JP6809062B2 - Goods transport equipment - Google Patents

Goods transport equipment Download PDF

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JP6809062B2
JP6809062B2 JP2016176970A JP2016176970A JP6809062B2 JP 6809062 B2 JP6809062 B2 JP 6809062B2 JP 2016176970 A JP2016176970 A JP 2016176970A JP 2016176970 A JP2016176970 A JP 2016176970A JP 6809062 B2 JP6809062 B2 JP 6809062B2
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detected
detected body
traveling
stop position
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JP2018041409A (en
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吉成 和田
吉成 和田
西川　直
直 西川
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Daifuku Co Ltd
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Daifuku Co Ltd
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67724—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations by means of a cart or a vehicule
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/67005—Apparatus not specifically provided for elsewhere
    • H01L21/67242—Apparatus for monitoring, sorting or marking
    • H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67706—Mechanical details, e.g. roller, belt

Description

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

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

特開２００５−２０２４６４号公報Japanese Unexamined Patent Publication No. 2005-202464

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

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

本発明に係る物品搬送設備の特徴構成は、走行経路に沿って走行する走行台車と、前記走行台車を制御する制御装置と、前記走行台車の停止位置として設定されている設定停止位置に対応して設置された被検出体と、を備え、前記走行台車は、前記被検出体を検出する検出装置を備え、前記制御装置は、前記検出装置による前記被検出体の検出情報に基づいて前記走行台車を停止させる物品搬送設備において、
前記被検出体として、第１被検出体と第２被検出体とを備え、前記第１被検出体は、前記設定停止位置に前記走行台車が位置している状態で前記検出装置により検出可能な位置に設置され、少なくとも当該被検出体が第１被検出体であることを示す第１付加情報を備え、前記第２被検出体は、前記第１被検出体より走行方向で上流側に設置され、前記第１付加情報より少ない情報量の第２付加情報を備え又は付加情報を備えず、前記検出装置は、前記第１被検出体及び前記第２被検出体の存在を検出可能であって、且つ、存在を検出した前記第１被検出体の前記第１付加情報を読み取り可能であり、更に、存在を検出した前記第２被検出体が前記第２付加情報を備えている場合は当該第２付加情報を読み取り可能であり、前記制御装置は、前記走行台車を前記設定停止位置に向けて走行させているときに前記検出装置により前記第２被検出体の存在が検出された場合は、当該第２被検出体の存在の検出情報及び前記第２付加情報が読み取られた場合には当該第２付加情報にも基づいて、前記設定停止位置を目標停止位置として停止させるように前記走行台車を減速させる停止処理を実行し、前記停止処理により前記走行台車が停止した状態において、前記検出装置による前記第１被検出体の存在の検出情報及び前記第１付加情報に基づいて、前記走行台車が前記設定停止位置に停止しているか否かを判別する判別処理を実行する点にある。 The characteristic configuration of the article transport facility according to the present invention corresponds to a traveling carriage traveling along a traveling route, a control device for controlling the traveling carriage, and a set stop position set as a stop position of the traveling carriage. The traveling carriage is provided with a detection device for detecting the detected object, and the control device is based on the detection information of the detected object by the detecting device. In the goods transportation equipment that stops the dolly
The detected body includes a first detected body and a second detected body, and the first detected body can be detected by the detection device in a state where the traveling carriage is located at the set stop position. The second detected body is located upstream of the first detected body in the traveling direction, and at least provided with the first additional information indicating that the detected body is the first detected body. It is installed and has a second additional information with an amount of information smaller than that of the first additional information or has no additional information, and the detection device can detect the presence of the first detected body and the second additional detected body. there are, and is capable of reading the first additional information to detect the presence of the first detected body, further, if the second detected body that detects the presence is provided with the second additional information Can read the second additional information, and the control device detects the presence of the second detected body by the detection device while the traveling carriage is traveling toward the set stop position. In that case, when the detection information of the existence of the second object to be detected and the second additional information are read, the set stop position is set as the target stop position based on the second additional information. A stop process for decelerating the traveling vehicle is executed, and in a state where the traveling vehicle is stopped by the stop processing, based on the detection information of the presence of the first detected body by the detection device and the first additional information. The point is to execute a determination process for determining whether or not the traveling vehicle is stopped at the set stop position.

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

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

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

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

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

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

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

また、前記第１被検出体は、前記検出装置に向く面に前記第１付加情報が読み取り可能に表示され、前記第２被検出体は、前記検出装置に向く面が単色であり前記第２付加情報が表示されていないと好適である。 Further, the first additional information is readablely displayed on the surface of the first object to be detected facing the detection device, and the surface of the second object to be detected faces the detection device in a single color. It is preferable that no additional information is displayed.

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

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

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

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

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

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

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

保管棚４は、走行レール２に対して、経路幅方向の第１方向と第２方向との双方に設置されている。そして、一対のレール部２ａにおける第１方向に位置するレール部２ａと、走行レール２に対して第１方向に位置する第２連結部材１１とが、経路幅方向に延びる第３連結部材１３により連結されている。また、同様に、一対のレール部２ａにおける第２方向に位置するレール部２ａと、走行レール２に対して第２方向に位置する第２連結部材１１とが、経路幅方向に延びる第３連結部材１３により連結されている。
このように、走行レール２と保管棚４とが、連結部材（第２支持部材１０と第２連結部材１１と第３連結部材１３）により互いに連結されている。そして、走行レール２と保管棚４とが連結されていることで、走行レール２は、第１支持部材８に加えて、第２支持部材１０と第２連結部材１１とによっても支持されている。
第２支持部材１０に、支持体１２が連結されている。このように第２支持部材１０に支持体１２が連結されていることで、走行レール２を支持する部材に、支持体１２が備えられている。 The storage shelves 4 are installed in both the first direction and the second direction in the path width direction with respect to the traveling rail 2. Then, the rail portion 2a located in the first direction of the pair of rail portions 2a and the second connecting member 11 located in the first direction with respect to the traveling rail 2 are formed by the third connecting member 13 extending in the path width direction. It is connected. Similarly, a third connection in which the rail portion 2a located in the second direction of the pair of rail portions 2a and the second connecting member 11 located in the second direction with respect to the traveling rail 2 extend in the path width direction. It is connected by a member 13.
In this way, the traveling rail 2 and the storage shelf 4 are connected to each other by connecting members (second support member 10, second connecting member 11, and third connecting member 13). Since the traveling rail 2 and the storage shelf 4 are connected to each other, the traveling rail 2 is supported not only by the first support member 8 but also by the second support member 10 and the second connecting member 11. ..
The support 12 is connected to the second support member 10. By connecting the support 12 to the second support member 10 in this way, the support 12 is provided as a member that supports the traveling rail 2.

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

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

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

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

図６、図７及び図８に示すように、走行経路には、第１停止位置Ｐ１と第２停止位置Ｐ２とが設定されている。第１停止位置Ｐ１は、物品搬送車１が保管棚４との間で物品Ｗを移載するときに物品搬送車１が停止する位置であり、複数の保管部４ａの夫々に対して設定されている。第２停止位置Ｐ２は、物品搬送車１が支持台５との間で物品Ｗを移載するときに物品搬送車１が停止する位置であり、複数の支持台５の夫々に対して設定されている。
このように、物品搬送車１が停止する停止位置として、第１停止位置Ｐ１と、この第１停止位置Ｐ１とは別の第２停止位置Ｐ２とが設定されている。尚、第１停止位置Ｐ１が、設定停止位置に相当する。
ちなみに、「第１停止位置Ｐ１とは別の第２停止位置Ｐ２」とは、第１停止位置Ｐ１と第２停止位置Ｐ２とは設定する対象が異なることを意味しており、保管部４ａと支持台５との位置関係によっては、第１停止位置Ｐ１と第２停止位置Ｐ２とが経路長手方向で同じ位置に設定される場合がある。 As shown in FIGS . 6 , 7 and 8 , a first stop position P1 and a second stop position P2 are set in the traveling path. The first stop position P1 is a position at which the article transport vehicle 1 stops when the article transport vehicle 1 transfers the article W to and from the storage shelf 4, and is set for each of the plurality of storage units 4a. ing. The second stop position P2 is a position at which the article transport vehicle 1 stops when the article transport vehicle 1 transfers the article W to and from the support base 5, and is set for each of the plurality of support bases 5. ing.
As described above, the first stop position P1 and the second stop position P2 different from the first stop position P1 are set as the stop positions where the article transport vehicle 1 stops. The first stop position P1 corresponds to the set stop position.
By the way, "the second stop position P2 different from the first stop position P1" means that the target to be set is different between the first stop position P1 and the second stop position P2, and the storage unit 4a and Depending on the positional relationship with the support base 5, the first stop position P1 and the second stop position P2 may be set to the same position in the longitudinal direction of the path.

図５及び図６に示すように、物品搬送設備には、第１停止位置Ｐ１に対応して設置された被検出体Ｔが備えられている。この被検出体Ｔとして、第１被検出体Ｔ１と第２被検出体Ｔ２とを備えている。つまり、第１被検出体Ｔ１及び第２被検出体Ｔ２は、第１停止位置Ｐ１に対応して設置されている。
また、図５及び図８に示すように、物品搬送設備には、第３被検出体Ｔ３と第４被検出体Ｔ４とが備えられており、これら第３被検出体Ｔ３及び第４被検出体Ｔ４は、第２停止位置Ｐ２に対応して設置されている。 As shown in FIGS. 5 and 6, the article transport facility is provided with the object to be detected T installed corresponding to the first stop position P1. As the detected body T, a first detected body T1 and a second detected body T2 are provided. That is, the first detected body T1 and the second detected body T2 are installed corresponding to the first stop position P1.
Further, as shown in FIGS. 5 and 8 , the article transport facility is provided with the third detected body T3 and the fourth detected body T4, and these third detected body T3 and the fourth detected body T4 are provided. The body T4 is installed corresponding to the second stop position P2.

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

第２被検出体Ｔ２は、第１被検出体Ｔ１より走行方向（経路長手方向）で上流側に、第１被検出体Ｔ１に対して離れた位置に設置されている。
このように、第２被検出体Ｔ２は、第１被検出体Ｔ１より第１設定距離だけ上流側に設定された第１設定位置に設置されている。第１設定距離は、物品搬送車１が第１停止位置Ｐ１に停止するべく走行しているときに、第１検出装置Ｓ１により第２被検出体Ｔ２が検出されてから後述の第１減速制御により第１停止位置Ｐ１に停止するのに適した距離に設定されている。第２被検出体Ｔ２は、第１設定位置に物品搬送車１が位置している状態で物品搬送車１の第１検出装置Ｓ１により検出可能な位置に設置されている。
第２被検出体Ｔ２は、第１検出装置Ｓ１に向く面が単色であり付加情報（例えば、第１付加情報より少ない情報量の第２付加情報等）は表示されていない。第２被検出体Ｔ２は、板状の部材にて構成して支持体１２に固定されている。第２被検出体Ｔ２における第１検出装置Ｓ１に向く面（経路幅方向の一方向を向く面）は、支持体１２とは異なる色で形成されている。
ちなみに、ここでいう単色や異なる色は、第１検出装置Ｓ１が認識する色についてであり、例えば、第２被検出体Ｔ２の表面を肉眼で見れば複数の色が表示されているように見える場合であったとしても、第１検出装置Ｓ１が第２被検出体Ｔ２の表面を単色と認識する場合は、第１検出装置Ｓ１は単色である。 The second detected body T2 is installed on the upstream side in the traveling direction (longitudinal direction of the route) from the first detected body T1 and at a position away from the first detected body T1.
As described above, the second detected body T2 is installed at the first set position set upstream of the first detected body T1 by the first set distance. The first set distance is the first deceleration control described later after the second detection body T2 is detected by the first detection device S1 when the article transport vehicle 1 is traveling to stop at the first stop position P1. Is set to a distance suitable for stopping at the first stop position P1. The second object to be detected T2 is installed at a position that can be detected by the first detection device S1 of the article transport vehicle 1 in a state where the article transport vehicle 1 is located at the first set position.
The surface of the second detected body T2 facing the first detection device S1 is monochromatic, and additional information (for example, second additional information having an amount of information smaller than that of the first additional information) is not displayed. The second object to be detected T2 is composed of a plate-shaped member and is fixed to the support 12. The surface of the second object to be detected T2 facing the first detection device S1 (the surface facing one direction in the path width direction) is formed in a color different from that of the support 12.
By the way, the single color and the different colors referred to here are the colors recognized by the first detection device S1, and for example, when the surface of the second detected object T2 is viewed with the naked eye, it seems that a plurality of colors are displayed. Even in this case, when the first detection device S1 recognizes the surface of the second object to be detected T2 as a single color, the first detection device S1 is a single color.

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

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

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

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

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

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

物品搬送車１を停止位置に停止させるべく走行させている途中において車輪のスリップ等が生じることにより、物品搬送車１を走行制御により停止位置に停止させようとしても物品搬送車１が停止位置からずれて停止する可能性がある。そのため、制御装置Ｈは、減速処理の実行中に、減速度を修正する処理（停止処理）を行っている。また、制御装置Ｈは、走行処理（走行処理における停止処理）により停止した状態で停止位置に停止しているか否かを判別する処理（判別処理）を実行している。 When the article transport vehicle 1 is being driven to stop at the stop position due to wheel slippage or the like, even if the article transport vehicle 1 is stopped at the stop position by the travel control, the article transport vehicle 1 starts from the stop position. It may shift and stop. Therefore, the control device H performs a process (stop process) for correcting the deceleration during the execution of the deceleration process. Further, the control device H executes a process (discrimination process) for determining whether or not the control device H has stopped at the stop position in a stopped state by the travel process (stop process in the travel process).

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

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

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

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

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

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

〔別実施形態〕
（１）上記実施形態では、第２停止位置に対して第３被検出体及び第４被検出体を設置したが、第３被検出体及び第４被検出体を設置せずに、第１停止位置と同様に、第２停止位置に対して第１被検出体及び第２被検出体を設置してもよい。 [Another Embodiment]
(1) In the above embodiment, the third detected body and the fourth detected body are installed at the second stop position, but the first detected body and the fourth detected body are not installed. Similar to the stop position, the first detected body and the second detected body may be installed at the second stop position.

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

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

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

１ 物品搬送車（走行台車）
２ 走行レール
１２ 支持体
Ｅ 検出範囲
Ｈ 制御装置
Ｔ 被検出体
Ｐ１ 第１停止位置（設定停止位置）
Ｐ２ 第２停止位置
Ｓ１ 第１検出装置（検出装置）
Ｓ２ 第２検出装置
Ｔ１ 第１被検出体
Ｔ２ 第２被検出体
Ｔ３ 第３被検出体 1 Goods carrier (traveling trolley)
2 Traveling rail 12 Support E Detection range H Control device T Detected object P1 First stop position (set stop position)
P2 2nd stop position S1 1st detection device (detection device)
S2 2nd detection device T1 1st detected body T2 2nd detected body T3 3rd detected body

Claims (4)

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