JP2022103468A - Article conveyance facility - Google Patents

Abstract

To provide an article conveyance facility which can accurately discriminate a position of a transportation vehicle on a travel route.SOLUTION: An article conveyance facility 10 has a first transportation vehicle 11 transporting a cassette 90, and a first linear route 15 on which the first transportation vehicle 11 travels back and forth. The article conveyance facility 10 at least comprises a second linear route 16 extending from a prescribed position of the first linear route 15, and a second transportation vehicle 12 traveling back and forth on the second linear route 16 and receiving the cassette 90 between itself and the first transportation vehicle 11 at the prescribed position of the first linear route 15. The first transportation vehicle 11 comprises a first position discrimination device 30 and a second position discrimination device 33, both discriminating a position of the first transportation vehicle 11 on the first linear route 15. The first transportation vehicle 11 discriminates the position of the first transportation vehicle 11 on the first linear route 15 by switching the first position discrimination device 30 and the second position discrimination device 33 on the first linear route 15.SELECTED DRAWING: Figure 1

Description

The present invention relates to an article transport facility that transports an article by transferring the article between a plurality of transport vehicles that reciprocate on a straight route.

Conventionally, as an article transporting facility of this kind, there is one as shown in Patent Document 1. In the article transporting equipment of Patent Document 1, two parallel traveling rails are arranged in an L shape on the inside and the outside, respectively, and the two transporting vehicles are reciprocated along the traveling rails. The two transport vehicles have a pedestal (mounting part) provided near both ends of the L-shaped traveling rail and a pedestal (mounting part) provided near the corners of the L-shaped traveling rail. Transport goods between. In the conventional article transporting equipment such as the article transporting equipment of Patent Document 1, the position of the transporting vehicle along the traveling rail is determined based on the distance measured by the optical range finder provided in each transporting vehicle. Ru.

JP-A-2009-20206

However, in the conventional article transporting equipment, when a reflecting plate that reflects the measurement light emitted from the optical distance meter is arranged at the corner of the traveling path of the transport vehicle, for example, it has a Z shape as shown in FIG. In the conventional article transport facility 100 having the first transport vehicle 102, the second transport vehicle 103, and the third transport vehicle 104 that reciprocate on each of the straight routes 101A, 101B, and 101C of the travel route 101, the first transport vehicle 102 The optical axis X of the measurement light emitted from the provided optical distance meter 105 toward the reflecting plate 106 may be obstructed by the second carrier 103 stopped at the corner portion 107 of the traveling path 101. , The distance measurement by the distance meter 105 could not be sufficiently performed. Therefore, there is a problem that the position of the first transport vehicle 102 on the traveling route 101 (straight route 101A) cannot be accurately determined.

The present invention solves the above-mentioned problems, and an object of the present invention is to provide an article transport facility capable of accurately determining the position of a transport vehicle on a traveling route.

In order to solve the above problems, the article transport facility of the present invention is an article transport facility including a first transport vehicle for transporting articles and a first straight line path on which the first transport vehicle can reciprocate. , A second straight path extending from a predetermined position on the first straight path and a first transport vehicle capable of reciprocating on the second straight path at the predetermined position on the first straight path. The first transport vehicle includes at least a second transport vehicle for delivering and delivering the articles, and the first transport vehicle includes a first position determination device for determining the position of the first transport vehicle on the first straight line path and a second transport vehicle. A position discriminating device is provided, and the position discriminating by the first position discriminating device and the position discriminating by the second position discriminating device are switched on the first straight line path.
In the above configuration, the position of the first transport vehicle on the first straight line path is determined by switching between the first position determination device and the second position determination device on the first straight line path. Here, the predetermined position of the first straight path is an arbitrary position on the first straight path, and means a position in a predetermined range on the first straight path.

In the article transport equipment of the present invention, the first position discriminating device and the second position discriminating device are used.
It is provided along the first straight line path and is composed of an identifier for specifying the position of the first carrier on the first straight line path and a reading device for reading the identifier. ..
In the above configuration, the position of the first transport vehicle on the first straight line path is determined by reading the identifier by the reading device.

In the article transport equipment of the present invention, the first position discriminating device and the second position discriminating device are composed of an optical device.
In the above configuration, the position of the first carrier on the first straight line path is determined by the optical device.

In the article transport equipment of the present invention, when the first transport vehicle switches between the first position discriminating device and the second position discriminating device, the detection value of the first position discriminating device and the second position discriminating device are used. By correcting the difference from the detected value of, the position of the first carrier on the first straight path is determined.
In the above configuration, when switching between the first position discriminating device and the second position discriminating device, the difference between the detected value of the first position discriminating device and the detected value of the second position discriminating device is corrected.

According to the article transport equipment of the present invention, the first transport vehicle determines the position of the first transport vehicle on the first straight path by switching between the first position determination device and the second position determination device. , The position of the first transport vehicle can be determined according to the situation of the transport vehicle (second transport vehicle) other than the first transport vehicle.
Therefore, other transport vehicles (second transport vehicles) other than the first transport vehicle do not interfere with the determination of the position of the first transport vehicle. Therefore, the position of the first transport vehicle on the first straight route (traveling route) can be accurately determined.

It is a top view which shows the article transport equipment of 1st Embodiment which concerns on this invention. It is a front view which shows the transport vehicle of the article transport equipment. It is a top view which shows the article transport equipment of 2nd Embodiment which concerns on this invention. It is a top view which shows the article transport equipment of 3rd Embodiment which concerns on this invention. It is a top view which shows the article transport equipment of 4th Embodiment which concerns on this invention. It is a top view which shows the article transport equipment of 5th Embodiment which concerns on this invention. It is a top view which shows the article transport equipment of 6th Embodiment which concerns on this invention. It is a top view which shows the article transport equipment of 7th Embodiment which concerns on this invention. It is a top view which shows the article transport equipment of 8th Embodiment which concerns on this invention. It is a top view which shows the conventional article transport equipment.

[First Embodiment]
First, a first embodiment of the article transporting equipment according to the present invention will be described.

The article transport facility 10 of the first embodiment is, for example, a facility provided between a plurality of storage shelves for storing a cassette 90 (an example of an “article”) in which a liquid crystal panel is housed in a liquid crystal panel manufacturing factory. This is for transporting the cassette 90 from one storage shelf to another storage shelf.

As shown in FIG. 1, the article transport facility 10 has a plan view drawing Z for traveling a transport vehicle (first transport vehicle 11, second transport vehicle 12, third transport vehicle 13) for transporting the cassette 90. A character-shaped traveling path 14 is provided between storage shelves (not shown). The traveling path 14 includes three straight paths and two corners. Specifically, the traveling path 14 extends from a first straight path 15 formed in the center thereof and one end of the first straight path 15 (an example of "a predetermined position of the first straight path"). A second straight path 16, a third straight path 17 extending from the other end of the first straight path 15 (an example of "a position away from a predetermined position of the first straight path"), and a first straight path 15. It is composed of a first corner portion 18 provided at one end of the first straight path 15 and a second corner portion 19 provided at the other end of the first straight path 15.

The first straight route 15 is a linear travel route for reciprocating the first transport vehicle 11. The second straight route 16 is a linear traveling route for reciprocating the second transport vehicle 12. The second straight path 16 extends from one end of the first straight path 15 at a right angle to the first straight path 15 so that the traveling direction of the second transport vehicle 12 is orthogonal to the first straight path 15. Orthogonal. The third straight route 17 is a linear traveling route for reciprocating the third transport vehicle 13. The third straight path 17 extends from the other end of the first straight path 15 at a right angle to the first straight path 15 so that the traveling direction of the third carrier 13 is perpendicular to the first straight path 15. Will be done. Here, the third straight path 17 is extended to the side opposite to the side where the second straight path 16 is extended in the first straight path 15. The second straight path 16 and the third straight path 17 are extended from the first straight path 15 so that the extending directions extending from the first straight path 15 are opposite to each other.

The first corner portion 18 is one end of the first straight path 15 and is formed at a portion where the first straight path 15 and the second straight path 16 meet. The second corner portion 19 is the other end of the first straight path 15, and is formed at a portion where the first straight path 15 and the third straight path 17 meet.

A first cradle 20 for receiving the cassette 90 is provided in the vicinity of the first corner portion 18. On the first cradle 20, the cassette 90 conveyed by the first transport vehicle 11 is loaded (unloaded), and the mounted cassette 90 is delivered (loaded) to the second transport vehicle 12. Further, on the first pedestal 20, the cassette 90 transported by the second transport vehicle 12 is placed, and the mounted cassette 90 is delivered to the first transport vehicle 11.
A second pedestal 21 for receiving the cassette 90 is provided in the vicinity of the second corner portion 19. On the second cradle 21, the cassette 90 transported by the first transport vehicle 11 is placed, and the mounted cassette 90 is delivered to the third transport vehicle 13. Further, on the second pedestal 21, the cassette 90 transported by the third transport vehicle 13 is placed, and the mounted cassette 90 is delivered to the first transport vehicle 11.
A third cradle 22 for receiving the cassette 90 is provided near the end of the second straight path 16 and near the end on the opposite side of the first corner portion 18. On the third cradle 22, the cassette 90 transported by the second transport vehicle 12 is placed, or the cassette 90 conveyed from the storage shelf (not shown) is delivered to the second transport vehicle 12.
A fourth cradle 23 for receiving the cassette 90 is provided near the end of the third straight path 17 and near the end on the opposite side of the second corner 19. On the fourth cradle 23, the cassette 90 transported by the third transport vehicle 13 is placed, or the cassette 90 conveyed from the storage shelf (not shown) is delivered to the third transport vehicle 13.

As shown in FIG. 2, the first transport vehicle 11, the second transport vehicle 12, and the third transport vehicle 13 have the same structure, respectively, and have a vehicle body 25 having wheels 24 in the front and rear and a cassette provided on the vehicle body 25. It is composed of a lifter 26 that supports the 90 so as to be able to move up and down. The first to third transport vehicles 11, 12, and 13 travel along the traveling rails 27 laid on the respective straight routes (first to third straight routes 15, 16, 17). The first to third transport vehicles 11, 12, and 13 move the lifter 26 up and down to unload and unload the cassette 90 on the pedestals in charge (first to fourth pedestals 20, 21, 22, 23). Do the stacking.

As shown in FIG. 1, the first to third transport vehicles 11, 12, and 13 reciprocate by a position determination device (bar code positioning system) composed of a bar code tape, a bar code reader, and a bar code reader. The position on each straight path is determined. The traveling of the first to third transport vehicles 11, 12, and 13 is controlled based on the position on each linear path determined by the position determination device.

The position of the first transport vehicle 11 on the first straight line path 15 is determined by two position determination devices, a first position determination device 30 and a second position determination device 33.
In the first position determination device 30, the first transport vehicle 11 travels from the second corner portion 19 (the other end of the first straight path 15) toward the first corner portion 18 (one end of the first straight path 15). The position of the first transport vehicle 11 on the first straight path 15 is determined. The first position discriminating device 30 is a first bar code tape 31 (“1st bar code tape 31” in which information on an absolute position (distance) between a second corner portion 19 and a predetermined position 28 on a first straight line path 15 is recorded in a bar code. It is composed of an example of an identifier ”) and a first barcode reader 32 (an example of a“ reader ”) that optically reads a barcode recorded on the first barcode tape 31.
The first barcode tape 31 is extended along the first straight path 15 to one side of the first straight path 15 between the second corner portion 19 and the predetermined position 28 on the first straight path 15. .. The first bar code reader 32 is provided on one side of the first transport vehicle 11 at a position where the bar code of the first bar code tape 31 can be read. Specifically, the first barcode reader 32 is a side portion of the first transport vehicle 11 which is on the left side in the traveling direction of the first transport vehicle 11 when the first transport vehicle 11 travels toward the first corner portion 18. It is provided in.

The second position determination device 33 determines the position of the first transport vehicle 11 on the first straight line path 15 when the first transport vehicle 11 travels from the first corner portion 18 to the second corner portion 19. It is a thing. The second position determination device 33 is a second bar code tape 34 (“) in which information on an absolute position (distance) between the first corner portion 18 and a predetermined position 28 on the first straight line path 15 is recorded in a bar code. It is composed of an example of an identifier ”) and a second barcode reader 35 (an example of a“ reader ”) that optically reads a barcode recorded on the second barcode tape 34.
The second barcode tape 34 is located on the other side of the first straight path 15 (the side on which the first barcode tape 31 is provided) between the first corner portion 18 and the predetermined position 28 on the first straight path 15. It is extended along the first straight path 15 on the side portion opposite to the portion). The second barcode reader 35 applies the barcode of the second barcode tape 34 to the other side portion of the first transport vehicle 11 (the side portion opposite to the side portion where the first barcode reader 32 is provided). It is installed in a readable position. Specifically, the second barcode reader 35 is a side portion of the first transport vehicle 11 which is on the left side in the traveling direction of the first transport vehicle 11 when the first transport vehicle 11 travels toward the second corner portion 19. It is provided in.

The position of the second carrier 12 on the second straight path 16 is determined by one third position determining device 36.
The third position discriminating device 36 includes a third bar code tape 37 in which information on the absolute position (distance) between the first corner portion 18 and the end of the second straight path 16 is recorded in a bar code, and a third bar code tape 37. It is composed of a third barcode reader 38 that optically reads the barcode recorded on the barcode tape 37.
The third barcode tape 37 extends along the second straight path 16 to one side of the second straight path 16 between the first corner portion 18 and the end of the second straight path 16. The third barcode reader 38 is provided on one side of the second transport vehicle 12 at a position where the barcode of the third barcode tape 37 can be read. Specifically, the third barcode reader 38 is a side portion of the second transport vehicle 12 which is on the left side in the traveling direction of the second transport vehicle 12 when the second transport vehicle 12 travels toward the first corner portion 18. It is provided in.

The position of the third carrier 13 on the third straight path 17 is determined by one fourth position determining device 39.
The fourth position discriminating device 39 includes a fourth bar code tape 40 in which information on the absolute position (distance) between the second corner portion 19 and the end of the third straight path 17 is recorded in a bar code, and a fourth bar code tape 40. It is composed of a fourth barcode reader 41 that optically reads the barcode recorded on the barcode tape 40.
The fourth barcode tape 40 extends along the third straight path 17 to one side of the third straight path 17 between the second corner 19 and the end of the third straight path 17. The fourth bar code reader 41 is provided on one side of the third transport vehicle 13 at a position where the bar code of the fourth bar code tape 40 can be read. Specifically, the fourth bar code reader 41 is a side portion of the third transport vehicle 13 which is on the left side in the traveling direction of the third transport vehicle 13 when the third transport vehicle 13 travels toward the second corner portion 19. It is provided in.

The first to third transport vehicles 11, 12, and 13 are controlled to operate such as traveling by a controller provided on the ground side and a vehicle body side controller provided on the transport vehicle side.

Signals are exchanged between the ground-side controller and the vehicle body-side controller of the first transport vehicle 11 by optical transmission via the transmission / reception units 42 and 45. The transmission / reception unit 42 of the ground-side controller is provided in the first corner unit 18.
The ground-side controller operates the first transport vehicle 11 based on the position (distance) of the first transport vehicle 11 on the first straight line path 15 determined by the first position determination device 30 or the second position determination device 33. To control. Specifically, the ground-side controller sets the position of the first transport vehicle 11 determined based on the detection signal of the first barcode reader 32 or the second barcode reader 35 as at least one condition, and the first transport vehicle 11 A transfer command is given to the controller on the vehicle body side.
The vehicle body side controller provided in the first transport vehicle 11 controls the operation of the first transport vehicle 11 based on the transport command from the ground side controller.

Signals are exchanged between the ground-side controller and the vehicle body-side controller of the second carrier 12 by optical transmission via the transmission / reception units 43 and 46. The transmission / reception unit 43 of the ground-side controller is provided at the end of the second straight path 16.
The ground-side controller issues a transport command to the vehicle body-side controller of the second transport vehicle 12 with the position of the second transport vehicle 12 determined based on the detection signal of the third barcode reader 38 as at least one condition.

Signals are exchanged between the ground-side controller and the vehicle body-side controller of the third carrier 13 by optical transmission via the transmission / reception units 44 and 47. The transmission / reception unit 44 of the ground-side controller is provided at the end of the third straight path 17.
The ground-side controller issues a transport command to the vehicle body-side controller of the third transport vehicle 13 with at least one condition of the position of the third transport vehicle 13 determined based on the detection signal of the fourth barcode reader 41.

Next, the determination of the position of the first transport vehicle 11 on the first straight path 15 by the first position determination device 30 and the second position determination device 33 will be described.
As shown in FIG. 1, when the first transport vehicle 11 travels from the second corner portion 19 toward the first corner portion 18, first, the first position determination device 30 sets the first straight line path 15. The position of the first transport vehicle 11 is determined. Specifically, the first bar code reader 32 reads the bar code of the first bar code tape 31 in accordance with the traveling of the first transport vehicle 11, and transmits the read information to the vehicle body side controller. The vehicle body side controller determines the position of the first transport vehicle 11 on the first straight line path 15 based on the information transmitted from the first barcode reader 32 (detection value of the first position determination device 30). The position of the first transport vehicle 11 is transmitted to the ground side controller. The first bar code reader 32 reads the bar code of the first bar code tape 31 in accordance with the traveling of the first transport vehicle 11 to a predetermined position 28 of the first straight line path 15 provided with the first bar code tape 31. .. Here, the predetermined position 28 of the first straight path 15 is an arbitrary position on the first straight path 15, and means a position in a predetermined range on the first straight path 15. For example, the predetermined position 28 of the first straight path 15 is a position in a predetermined range in the central portion of the first straight path 15.

On the other hand, when the first transport vehicle 11 travels to a predetermined position 28 on the first straight path 15, the second barcode reader 35 changes the barcode of the second barcode tape 34 in accordance with the travel of the first transport vehicle 11. Reading is started and the read information is transmitted to the vehicle body side controller. That is, when the first transport vehicle 11 travels in the predetermined position 28 of the first straight path 15, the first barcode reader 32 reads the barcode of the first barcode tape 31 and the second barcode reader 35. Reads the bar code of the second bar code tape 34.

When the first transport vehicle 11 travels in the predetermined position 28 of the first straight line path 15, the vehicle body side controller receives information (first and second positions) transmitted from the first barcode reader 32 and the second barcode reader 35. The position of the first transport vehicle 11 on the first straight path 15 is determined based on the detection values of the determination devices 30 and 33). At this time, the vehicle body side controller corrects the difference between the detected value of the first position discriminating device 30 and the detected value of the second position discriminating device 33, and corrects the difference between the detected value of the first position discriminating device 30 and the first transport vehicle 11 on the first straight line path 15. Determine the position.

When the first transport vehicle 11 passes through the predetermined position 28 of the first straight line path 15, the reading by the first barcode reader 32 is completed, and only the second barcode reader 35 is aligned with the traveling of the first transport vehicle 11. The bar code of the second bar code tape 34 is read. That is, the position determination device is switched from the first position determination device 30 to the second position determination device 33 at the timing when the first transport vehicle 11 passes through the predetermined position 28 of the first straight line path 15. Then, the vehicle body side controller determines the position of the first transport vehicle 11 on the first straight line path 15 based on the information transmitted from the second barcode reader 35 (detection value of the second position determination device 33). do.

Similarly, when the first transport vehicle 11 travels from the first corner portion 18 to the second corner portion 19, the second bar code reader 35 first moves in accordance with the travel of the first transport vehicle 11. 2 The bar code of the bar code tape 34 is read, and the read information is transmitted to the vehicle body side controller. Then, when the first transport vehicle 11 travels to the predetermined position 28 of the first straight line path 15, the second barcode reader 35 reads the barcode of the second barcode tape 34, and the first barcode reader 32 reads the barcode. The bar code of the first bar code tape 31 is read in accordance with the traveling of the first carrier 11, and the read information is transmitted to the vehicle body side controller. At this time, the vehicle body side controller corrects the difference between the detected value of the first position discriminating device 30 and the detected value of the second position discriminating device 33, and corrects the difference between the detected value of the first position discriminating device 30 and the first transport vehicle 11 on the first straight line path 15. Determine the position.

When the first transport vehicle 11 passes through the predetermined position 28 of the first straight line path 15, the reading by the second barcode reader 35 is completed, and only the first barcode reader 32 is aligned with the traveling of the first transport vehicle 11. The bar code of the first bar code tape 31 is read. That is, at the timing when the first transport vehicle 11 passes through the predetermined position 28 of the first straight line path 15, the position determination device switches from the second position determination device 33 to the first position determination device 30.

As described above, in the article transport facility 10 of the first embodiment, when the first transport vehicle 11 travels from the second corner portion 19 to the first corner portion 18, the first transport vehicle 11 determines the predetermined straight path 15. When the position determination device is switched from the first position determination device 30 to the second position determination device 33 at the timing of passing through the position 28, and the first transport vehicle 11 travels from the first corner portion 18 to the second corner portion 19. The position determination device is switched from the second position determination device 33 to the first position determination device 30 at the timing when the first transport vehicle 11 passes through the predetermined position 28 of the first straight line path 15. That is, in the article transport equipment 10 of the first embodiment, the first position discriminating device 30 and the second position discriminating device 33 are switched according to the traveling position of the first transport vehicle 11 on the first straight line path 15. , The position of the first transport vehicle 11 on the first straight path 15 is accurately determined without interruption.

In the article transport facility 10 of the first embodiment, the position of the first transport vehicle 11 on the first straight path 15 is determined by the first and second barcode tapes 31 and 34 and the first and second barcodes. Since the first and second position determination devices 30 and 33 (bar code positioning system) composed of the readers 32 and 35 are used to determine the position of the first transfer vehicle 11, the first transfer vehicle 11 is used. Even when other transport vehicles (second transport vehicle 12 and third transport vehicle 13) are stopped at the corners (first corner portion 18 and second corner portion 19), the first and first transport vehicles are not available. The discrimination of the two position discriminating devices 30 and 33 is not obstructed by other transport vehicles (second transport vehicle 12 and third transport vehicle 13) other than the first transport vehicle 11.

[Second Embodiment]
Next, a second embodiment of the article transporting equipment according to the present invention will be described. In the article transport facility 10A of the second embodiment, the description of the same configuration as that of the article transport facility 10 of the first embodiment will be omitted.

As shown in FIG. 3, in the article transport facility 10A of the second embodiment, the first transport vehicle 11 reciprocating on the first straight path 15 is a bar code tape like the article transport facility 10 of the first embodiment. The position on the first straight line path 15 is determined by the first position determination device 30 and the second position determination device 33 composed of the barcode reader and the bar code reader. Further, the position of the second transport vehicle 12 reciprocating on the second straight path 16 is determined by the third position determining device 36A composed of an optical range finder on the second straight path 16. Similarly, the position of the third transport vehicle 13 traveling back and forth on the third straight path 17 on the third straight path 17 is determined by the fourth position determining device 39A composed of an optical range finder.

The third position determination device 36A is provided at the end of the second linear path 16 (the end opposite to the first corner 18) and the optical first range finder 48 provided in the second carrier 12. It is composed of a first reflector 49 and the like. The first distance meter 48 is provided on the front side in the traveling direction of the second transport vehicle 12 when the second transport vehicle 12 travels toward the end of the second straight line path 16.
The fourth position determining device 39A is provided at the end of the third straight path 17 (the end opposite to the second corner 19) and the optical second range finder 50 provided in the third carrier 13. It is composed of a second reflector 51. The second range finder 50 is provided on the front side in the traveling direction of the third transport vehicle 13 when the third transport vehicle 13 travels toward the end of the third straight line path 17.

In the article transport facility 10A of the second embodiment, as in the article transport facility 10 of the first embodiment, the first and second position determination devices 30 and 33 (bar code positioning system) are used, so that the first transport vehicle is used. When determining the position of 11, the determination of the first and second position determining devices 30 and 33 is blocked by other transport vehicles (second transport vehicle 12 and third transport vehicle 13) other than the first transport vehicle 11. It will never be done.

[Third Embodiment]
Next, a third embodiment of the article transporting equipment according to the present invention will be described. In the article transport facility 10B of the third embodiment, the description of the same configuration as the article transport facilities 10 and 10A of the first and second embodiments will be omitted.

As shown in FIG. 4, in the article transport equipment 10B of the third embodiment, the first transport vehicle 11 includes a first position determination device 30A (an example of an "optical device") composed of an optical range finder and an optical range finder. The position on the first straight path 15 is determined by the second position determination device 33A (an example of the “optical device”). That is, in the article transport equipment 10B of the third embodiment, the position of the first transport vehicle 11 on the first straight line path 15 is determined by two optical position determination devices.
Further, the second transport vehicle 12 and the third transport vehicle 13 are the third position discriminating device 36A or the fourth position discriminating device 39A composed of an optical range finder, similarly to the article transport facility 10A of the second embodiment. Determines the position on the second straight path 16 or the third straight path 17.

The first position determination device 30A is composed of an optical third range finder 52 provided in the first transport vehicle 11 and a third reflector 53 provided in the first corner portion 18. The third distance meter 52 is provided on the front side in the traveling direction of the first transport vehicle 11 when the first transport vehicle 11 travels toward the first corner portion 18.
The second position determination device 33A is composed of an optical fourth range finder 54 provided in the first transport vehicle 11 and a fourth reflector 55 provided in the second corner portion 19. The fourth range finder 54 is provided on the front side in the traveling direction of the first transport vehicle 11 when the first transport vehicle 11 travels toward the second corner portion 19. That is, the fourth range finder 54 is provided on the opposite side of the first transport vehicle 11 from the third range finder 52.

The ground-side controller controls the operation of the first transport vehicle 11 based on the position of the first transport vehicle 11 on the first straight line path 15 detected by the third range finder 52 or the fourth range finder 54. Signals are exchanged between the ground side controller and the vehicle body side controller by optical transmission via the transmission / reception units 42 and 45.

Next, the determination of the position of the first transport vehicle 11 on the first straight path 15 by the first position determination device 30A and the second position determination device 33A will be described.
As shown in FIG. 4, when the first transport vehicle 11 travels from the second corner portion 19 toward the first corner portion 18, the first position determination device 30A makes the first on the first straight line path 15. The position of the transport vehicle 11 is determined. Specifically, the third distance meter 52 measures the distance between the first transport vehicle 11 and the third reflector 53 in accordance with the traveling of the first transport vehicle 11. The third range finder 52 transmits the measured measured value to the vehicle body side controller. The vehicle body side controller determines the position of the first transport vehicle 11 on the first straight line path 15 based on the measured value of the distance transmitted from the third distance meter 52. The third range finder 52 measures the distance between the first transport vehicle 11 and the third reflector 53 until the first transport vehicle 11 arrives at the first corner portion 18.

On the other hand, when the first transport vehicle 11 travels from the first corner portion 18 to the second corner portion 19, the first transport vehicle 11 on the first straight path 15 is subjected to the second position determination device 33A. The position is determined. That is, at the timing when the first transport vehicle 11 travels from the first corner portion 18 to the second corner portion 19, the position determination device is switched from the first position determination device 30A to the second position determination device 33A, and the first straight line is obtained. The position of the first transport vehicle 11 on the route 15 is determined. Specifically, the fourth distance meter 54 measures the distance between the first transport vehicle 11 and the fourth reflector 55 in accordance with the traveling of the first transport vehicle 11. The fourth range finder 54 transmits the measured measured value to the first controller 42. The first controller 42 determines the position of the first transport vehicle 11 on the first straight line path 15 based on the measured value of the distance transmitted from the fourth distance meter 54. The fourth range finder 54 measures the distance between the first transport vehicle 11 and the fourth reflector 55 until the first transport vehicle 11 arrives at the second corner portion 19.

As described above, in the article transport equipment 10B of the third embodiment, the first position discriminating device 30A and the second position discriminating device 33A are used according to the traveling direction of the first transport vehicle 11 on the first straight line path 15. By switching, the position of the first transport vehicle 11 on the first straight path 15 is determined. That is, the first position is determined at the timing when the traveling direction of the first transport vehicle 11 on the first straight line path 15 changes (the timing when the first transport vehicle 11 stops at the first corner portion 18 or the second corner portion 19). By switching between the device 30A and the second position determination device 33A, the position of the first transport vehicle 11 on the first straight line path 15 is determined.

Further, when the first transport vehicle 11 travels from the second corner portion 19 toward the first corner portion 18, if the second transport vehicle 12 is stopped or enters the first corner portion 18, the first carrier vehicle 11 is stopped or entered. 2 The position determination device is switched from the first position determination device 30A to the second position determination device 33A at the timing when the transfer vehicle 12 is detected, and the position of the first transfer vehicle 11 on the first straight line path 15 is determined. Similarly, when the first transport vehicle 11 travels from the first corner portion 18 toward the second corner portion 19, if the third transport vehicle 13 is stopped or enters the second corner portion 19, the third transport vehicle 13 is stopped or entered. The position determination device is switched from the second position determination device 33A to the first position determination device 30A at the timing when the third transfer vehicle 13 is detected, and the position of the first transfer vehicle 11 on the first straight line path 15 is determined. That is, it is switched to the position determination device in which the optical axis X of the measurement light emitted from the range finder is not obstructed by other transport vehicles (second transport vehicle 12 and third transport vehicle 13) other than the first transport vehicle 11. The position of the first transport vehicle 11 can be determined.

[Fourth Embodiment]
Next, a fourth embodiment of the article transporting equipment according to the present invention will be described. In the article transporting equipment 10C of the fourth embodiment, the description of the same configuration as the article transporting equipments 10, 10A and 10B of the first to third embodiments will be omitted.

As shown in FIG. 5, in the article transport facility 10C of the fourth embodiment, the first transport vehicle 11 is a first position composed of an optical range finder, similarly to the article transport facility 10B of the third embodiment. The position on the first straight path 15 is determined by the determination device 30A and the second position determination device 33A. Further, the second transport vehicle 12 and the third transport vehicle 13 are the third position determination device 36 or the third transport vehicle 13 composed of a bar code tape and a bar code reader, similarly to the article transport facility 10 of the first embodiment. The position determination device 39 determines the position on the second straight path 16 or the third straight path 17.

The position of the first transport vehicle 11 on the first straight path 15 by the first position discriminating device 30A and the second position discriminating device 33A is determined by the first straight path as in the article transport facility 10B of the third embodiment. Timing when the traveling direction of the first transport vehicle 11 on 15 changes (timing when the first transport vehicle 11 stops at the first corner portion 18 or the second corner portion 19), or another transport vehicle (second transport vehicle 12). At the timing when the third transport vehicle 13) is detected, the first position determination device 30A and the second position determination device 33A are switched.

[Fifth Embodiment]
Next, a fifth embodiment of the article transporting equipment according to the present invention will be described. In the article transporting equipment 10D of the fifth embodiment, the description of the same configuration as the article transporting equipments 10, 10A, 10B, and 10C of the first to fourth embodiments will be omitted.

In the article transport equipment 10D of the fifth embodiment, the travel route for traveling each transport vehicle (first transport vehicle 11, second transport vehicle 12, third transport vehicle 13) is a substantially C-shaped travel route in a plan view. It is composed of 14A. The travel path 14A is the extension direction of the second straight path 16A extending from one end of the first straight path 15 (an example of "a predetermined position of the first straight path") and the other end of the first straight path 15. The extension direction of the third straight path 17A extending from the portion (an example of "a position away from a predetermined position of the first straight path") is configured to be in the same direction as each other.

Similar to the article transport equipment 10B of the third embodiment, the first transport vehicle 11 is on the first straight line path 15 by the first position discriminating device 30A and the second position discriminating device 33A composed of an optical range finder. The position at is determined. Further, the second transport vehicle 12 and the third transport vehicle 13 are the third position discriminating device 36A or the fourth position discriminating device 39A composed of an optical range finder, similarly to the article transport facility 10A of the second embodiment. Determines the position on the second straight path 16A or the third straight path 17A.

The position of the first transport vehicle 11 on the first straight path 15 by the first position discriminating device 30A and the second position discriminating device 33A is determined by the first straight path as in the article transport facility 10B of the third embodiment. Timing when the traveling direction of the first transport vehicle 11 on 15 changes (timing when the first transport vehicle 11 stops at the first corner portion 18 or the second corner portion 19), or another transport vehicle (second transport vehicle 12). At the timing when the third transport vehicle 13) is detected, the first position determination device 30A and the second position determination device 33A are switched.

[Sixth Embodiment]
Next, a sixth embodiment of the article transporting equipment according to the present invention will be described. In the article transport equipment 10E of the sixth embodiment, the description of the same configuration as the article transport equipment 10, 10A, 10B, 10C, and 10D of the first to fifth embodiments will be omitted.

As shown in FIG. 7, in the article transporting equipment 10E of the sixth embodiment, each transport vehicle (first transport vehicle 11, second transport vehicle 12, third transport) is similar to the article transport equipment 10D of the fifth embodiment. The traveling path for driving the vehicle 13) is composed of a traveling path 14A having a substantially C-shape in a plan view.

Similar to the article transport equipment 10B of the third embodiment, the first transport vehicle 11 is on the first straight line path 15 by the first position discriminating device 30A and the second position discriminating device 33A composed of an optical range finder. The position at is determined. Further, the second transport vehicle 12 and the third transport vehicle 13 are the third position determination device 36 or the third transport vehicle 13 composed of a bar code tape and a bar code reader, similarly to the article transport facility 10 of the first embodiment. The position determination device 39 determines the position on the second straight path 16A or the third straight path 17A.

The position of the first transport vehicle 11 on the first straight path 15 by the first position discriminating device 30A and the second position discriminating device 33A is determined by the first straight path as in the article transport facility 10B of the third embodiment. Timing when the traveling direction of the first transport vehicle 11 on 15 changes (timing when the first transport vehicle 11 stops at the first corner portion 18 or the second corner portion 19), or another transport vehicle (second transport vehicle 12). At the timing when the third transport vehicle 13) is detected, the first position determination device 30A and the second position determination device 33A are switched.

[7th Embodiment]
Next, a seventh embodiment of the article transporting equipment according to the present invention will be described. In the article transport equipment 10F of the seventh embodiment, the description of the same configuration as the article transport equipment 10, 10A, 10B, 10C, 10D, and 10E of the first to sixth embodiments will be omitted.

As shown in FIG. 8, in the article transport facility 10F of the seventh embodiment, the travel path for traveling each transport vehicle (first transport vehicle 11, second transport vehicle 12, third transport vehicle 13) is viewed in a plan view. It is composed of a substantially T-shaped traveling path 14B. Specifically, the traveling path 14B includes a first straight path 15 for reciprocating the first transport vehicle 11 and one side of one end of the first straight path 15 (“predetermined position of the first straight path”). An example of a second straight path 16B extending from (one example) to reciprocate the second transport vehicle 12 and the other side of one end of the first straight path 15 (an example of "predetermined position of the first straight path"). ), The third straight path 17B for reciprocating the third transport vehicle 13, and the second straight path 16B and the third straight path 17B provided at one end of the first straight path 15 merge. It is composed of one confluence portion 29.

The first merging section 29 is provided with a first cradle 20A for receiving the cassette 90. On the first cradle 20A, the cassette 90 conveyed by the first transport vehicle 11 is placed, and the mounted cassette 90 is delivered to the second transport vehicle 12 or the third transport vehicle 13. Further, on the first pedestal 20A, the cassette 90 conveyed by the second transport vehicle 12 (third transport vehicle 13) is mounted, and the mounted cassette 90 is the first transport vehicle 11 or the third transport vehicle 13. It is delivered to (second transport vehicle 12).

The first transport vehicle 11 is driven by two position determination devices (bar code positioning system), a first position determination device 30B and a second position determination device 33B, which are composed of a barcode tape and a barcode reader. The position on the straight path 15 is determined.
The first position determination device 30B is a first straight line when the first transport vehicle 11 travels from the other end portion 15A of the first straight line path 15 toward the first confluence portion 29 (one end portion of the first straight line path 15). The position of the first transport vehicle 11 on the route 15 is determined. The first position discriminating device 30B is a first bar code tape 31A in which information on an absolute position (distance) between the other end 15A of the first straight path 15 and the front of the first confluence 29 is recorded in a bar code. (An example of "identifier"), a second barcode tape 34A (an example of "identifier") in which information on the absolute position (distance) at the first confluence 29 is recorded in a barcode, and a first barcode tape. It is composed of a first bar code reader 32A (an example of a "reading device") that optically reads a bar code recorded on the 31A and the second bar code tape 34A.

The first barcode tape 31A extends along the first straight path 15 from the other end 15A of the first straight path 15 to the front of the first confluence 29 on one side of the first straight path 15. Will be done.
The second barcode tape 34A is a first confluence portion 29 and extends along one side of the first straight path 15 along the first straight path 15. That is, the second barcode tape 34A is provided on the side of the first straight path 15 where the first barcode tape 31A is provided.
In the article transporting equipment 10F of the seventh embodiment, the traveling rail 27A for traveling the first transport vehicle 11 and the traveling rail 27B for traveling the second transport vehicle 12 and the third transport vehicle 13 are first. Since they intersect at the merging portion 29, the first bar code tape 31A cannot be extended to the first merging portion 29. Therefore, the second bar code tape 34A is provided in the first confluence portion 29.

The first barcode reader 32A is provided on one side of the first transport vehicle 11 at a position where the barcodes of the first barcode tape 31A and the second barcode tape 34A can be read. Specifically, the first barcode reader 32A is a side portion of the first transport vehicle 11 which is on the right side in the traveling direction of the first transport vehicle 11 when the first transport vehicle 11 travels toward the first confluence portion 29. Therefore, it is provided on the front side in the traveling direction of the first transport vehicle 11.

The second position determining device 33B is the first transport vehicle 11 on the first straight path 15 when the first transport vehicle 11 travels from the first confluence portion 29 toward the other end portion 15A of the first straight path 15. It determines the position of. The second position determination device 33B includes a first barcode tape 31A (an example of an "identifier"), a second barcode tape 34A (an example of an "identifier"), a first barcode tape 31A, and a second barcode tape. It is composed of a second barcode reader 35A (an example of a "reading device") that optically reads a barcode recorded on the 34A. That is, in the first position determination device 30B and the second position determination device 33B, the first barcode tape 31A and the second barcode tape 34A are also used.
The second barcode reader 35A is provided on one side of the first transport vehicle 11 at a position where the barcodes of the first barcode tape 31A and the second barcode tape 34A can be read. Specifically, the second barcode reader 35A is a side portion of the first transport vehicle 11 which is on the right side in the traveling direction of the first transport vehicle 11 when the first transport vehicle 11 travels toward the first confluence portion 29. It is provided on the rear side of the first transport vehicle 11 in the traveling direction. That is, the first barcode reader 32A and the second barcode reader 35A are provided on the same side of the first transport vehicle 11, and are arranged side by side in the traveling direction of the first transport vehicle 11.

The position of the second transport vehicle 12 on the second straight path 16B is determined by the third position determination device 36B composed of the barcode tape 80, the barcode readers 38A and 38B, and the barcode readers 38A and 38B.
The position of the third transport vehicle 13 on the third straight path 17B is determined by the fourth position determination device 39B composed of the barcode tape 80, the barcode readers 41A and 41B, and the barcode readers 41A and 41B.

Next, the determination of the position of the first transport vehicle 11 on the first straight line path 15 by the first position determination device 30B and the second position determination device 33B will be described.
As shown in FIG. 8, when the first transport vehicle 11 travels from the other end portion 15A of the first straight line path 15 toward the first confluence portion 29, first, the first straight line is determined by the first position determination device 30B. The position of the first transport vehicle 11 on the route 15 is determined. Specifically, the first barcode reader 32A reads the barcode of the first barcode tape 31A in accordance with the traveling of the first transport vehicle 11, and transmits the read information to the vehicle body side controller. The vehicle body side controller determines the position of the first transport vehicle 11 on the first straight line path 15 based on the information transmitted from the first barcode reader 32A (detection value of the first position determination device 30B). The first bar code reader 32A reads the bar code of the first bar code tape 31A in accordance with the traveling of the first transport vehicle 11 up to the front of the first confluence portion 29 provided with the first bar code tape 31A.

On the other hand, when the first transport vehicle 11 travels to the front of the first confluence portion 29, the second barcode reader 35A reads the barcode of the first barcode tape 31A in accordance with the travel of the first transport vehicle 11. It starts and sends the read information to the controller on the vehicle body side. That is, when the first transport vehicle 11 travels in front of the first confluence portion 29, the first barcode reader 32A reads the barcode of the first barcode tape 31A, and the second barcode reader 35A also reads the barcode. 1 Read the bar code of the bar code tape 31A.

When the first transport vehicle 11 travels in front of the first confluence portion 29, the first controller 42 receives information (first and second position determination) transmitted from the first barcode reader 32A and the second barcode reader 35A. The position of the first transport vehicle 11 on the first straight path 15 is determined based on the detection values of the devices 30B and 33B).

When the first transport vehicle 11 travels at the position where the travel rail 27A and the travel rail 27B intersect, the reading by the first barcode reader 32A is interrupted, and only the second barcode reader 35A travels on the first transport vehicle 11. The bar code of the first bar code tape 31A is read according to the above. That is, the position determination device is switched from the first position determination device 30B to the second position determination device 33B at the timing when the first transport vehicle 11 travels at the position where the travel rail 27A and the travel rail 27B intersect. Then, the vehicle body side controller determines the position of the first transport vehicle 11 on the first straight line path 15 based on the information transmitted from the second barcode reader 35 (detection value of the second position determination device 33B). do. Further, when the first transport vehicle 11 passes the position where the traveling rail 27A and the traveling rail 27B intersect, the reading by the first barcode reader 32A is resumed, and only the first barcode reader 32A is the first transport vehicle 11. The bar code of the second bar code tape 34A is read according to the running of the second bar code tape 34A. That is, at the timing when the first transport vehicle 11 passes the position where the traveling rail 27A and the traveling rail 27B intersect, the vehicle body side controller uses the information transmitted by the first barcode reader 32A and the second barcode reader 35A. Based on the transmitted information, the difference between the detected value of the first position discriminating device 30B and the detected value of the second position discriminating device 33B is corrected, and the first transport vehicle 11 on the first straight line path 15 is corrected. Determine the position of.
After that, the position discriminating device switches from the second position discriminating device 33B to the first position discriminating device 30B again.

Similarly, when the first transport vehicle 11 travels from the first confluence portion 29 toward the other end portion 15A of the first straight path 15, the second barcode reader 35A first causes the first transport vehicle 11 to travel. The bar code of the second bar code tape 34A is read according to the running, and the read information is transmitted to the vehicle body side controller. Then, when the first transport vehicle 11 travels at the position where the travel rail 27A and the travel rail 27B intersect, the reading by the second barcode reader 35A is interrupted, and the first barcode reader 32A is the first transport vehicle 11. The bar code of the second bar code tape 34A is read according to the running. That is, the position determination device is switched from the second position determination device 33B to the first position determination device 30B at the timing when the first transport vehicle 11 travels at the position where the travel rail 27A and the travel rail 27B intersect. Further, when the first transport vehicle 11 passes the position where the traveling rail 27A and the traveling rail 27B intersect, the reading by the second barcode reader 35A is resumed, and only the second barcode reader 35A is the first transport vehicle 11. The bar code of the first bar code tape 31A is read according to the running of the first bar code tape 31A. That is, the position determination device is switched from the first position determination device 30B to the second position determination device 33B again at the timing when the first transport vehicle 11 passes the position where the travel rail 27A and the travel rail 27B intersect.

As described above, in the article transport facility 10F of the seventh embodiment, when the first transport vehicle 11 travels from the other end portion 15A of the first straight path 15 to the first confluence portion 29, the first transport vehicle 11 travels on the traveling rail. At the timing of traveling at the position where the 27A and the traveling rail 27B intersect, the position determining device switches from the first position determining device 30B to the second position determining device 33B, and the first transport vehicle 11 has the traveling rail 27A and the traveling rail 27B. The position discriminating device is switched from the second position discriminating device 33B to the first position discriminating device 30B again at the timing of passing the position where the above intersects. Further, when the first transport vehicle 11 travels from the first confluence portion 29 to the other end portion 15A of the first straight line path 15, the first transport vehicle 11 travels at a position where the travel rail 27A and the travel rail 27B intersect. At the timing, the position determination device is switched from the second position determination device 33B to the first position determination device 30B, and at the timing when the first transport vehicle 11 passes the position where the traveling rail 27A and the traveling rail 27B intersect, again. The position determination device is switched from the first position determination device 30B to the second position determination device 33B. That is, in the article transport facility 10F of the seventh embodiment, by switching between the first position discriminating device 30B and the second position discriminating device 33B on the first straight path 15, the first on the first straight path 15. The position of the transport vehicle 11 is determined.

In the article transport facility 10F of the seventh embodiment, the second transport vehicle 12 reciprocates on the second straight path 16B, and the third transport vehicle 13 reciprocates on the third straight path 17B. Not limited to this, only one of the second transport vehicle 12 and the third transport vehicle 13 may reciprocate on the second straight route 16B and the third straight route 17B.

[Eighth Embodiment]
Next, an eighth embodiment of the article transporting equipment according to the present invention will be described. In the article transport equipment 10G of the eighth embodiment, the description of the same configuration as the article transport equipment 10, 10A, 10B, 10C, 10D, 10E, and 10F of the first to seventh embodiments will be omitted.

In the article transport equipment 10G of the eighth embodiment, the travel route for traveling each transport vehicle (first transport vehicle 11, second transport vehicle 12, third transport vehicle 13, fourth transport vehicle 60) is omitted in a plan view. It is composed of a cross-shaped traveling path 14C. Specifically, the traveling path 14C is a first straight path 15 for reciprocating the first transport vehicle 11 and one side of one end of the first straight path 15 (“predetermined position of the first straight path”). A second straight path 16B extending at a right angle from one example) to reciprocate the second transport vehicle 12 and the other side of one end of the first straight path 15 (“predetermined position of the first straight path”). A third straight path 17B for reciprocating the third carrier 13 extending at a right angle from one example) and one end side of the first straight path 15 (an example of "predetermined position of the first straight path"). A fourth straight path 61 extending in the same direction as the first straight path 15 to reciprocate the fourth carrier 60, and a second straight path 16B provided at one end of the first straight path 15. It is composed of a second merging portion 62 in which the three straight paths 17B and the fourth straight path 61 merge.

The second merging portion 62 is provided with a first cradle 20B for receiving the cassette 90. On the first pedestal 20B, the cassette 90 conveyed by the first transport vehicle 11 is placed, and the mounted cassette 90 is delivered to the second transport vehicle 12, the third transport vehicle 13, or the fourth transport vehicle 60. Will be. Further, on the first pedestal 20B, the cassette 90 conveyed by the second transport vehicle 12 (the third transport vehicle 13 or the fourth transport vehicle 60) is mounted, and the mounted cassette 90 is the first transport vehicle 11. Alternatively, it is delivered to the third transport vehicle 13 (second transport vehicle 12 or fourth transport vehicle 60).
A fifth cradle 85 for receiving the cassette 90 is provided near the end of the fourth straight path 61 and near the end on the opposite side of the second merging portion 62. On the fifth cradle 85, the cassette 90 transported by the fourth transport vehicle 60 is placed, or the cassette 90 conveyed from the storage shelf (not shown) is delivered to the fourth transport vehicle 60.

As shown in FIG. 2, the fourth transport vehicle 60 has the same structure as the first transport vehicle 11, the second transport vehicle 12, and the third transport vehicle 13, and has a vehicle body 25 having wheels 24 in the front and rear and a vehicle body. It is composed of a lifter 26 provided on the 25 and supporting the cassette 90 so as to be able to move up and down. The operation of the fourth transport vehicle 60, such as traveling, is controlled by the fourth controller 63 provided on the ground side and the fourth vehicle body side controller 64 provided on the transport vehicle side.

Similar to the article transport equipment 10F of the seventh embodiment, the first transport vehicle 11 is a first position discriminating device 30B and a second position discriminating device 33B composed of a bar code tape and a bar code reader. The position on the first straight path 15 is determined by the position determination device (bar code positioning system) of.
The position of the fourth transport vehicle 60 on the fourth straight line path 61 is determined by the fifth position determination device 84 composed of the barcode tape 81, the barcode readers 82, and 83.

In the article transport facility 10G of the eighth embodiment, as in the article transport facility 10F of the seventh embodiment, when the first transport vehicle 11 travels from the other end 15A of the first straight path 15 to the second confluence 62. At the timing when the first transport vehicle 11 travels at the position where the travel rail 27A and the travel rail 27B intersect, the position determination device is switched from the first position determination device 30B to the second position determination device 33B, and the first transfer vehicle At the timing when 11 passes the position where the traveling rail 27A and the traveling rail 27B intersect, the position determination device is switched from the second position determination device 33B to the first position determination device 30B again. Further, when the first transport vehicle 11 travels from the second confluence portion 62 to the other end portion 15A of the first straight line path 15, the first transport vehicle 11 travels at a position where the travel rail 27A and the travel rail 27B intersect. At the timing, the position determination device is switched from the second position determination device 33B to the first position determination device 30B, and at the timing when the first transport vehicle 11 passes the position where the traveling rail 27A and the traveling rail 27B intersect, again. The position determination device is switched from the first position determination device 30B to the second position determination device 33B.

In the article transport facility 10G of the eighth embodiment, the second transport vehicle 12 reciprocates on the second straight path 16B, and the third transport vehicle 13 reciprocates on the third straight path 17B. Not limited to this, only one of the second transport vehicle 12 and the third transport vehicle 13 may reciprocate on the second straight route 16B and the third straight route 17B. Similarly, the first transport vehicle 11 reciprocates on the first straight route 15, and the fourth transport vehicle 60 reciprocates on the fourth straight route 61, but the present invention is not limited to this, and the first transport vehicle 60 travels back and forth. Only one of the vehicle 11 and the fourth transport vehicle 60 may reciprocate on the first straight route 15 and the fourth straight route 61.
In the article transport facility 10G of the eighth embodiment, the traveling path is configured by the traveling path 14C having a substantially cross-shaped plan view, but the traveling path is not limited to this, and the traveling path is traveled in a substantially X-shaped plan view. The path (a straight path consisting of a first straight path 15 and a fourth straight path 61 and a straight path consisting of a second straight path 16B and a third straight path 17B intersect at a predetermined angle that is not a right angle. It may be configured according to the traveling route).

As described above, according to the article transport equipment 10, 10A, 10B, 10C, 10D, 10E, 10F, 10G, the first position discriminating devices 30, 30A, 30B and the second position discriminating devices 33, 33A, 33B are used. By switching, the position of the first transport vehicle 11 on the first straight path 15 is determined, so that other transport vehicles other than the first transport vehicle 11 (second transport vehicle 12, third transport vehicle 13, first). 4 The position of the first transport vehicle 11 can be determined according to the situation of the transport vehicle 60). Therefore, other transport vehicles (second transport vehicle 12, third transport vehicle 13, fourth transport vehicle 60) other than the first transport vehicle do not interfere with the determination of the position of the first transport vehicle 11. Therefore, the position of the first transport vehicle 11 on the first straight route 15 (traveling route) can be accurately determined.

In the first to eighth embodiments of the present embodiment, the operations of the first to fourth transport vehicles 11, 12, 13, and 60 are controlled via the controller provided on the ground side. The present invention is not limited to this, and control may be performed only by the vehicle body side controller provided on the transport vehicle side.
In the first to eighth embodiments of the present embodiment, the positions of the first to fourth transport vehicles 11, 12, 13, and 60 are determined by the positions including the barcode tape and the barcode reader. It is performed by either one of the discriminator or the position discriminating device composed of the optical device, but the present invention is not limited to this, and the position may be discriminated by using both types of position discriminating devices in combination. do not have.
Further, as the position determination device, a magnetic device composed of a magnetic scale and a magnetic sensor, an optical device composed of a scale and a photoelectric sensor, or the like may be adopted to determine the position.

10 Goods transport equipment 11 1st transport vehicle 12 2nd transport vehicle 15 1st straight route 16 2nd straight route 30 1st position discrimination device 33 2nd position discrimination device 90 Cassette (article)

Claims (4)

An article transport facility including a first transport vehicle for transporting articles and a first straight route on which the first transport vehicle can reciprocate.
A second straight path extending from a predetermined position on the first straight path, and a second straight path.
A second transport vehicle capable of reciprocating on the second straight route and delivering the article to and from the first transport vehicle at the predetermined position on the first straight route.
At least prepare
The first transport vehicle is
The first position discriminating device and the second position discriminating device for discriminating the position of the first transport vehicle on the first straight line path are provided.
An article transport facility characterized by switching between the first position discriminating device and the second position discriminating device on the first straight line path. The first position discriminating device and the second position discriminating device are
An identifier provided along the first straight route and for specifying the position of the first carrier on the first straight route, and an identifier.
A reading device for reading the identifier and
The article transporting equipment according to claim 1, wherein the article transporting equipment is configured by the above. The article transporting equipment according to claim 1, wherein the first position discriminating device and the second position discriminating device are configured by an optical device. The first carrier is the difference between the detection value of the first position determination device and the detection value of the second position determination device when switching between the first position determination device and the second position determination device. The article transporting equipment according to any one of claims 1 to 3, wherein the position of the first transport vehicle on the first straight path is determined by correcting the above.

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