected body T1. It can be installed at a close position. Moreover, since it is not necessary to separately provide a detection device that detects the first detection target T1 and a detection device that detects the second detection target T2, the manufacturing cost of the article transport vehicle 1 can be reduced.

〔別実施形態〕
（１）上記実施形態では、第２停止位置に対して第３被検出体及び第４被検出体を設置したが、第３被検出体及び第４被検出体を設置せずに、第１停止位置と同様に、第２停止位置に対して第１被検出体及び第２被検出体を設置してもよい。 [Another embodiment]
(1) In the above-described embodiment, the third detected body and the fourth detected body are installed with respect to the second stop position, but the first detected body is not installed without the third detected body and the fourth detected body. Similarly to the stop position, the first detected body and the second detected body may be installed with respect to the second stop position.

（２）上記実施形態では、第２被検出体に第２付加情報を備えなかったが、第１付加情報より少ない情報量であれば、第２被検出体に第２付加情報を備えてもよく、例えば、第２被検出体に、第２被検出体であることを示す情報、第２被検出体が設置されている位置から第１停止位置までの距離を示す情報等を、第２付加情報として備えてもよい。
具体的には、例えば、第２被検出体であることを示す情報を、第２被検出体の表面に２次元コードで表示してもよい。また、例えば、２次元コードの位置を表わす情報（ＱＲコードでは３隅に配置される位置検出用パターン）等の２次元コードとして認識できる最小限の情報のみを表示して、当該情報を検出対象であることを示す情報としてもよい。 (2) In the above embodiment, the second additional object is not provided with the second additional information. However, if the information amount is smaller than the first additional information, the second additional object may be provided with the second additional information. Well, for example, information indicating that the second detected object is the second detected object, information indicating the distance from the position where the second detected object is installed to the first stop position, etc. It may be provided as additional information.
Specifically, for example, information indicating that the object is the second object to be detected may be displayed as a two-dimensional code on the surface of the second object to be detected. In addition, for example, only the minimum information that can be recognized as a two-dimensional code such as information representing the position of the two-dimensional code (position detection patterns arranged at three corners in the QR code) is displayed, and the information is detected. It is good also as information which shows that.

（３）上記実施形態では、第１被検出体の表面に第１付加情報を２次元コードで表示することで、第１被検出体に第１付加情報を備え、第３被検出体に第３付加情報を一次元コードで表示することで、第３被検出体に第３付加情報を備えたが、別の形態で被検出体に付加情報を備えてもよい。
具体的には、第１被検出体の表面に第１付加情報を１次元コードで表示してもよく、第１被検出体に備えた被接触ＩＣタグを備えて第１検出装置に第１付加情報を送信可能に構成してもよい。また、第３被検出体の表面に第３付加情報を２次元コードで表示してもよく、また、第３被検出体に備えた被接触ＩＣタグを備えて第２検出装置に第３付加情報を送信可能に構成してもよい。
また、２次元コードとして、ＱＲコードを用いたが、データマトリックス（登録商標）等の別の２次元コードを用いてもよい。 (3) In the above embodiment, the first additional information is displayed on the surface of the first detected object with a two-dimensional code so that the first detected information is provided with the first additional information, and the third detected object has the first additional information. By displaying the three additional information as a one-dimensional code, the third additional information is provided in the third detected object. However, the additional information may be provided in the detected object in another form.
Specifically, the first additional information may be displayed as a one-dimensional code on the surface of the first detection object, and the contact detection IC tag provided in the first detection object is provided to the first detection device. Additional information may be transmitted. Further, the third additional information may be displayed as a two-dimensional code on the surface of the third detected object, and the third additional information is provided to the second detecting device by including a contacted IC tag provided for the third detected object. You may comprise so that information can be transmitted.
In addition, although the QR code is used as the two-dimensional code, another two-dimensional code such as a data matrix (registered trademark) may be used.

（４）上記実施形態では、第１検出装置の検出範囲内に、少なくとも第１被検出体と第２被検出体との夫々の一部が同時に含まれるように、第１被検出体と第２被検出体とを設置したが、第１被検出体と第２被検出体とは、次のように設置してもよい。
つまり、第１検出装置の検出範囲内に、第１被検出体と第２被検出体との双方の全体が同時に含まれるように、第１被検出体と第２被検出体とを設置してもよい。また、第１検出装置の検出範囲内に、第１被検出体と第２被検出体とが同時に含まれないように、第１被検出体と第２被検出体とを設置してもよい。
また、第１被検出体と第２被検出体とを同じ支持板に備えたが、第１被検出体と第２被検出体とを異なる支持板に備えてもよく、第１被検出体と第２被検出体とを、走行レール等の支持板以外の箇所に備えてもよい。また、第３被検出体と第４被検出体とを支持体に支持させてもよい。 (4) In the above embodiment, the first detected object and the first detected object are included so that at least a part of each of the first detected object and the second detected object is simultaneously included in the detection range of the first detecting device. Although two detected bodies are installed, the first detected body and the second detected body may be installed as follows.
That is, the first detected body and the second detected body are installed so that both the first detected body and the second detected body are simultaneously included in the detection range of the first detection device. May be. In addition, the first detection object and the second detection object may be installed so that the first detection object and the second detection object are not included in the detection range of the first detection device at the same time. .
Further, although the first detected body and the second detected body are provided on the same support plate, the first detected body and the second detected body may be provided on different support plates. And the second object to be detected may be provided at a place other than the support plate such as a traveling rail. Moreover, you may make a support body support a 3rd to-be-detected body and a 4th to-be-detected body.

１ 物品搬送車（走行台車）
２ 走行レール
１２ 支持体
Ｅ 検出範囲
Ｈ 制御装置
Ｔ 被検出体
Ｐ１ 第１停止位置（設定停止位置）
Ｐ２ 第２停止位置
Ｓ１ 第１検出装置（検出装置）
Ｓ２ 第２検出装置
Ｔ１ 第１被検出体
Ｔ２ 第２被検出体
Ｔ３ 第３被検出体 1 Goods transportation vehicle (traveling carriage)
2 traveling rail 12 support body E detection range H control device T detected body P1 first stop position (set stop position)
P2 Second stop position S1 First detection device (detection device)
S2 Second detection device T1 First detection object T2 Second detection object T3 Third detection object

Claims (4)

走行経路に沿って走行する走行台車と、
前記走行台車を制御する制御装置と、
前記走行台車の停止位置として設定されている設定停止位置に対応して設置された被検出体と、を備え、
前記走行台車は、前記被検出体を検出する検出装置を備え、
前記制御装置は、前記検出装置による前記被検出体の検出情報に基づいて前記走行台車を停止させる物品搬送設備であって、
前記被検出体として、第１被検出体と第２被検出体とを備え、
前記第１被検出体は、前記設定停止位置に前記走行台車が位置している状態で前記検出装置により検出可能な位置に設置され、少なくとも当該被検出体が第１被検出体であることを示す第１付加情報を備え、
前記第２被検出体は、前記第１被検出体より走行方向で上流側に設置され、前記第１付加情報より少ない情報量の第２付加情報を備え又は当該第２付加情報を備えず、
前記検出装置は、前記第１被検出体及び前記第２被検出体の存在を検出可能であって、且つ、存在を検出した前記第１被検出体の前記第１付加情報を読み取り可能であり、更に、存在を検出した前記第２被検出体が前記第２付加情報を備えている場合は当該第２付加情報を読み取り可能であり、
前記制御装置は、前記走行台車を前記設定停止位置に向けて走行させているときに前記検出装置により前記第２被検出体の存在が検出された場合は、当該第２被検出体の存在の検出情報及び前記第２付加情報が読み取られた場合には当該第２付加情報にも基づいて、前記設定停止位置を目標停止位置として停止させるように前記走行台車を減速させる停止処理を実行し、前記停止処理により前記走行台車が停止した状態において、前記検出装置による前記第１被検出体の存在の検出情報及び前記第１付加情報に基づいて、前記走行台車が前記設定停止位置に停止しているか否かを判別する判別処理を実行する物品搬送設備。 A traveling carriage that travels along the traveling path;
A control device for controlling the traveling carriage;
A detected object installed corresponding to a set stop position set as a stop position of the traveling carriage,
The traveling carriage includes a detection device that detects the detected object,
The control device is an article conveyance facility for stopping the traveling carriage based on detection information of the detected object by the detection device,
As the detected body, provided with a first detected body and a second detected body,
The first detected object is installed at a position that can be detected by the detection device in a state where the traveling carriage is positioned at the set stop position, and at least the detected object is a first detected object. First additional information shown,
The second detected object is installed on the upstream side in the traveling direction from the first detected object, and includes the second additional information having a smaller information amount than the first additional information or does not include the second additional information.
The detection device can detect the presence of the first detected body and the second detected body, and can read the first additional information of the first detected body that has detected the presence. In addition, when the second detected body that has detected the presence includes the second additional information, the second additional information can be read.
When the detection device detects the presence of the second detected object while the traveling carriage is traveling toward the set stop position, the control device detects the presence of the second detected object. When the detection information and the second additional information are read, based on the second additional information, a stop process for decelerating the traveling carriage so as to stop the set stop position as a target stop position is executed. In the state where the traveling carriage is stopped by the stop processing, the traveling carriage stops at the set stop position based on the detection information of the presence of the first detected object by the detection device and the first additional information. An article conveying facility that executes a discrimination process for discriminating whether or not there is. 前記走行台車が、前記走行経路に沿って設置された走行レール上を走行し、
前記走行レール又は前記走行レールを支持する部材は、支持体を備え、
前記第１被検出体と前記第２被検出体とは、前記検出装置の検出範囲内に同時に含まれるように、前記走行経路の長手方向に並ぶ状態で、同じ前記支持体によって支持されている請求項１記載の物品搬送設備。 The traveling carriage travels on a traveling rail installed along the traveling route;
The travel rail or the member that supports the travel rail includes a support,
The first detected body and the second detected body are supported by the same support body in a state of being aligned in the longitudinal direction of the travel route so as to be simultaneously included in the detection range of the detection device. The article conveyance facility according to claim 1. 前記設定停止位置を第１停止位置として、
前記第１停止位置とは別に、前記走行台車が停止する停止位置として第２停止位置が設定され、
前記走行台車は、前記第２停止位置に停止した状態で第３被検出体を検出する第２検出装置を備え、
前記第３被検出体は、前記走行レールに支持され、当該被検出体が第３被検出体であることを示す第３付加情報を備え、
前記第２検出装置は、前記第３被検出体の存在を検出可能であって、且つ、前記第３被検出体の前記第３付加情報を読み取り可能であり、
前記制御装置は、前記第２検出装置による前記第３被検出体の存在の検出情報及び前記第３付加情報に基づいて、前記走行台車が前記第２停止位置に停止しているか否かを判別する第２判別処理を実行する請求項２記載の物品搬送設備。 The set stop position as the first stop position,
Apart from the first stop position, a second stop position is set as a stop position at which the traveling carriage stops,
The traveling carriage includes a second detection device that detects a third object to be detected while stopped at the second stop position,
The third detected object is supported by the traveling rail, and includes third additional information indicating that the detected object is a third detected object,
The second detection device is capable of detecting the presence of the third detected object and reading the third additional information of the third detected object;
The control device determines whether or not the traveling carriage is stopped at the second stop position based on detection information of the presence of the third detected object by the second detection device and the third additional information. The article conveyance facility according to claim 2, wherein a second determination process is performed. 前記第１被検出体は、前記検出装置に向く面に前記第１付加情報が読み取り可能に表示され、
前記第２被検出体は、前記検出装置に向く面が単色であり前記第２付加情報が表示されていない請求項１から３のいずれか１項に記載の物品搬送設備。 The first detected object is displayed on the surface facing the detection device so that the first additional information can be read.
The said 2nd to-be-detected object is an article conveyance installation of any one of Claim 1 to 3 in which the surface which faces the said detection apparatus is monochromatic, and the said 2nd additional information is not displayed.
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