JP2019021271A - Conveyance vehicle system - Google Patents

Abstract

To provide a conveyance vehicle system capable of easily and appropriately determining a set value during running of a conveyance vehicle.SOLUTION: A conveyance vehicle system comprises conveyance vehicles 3 running on a predefined conveyance route. The conveyance vehicle has an abnormality detection part 34B detecting abnormality during running. A ground controller 7 has: an acquisition part 71A acquiring abnormality position information associating abnormalities detected by the abnormality detection part and respective positions on the conveyance route; and a set value determination part 71B determining set values on the basis of the abnormality position information and at least one of a frequency and a number of times of abnormality occurrence.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a transport vehicle system.

  For example, a transport vehicle system is installed in a semiconductor or liquid crystal panel manufacturing factory or the like (see, for example, Patent Document 1). In the transport vehicle system, a transport vehicle that automatically travels along a transport route laid in a factory and can load a load is used. In such a transport vehicle system, for example, when traveling in a place where there is a high risk of contact (collision) with an operator or the like, the travel speed is relatively slow, or a non-contact sensor is provided on the transport vehicle. Safety measures are taken such as decelerating or stopping the transport vehicle when an obstacle existing in front of the mounting and transport vehicle is detected.

JP 2013-205954 A

  However, such a safety measure is a difficult task for a person with little experience because the set values such as the traveling speed and the object detection range are determined manually, and may not be appropriately determined.

  Therefore, an object of the present invention is to provide a transport vehicle system that makes it possible to easily and appropriately determine a set value during travel of the transport vehicle.

  A transport vehicle system of the present invention is a transport vehicle system that includes a transport vehicle that travels on a predetermined transport route and a controller that manages the operation of the transport vehicle. The transport vehicle detects an abnormality during travel. An abnormality detecting unit that acquires an abnormal position information that associates the abnormality detected by the abnormality detecting unit with the position on the conveyance path, the abnormal position information, and the occurrence frequency and occurrence of the abnormality. And a set value determining unit that determines a set value that defines the operation of the transport vehicle based on at least one of the number of times.

  In the transport vehicle system with this configuration, the abnormal position information is acquired based on the abnormality detected by the abnormality detection unit provided in the transport vehicle and the position where the abnormality is detected. Thereby, the location with high danger that a conveyance vehicle, an operator, etc. contact (collision) in a conveyance route is extracted correctly. Furthermore, in the transport vehicle system having this configuration, a set value indicating how the transport vehicle should be operated to avoid contact between the transport vehicle and an operator based on the abnormal position information. Determined automatically. As a result, no manual intervention is required to determine the set value, and the set value is determined uniformly. As a result, it is possible to easily and appropriately determine the setting during traveling of the transport vehicle.

  In the transport vehicle system of the present invention, the set value determination unit may determine the set value based on the type of abnormality in addition to at least one of the occurrence frequency and the number of occurrences of the abnormality. According to the transport vehicle system of this configuration, based on the acquired abnormal position information, a set value that does not cause an abnormality, that is, a set value for avoiding contact between the transport vehicle and an operator or the like is more appropriately set. Can be determined.

  In the transport vehicle system of the present invention, the abnormality detection unit may be a sensor that detects an object around the transport vehicle. According to the transport vehicle system having this configuration, it is possible to easily configure the abnormality of the transport vehicle.

  In the transport vehicle system of the present invention, the set value determination unit determines the set value from the first speed when the abnormality detection frequency or the number of occurrences when the transport vehicle is driven at the first speed exceeds the first threshold. Alternatively, a slower second speed may be determined. In this case, since the set value is appropriately determined, contact (collision) with an operator or the like can be more reliably suppressed.

  In the transport vehicle system of the present invention, the set value is the travel speed of the transport vehicle, and the set value determination unit determines whether the detection frequency or the number of occurrences of the abnormality when the transport vehicle travels at the first speed has a first threshold value. When it exceeds, you may determine a setting value to 2nd speed slower than 1st speed. In this case, since the set value is appropriately determined, contact (collision) with an operator or the like can be more reliably suppressed.

  In the transport vehicle system according to the present invention, the set value determination unit determines the second speed as the second speed, and then detects a second abnormality in the transport vehicle traveling at the second speed or the number of occurrences is smaller than the first threshold. If it falls below the threshold, it may be redetermined to a third speed that is faster than the second speed. The third speed may be the same as the first speed. As a result, the set value is determined (updated) in a timely manner based on the abnormal position information after the set value is changed, and in this case, it is possible to suppress a decrease in the conveyance capability.

  In the transport vehicle system of the present invention, the set value is an object detection range of the sensor, and the set value determination unit sets the first threshold value for the frequency or frequency of occurrence of abnormality when the transport vehicle is driven in the first range. When it exceeds, you may determine a setting value to the 2nd range wider than a 1st range. In this case, based on the abnormal position information, the object detection range of the sensor at a place where the possibility of contact between the transport vehicle and the worker is high is widened, so that it is difficult for the transport vehicle and the worker or the like to contact each other. The transport vehicle is controlled. As a result, contact (collision) with an operator or the like can be suppressed.

  In the transport vehicle system of the present invention, the set value determination unit determines the object detection range as the second range and then detects the abnormality in the transport vehicle traveling in the second range or the number of occurrences is smaller than the first threshold. When the value falls below the second threshold, it may be redetermined to a third range that is narrower than the second range. Note that the third range may be an object detection range equivalent to the first range. As a result, the set value is determined (updated) in a timely manner based on the abnormal position information after the set value is changed, and in this case, it is possible to suppress a decrease in the conveyance capability.

  In the transport vehicle system of the present invention, the set value determination unit may control the transport vehicle based on the determined travel speed of the transport vehicle or the object detection range of the sensor. In this case, based on the abnormal distribution information, the transport vehicle is set so that it is difficult for the transport vehicle and the worker or the like to come into contact, such as by reducing the traveling speed of a portion where the possibility of contact between the transport vehicle and the worker is high. Automatically controlled. As a result, contact (collision) with an operator or the like can be suppressed.

  In the transport vehicle system of the present invention, the controller includes the first mode for controlling the transport vehicle based on the setting value determined by the setting value determination unit, and the transport vehicle regardless of the setting value determined by the setting value determination unit. There may be further provided a switching unit capable of switching between the second mode in which the transport vehicle is controlled based on an initial set value determined in advance so as to maximize the transport processing capability. Thereby, for example, when there is no worker in the area where the transport vehicle travels, it is possible to manually or automatically switch to the second mode and maximize the transport processing capability of the transport vehicle.

  The transport vehicle system of the present invention further includes a detection unit that detects the presence or absence of an operator in an area where the transport vehicle travels, and the switching unit is set to the second mode when the detection unit does not detect the presence of the worker. You may switch. In this case, when there is no worker in the area where the transport vehicle travels, it is possible to automatically switch to the second mode and maximize the transport processing capability of the transport vehicle.

  In the transport vehicle system of the present invention, the controller may further include an output unit that outputs the set value determined by the set value determining unit. For example, by outputting the setting value output from the output unit in association with, for example, a map of the transport route, the setting value determined by the setting value determination unit can be provided in a visually easy-to-understand state.

  According to the present invention, it is possible to easily and appropriately determine a set value when the transport vehicle is traveling.

It is a lineblock diagram showing the whole transportation vehicle system composition concerning one embodiment. It is a perspective view of the conveyance vehicle contained in the conveyance vehicle system of FIG. It is a functional block diagram which shows the function structure of the conveyance vehicle system of FIG. It is the figure which showed an example of the initial traveling speed setting value. It is the figure which showed the abnormal position information when a conveyance vehicle is controlled according to the initial traveling speed setting value. It is the figure which showed an example of the update traveling speed setting value. It is a block diagram which shows the whole structure at the time of layout change in the carrier vehicle system which concerns on one Embodiment. It is the figure which showed the abnormal position information when a conveyance vehicle is controlled according to the update travel speed setting value. It is the figure which showed an example of the re-update running speed setting value. It is the figure which showed the abnormal position information which concerns on a modification. It is a functional block diagram which shows the function structure of the conveyance vehicle system which concerns on a modification.

  Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  As shown in FIG. 1, a transport vehicle system 1 is installed in a work area 2 in a factory, for example, and is a system that moves a load between predetermined stations 2B and 2B by a transport vehicle 3 that is automatically controlled. It is. The transport vehicle system 1 includes a transport vehicle 3 that travels on a predetermined transport route P, and a ground controller 7 that controls the operation of the transport vehicle 3 in accordance with a travel speed setting value (set value) described in detail later. Prepare. Along the predetermined transport path P, there are provided facilities 2A such as a toilet or a parts warehouse where workers enter and exit.

  The transport vehicle 3 is a magnetic induction type unmanned transport vehicle that travels in a predetermined direction along the magnetic tape 4 attached to the transport path P. As shown in FIG. 2, the transport vehicle 3 includes a plurality of wheels (not shown), a drive source (not shown) such as an electric motor for driving the plurality of wheels, a first sensor 31, A second sensor 32 and a vehicle body controller 33 are provided. The transport vehicle 3 travels by driving a plurality of wheels by a drive source. On the upper part of the transport vehicle 3, a stacking portion on which the load B (see FIG. 2) can be mounted is formed.

  The first sensor 31 detects an object within a predetermined distance in front of the transport vehicle 3. The first sensor 31 is a known sensor that uses infrared rays, ultrasonic waves, visible light, or the like. The first sensor 31 may be a distance sensor that measures the distance to the object. When the first sensor 31 detects an object, the first sensor 31 outputs a detection signal to the vehicle body controller 33 described later.

  The second sensor 32 is disposed on a bumper of the transport vehicle 3 and detects contact of an object with the transport vehicle 3. The second sensor 32 is a known contact displacement sensor or the like. When the second sensor 32 detects the contact of the object with the transport vehicle 3, the second sensor 32 outputs a detection signal to the vehicle body controller 33 described later.

  As shown in FIG. 3, the vehicle body controller 33 includes a control unit 34, a storage unit 35, and a communication unit 36. The control unit 34 controls each unit in the transport vehicle 3 to control the operation of the transport vehicle 3 and controls communication between the communication unit 36 and the ground controller 7. The control unit 34 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like. In the control part 34, hardware such as CPU, RAM, and ROM and software such as a program cooperate with each other to form a transport vehicle control part 34A and an abnormality detection part 34B described below.

  The transport vehicle controller 34 </ b> A controls the operation of the transport vehicle 3. In accordance with the transfer command transmitted from the ground controller 7, the load B between the stations 2B and 2B is transferred. In the present embodiment, the transport vehicle control unit 34 </ b> A controls the travel operation of the transport vehicle 3 by adjusting the rotational speed of the drive source based on the travel speed setting value stored in the storage unit 35. Note that the traveling speed setting value stored in the storage unit 35 is, for example, the maximum speed. In other words, it is a set value for defining the travel mode in which the maximum speed is set. The travel speed setting value defines the travel speed of the transport vehicle 3 for each position of the transport route P (point coordinates or route coordinates) when there is no cargo transport command, that is, when there is no need to stop at the station 2B. It may be information. In other words, the travel speed setting value may be information that defines at what position and on which position the transport vehicle 3 travels on the transport path P. The traveling speed of the transport vehicle 3 is controlled based on the traveling speed setting value.

  An example will be described in which a traveling speed setting value that prescribes traveling of the transport vehicle 3 with the speed V0 being the maximum speed in the transport path P is set. In a region where there is a high possibility that the transport vehicle 3 and the operator are in contact with each other, there are cases where it is desired to run the transport vehicle 3 with the speed V1 lower than the speed V0 as the maximum speed. In this case, on the basis of the experience of the operator or the like, the transport vehicle 3 has a maximum speed V1 that is lower than the speed V0 with respect to the region extracted as a region where the transport vehicle 3 and the operator are likely to contact each other. 3 is set as a traveling speed setting value that prescribes that the vehicle 3 is to travel. Specifically, as shown in FIG. 4, the transport vehicle 3 is caused to travel at the maximum speed V0 in the region A0 other than the regions A1, A2, and A3 where the transport vehicle 3 and the operator are likely to contact each other. In the regions A1, A2, and A3, a traveling speed setting value that defines that the transport vehicle 3 travels at the maximum speed V1 that is lower than the speed V0 is set. In the following description, it is assumed that the travel speed setting value shown in FIG. 4 (hereinafter referred to as “initial travel speed setting value”) is stored in the storage unit 35 as an initial value.

  Further, the transport vehicle control unit 34 </ b> A controls the traveling operation of the transport vehicle 3 by adjusting the rotational speed of the drive source based on the detection signals output from the first sensor 31 and the second sensor 32. In the present embodiment, the transport vehicle control unit 34A, for example, causes the transport vehicle 3 to stop urgently when the second sensor 32 detects contact (that is, when the transport vehicle 3 contacts an operator or the like) When one sensor 31 detects an object (that is, when the transport vehicle 3 is close to an operator or the like), the traveling speed of the transport vehicle 3 is decreased.

  The abnormality detection unit 34B detects an abnormality when the transport vehicle 3 is traveling. The abnormality detection unit 34B detects an operation that was not initially assumed (hereinafter referred to as “abnormal operation”). Specifically, the abnormality detection unit 34B detects an abnormal operation based on the detection result of the first sensor 31 or the second sensor 32. In the abnormal operation of the present embodiment, for example, the conveyance vehicle 3 stops urgently with the detection of the second sensor 32, or the traveling speed of the conveyance vehicle 3 decreases with the detection of the first sensor 31. Behavior is included.

  The storage unit 35 stores a traveling speed setting value (such as an initial traveling speed setting value, an updated traveling speed setting value, or a re-updated traveling speed setting value) for traveling control of the transport vehicle 3. Examples of the initial travel speed setting value are as described above. The updated travel speed setting value or the re-updated travel speed setting value will be described in detail later. The storage unit 35 stores map information related to the transport path P.

  The communication unit 36 is a known communication unit that enables communication between the vehicle body controller 33 and the ground controller 7. The communication unit 36 transmits, for example, current position information related to the current position of the transport vehicle 3, information related to the execution status of the transport command, information related to the abnormal operation acquired by the abnormality detection unit 34B, and the like to the ground controller 7. The current position information of the transport vehicle 3 is acquired based on the map information regarding the transport route P stored in the storage unit 35.

  The ground controller 7 manages the traveling operation of the transport vehicle 3. The ground controller 7 includes a control unit 71, a communication unit 75, and a display unit 76. The control unit 71 includes a CPU, a RAM, a ROM, and the like. In the control unit 71, hardware such as a CPU, RAM, and ROM and software such as a program cooperate to form an acquisition unit 71A, a setting value determination unit 71B, an output unit 71C, and a switching unit 71D described below. Is done.

  The acquisition unit 71A acquires abnormal position information that associates the abnormality detected by the abnormality detection unit 34B with the position on the transport path P. The position on the transport path P may be point information defined as a pinpoint or surface information defined as a certain area. In the present embodiment, the acquisition unit 71A acquires the abnormal operation acquired by the abnormality detection unit 34B. In the acquisition unit 71A, for example, the transport vehicle 3 stops urgently with the detection of the second sensor 32 (X shown in FIG. 5), or the traveling speed of the transport vehicle 3 is low with the detection of the first sensor 31. The operation that has been changed to (▲ shown in FIG. 5) is acquired. In the present embodiment, a path R is set in the work area 2, and abnormal operations frequently occur at the intersections of the path R and the transport path P. Next, the acquisition unit 71A acquires the abnormal position information shown on the map illustrating the conveyance path P, as shown in FIG. 5, with the type of abnormal operation and the detection position of the abnormal operation. The abnormal position information is not only a data format associated with the map as shown in FIG. 5, but also text data that associates the type of abnormal operation with the position where the abnormal operation is detected on the transport path P. There may be.

  The set value determining unit 71B determines a travel speed set value based on the abnormal position information. The set value determining unit 71B determines a travel speed set value based on the abnormal position information and at least one of the occurrence frequency and the number of occurrences. For example, the set value determination unit 71B determines that the number of occurrences of the operation of the emergency stop of the transport vehicle 3 according to the detection of the second sensor 32 exceeds the first threshold and the speed of the transport vehicle 3 according to the detection of the first sensor 31. A region is extracted in which the number of occurrences of a low speed (decelerate) operation exceeds the first threshold. Based on the situation of such abnormal operation, the set value determining unit 71B determines that the maximum speed of the transport vehicle 3 traveling in the section including the location where the abnormal operation has occurred is lower than the speed V0 (first speed). The travel speed set value is determined so as to be V1, or the travel speed set value is determined so that the speed (second speed) V2 is slower than the speed V1. In addition, for example, the set value determination unit 71 </ b> B includes a region where the number of occurrences of the operation of the emergency stop of the transport vehicle 3 according to the detection of the second sensor 32 is equal to or smaller than the second threshold and the first sensor 31. A region where the number of occurrences of the operation of reducing (decelerating) the speed of the transport vehicle 3 according to the detection is equal to or less than the second threshold is extracted. Based on such an abnormal operation situation, the set value determining unit 71B determines that the maximum speed of the transport vehicle 3 traveling in the section including the portion where the abnormal operation has occurred is higher than the speed V1 (for example, the speed V0). The travel speed setting value is determined so that

  The updated travel speed setting values shown in FIG. 6 are such that the transport vehicle 3 travels at the speed V0 as the maximum speed in the region A0 other than the regions A2, A21, A3, A31, A41, and the transport vehicle 3 in the regions A21, A31, A41. Is driven with the speed V1 lower than the speed V0 as the maximum speed, and in the areas A2 and A3, the vehicle 3 is driven with the speed V2 lower than the speed V1 as the maximum speed. The set value determining unit 71B transmits the updated travel speed set value determined in this way to the vehicle body controller 33 and stores it in the storage unit 35. The vehicle body controller 33 controls the traveling operation of the transport vehicle 3 based on the updated traveling speed setting value stored (updated) in the storage unit 35 in this way.

  The updated travel speed setting value will be described. The updated travel speed setting value is corrected so that contact (collision) with an operator or the like can be more reliably suppressed based on an abnormal operation that occurs when the transport vehicle 3 is controlled according to the initial travel speed setting value. Is planned. Specifically, with the updated travel speed setting value shown in FIG. 6, abnormal operations occur frequently in the regions A2 and A3 (the number of occurrences of abnormal operations exceeds the first threshold) as shown in FIG. Accordingly, the maximum speed of the transport vehicle 3 traveling in the area A2 and the area A3 is lowered from the speed V1 to the speed V2. By such a change, the possibility that the transport vehicle 3 comes into contact with an operator or the like can be reduced. Further, as shown in FIG. 5, the updated traveling speed set value indicates that the abnormal operation in the region A1 is smaller than expected (the number of occurrences of the abnormal operation is equal to or less than the second threshold), and the transport vehicle 3 traveling in the region A1 Is increased from the speed V1 to the speed V0.

  In addition, in response to frequent abnormal operations (the number of occurrences of abnormal operations exceeded the first threshold) at locations facing facilities 2A such as toilets or parts warehouses where workers enter and exit, A region A41 that is not defined by the initial travel speed setting value is newly set. Region A41 is a region in which it is defined that the transport vehicle 3 travels at a maximum speed V1 that is lower than the speed V0. Thereby, the conveyance vehicle 3 is controlled at a low speed (slowing down) at a location facing the facility 2A such as a toilet or a parts warehouse where an operator enters and exits, and the possibility that the conveyance vehicle 3 comes into contact with the worker or the like is reduced. it can. Similarly, in the updated traveling speed setting value shown in FIG. 6, a region A21 upstream of the region A2 (see the arrow in FIG. 6) is newly established, and the range of the region A31 upstream of the region A3 (see the arrow in FIG. 6). ) Is newly established.

  Next, an operation in the transport vehicle system 1 after the travel speed set value has been updated (in this embodiment, when the layout along the transport route P on which the transport vehicle 3 travels is further changed) will be described. For example, as shown in FIG. 7, a case where a processing apparatus 2D having a dimension in the height direction is additionally arranged will be described.

  The acquisition unit 71A acquires the abnormal operation acquired by the abnormality detection unit 34B when the transport vehicle 3 is controlled according to the updated travel speed setting value. As described above, for example, the transport vehicle 3 stops urgently according to the detection of the second sensor 32 (X shown in FIG. 8), or the traveling speed of the transport vehicle 3 decreases according to the detection of the first sensor 31 (see FIG. The action (▲) shown in FIG. 8 is acquired. Next, the acquisition unit 71A acquires the abnormal position information indicating the type of abnormal operation and the detection position of the abnormal operation as shown in FIG.

  In the abnormal position information shown in FIG. 8, the abnormal operation is conspicuous in the vicinity where the newly arranged processing apparatus is arranged. This is because the updated travel speed setting value does not correspond to the processing device. On the other hand, the occurrence of abnormal operation is small in places other than the periphery where the processing apparatus is arranged. This is due to the fact that the updated travel speed setting value has already been dealt with in places other than the vicinity where the processing device is arranged. From these things, it can be said that the abnormal position information is information capable of verifying the validity of the updated traveling speed setting value.

  FIG. 9 shows a travel speed setting value (hereinafter referred to as “re-updated travel speed setting value”) determined based on the abnormal position information shown in FIG. The updated travel speed setting values shown in FIG. 9 are such that the transport vehicle 3 travels at the speed V0 as the maximum speed in the area A0 other than the areas A2, A21, A3, A31, A32, A41, and the areas A21, A22, A31, A32. In this case, it is defined that the transport vehicle 3 travels at a speed V1 lower than the speed V0 with the maximum speed, and the transport vehicle 3 travels at a speed V2 lower than the speed V1 at the maximum speed in the region A3.

  The re-update travel speed setting value will be described. The re-updated traveling speed setting value can more reliably suppress contact (collision) with an operator or the like based on an abnormal operation that occurs when the transport vehicle 3 is controlled according to the updated traveling speed setting value. A fix has been made. Specifically, as shown in FIG. 8, renewal in response to frequent occurrence of abnormal operations (the number of occurrences of abnormal operations has exceeded the first threshold) around the newly arranged processing device. In the travel speed setting value, a region A32 that is not defined by the updated travel speed setting value is newly set. Region A32 is a region in which it is defined that the transport vehicle 3 travels at a maximum speed V1 that is lower than the speed V0. Thereby, the conveyance vehicle 3 is controlled to low speed (slow-down) in the periphery where the newly arranged processing apparatus is arranged, and the possibility that the conveyance vehicle 3 comes into contact with an operator or the like can be reduced.

  Further, in the re-updated traveling speed setting value, as shown in FIG. 8, in response to the fact that the abnormal operation is less than expected in the area A2, the maximum speed of the transport vehicle 3 traveling in the area A2 is increased from the speed V2 to the speed V1. It has been. Specifically, the set value determination unit 71B determines an updated travel speed setting value that specifies that the transport vehicle 3 travels at the speed V2 as the maximum speed in the region A21, and then the transport vehicle according to the updated travel speed setting value. Detecting that the detection frequency of the abnormal operation when controlling 3 is lower than the second threshold value smaller than the first threshold value, the speed of the transport vehicle 3 is set to a speed (third speed) V1 faster than the speed V2 as the maximum speed. The travel speed setting value is determined again so that the vehicle travels. In addition, although speed V1 was mentioned as an example as a speed (third speed) faster than speed V2, it may not be speed V1.

  The output unit 71C outputs the travel speed setting value (updated travel speed set value or re-updated travel speed set value) determined by the set value determination unit 71B to the display unit 76. The output unit 71C visually outputs the travel speed setting value determined by the set value determination unit 71B by outputting, for example, data associated with a map of the transport route P (see, for example, FIG. 6 or FIG. 9). It can be provided in an easy-to-understand state. Further, as illustrated in FIG. 10, the output unit 71 </ b> C may indicate the occurrence location and content of the abnormal operation and the countermeasure status in association with each other. If such a traveling speed setting value is output, the operator can grasp at a glance how the current traveling speed setting value is obtained.

  The communication unit 75 wirelessly communicates various types of information with the vehicle body controller 33. For example, the communication unit 75 transmits information related to the conveyance command or the traveling speed setting value to the vehicle body controller 33. The display unit 76 displays the traveling speed setting value (updated traveling speed setting value or re-updated traveling speed setting value) determined by the set value determining unit 71B and output by the output unit 71C. An example of the display unit 76 is a liquid crystal display monitor.

  Next, the function and effect of the transport vehicle system 1 of the above embodiment will be described. In the transport vehicle system 1, for example, abnormal position information as shown in FIG. 5 is obtained based on the abnormal operation detected by the abnormality detection unit 34 </ b> B provided in the transport vehicle 3 and the position where the abnormal operation is detected. To be acquired. Thereby, the location or area | region with high danger that the conveyance vehicle 3 and an operator etc. contact (collision) in the conveyance path | route P is extracted correctly. Further, in the transport vehicle system 1, the traveling speed of how the transport vehicle 3 should be operated to avoid contact between the transport vehicle 3 and an operator based on the abnormal position information. The set value is automatically determined. As a result, no manual intervention is required to determine the travel speed setting value, so the travel speed setting value is objectively determined. As a result, it is possible to easily and appropriately determine the setting when the transport vehicle 3 is traveling.

  In the transport vehicle system 1 of the above-described embodiment, the travel speed set value determined by the set value determining unit 71B is output to the display unit 76 in association with the map of the transport route P. Thereby, the traveling speed set value determined by the set value determining unit 71B can be provided in a visually easy-to-understand state.

  In the transport vehicle system 1 of the above-described embodiment, the transport vehicle 3 and the operator, etc., based on the abnormal position information, such as reducing the maximum speed at a location where the contact possibility between the transport vehicle 3 and the worker is high. The transport vehicle 3 is controlled so that it is difficult to contact. As a result, contact (collision) with an operator or the like can be suppressed.

  Although one embodiment has been described above, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the invention.

  In the above-described embodiment, the setting value is described by taking the traveling speed setting value that defines the traveling speed for each position of the transport route P of the transport vehicle 3 as an example, but is not limited thereto. For example, the set value may be information that defines the sensitivity (object detection range) of the first sensor 31. In this case, for example, in a place where abnormal operations frequently occur, an operator or the like may be detected at a position relatively far from the transport vehicle 3 by increasing the sensitivity of the first sensor 31 or the like. Thereby, since time until it contacts (collision) after detecting an operator etc. comes to be ensured, contact (collision) with an operator etc. can be suppressed.

  For example, the set value may be information that defines the range (object detection range) of the effective area of the first sensor 31. The effective area of the sensor may include not only the front side of the transport vehicle but also the front side and the side. In this case, the set value determination unit 71B, for example, in a location where abnormal operations occur frequently, the effective area of the first sensor 31 is changed from the first range as the initial value to the second wider than the first range. Control may be performed to expand the range. Thereby, since it becomes possible to detect workers and the like that could not be detected initially, contact (collision) with the workers and the like can be suppressed. Also in this case, similarly to the above-described embodiment, the set value determination unit 71B determines the detection frequency or occurrence frequency of the abnormality in the transport vehicle 3 traveling in the second range after determining the object detection range to the second range. When it falls below the second threshold value smaller than the first threshold value, it may be redetermined to a third range (may be the first range) narrower than the second range.

  As an example of further set values (that is, an example of the operation of the transport vehicle 3), a warning in a melody or an electronic sound is defined in the hazard area (the above-described areas A1, A2, A3, A4, A21, A31, A32). Such a set value may be set.

  In the embodiment or the modification, the acquisition unit 71A that acquires the abnormal position information that associates the abnormality detected by the abnormality detection unit 34B with the position on the transport path P, and the travel speed setting value based on the abnormal position information. The setting value determining unit 71B to be determined, the output unit 71C that outputs the traveling speed setting value (updated traveling speed setting value or re-updated traveling speed setting value) determined by the setting value determining unit, and the output unit 71C. The configuration in which the display unit 76 for displaying the traveling speed setting value is provided in the ground controller 7 has been described as an example, but is not limited thereto.

  For example, instead of or in addition to the ground controller 7, the acquisition unit 91 </ b> A that acquires the abnormal position information that associates the abnormality detected by the abnormality detection unit 34 </ b> B with the position on the transport path P as illustrated in FIG. 11. And a set value determining unit 91B for determining a travel speed set value based on the abnormal position information, and a travel speed set value (updated travel speed set value or re-updated travel speed set value) determined by the set value determining unit are output. And a display unit 96 that displays a traveling speed setting value output from the output unit 91C, and includes a server device 90 provided to be communicable with the transport vehicle 3 or the ground controller 7. A conveyance vehicle system may be sufficient.

  Even when the present invention is realized as a cloud system using such a server device 90, the same effects as those of the transport vehicle system of the above embodiment can be obtained. Furthermore, in the transport vehicle system 1 according to the modification, it is easy to share and use the traveling speed setting value in the plurality of transport vehicle systems. In other words, by accessing the server device 90 from a base other than the above-mentioned factory or another factory, it is possible to share the hazard area identification or countermeasure method at any time. Further, in the transport vehicle system 1 according to the modified example, the influence on the operation rate when the hazard area is set in the automated factory can be shared between the bases other than the factory or other factories.

  Further, in addition to the configuration of the above-described embodiment or modification, the ground controller 7 or the server device 90 as illustrated in FIG. 1 is transported based on the traveling speed setting values determined by the setting value determination units 71B and 91B. Regardless of the first mode for controlling the vehicle 3 and the travel speed set value determined by the set value determining units 71B and 91B, the initial set value is set in advance so that the transfer processing capability of the transfer vehicle 3 is maximized. You may further have switching part 71D and 91D which can switch between the 2nd modes which control the conveyance vehicle 3 based on. The switching units 71D and 91D are configured to be able to be received by an operator's switch operation or touch panel operation. In the transport vehicle system 1 according to the modification, for example, when there is no worker in the work area 2 where the transport vehicle 3 travels, the worker switches from the first mode to the second mode, thereby transporting the transport vehicle 3. The conveyance processing capacity by the vehicle 3 can be maximized.

  Further, in addition to the configuration including the first mode and the second mode, a detection unit 8 (see FIG. 1) that detects the presence or absence of an operator in the work area 2 where the transport vehicle 3 travels may be provided. In this case, the switching units 71D and 91D may automatically switch to the second mode when the detection unit 8 does not detect the presence of the worker. In this case, when there is no worker in the area where the transport vehicle 3 travels, it is possible to automatically switch to the second mode and maximize the transport processing capability of the transport vehicle 3. Alternatively, the timer may be used to automatically switch to the second mode at night when there is no worker in the area where the transport vehicle 3 travels.

  In the above embodiment or the modification, after the set value determining unit 71B determines the travel speed set value, the information is stored in the storage unit 35 of the vehicle body controller 33, and the transport vehicle 3 is automatically set by the travel speed set value. Although an example of controlling has been described, in the present invention, the process of transmitting the travel speed setting value to the vehicle body controller 33 is not essential. In addition, by outputting or storing the travel speed set value determined by the set value determining unit 71B, it can be used in other transport vehicle systems.

  In the embodiment or the modified example, the set value determination unit 71B determines that the carrier vehicle according to the detection of the first sensor 31 when the number of occurrences of the emergency stop of the carrier vehicle 3 according to the detection of the second sensor 32 exceeds the first threshold. 3 has been described with an example in which the maximum speed of the transport vehicle 3 is reduced when the number of occurrences of the operation in which the speed of 3 is reduced (decelerates) exceeds the first threshold. The threshold may be changed for each type of abnormality, such as reducing the maximum speed even if the number of occurrences (occurrence frequency) is small compared to the operation of reducing the speed of the transport vehicle 3. In other words, a weight may be set for each type of abnormality. In the above embodiment or the modification, an example of counting an emergency stop operation and a speed-lowering operation as a simple occurrence count has been described. However, the occurrence count is periodically reset, and the reset is performed. The maximum speed may be reduced based on the number of subsequent occurrences.

  In the above-described embodiment or modification, the example in which the set value determining unit 71B is formed in the ground controller 7 or the example in which the set value determining unit 91B is formed in the server device 90 has been described. A determination unit 71B may be formed.

  In the above-described embodiment or modification, a magnetic induction type automatic guided vehicle that travels in a predetermined direction along the magnetic tape 4 has been described as an example. However, for example, it can move along a rail laid on the ceiling. The present invention can also be applied to a ceiling transport vehicle provided, or a tracked transport vehicle provided so as to be movable along a rail laid on the ground.

  DESCRIPTION OF SYMBOLS 1 ... Conveyor vehicle system, 2A ... Equipment, 2B ... Station, 2D ... Processing apparatus, 3 ... Conveyor vehicle, 4 ... Magnetic tape, 7 ... Ground controller, 8 ... Detection part, 31 ... First sensor, 32 ... Second sensor , 33 ... body controller, 34 ... control unit, 34A ... transport vehicle control unit, 34B ... abnormality detection unit, 35 ... storage unit, 71 ... control unit, 71A ... acquisition unit, 71B ... set value determination unit, 71C ... output unit , 71D ... switching unit, 76 ... display unit, 90 ... server device, 91A ... acquisition unit, 91B ... set value determining unit, 91C ... output unit, 91D ... switching unit, 96 ... display unit.

Claims (11)

A transport vehicle system comprising a transport vehicle that travels on a predetermined transport route, and a controller that manages the operation of the transport vehicle,
The transport vehicle is
It has an abnormality detection unit that detects abnormalities during driving
The controller is
An acquisition unit that acquires abnormal position information that associates the abnormality detected by the abnormality detection unit with a position on the transport path;
A transport vehicle system comprising: a set value determining unit that determines a set value that defines an operation of the transport vehicle based on the abnormal position information and at least one of the occurrence frequency and the number of occurrences of the abnormality.   The carrier system according to claim 1, wherein the set value determination unit determines the set value based on the type of the abnormality in addition to at least one of the occurrence frequency and the number of occurrences of the abnormality.   The transport vehicle system according to claim 1, wherein the abnormality detection unit is a sensor that detects an object around the transport vehicle. The set value is a traveling speed of the transport vehicle,
The set value determination unit sets the set value to be slower than the first speed when the abnormality detection frequency or the number of occurrences when the transport vehicle is driven at the first speed exceeds a first threshold. The carrier system according to any one of claims 1 to 3, wherein the speed is determined as two speeds.   The set value determining unit determines the travel speed to the second speed, and then the second threshold value in which the abnormality detection frequency or occurrence frequency is smaller than the first threshold value in the transport vehicle traveling at the second speed. 5. The carrier system according to claim 4, wherein when the value is less than, the redetermined speed is determined to be a third speed higher than the second speed. The set value is an object detection range of the sensor,
The set value determination unit sets the set value wider than the first range when the abnormality detection frequency or the number of occurrences when the transport vehicle is driven in the first range exceeds a first threshold. The conveyance vehicle system of Claim 3 determined to two ranges.   The set value determining unit determines a second detection frequency or occurrence frequency of the abnormality in the transport vehicle traveling in the second range after determining the object detection range to the second range. The carrier system according to claim 6, wherein when the value falls below a threshold value, redetermination is made to a third range narrower than the second range.   The transport vehicle system according to any one of claims 4 to 7, wherein the set value determining unit controls the transport vehicle based on the determined set value.   The controller includes a first mode for controlling the transport vehicle based on the set value determined by the set value determining unit, and the transport vehicle regardless of the set value determined by the set value determining unit. 9. The apparatus according to claim 1, further comprising a switching unit capable of switching between a second mode in which the transport vehicle is controlled based on an initial set value determined in advance so that the transport processing capacity is maximized. The carrier vehicle system according to the item. A detection unit for detecting the presence or absence of an operator in an area where the transport vehicle travels;
The transport vehicle system according to claim 9, wherein the switching unit switches to the second mode when the presence of the worker is not detected by the detection unit.   The transporter system according to claim 1, wherein the controller further includes an output unit that outputs the set value determined by the set value determining unit.

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