JP7294029B2

JP7294029B2 - Goods transport equipment

Info

Publication number: JP7294029B2
Application number: JP2019175575A
Authority: JP
Inventors: 繁行田中; 遼司岸
Original assignee: Daifuku Co Ltd
Current assignee: Daifuku Co Ltd
Priority date: 2019-09-26
Filing date: 2019-09-26
Publication date: 2023-06-20
Anticipated expiration: 2039-09-26
Also published as: JP2021051674A

Description

本発明は、走行経路に沿って走行して物品を搬送する物品搬送車を備えた物品搬送設備に関する。 BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article transport facility having an article transport vehicle that travels along a travel route to transport articles.

特開２０１８－４１４０９号公報には、物品搬送車（１）の１つの停止位置（第１設定位置）に対して、二次元バーコードにて構成された第１被検出体（Ｔ１）と、一次元バーコードにて構成された第２被検出体（Ｔ２）とを備えて、当該停止位置で物品搬送車（１）が自動的に停止するように制御される物品搬送設備が開示されている（背景技術において括弧内の符号は参照する文献のもの。）。物品搬送車（１）の制御装置（Ｈ）は、物品搬送車（１）を第１設定位置に向けて走行させている際に、第２被検出体（Ｔ２）の存在を検出すると、物品搬送車（１）を減速させる停止処理を実行する。物品搬送車（１）が停止した第１設定位置が正しければ、第１被検出体（Ｔ１）が検出可能であるから、制御装置（Ｈ）は、物品搬送車（１）が停止した状態で第１被検出体（Ｔ１）が検出できるか否かを判定する。第１被検出体（Ｔ１）が正しい位置で検出されていれば、制御装置（Ｈ）は、第１検出被検出体（Ｔ１）に保持されたアドレス情報を確認する。第１被検出体（Ｔ１）が正しい位置で検出されなければ、制御装置（Ｈ）は、正しい位置まで物品搬送車（１）を移動させた後、アドレス情報を確認する。 Japanese Patent Application Laid-Open No. 2018-41409 discloses that, for one stop position (first set position) of an article transport vehicle (1), a first detectable object (T1) composed of a two-dimensional barcode, Disclosed is an article transport facility that includes a second detectable object (T2) composed of a one-dimensional bar code, and is controlled so that the article transport vehicle (1) automatically stops at the stop position. (Reference numerals in parentheses in the background art refer to the literature). When the control device (H) of the article transport vehicle (1) detects the presence of the second detectable object (T2) while the article transport vehicle (1) is traveling toward the first set position, the article Stop processing is executed to decelerate transport vehicle (1). If the first set position where the article transport vehicle (1) is stopped is correct, the first detectable object (T1) can be detected. It is determined whether or not the first detectable object (T1) can be detected. If the first detectable object (T1) is detected at the correct position, the control device (H) confirms the address information held in the first detected detectable object (T1). If the first detectable object (T1) is not detected at the correct position, the control device (H) moves the article transport vehicle (1) to the correct position and then confirms the address information.

特開２０１８－４１４０９号公報JP 2018-41409 A

上記の物品搬送設備では、第１被検出体と第２被検出体との２つの被検出体が対となって停止制御に用いられる。このため、第１被検出体に保持されたアドレス情報に対応する停止位置（第１設定位置）は１つとなる。つまり、物品の移載箇所に相当する停止位置は、１つのアドレス情報に対して１つしか設定することができないものとなっていた。このような場合において、移載箇所の増加に対応して被検出体の対を増やすと、設備のコストが増大したり、物品の搬送効率が低下したりする可能性がある。 In the above-described article transport equipment, two detectable objects, the first detectable object and the second detectable object, are paired and used for stop control. Therefore, there is one stop position (first set position) corresponding to the address information held in the first detected object. In other words, only one stop position corresponding to the transfer position of the article can be set for one piece of address information. In such a case, if the number of pairs of objects to be detected is increased in response to an increase in the number of transfer locations, there is a possibility that the equipment cost will increase or the article transportation efficiency will decrease.

上記背景に鑑みて、走行経路のアドレス情報を保持する被検出体と物品搬送車を停止させるための基準となる被検出体とを備えて物品搬送車の走行を制御する物品搬送設備において、コストの増加及び搬送効率の低下を抑制しつつ、１つのアドレス情報に対応する複数箇所に物品搬送車を停止させることができる技術の提供が望まれる。 In view of the above background, in an article transport facility that controls the travel of an article transport vehicle that includes a detectable object that holds address information of the travel route and a detectable object that serves as a reference for stopping the transport vehicle, cost It is desired to provide a technique capable of stopping an article transport vehicle at a plurality of locations corresponding to one piece of address information while suppressing an increase in the number of items and a decrease in transport efficiency.

上記に鑑みた、走行経路に沿って走行して物品を搬送する物品搬送車を備えた物品搬送設備は、１つの態様として、
前記物品搬送車は、前記物品搬送車の走行方向に対して平面視で直交する方向を幅方向として、前記幅方向の両側に設置された被検出体を検出すると共に前記被検出体に保持された情報を読み取る検出装置を備え、
前記被検出体は、第１被検出体、第２被検出体及び第３被検出体を含み、
前記第１被検出体は、前記走行経路に沿った位置を示すアドレス情報を保持していると共に前記幅方向の一方側である幅方向第１側に設置され、
前記第２被検出体は、前記物品搬送車が停止する停止位置である第１停止位置を示すように前記幅方向第１側に設置され、
前記第３被検出体は、前記第１停止位置とは異なる前記停止位置である第２停止位置を示すように前記幅方向の他方側である幅方向第２側に設置され、
前記第２被検出体及び前記第３被検出体は、前記物品搬送車の前記走行方向において、前記物品搬送車が停止する前記停止位置よりも手前側の領域であって、前記物品搬送車の走行速度が前記停止位置において停止可能な速度であるか否かを確認するための確認領域をさらに示すように形成され、
前記第２被検出体及び前記第３被検出体は、形状により少なくとも前記停止位置を示し、前記走行経路に沿って延在するように配置された帯状の標章であり、
前記検出装置は、前記第１被検出体を検出する第１検出装置と、前記第２被検出体を検出する第２検出装置と、前記第３被検出体を検出する第３検出装置とを含み、
前記第２検出装置及び前記第３検出装置は、光センサであり、
前記第２被検出体及び前記第３被検出体は、当該標章が同一幅で連続する第１部分によって前記確認領域を示し、前記物品搬送車の前記走行方向において上流側に位置する当該標章の端部である上流側端部により前記確認領域の開始位置を示し、前記第１部分とは異なる幅を有する第２部分によって前記停止位置を示す。 In view of the above, as one aspect, an article transport facility equipped with an article transport vehicle that transports an item while traveling along a travel route includes:
The article transport vehicle has a width direction perpendicular to the traveling direction of the article transport vehicle in plan view, and detects the detectable bodies installed on both sides in the width direction, and is held by the detectable bodies. Equipped with a detection device that reads the information
The detectable body includes a first detectable body, a second detectable body and a third detectable body,
The first detected object holds address information indicating a position along the travel route and is installed on the first side in the width direction, which is one side in the width direction,
The second detectable body is installed on the first side in the width direction so as to indicate a first stop position at which the article transport vehicle stops,
The third detectable body is installed on the second side in the width direction, which is the other side in the width direction, so as to indicate a second stop position that is the stop position different from the first stop position,
The second detectable body and the third detectable body are regions on the near side of the stop position where the article transport vehicle stops in the traveling direction of the article transport vehicle, and Formed to further indicate a confirmation area for confirming whether the running speed is a speed that can be stopped at the stop position,
The second detectable object and the third detectable object are strip-shaped marks arranged so as to indicate at least the stop position by their shape and extend along the travel route,
The detection device includes a first detection device that detects the first detectable object, a second detection device that detects the second detectable object, and a third detection device that detects the third detectable object. including
the second detection device and the third detection device are optical sensors;
The second detectable body and the third detectable body indicate the confirmation area by a first portion in which the marks are continuous with the same width, and the marks are positioned upstream in the traveling direction of the article transport vehicle. The upstream end, which is the end of a chapter, indicates the starting position of the verification area and the stopping position is indicated by a second portion having a different width than the first portion.

この構成によれば、幅方向第１側に設置された第１被検出体に保持されたアドレス情報に対応して、第１被検出体と同じ幅方向第１側に設置された第２被検出体と、第１被検出体とは反対側の幅方向第２側に設置された第３被検出体との２つにより、異なる停止位置が設定される。このように、第２被検出体と第３被検出体とが幅方向の両側に分かれて設置されるため、第２被検出体と第３被検出体とを搬送方向に接近させて配置した場合であっても、検出装置によるこれらの検出を適切に行うことが容易となっている。そして、物品搬送車が第２被検出体に示される第１停止位置で停止する場合は、第１被検出体に保持されたアドレス情報と第１停止位置との関係により物品搬送車が適切に制御される。また、物品搬送車が第３被検出体に示される第２停止位置で停止する場合は、第１被検出体に保持されたアドレス情報と第２停止位置との関係により物品搬送車が適切に制御される。このように、本構成によれば、走行経路のアドレス情報を保持する被検出体と物品搬送車を停止させるための基準となる被検出体とを備えて物品搬送車の走行を制御する物品搬送設備において、コストの増加及び搬送効率の低下を抑制しつつ、１つのアドレス情報に対応する複数箇所に物品搬送車を停止させることができる。
物品搬送車を停止位置で停止させるためには、停止位置よりも上流側で物品搬送車の走行速度が適切に減速されていることが好ましい。例えば、停止位置よりも上流側の規定された地点において物品搬送車の走行速度が規定速度以下であれば、物品搬送車を停止位置で適切に停止させることが容易となる。本構成によれば、この規定された地点を示す被検出体を別途設けることなく、停止地点を示す第２被検出体及び第３被検出体が、確認領域を示すように形成されている。従って、本構成の物品搬送設備は、コストの増加を抑制しつつ、適切に物品搬送車を制御することができる。
また、標章の形状の検出は、光センサにより構成された第２検出装置及び第３検出装置を用いて比較的簡単な構成で行うことができる。本構成によれば、第２被検出体及び第３被検出体が第１部分と第２部分とを備えることによって、簡単に確認領域と停止位置との双方を示すことができる。また、例えば画像処理によるエッジ検出は比較的負荷の軽い演算で可能であり、検出装置は、第１部分の上流側端部によって示される確認領域の開始位置を比較的容易に検出することができる。 According to this configuration, the second detection object installed on the same width direction first side as the first detection object corresponds to the address information held in the first detection object installed on the width direction first side. Different stop positions are set for the detection object and the third detection object installed on the second side in the width direction opposite to the first detection object. In this way, since the second detectable body and the third detectable body are separately installed on both sides in the width direction, the second detectable body and the third detectable body are arranged close to each other in the conveying direction. Even in this case, it is easy to appropriately perform these detections by the detection device. When the article conveying vehicle stops at the first stop position indicated by the second detectable object, the article conveying vehicle can be properly stopped according to the relationship between the address information held in the first detectable object and the first stop position. controlled. In addition, when the article transport vehicle stops at the second stop position indicated by the third detectable object, the article transport vehicle can be properly stopped according to the relationship between the address information held in the first detectable object and the second stop position. controlled. As described above, according to the present configuration, an article transport system that controls the travel of the article transport vehicle is provided with the detectable object that holds the address information of the travel route and the detectable object that serves as a reference for stopping the object transport vehicle. In equipment, it is possible to stop an article transport vehicle at a plurality of locations corresponding to one piece of address information while suppressing an increase in cost and a decrease in transport efficiency.
In order to stop the article transport vehicle at the stop position, it is preferable that the running speed of the article transport vehicle is appropriately reduced upstream of the stop position. For example, if the running speed of the article transport vehicle is equal to or less than the specified speed at a specified point upstream of the stop position, it becomes easy to properly stop the article transport vehicle at the stop position. According to this configuration, the second detectable object and the third detectable object indicating the stop point are formed so as to indicate the confirmation area without separately providing the detectable object indicating the specified point. Therefore, the article conveying facility of this configuration can appropriately control the article conveying vehicle while suppressing an increase in cost.
Also, the detection of the shape of the mark can be performed with a relatively simple configuration using the second detection device and the third detection device, which are composed of optical sensors. According to this configuration, both the confirmation area and the stop position can be easily indicated by providing the second detectable body and the third detectable body with the first portion and the second portion. Further, for example, edge detection by image processing can be performed with a relatively light calculation load, and the detection device can relatively easily detect the start position of the confirmation area indicated by the upstream end of the first portion. .

上記に鑑みた、走行経路に沿って走行して物品を搬送する物品搬送車を備えた物品搬送設備は、別の態様として、 In view of the above, another aspect of the article transport facility equipped with an article transport vehicle that transports an article while traveling along a travel route is as follows:
前記物品搬送車は、前記物品搬送車の走行方向に対して平面視で直交する方向を幅方向として、前記幅方向の両側に設置された被検出体を検出すると共に前記被検出体に保持された情報を読み取る検出装置を備え、 The article transport vehicle has a width direction perpendicular to the traveling direction of the article transport vehicle in plan view, and detects the detectable bodies installed on both sides in the width direction, and is held by the detectable bodies. Equipped with a detection device that reads the information
前記被検出体は、第１被検出体、第２被検出体及び第３被検出体を含み、 The detectable body includes a first detectable body, a second detectable body and a third detectable body,
前記第１被検出体は、前記走行経路に沿った位置を示すアドレス情報を保持していると共に前記幅方向の一方側である幅方向第１側に設置され、 The first detected object holds address information indicating a position along the travel route and is installed on the first side in the width direction, which is one side in the width direction,
前記第２被検出体は、前記物品搬送車が停止する停止位置である第１停止位置を示すように前記幅方向第１側に設置され、 The second detectable body is installed on the first side in the width direction so as to indicate a first stop position at which the article transport vehicle stops,
前記第３被検出体は、前記第１停止位置とは異なる前記停止位置である第２停止位置を示すように前記幅方向の他方側である幅方向第２側に設置され、 The third detectable body is installed on the second side in the width direction, which is the other side in the width direction, so as to indicate a second stop position that is the stop position different from the first stop position,
前記第１停止位置が、前記走行経路に対して前記幅方向第１側に設置されて物品を移載する第１物品移載箇所の位置に対応し、 The first stop position corresponds to a position of a first article transfer location that is installed on the first side in the width direction with respect to the travel path and transfers an article,
前記第２停止位置が、前記走行経路に対して前記幅方向第２側に設置されて物品を移載する第２物品移載箇所の位置に対応し、 the second stop position corresponds to a position of a second article transfer location installed on the second side in the width direction with respect to the travel path to transfer the article;
１つの前記アドレス情報に対して、前記第１停止位置と前記第２停止位置とがそれぞれ割り当てられている。 The first stop position and the second stop position are assigned to one piece of address information.

この構成によれば、幅方向第１側に設置された第１被検出体に保持されたアドレス情報に対応して、第１被検出体と同じ幅方向第１側に設置された第２被検出体と、第１被検出体とは反対側の幅方向第２側に設置された第３被検出体との２つにより、異なる停止位置が設定される。このように、第２被検出体と第３被検出体とが幅方向の両側に分かれて設置されるため、第２被検出体と第３被検出体とを搬送方向に接近させて配置した場合であっても、検出装置によるこれらの検出を適切に行うことが容易となっている。そして、物品搬送車が第２被検出体に示される第１停止位置で停止する場合は、第１被検出体に保持されたアドレス情報と第１停止位置との関係により物品搬送車が適切に制御される。また、物品搬送車が第３被検出体に示される第２停止位置で停止する場合は、第１被検出体に保持されたアドレス情報と第２停止位置との関係により物品搬送車が適切に制御される。このように、本構成によれば、走行経路のアドレス情報を保持する被検出体と物品搬送車を停止させるための基準となる被検出体とを備えて物品搬送車の走行を制御する物品搬送設備において、コストの増加及び搬送効率の低下を抑制しつつ、１つのアドレス情報に対応する複数箇所に物品搬送車を停止させることができる。 According to this configuration, the second detection object installed on the same width direction first side as the first detection object corresponds to the address information held in the first detection object installed on the width direction first side. Different stop positions are set for the detection object and the third detection object installed on the second side in the width direction opposite to the first detection object. In this way, since the second detectable body and the third detectable body are separately installed on both sides in the width direction, the second detectable body and the third detectable body are arranged close to each other in the conveying direction. Even in this case, it is easy to appropriately perform these detections by the detection device. When the article conveying vehicle stops at the first stop position indicated by the second detectable object, the article conveying vehicle can be properly stopped according to the relationship between the address information held in the first detectable object and the first stop position. controlled. In addition, when the article transport vehicle stops at the second stop position indicated by the third detectable object, the article transport vehicle can be properly stopped according to the relationship between the address information held in the first detectable object and the second stop position. controlled. As described above, according to the present configuration, an article transport system that controls the travel of the article transport vehicle is provided with the detectable object that holds the address information of the travel route and the detectable object that serves as a reference for stopping the object transport vehicle. In equipment, it is possible to stop an article transport vehicle at a plurality of locations corresponding to one piece of address information while suppressing an increase in cost and a decrease in transport efficiency.
また、この構成によれば、走行経路に対して幅方向の両側に物品の移載箇所を配置することができ、高い空間利用効率で物品搬送設備を構築することができる。また、走行経路に対して幅方向の両側に配置された物品移載箇所のそれぞれに対して、適切に物品搬送車を停止させることができる。また、１つのアドレス情報に対して、幅方向第１側の第１停止位置と幅方向第２側の第２停止位置とがそれぞれ割り当てられていることで、コストの増加及び搬送効率の低下を抑制しつつ、１つのアドレス情報に対応して２箇所に物品搬送車を停止させることができる。 In addition, according to this configuration, it is possible to arrange the transfer locations for the articles on both sides in the width direction with respect to the travel path, and to construct the article conveying facility with high space utilization efficiency. In addition, the article transport vehicle can be appropriately stopped at each of the article transfer locations arranged on both sides in the width direction of the travel route. Further, since the first stop position on the first side in the width direction and the second stop position on the second side in the width direction are assigned to one piece of address information, an increase in cost and a decrease in transport efficiency can be avoided. While suppressing, it is possible to stop the article transport vehicle at two locations corresponding to one address information.

物品搬送設備のさらなる特徴と利点は、図面を参照して説明する実施形態についての以下の記載から明確となる。 Further features and advantages of the article handling installation will become clear from the following description of the embodiments described with reference to the drawings.

物品搬送設備の一例を模式的に示す平面図Plan view schematically showing an example of article transport equipment 被検出体を備えた物品搬送設備の一例を示す説明図Explanatory drawing showing an example of an article conveying facility equipped with an object to be detected 被検出体と物品搬送車の走行速度との関係の一例を示すグラフGraph showing an example of the relationship between the object to be detected and the travel speed of the article transport vehicle 第１被検出体から対となる第２（第３）被検出体までの位置関係を示す図A diagram showing the positional relationship from the first detectable object to the paired second (third) detectable object. 第２（第３）被検出体から対ではない第１被検出体までの位置関係を示す図A diagram showing the positional relationship from the second (third) detected object to the unpaired first detected object 両方向走行区間における被検出体の一例を示す図A diagram showing an example of an object to be detected in a bidirectional travel section 両方向走行区間における被検出体の一例を示す図A diagram showing an example of an object to be detected in a bidirectional travel section

以下、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の平面図は、物品搬送設備１００の一例を模式的に示している。物品搬送設備１００は、例えば半導体の製造設備において、各種の処理装置４に半導体ウェハや材料を搬送する設備である。搬送対象の物品Ｗは、例えば半導体ウェハが収納された容器、半導体製造用のフォトマスクなどが収納された容器である。尚、物品搬送設備１００は、半導体製造設備に限らず、物流倉庫において、その他の物品Ｗを搬送するものであってもよい。 An embodiment of an article transport facility will be described below with reference to the drawings. The plan view of FIG. 1 schematically shows an example of an article transport facility 100. As shown in FIG. The article transport facility 100 is, for example, a facility for transporting semiconductor wafers and materials to various processing apparatuses 4 in a semiconductor manufacturing facility. The article W to be transported is, for example, a container containing a semiconductor wafer, a container containing a photomask for manufacturing semiconductors, or the like. The article conveying equipment 100 is not limited to semiconductor manufacturing equipment, and may be used to convey other articles W in distribution warehouses.

図１に示すように、物品搬送設備１００は、走行経路Ｌに沿って走行して物品Ｗを搬送する物品搬送車１と、物品搬送車１との間及び処理装置４との間で物品Ｗを移載する移載装置６とを備えている。物品搬送車１は、基本的に一方向に走行する。ここでは、物品搬送車１が走行する方向を走行方向Ｄと称する。また、走行方向Ｄに対して平面視で直交する方向を幅方向Ｈと称し、幅方向Ｈの一方側を幅方向第１側Ｈ１と称し、他方側を幅方向第２側Ｈ２と称する。移載装置６は、走行経路Ｌに対して幅方向第１側Ｈ１と幅方向第２側Ｈ２との双方に配置されている。これらを区別する場合には、幅方向第１側Ｈ１に配置された移載装置６を第１物品移載装置６１と称し、幅方向第２側Ｈ２に配置された移載装置６を第２物品移載装置６２と称する。 As shown in FIG. 1 , an article transport facility 100 includes an article transport vehicle 1 that travels along a travel route L to transport an article W, and an article transport vehicle 1 that transports an article W between the article transport vehicle 1 and between the processing device 4 and the article transport vehicle 1 . and a transfer device 6 for transferring the . The article transport vehicle 1 basically travels in one direction. Here, the direction in which the article transport vehicle 1 travels is referred to as a traveling direction D. As shown in FIG. A direction orthogonal to the running direction D in plan view is called a width direction H, one side of the width direction H is called a width direction first side H1, and the other side is called a width direction second side H2. The transfer device 6 is arranged on both the width direction first side H1 and the width direction second side H2 with respect to the travel path L. As shown in FIG. When distinguishing between them, the transfer device 6 arranged on the width direction first side H1 is referred to as a first article transfer device 61, and the transfer device 6 arranged on the width direction second side H2 is called a second article transfer device 61. It is called an article transfer device 62 .

図２に示すように、物品搬送設備１００には、走行経路Ｌに沿って、物品搬送車１が備える検出装置１０により検出可能な被検出体２０が備えられている。被検出体２０は、第１被検出体２１、第２被検出体２２及び第３被検出体２３を含む。第１被検出体２１及び第２被検出体２２は幅方向第１側Ｈ１に設置され、第３被検出体２３は幅方向第２側Ｈ２に設置されている。第１被検出体２１は、走行経路Ｌに沿った位置を示すアドレス情報を保持している。第２被検出体２２及び第３被検出体２３は、物品搬送車１が停止する停止位置Ｐを示すように配置されている。第１被検出体２１は、例えば一次元バーコードや二次元バーコードなどによりアドレス情報が記されたバーコードを備えて構成されており、第２被検出体２２及び第３被検出体２３は、形状により少なくとも停止位置Ｐを示す標章（停止マーカー３０）により構成されている。 As shown in FIG. 2 , the article transport facility 100 is provided with a detectable object 20 along a travel route L that can be detected by a detection device 10 provided on the article transport vehicle 1 . The detectable body 20 includes a first detectable body 21 , a second detectable body 22 and a third detectable body 23 . The first detected object 21 and the second detected object 22 are installed on the widthwise first side H1, and the third detected object 23 is installed on the widthwise second side H2. The first detectable object 21 holds address information indicating a position along the travel route L. As shown in FIG. The second detectable body 22 and the third detectable body 23 are arranged so as to indicate the stop position P where the article transport vehicle 1 stops. The first detectable body 21 is configured with a bar code in which address information is written by, for example, a one-dimensional bar code or a two-dimensional bar code, and the second detectable body 22 and the third detectable body 23 are , and a mark (stop marker 30) that indicates at least the stop position P by its shape.

第２被検出体２２は、第１停止位置Ｐ１を示すように幅方向第１側Ｈ１に設置され、第３被検出体２３は、第１停止位置Ｐ１とは異なる第２停止位置Ｐ２を示すように幅方向第２側Ｈ２に設置されている。第１停止位置Ｐ１は、走行経路Ｌに対して幅方向第１側Ｈ１に設置されて物品Ｗを移載する第１物品移載装置６１の設置箇所（第１物品移載箇所）の位置に対応している。また、第２停止位置Ｐ２は、走行経路Ｌに対して幅方向第２側Ｈ２に設置されて物品Ｗを移載する第２物品移載装置６２の設置箇所（第２物品移載箇所）の位置に対応している。 The second detected body 22 is installed on the width direction first side H1 so as to indicate the first stop position P1, and the third detected body 23 indicates the second stop position P2 different from the first stop position P1. is installed on the width direction second side H2. The first stop position P1 is located at the installation location (first article transfer location) of the first article transfer device 61 that is installed on the first side H1 in the width direction with respect to the travel path L and that transfers the article W. Yes. In addition, the second stop position P2 is the installation location (second article transfer location) of the second article transfer device 62 that is installed on the second side H2 in the width direction with respect to the travel path L and transfers the articles W. corresponds to the position.

物品搬送車１は、幅方向Ｈの両側に設置された被検出体２０を検出すると共に被検出体２０に保持された情報を読み取る検出装置１０を備えている。図１に示すように、検出装置１０は、第１被検出体２１を検出する第１検出装置１１と、第２被検出体２２を検出する第２検出装置１２と、第３被検出体２３を検出する第３検出装置１３とを含む。第１検出装置１１及び第２検出装置１２は、物品搬送車１の幅方向第１側Ｈ１に設置され、第３検出装置１３は、物品搬送車１の幅方向第２側Ｈ２に設置されている。本実施形態では、上述したように、第１被検出体２１はバーコードを備えて構成されており、第１検出装置１１はバーコードリーダーを用いて構成されている。第２被検出体２２及び第３被検出体２３は、形状により少なくとも停止位置Ｐを示す標章であり、第２検出装置１２及び第３検出装置１３は、光センサを用いて構成されている。 The article transport vehicle 1 is equipped with detection devices 10 that detect the detected objects 20 installed on both sides in the width direction H and read the information held in the detected objects 20 . As shown in FIG. 1, the detection device 10 includes a first detection device 11 that detects a first detection object 21, a second detection device 12 that detects a second detection object 22, and a third detection object 23. and a third detection device 13 for detecting the The first detection device 11 and the second detection device 12 are installed on the first side H1 in the width direction of the article transport vehicle 1, and the third detection device 13 is installed on the second side H2 in the width direction of the article transport vehicle 1. there is In this embodiment, as described above, the first detectable object 21 is configured with a barcode, and the first detection device 11 is configured using a barcode reader. The second detection object 22 and the third detection object 23 are marks indicating at least the stop position P by their shapes, and the second detection device 12 and the third detection device 13 are configured using optical sensors. .

図２に示すように、第２被検出体２２及び第３被検出体２３は、走行経路Ｌに沿って延在するように配置された帯状の標章（停止マーカー３０）である。停止マーカー３０は、同一幅で連続する第１部分３１と、第１部分３１とは異なる幅を有する第２部分３２とを有する。第１部分３１は図３も参照して後述する確認領域Ｃを示しており、第２部分３２は停止位置Ｐを示している。また、物品搬送車１の走行方向Ｄにおいて上流側に位置する第１部分３１の端部（停止マーカー３０の端部）である上流側端部３１Ｔは確認領域Ｃの開始位置を示している。 As shown in FIG. 2, the second detectable object 22 and the third detectable object 23 are belt-shaped marks (stop markers 30) arranged so as to extend along the travel route L. As shown in FIG. The stop marker 30 has a continuous first portion 31 with the same width and a second portion 32 with a different width than the first portion 31 . A first portion 31 indicates a confirmation area C, which will be described later with reference to FIG. 3, and a second portion 32 indicates a stop position P. FIG. An upstream end portion 31T, which is the end portion of the first portion 31 (the end portion of the stop marker 30) located on the upstream side in the traveling direction D of the article transport vehicle 1, indicates the start position of the confirmation area C. As shown in FIG.

物品搬送車１は、不図示の記憶装置に、走行経路Ｌのアドレス情報に関連付けて物品Ｗを移載するために物品搬送車１が停車する停止位置Ｐの情報を記憶しており、不図示の制御装置による自律制御によって走行して当該停止位置Ｐにて停車する。自律制御では、物品搬送車１に搭載された不図示のエンコーダ等によって、走行経路Ｌにおける物品搬送車１の位置（自車位置）が特定されている。しかし、当該自車位置には、物品搬送車１の走行に応じて誤差が生じる場合がある。このため、物品搬送車１は、第１被検出体２１に保持されたアドレス情報に基づいて、走行経路Ｌにおけるアドレス（番地）を確認すると共に、第２被検出体２２及び第３被検出体２３に示された停止位置Ｐに基づいて、走行経路Ｌにおける位置を確認する。つまり、物品搬送車１は、被検出体２０により自車位置を補正（学習）しながら走行経路Ｌを走行している。 The article transport vehicle 1 stores information of a stop position P where the article transport vehicle 1 stops to transfer the article W in association with the address information of the traveling route L in a storage device (not shown). The vehicle stops at the stop position P by autonomous control by the control device. In the autonomous control, the position of the article transport vehicle 1 (own vehicle position) on the travel route L is specified by an encoder or the like (not shown) mounted on the article transport vehicle 1 . However, there may be an error in the position of the vehicle as the article transport vehicle 1 travels. For this reason, the article transport vehicle 1 confirms the address (address) on the travel route L based on the address information held in the first detectable object 21, and also detects the second detectable object 22 and the third detectable object. Based on the stop position P shown in 23, the position on the travel route L is confirmed. In other words, the article transport vehicle 1 travels along the travel route L while correcting (learning) the position of the vehicle using the object 20 to be detected.

１つのアドレス情報（番地）に対しては、幅方向第１側Ｈ１に設置された第１物品移載装置６１との間で物品Ｗを移載するために物品搬送車１が停止する第１停止位置Ｐ１が１つ割り当てられている。また、同じアドレス情報に対して、幅方向第２側Ｈ２に設置された第２物品移載装置６２との間で物品Ｗを移載するために物品搬送車１が停止する第２停止位置Ｐ２も１つ割り当てられている。つまり、１つのアドレス情報に対して、２つの停止位置Ｐが割り当てられている。当然ながら、１つのアドレス情報に対して、第１停止位置Ｐ１及び第２停止位置Ｐ２の何れか一方のみが割り当てられていてもよい。 For one piece of address information (address), the first article transport vehicle 1 stops to transfer the article W to/from the first article transfer device 61 installed on the first side H1 in the width direction. One stop position P1 is assigned. Further, with respect to the same address information, the second stop position P2 where the article transport vehicle 1 stops to transfer the article W to/from the second article transfer device 62 installed on the width direction second side H2. is also assigned one. That is, two stop positions P are assigned to one piece of address information. Of course, only one of the first stop position P1 and the second stop position P2 may be assigned to one piece of address information.

図３のグラフは、第１被検出体２１と、停止マーカー３０（第２被検出体２２又は第３被検出体２３）と物品搬送車１の走行速度との関係の一例を示している。図３において第１速度Ｖ１は、物品搬送車１の定常走行速度である。第２速度Ｖ２は、停止位置Ｐよりも上流側において規定された位置（後述する確認領域Ｃの開始位置）における物品搬送車１の速度の上限値である。この上限値は、この先に存在する停止位置Ｐで物品搬送車１を適切に停止することができる速度に設定されている。確認領域Ｃは、物品搬送車１の走行方向Ｄにおいて、物品搬送車１が停止する停止位置Ｐよりも手前側の領域であって、物品搬送車１の走行速度が停止位置Ｐにおいて停止可能な第２速度Ｖ２であるか否かを確認するためにも設けられている。つまり、第２被検出体２２及び第３被検出体２３の上流側端部３１Ｔにおいて、物品搬送車１の速度が第２速度Ｖ２以下であるか否かが確認される。 The graph of FIG. 3 shows an example of the relationship between the first detectable object 21, the stop marker 30 (the second detectable object 22 or the third detectable object 23), and the travel speed of the article transport vehicle 1. FIG. In FIG. 3 , the first speed V1 is the steady running speed of the article transport vehicle 1 . The second speed V2 is the upper limit value of the speed of the article transport vehicle 1 at a specified position upstream of the stop position P (the starting position of the confirmation area C described later). This upper limit value is set to a speed at which the article transport vehicle 1 can be appropriately stopped at the stop position P existing ahead. The confirmation area C is an area on the front side of the stop position P where the article transport vehicle 1 stops in the traveling direction D of the article transport vehicle 1, and the travel speed of the article transport vehicle 1 can stop at the stop position P. It is also provided to confirm whether or not the speed is the second speed V2. That is, at the upstream end portions 31T of the second detectable body 22 and the third detectable body 23, it is confirmed whether or not the speed of the article transport vehicle 1 is equal to or lower than the second speed V2.

物品搬送車１は、第１検出装置１１により第１被検出体２１を検出してアドレス情報を取得しつつ、取得したアドレス情報に関連付けて記憶された停止位置Ｐのそれぞれで停車できるように、停止位置Ｐのそれぞれに対応して設定された規定の減速開始位置Ｑから物品搬送車１の走行速度を低下させ始める。この減速開始位置Ｑは、停止位置Ｐに基づいて設定された位置であり、物品搬送車１は、自律制御に伴って得られた物品搬送車１の位置情報（自車位置情報）に基づいて減速開始位置Ｑを設定して減速を開始する。ここで、自車位置情報に誤差が生じていると、正しい減速開始位置Ｑにおいて減速を開始できない可能性がある。また、この誤差により、正しい停止位置Ｐにおいて物品搬送車１を停止できなかったり、減速が足りずに停止位置Ｐにおいて急制動を掛ける必要が生じたりする可能性もある。 While the first detection device 11 detects the first detectable object 21 and acquires the address information, the article transport vehicle 1 can stop at each of the stop positions P stored in association with the acquired address information. The travel speed of the article transport vehicle 1 starts to decrease from the specified deceleration start position Q set corresponding to each of the stop positions P. As shown in FIG. This deceleration start position Q is a position set based on the stop position P, and the article transport vehicle 1 is positioned based on the position information of the article transport vehicle 1 (self-vehicle position information) obtained by autonomous control. A deceleration start position Q is set to start deceleration. Here, if there is an error in the own vehicle position information, there is a possibility that deceleration cannot be started at the correct deceleration start position Q. Moreover, due to this error, there is a possibility that the article transport vehicle 1 cannot be stopped at the correct stop position P, or that sudden braking must be applied at the stop position P due to insufficient deceleration.

このため、停止マーカー３０は、確認領域Ｃの開始位置及び確認領域Ｃを示す第１部分３１と、停止位置Ｐを示す第２部分３２とを備えている。上述したように、停止マーカー３０は、帯状に形成されており、同一幅で連続する第１部分３１は走行経路Ｌに沿うように配置されている。この第１部分３１は、物品搬送車１の走行速度が停止位置Ｐにおいて停止可能な第２速度Ｖ２であるか否かを確認するための確認領域Ｃを示している。また、第１部分３１の上流側端部３１Ｔは、この確認領域Ｃの開始位置を示している。第１部分３１とは異なる幅（ここでは第１部分３１よりも広い幅）の第２部分３２は、走行経路Ｌに沿って第１部分３１から連続して配置されており、停止位置Ｐを示している。 Therefore, the stop marker 30 has a first portion 31 indicating the start position of the confirmation area C and the confirmation area C, and a second portion 32 indicating the stop position P. As shown in FIG. As described above, the stop marker 30 is formed in a strip shape, and the first portions 31 that are continuous with the same width are arranged along the travel route L. As shown in FIG. This first portion 31 indicates a confirmation area C for confirming whether or not the traveling speed of the article transport vehicle 1 is a second speed V2 at which the article transport vehicle 1 can be stopped at the stop position P. As shown in FIG. Also, the upstream end 31T of the first portion 31 indicates the starting position of this confirmation area C. As shown in FIG. The second portion 32, which has a width different from that of the first portion 31 (here, a width wider than that of the first portion 31), is arranged continuously from the first portion 31 along the travel path L, and the stop position P is set. showing.

例えば、物品搬送車１は、減速開始位置Ｑから減速を開始し、第２速度Ｖ２で一定期間等速走行した後、確認領域Ｃの開始位置からさらに減速して停止位置Ｐで停止する。ここで、自車位置情報に基づく減速開始位置Ｑが実際の減速開始位置Ｑよりも上流側であると、減速が早く開始される。このため、第２速度Ｖ２で等速走行する期間が長くなる。また、自車位置情報に基づく減速開始位置Ｑが実際の減速開始位置Ｑよりも下流側であると、減速が遅く開始される。このため、第２速度Ｖ２で等速走行する期間が短くなる。つまり、自車位置情報の誤差による減速開始位置Ｑのずれは、第２速度Ｖ２による等速走行期間の長さによって調整される。 For example, the article transport vehicle 1 starts decelerating from the deceleration start position Q, travels at a constant speed at the second speed V2 for a certain period of time, and then further decelerates from the start position of the confirmation area C and stops at the stop position P. Here, if the deceleration start position Q based on the vehicle position information is on the upstream side of the actual deceleration start position Q, deceleration will start early. Therefore, the period during which the vehicle travels at the second speed V2 at the constant speed becomes longer. Further, when the deceleration start position Q based on the vehicle position information is downstream of the actual deceleration start position Q, deceleration is started late. Therefore, the period during which the vehicle travels at the second speed V2 at the constant speed is shortened. That is, the deviation of the deceleration start position Q due to the error in the vehicle position information is adjusted by the length of the constant-speed running period at the second speed V2.

尚、このような等速走行期間の長さではなく、物品搬送車１は、自車位置情報を確認領域Ｃの開始位置に基づいて補正して、減速加速度を調整して停止位置Ｐまで減速制御を行ってもよい。例えば、自車位置情報に基づく減速開始位置Ｑが実際の減速開始位置Ｑよりも上流側であると、減速が早く開始されるため、物品搬送車１が確認領域Ｃを検出した時点で、物品搬送車１の速度が第２速度Ｖ２以下となる。物品搬送車１は、自車位置情報を確認領域Ｃの開始位置に基づいて補正して、減速加速度を小さくして停止位置Ｐまで減速制御を行う。また、自車位置情報に基づく減速開始位置Ｑが実際の減速開始位置Ｑよりも下流側であると、減速が遅く開始されるため、物品搬送車１が確認領域Ｃを検出した時点では、物品搬送車１の速度が第２速度Ｖ２まで低下していない場合がある。その場合、物品搬送車１は、自車位置情報を確認領域Ｃの開始位置に基づいて補正して、通常よりも大きい減速加速度により停止位置Ｐまで減速制御を行う。 Instead of the length of the constant-speed traveling period, the article transport vehicle 1 corrects the vehicle position information based on the start position of the confirmation area C, adjusts the deceleration acceleration, and decelerates to the stop position P. may be controlled. For example, if the deceleration start position Q based on the own vehicle position information is upstream of the actual deceleration start position Q, the deceleration starts early. The speed of the transport vehicle 1 becomes equal to or lower than the second speed V2. The article transport vehicle 1 corrects its own vehicle position information based on the start position of the confirmation area C, reduces the deceleration acceleration, and performs deceleration control until the stop position P is reached. Further, if the deceleration start position Q based on the own vehicle position information is downstream of the actual deceleration start position Q, the deceleration starts late. In some cases, the speed of the transport vehicle 1 has not decreased to the second speed V2. In this case, the article transport vehicle 1 corrects its own vehicle position information based on the start position of the confirmation area C, and performs deceleration control to the stop position P with deceleration acceleration greater than normal.

物品搬送車１は、停止マーカー３０の第２部分３２を検出し、第２部分３２に示される停止位置Ｐに基づいて物品搬送車１を停止させてもよいし、自車位置情報に基づく停止位置Ｐに基づいて物品搬送車１を停止させてもよい。確認領域Ｃ（確認領域Ｃの開始位置）と停止位置Ｐとの距離は長くはないため、確認領域において自車位置情報が補正されていれば（学習されていれば）、停止位置Ｐにおける自車位置情報の誤差はほぼない。このため、物品搬送車１は、自車位置情報に基づいて停止位置Ｐで物品搬送車１を停止させてもよい。但し、物品搬送車１が停止しているとより正確に停止マーカー３０と物品搬送車１との相対位置を特定することができる。従って、この場合も、物品搬送車１が停止した状態で、停止マーカー３０の第２部分３２に基づいて、自車位置情報を補正（学習）すると好適である。これにより、物品搬送車１が停止位置Ｐで停止した際に誤差が残存しても、その誤差を解消させることができる。 The article conveying vehicle 1 may detect the second portion 32 of the stop marker 30 and stop the article conveying vehicle 1 based on the stop position P indicated by the second portion 32, or stop based on the own vehicle position information. The article transport vehicle 1 may be stopped based on the position P. Since the distance between the confirmation area C (the start position of the confirmation area C) and the stop position P is not long, if the own vehicle position information is corrected (learned) in the confirmation area, There is almost no error in vehicle position information. Therefore, the article transport vehicle 1 may stop the article transport vehicle 1 at the stop position P based on the vehicle position information. However, when the article transport vehicle 1 is stopped, the relative position between the stop marker 30 and the article transport vehicle 1 can be specified more accurately. Therefore, in this case as well, it is preferable to correct (learn) the own vehicle position information based on the second portion 32 of the stop marker 30 while the article transport vehicle 1 is stopped. As a result, even if an error remains when the article transport vehicle 1 stops at the stop position P, the error can be eliminated.

上述したように、停止マーカー３０はアドレス情報を保持する第１被検出体２１に関連付けられている。物品搬送車１が第１被検出体２１を検出してから停止マーカー３０（第２被検出体２２、第３被検出体２３）を検出するまでの間には、第１被検出体２１からアドレス情報を読み出す処理を実行するのに要する時間（アドレス情報取得時間）が確保されていることが好ましい。物品搬送車１は、このアドレス情報取得時間においても走行しているため、第１被検出体２１と停止マーカー３０との間は、アドレス情報取得時間に物品搬送車１が進む距離に応じた距離以上離間していることが好ましい。 As mentioned above, the stop marker 30 is associated with the first detectable object 21 carrying address information. From the first detectable object 21 to the detection of the stop marker 30 (second detectable object 22, third detectable object 23) after the article transport vehicle 1 detects the first detectable object 21, It is preferable that the time (address information acquisition time) required to execute the process of reading out the address information is secured. Since the article transport vehicle 1 is still running during this address information acquisition time, the distance between the first detectable object 21 and the stop marker 30 corresponds to the distance traveled by the article transport vehicle 1 during the address information acquisition time. It is preferable that they are spaced apart from each other.

具体的には、図４に示すように、第１被検出体２１と当該第１被検出体２１に関連付けられた停止マーカー３０とが、当該第１被検出体２１の走行経路Ｌに沿った上流側端部２１Ｔに対して、当該停止マーカー３０の第１部分３１の上流側端部３１Ｔが走行方向Ｄの下流側に第１距離Ａ１以上離間するように、設置されていると好適である。第１距離Ａ１は、アドレス情報取得時間に物品搬送車１が移動する最大距離に応じて設定されていると好適である。また、物品搬送車１が移動する最大距離とは、物品搬送車１が許容された最大速度で走行する場合の移動距離である。 Specifically, as shown in FIG. 4, the first detectable object 21 and the stop marker 30 associated with the first detectable object 21 are along the travel route L of the first detectable object 21. It is preferable that the upstream end portion 31T of the first portion 31 of the stop marker 30 is disposed downstream in the traveling direction D so as to be separated from the upstream end portion 21T by a first distance A1 or more. . The first distance A1 is preferably set according to the maximum distance traveled by the article transport vehicle 1 during the address information acquisition time. Further, the maximum distance traveled by the article transport vehicle 1 is the distance traveled when the article transport vehicle 1 travels at the maximum permitted speed.

また、停止マーカー３０と、当該停止マーカー３０が関連付けられている第１被検出体２１の次に配置された第１被検出体２１（下流側の第１被検出体２１）との間も、図５に示す第２距離Ａ２以上離間していると好適である。第２距離Ａ２は、停止マーカー３０を検出しなくなったことを物品搬送車１が判定するのに要する時間に、物品搬送車１が移動する距離に応じて設定されると好適である。停止マーカー３０が設けられていても、搬送対象の物品Ｗや処理内容に応じて、当該停止マーカー３０により示される停止位置Ｐで物品搬送車１が停止するとは限らない。従って、物品搬送車１が移動する距離は、物品搬送車１が許容された最大速度で走行する場合の移動距離であると好適である。 In addition, between the stop marker 30 and the first detectable object 21 arranged next to the first detectable object 21 associated with the stop marker 30 (first detectable object 21 on the downstream side), It is preferable that the second distance A2 shown in FIG. 5 or more is provided. The second distance A2 is preferably set according to the distance traveled by the article transport vehicle 1 during the time required for the article transport vehicle 1 to determine that the stop marker 30 is no longer detected. Even if the stop marker 30 is provided, the article transport vehicle 1 does not necessarily stop at the stop position P indicated by the stop marker 30 depending on the article W to be transported or the content of the process. Therefore, it is preferable that the distance traveled by the article transport vehicle 1 is the travel distance when the article transport vehicle 1 travels at the maximum allowable speed.

例えば、図５に示すように、第１被検出体２１（下流側の第１被検出体２１）と当該第１被検出体２１の前の第１被検出体２１（上流側の第１被検出体２１）に関連付けられた停止マーカー３０とが、上流側の第１被検出体２１の走行経路Ｌに沿った上流側端部２１Ｔに対して、停止マーカー３０の第２部分３２の下流側端部３２Ｔが走行方向Ｄの上流側に第２距離Ａ２以上離間するように、設置されていると好適である。 For example, as shown in FIG. The stop marker 30 associated with the detection object 21) is downstream of the second portion 32 of the stop marker 30 with respect to the upstream end 21T along the travel path L of the first detection object 21 on the upstream side. It is preferable that the end portion 32T is installed on the upstream side in the traveling direction D so as to be spaced apart by the second distance A2 or more.

上記においては、図１のように、物品搬送車１が一方向にのみ走行する形態を例示して説明した。しかし、物品搬送車１が一方向にのみ走行して物品Ｗを搬送する場合であっても、物品搬送車１は、メンテナンスや車両の追加などで走行方向Ｄとは逆方向に走行経路Ｌを走行する場合がある。つまり、走行経路Ｌが両方向走行区間を有している場合がある。図６及び図７は、そのような両方向走行区間Ｋの一例を示している。例えば、不図示のメンテナンスリフタが設置されたメンテナンスターミナルＭＴは、走行経路Ｌから分岐したメンテナンス用走行経路Ｂを介して走行経路Ｌに接続されている。 In the above description, as shown in FIG. 1, a configuration in which the article transport vehicle 1 travels only in one direction has been illustrated and explained. However, even if the article transport vehicle 1 travels in only one direction to transport the articles W, the article transport vehicle 1 may change the travel route L in the direction opposite to the travel direction D due to maintenance, addition of vehicles, or the like. may run. In other words, the travel route L may have a bidirectional travel section. 6 and 7 show an example of such a bidirectional travel section K. FIG. For example, a maintenance terminal MT in which a maintenance lifter (not shown) is installed is connected to the travel route L via a maintenance travel route B branched from the travel route L.

図６に例示する形態では、物品搬送車１は、走行経路Ｌにおける通常の走行方向Ｄと同じ第１走行方向Ｍ１で走行経路Ｌからメンテナンス用走行経路Ｂに進入し、メンテナンスターミナルＭＴで停止する。この際、物品搬送車１は、走行経路Ｌとメンテナンス用走行経路Ｂとの分岐部よりも上流側における最も近くに設置された被検出体２０を検出して停止する。その後、メンテナンス用走行経路Ｂに他の物品搬送車１が存在しないことを確認して第１走行方向Ｍ１でメンテナンス用走行経路Ｂに進入し、メンテナンスターミナルＭＴに設置された被検出体２０を検出して停止する。また、メンテナンスターミナルＭＴから出発した物品搬送車１は、第１走行方向Ｍ１とは逆方向の第２走行方向Ｍ２でメンテナンス用走行経路Ｂを走行して走行経路Ｌに進入し、走行経路Ｌとメンテナンス用走行経路Ｂとの分岐部よりも上流側（第２走行方向Ｍ２の下流側）における最も近くに設置された被検出体２０を検出して停止する。その後、物品搬送車１は、通常の走行方向Ｄで走行経路Ｌを走行する。 In the form illustrated in FIG. 6, the article transport vehicle 1 enters the maintenance travel route B from the travel route L in the same first travel direction M1 as the normal travel direction D on the travel route L, and stops at the maintenance terminal MT. . At this time, the article transport vehicle 1 detects the object to be detected 20 that is installed closest on the upstream side of the junction between the travel route L and the maintenance travel route B, and stops. Thereafter, after confirming that there is no other article transport vehicle 1 on the maintenance travel route B, it enters the maintenance travel route B in the first travel direction M1, and detects the detection object 20 installed in the maintenance terminal MT. to stop. In addition, the article transport vehicle 1, which departed from the maintenance terminal MT, travels along the maintenance travel route B in the second travel direction M2 opposite to the first travel direction M1, enters the travel route L, and enters the travel route L. Detects and stops the detectable object 20 that is installed closest to the upstream side (downstream side in the second traveling direction M2) of the branched portion with the maintenance travel route B. FIG. After that, the article transport vehicle 1 travels along the traveling route L in the normal traveling direction D. As shown in FIG.

図７に例示する形態では、物品搬送車１は、走行経路Ｌにおける通常の走行方向Ｄとは逆の第２走行方向Ｍ２で走行経路Ｌからメンテナンス用走行経路Ｂに進入し、メンテナンスターミナルＭＴで停止する。この際、物品搬送車１は、走行経路Ｌとメンテナンス用走行経路Ｂとの合流部よりも下流側における最も近くに設置された被検出体２０を検出して停止する。その後、メンテナンス用走行経路Ｂに他の物品搬送車１が存在しないことを確認して第２走行方向Ｍ２でメンテナンス用走行経路Ｂに進入し、メンテナンスターミナルＭＴに設置された被検出体２０を検出して停止する。また、メンテナンスターミナルＭＴから出発した物品搬送車１は、第２走行方向Ｍ２とは逆方向の第１走行方向Ｍ１でメンテナンス用走行経路Ｂを走行して走行経路Ｌに進入する。その後、物品搬送車１は、通常の走行方向Ｄで走行経路Ｌを走行する。 In the embodiment illustrated in FIG. 7, the article transport vehicle 1 enters the maintenance travel route B from the travel route L in a second travel direction M2 opposite to the normal travel direction D on the travel route L, and reaches the maintenance terminal MT. Stop. At this time, the article transport vehicle 1 detects the object to be detected 20 installed closest downstream of the junction of the travel route L and the maintenance travel route B, and stops. After that, after confirming that there is no other article transport vehicle 1 on the maintenance travel route B, it enters the maintenance travel route B in the second travel direction M2, and detects the detection object 20 installed in the maintenance terminal MT. to stop. In addition, the article transport vehicle 1 that departs from the maintenance terminal MT travels along the maintenance travel route B and enters the travel route L in the first travel direction M1 opposite to the second travel direction M2. After that, the article transport vehicle 1 travels along the traveling route L in the normal traveling direction D. As shown in FIG.

図６及び図７を参照して上述したように、走行経路Ｌにおいて、物品搬送車１が、走行経路Ｌに沿った両方向に走行可能な区間を両方向走行区間Ｋと称する。また、メンテナンスターミナルＭＴと走行経路Ｌとを結ぶメンテナンス用走行経路Ｂも、両方向走行区間Ｋに含む。尚、図６及び図７に示すように、メンテナンス用走行経路Ｂは、メンテナンスターミナルＭＴを貫通して、走行経路Ｌ側とは反対側にも延在している場合があり、走行経路Ｌ側とは反対側から物品搬送車１の出し入れが行われる場合がある。従って、メンテナンスターミナルＭＴと走行経路Ｌとの間だけではなく、メンテナンス用走行経路Ｂは全体に亘って両方向走行区間Ｋに含まれる。 As described above with reference to FIGS. 6 and 7, on the travel route L, a section in which the article transport vehicle 1 can travel in both directions along the travel route L is referred to as a bidirectional travel section K. In addition, the travel route B for maintenance connecting the maintenance terminal MT and the travel route L is also included in the two-way travel section K. As shown in FIGS. 6 and 7, the maintenance travel route B may pass through the maintenance terminal MT and extend to the side opposite to the travel route L side. In some cases, the article transport vehicle 1 is taken in and out from the opposite side. Therefore, not only the portion between the maintenance terminal MT and the travel route L, but the entire travel route B for maintenance is included in the bidirectional travel section K.

両方向走行区間Ｋに配置された被検出体２０は、走行方向Ｄ（第１走行方向Ｍ１）と、逆方向（第２走行方向Ｍ２）との双方に対応する必要がある。特に停止マーカー３０（第２被検出体２２及び第３被検出体２３）は、確認領域Ｃを示す第１部分３１と、停止位置Ｐを示す第２部分３２とを有しており、物品搬送車１が走行している方向における上流側に第１部分３１が配置され、下流側に第２部分３２が配置される必要がある。このため、図６及び図７に示すように、両方向走行区間Ｋに配置される停止マーカー３０は、１つの第２部分３２と、走行方向Ｄに沿って第２部分３２を挟んで両側に配置される２つの第１部分３１とを備えていると好適である。これにより、物品搬送車１がどちらの方向に走行している場合にも、検出装置１０が先に第１部分３１を検出し、その後に第２部分３２を検出するようにできる。 The object to be detected 20 arranged in the bidirectional travel section K needs to correspond to both the travel direction D (first travel direction M1) and the opposite direction (second travel direction M2). In particular, the stop marker 30 (the second detectable body 22 and the third detectable body 23) has a first portion 31 that indicates the confirmation area C and a second portion 32 that indicates the stop position P. The first part 31 needs to be arranged on the upstream side in the direction in which the car 1 is traveling, and the second part 32 needs to be arranged on the downstream side. For this reason, as shown in FIGS. 6 and 7, the stop markers 30 arranged in the two-way section K are arranged on both sides of the second portion 32 along the traveling direction D with the second portion 32 interposed therebetween. It is preferable to have two first parts 31 which are connected to each other. As a result, the detection device 10 can detect the first portion 31 first and then the second portion 32 regardless of which direction the article transport vehicle 1 is traveling.

また、第１被検出体２１と停止マーカー３０（第２被検出体２２及び第３被検出体２３）との関係では、第１被検出体２１の走行経路Ｌに沿った両端部（走行方向Ｄによって何れも上流側端部２１Ｔとなり得る端部）よりも内側に、停止マーカー３０（第２被検出体２２及び第３被検出体２３）の全体が含まれるように配置されていると好適である。さらに、図４を参照して上述したように、第１被検出体２１の走行経路Ｌに沿った両端部と、停止マーカー３０（第２被検出体２２及び第３被検出体２３）の２つの上流側端部３１Ｔとの間に、第１距離Ａ１が設けられていると好適である。 In addition, in the relationship between the first detectable object 21 and the stop marker 30 (the second detectable object 22 and the third detectable object 23), both ends (traveling direction) of the first detectable object 21 along the travel route L It is preferable that the entirety of the stop marker 30 (the second detectable body 22 and the third detectable body 23) be included inside the end portion that can be the upstream end portion 21T by D). is. Furthermore, as described above with reference to FIG. 4, the two ends of the first detectable object 21 along the travel path L and the stop marker 30 (the second detectable object 22 and the third detectable object 23) It is preferable that a first distance A1 is provided between the two upstream ends 31T.

〔その他の実施形態〕
以下、その他の実施形態について説明する。尚、以下に説明する各実施形態の構成は、それぞれ単独で適用されるものに限られず、矛盾が生じない限り、他の実施形態の構成と組み合わせて適用することも可能である。 [Other embodiments]
Other embodiments will be described below. The configuration of each embodiment described below is not limited to being applied alone, and can be applied in combination with the configuration of other embodiments as long as there is no contradiction.

（１）上記においては、１つの第１被検出体２１に対して、第２被検出体２２及び第３被検出体２３がそれぞれ１つずつ、或いは第２被検出体２２及び第３被検出体２３の何れか１つが関連付けられて設置される形態を例示した。しかし、１つの第１被検出体２１に対して、複数の第２被検出体２２又は複数の第３被検出体２３を含んで、３つ以上の停止マーカー３０が関連付けられて配置される形態を妨げるものではない。 (1) In the above, for one first detectable body 21, the second detectable body 22 and the third detectable body 23 are respectively one, or the second detectable body 22 and the third detectable body A form in which any one of the bodies 23 is associated and installed is illustrated. However, a configuration in which three or more stop markers 30 are arranged in association with one first detectable object 21, including a plurality of second detectable objects 22 or a plurality of third detectable objects 23. does not prevent

（２）上記においては、第１被検出体２１が保持するアドレス情報が、バーコードにより表されている形態を例示した。しかしこれには限定されず、アドレス情報は、第１被検出体２１が備えるＩＣタグ等に電子データとして保持され、或いは、第１被検出体２１の表面に描かれた、画像認識等によって読み取り可能な図形や文字等として保持されていてもよい。 (2) In the above, the form in which the address information held by the first detectable body 21 is represented by a barcode is exemplified. However, the address information is not limited to this, and the address information is held as electronic data in an IC tag or the like provided on the first detectable body 21, or is read by image recognition or the like drawn on the surface of the first detectable body 21. It may be held as a possible figure, character, or the like.

（３）上記においては、第２被検出体２２が示す第１停止位置Ｐ１が、幅方向第１側Ｈ１に設置された物品移載箇所の位置に対応し、第３被検出体２３が示す第２停止位置Ｐ２が、幅方向第２側Ｈ２に設置された物品移載箇所の位置に対応している形態を例示した。しかしこれには限定されず、第２被検出体２２が示す第１停止位置Ｐ１と第３被検出体２３が示す第２停止位置Ｐ２とが、幅方向Ｈにおける物品移載箇所の位置とは無関係に設定されていてもよい。 (3) In the above, the first stop position P1 indicated by the second detectable body 22 corresponds to the position of the article transfer location installed on the width direction first side H1, and the third detectable body 23 indicates An example is shown in which the second stop position P2 corresponds to the position of the article transfer location installed on the second side H2 in the width direction. However, the present invention is not limited to this, and the first stop position P1 indicated by the second detection object 22 and the second stop position P2 indicated by the third detection object 23 are different from the position of the article transfer location in the width direction H. It may be set regardless.

（４）上記においては、検出装置１０が、第１被検出体２１を検出する第１検出装置１１と、第２被検出体２２を検出する第２検出装置１２と、第３被検出体２３を検出する第３検出装置１３とを含む形態を例示した。しかしこれには限定されず、第１被検出体２１、第２被検出体２２、及び第３被検出体２３を、１つの検出装置によって検出する構成としてもよい。 (4) In the above, the detection device 10 includes the first detection device 11 that detects the first detection object 21, the second detection device 12 that detects the second detection object 22, and the third detection object 23. A form including a third detection device 13 for detecting is exemplified. However, the present invention is not limited to this, and the first detectable body 21, the second detectable body 22, and the third detectable body 23 may be detected by one detecting device.

〔実施形態の概要〕
以下、上記において説明した物品搬送設備の概要について簡単に説明する。 [Outline of embodiment]
An overview of the article transport equipment described above will be briefly described below.

１つの態様として、走行経路に沿って走行して物品を搬送する物品搬送車を備えた物品搬送設備は、前記物品搬送車は、前記物品搬送車の走行方向に対して平面視で直交する方向を幅方向として、前記幅方向の両側に設置された被検出体を検出すると共に前記被検出体に保持された情報を読み取る検出装置を備え、前記被検出体は、第１被検出体、第２被検出体及び第３被検出体を含み、前記第１被検出体は、前記走行経路に沿った位置を示すアドレス情報を保持していると共に前記幅方向の一方側である幅方向第１側に設置され、前記第２被検出体は、前記物品搬送車が停止する停止位置である第１停止位置を示すように前記幅方向第１側に設置され、前記第３被検出体は、前記第１停止位置とは異なる前記停止位置である第２停止位置を示すように前記幅方向の他方側である幅方向第２側に設置されている As one aspect, an article transport facility is provided with an article transport vehicle that transports an article by traveling along a travel path, wherein the article transport vehicle is positioned in a direction perpendicular to the travel direction of the article transport vehicle in a plan view. is provided in the width direction, and a detection device is provided for detecting the detected objects installed on both sides in the width direction and reading information held in the detected objects, wherein the detected objects are a first detected object, a first detected object The first detectable body includes a second detectable body and a third detectable body, and the first detectable body holds address information indicating a position along the travel path and is located at one side in the width direction. The second detectable body is installed on the first side in the width direction so as to indicate a first stop position where the article transport vehicle stops, and the third detectable body is: It is installed on the second side in the width direction, which is the other side in the width direction, so as to indicate a second stop position that is the stop position different from the first stop position.

この構成によれば、幅方向第１側に設置された第１被検出体に保持されたアドレス情報に対応して、第１被検出体と同じ幅方向第１側に設置された第２被検出体と、第１被検出体とは反対側の幅方向第２側に設置された第３被検出体との２つにより、異なる停止位置が設定される。このように、第２被検出体と第３被検出体とが幅方向の両側に分かれて設置されるため、第２被検出体と第３被検出体とを搬送方向に接近させて配置した場合であっても、検出装置によるこれらの検出を適切に行うことが容易となっている。そして、物品搬送車が第２被検出体に示される第１停止位置で停止する場合は、第１被検出体に保持されたアドレス情報と第１停止位置との関係により物品搬送車が適切に制御される。また、物品搬送車が第３被検出体に示される第２停止位置で停止する場合は、第１被検出体に保持されたアドレス情報と第２停止位置との関係により物品搬送車が適切に制御される。
このように、本構成によれば、走行経路のアドレス情報を保持する被検出体と物品搬送車を停止させるための基準となる被検出体とを備えて物品搬送車の走行を制御する物品搬送設備において、コストの増加及び搬送効率の低下を抑制しつつ、１つのアドレス情報に対応する複数箇所に物品搬送車を停止させることができる。 According to this configuration, the second detection object installed on the same width direction first side as the first detection object corresponds to the address information held in the first detection object installed on the width direction first side. Different stop positions are set for the detection object and the third detection object installed on the second side in the width direction opposite to the first detection object. In this way, since the second detectable body and the third detectable body are separately installed on both sides in the width direction, the second detectable body and the third detectable body are arranged close to each other in the conveying direction. Even in this case, it is easy to appropriately perform these detections by the detection device. When the article conveying vehicle stops at the first stop position indicated by the second detectable object, the article conveying vehicle can be properly stopped according to the relationship between the address information held in the first detectable object and the first stop position. controlled. In addition, when the article transport vehicle stops at the second stop position indicated by the third detectable object, the article transport vehicle can be properly stopped according to the relationship between the address information held in the first detectable object and the second stop position. controlled.
As described above, according to the present configuration, an article transport system that controls the travel of the article transport vehicle is provided with the detectable object that holds the address information of the travel route and the detectable object that serves as a reference for stopping the object transport vehicle. In equipment, it is possible to stop an article transport vehicle at a plurality of locations corresponding to one piece of address information while suppressing an increase in cost and a decrease in transport efficiency.

ここで、前記第１停止位置は、前記走行経路に対して前記幅方向第１側に設置されて物品を移載する第１物品移載箇所の位置に対応し、前記第２停止位置は、前記走行経路に対して前記幅方向第２側に設置されて物品を移載する第２物品移載箇所の位置に対応していると好適である。 Here, the first stop position corresponds to a position of a first article transfer location that is installed on the first side in the width direction with respect to the travel path and transfers an article, and the second stop position is: It is preferable that it corresponds to the position of a second article transfer location that is installed on the second side in the width direction with respect to the travel path and that transfers articles.

この構成によれば、走行経路に対して幅方向の両側に物品の移載箇所を配置することができ、高い空間利用効率で物品搬送設備を構築することができる。また、走行経路に対して幅方向の両側に配置された物品移載箇所のそれぞれに対して、適切に物品搬送車を停止させることができる。 According to this configuration, it is possible to arrange the transfer locations of the articles on both sides in the width direction with respect to the traveling route, and to construct the article conveying facility with high space utilization efficiency. In addition, the article transport vehicle can be appropriately stopped at each of the article transfer locations arranged on both sides in the width direction of the travel route.

また、前記検出装置は、前記第１被検出体を検出する第１検出装置と、前記第２被検出体を検出する第２検出装置と、前記第３被検出体を検出する第３検出装置とを含み、前記第１検出装置及び前記第２検出装置は、前記物品搬送車の前記幅方向第１側に設置され、前記第３検出装置は、前記物品搬送車の前記幅方向第２側に設置されていると好適である。 The detection devices include a first detection device that detects the first detectable body, a second detection device that detects the second detectable body, and a third detection device that detects the third detectable body. wherein the first detection device and the second detection device are installed on the first side in the width direction of the article transport vehicle, and the third detection device is installed on the second side in the width direction of the article transport vehicle. is preferably installed at

この構成によれば、幅方向第１側に設置された第１検出装置、第２検出装置により、幅方向第１側に設置された第１被検出体及び第２被検出体を適切に検出でき、幅方向第２側に設置された第３検出装置により、適切に第３被検出体を検出することができる。 According to this configuration, the first detection device and the second detection device installed on the first side in the width direction appropriately detect the first detected object and the second detected object installed on the first side in the width direction. The third detecting device installed on the second side in the width direction can appropriately detect the third detectable body.

また、前記第２被検出体及び前記第３被検出体は、前記物品搬送車の走行方向において、前記物品搬送車が停止する前記停止位置よりも手前側の領域であって、前記物品搬送車の走行速度が前記停止位置において停止可能な速度であるか否かを確認するための確認領域をさらに示すように形成されていると好適である。 In addition, the second detectable body and the third detectable body are regions in front of the stop position where the article transport vehicle stops in the traveling direction of the article transport vehicle, and It is preferable that a confirmation area for confirming whether or not the running speed of is a speed at which the vehicle can be stopped at the stop position is further formed.

物品搬送車を停止位置で停止させるためには、停止位置よりも上流側で物品搬送車の走行速度が適切に減速されていることが好ましい。例えば、停止位置よりも上流側の規定された地点において物品搬送車の走行速度が規定速度以下であれば、物品搬送車を停止位置で適切に停止させることが容易となる。本構成によれば、この規定された地点を示す被検出体を別途設けることなく、停止地点を示す第２被検出体及び第３被検出体が、確認領域を示すように形成されている。従って、本構成の物品搬送設備は、コストの増加を抑制しつつ、適切に物品搬送車を制御することができる。 In order to stop the article transport vehicle at the stop position, it is preferable that the running speed of the article transport vehicle is appropriately reduced upstream of the stop position. For example, if the running speed of the article transport vehicle is equal to or less than the specified speed at a specified point upstream of the stop position, it becomes easy to properly stop the article transport vehicle at the stop position. According to this configuration, the second detectable object and the third detectable object indicating the stop point are formed so as to indicate the confirmation area without separately providing the detectable object indicating the specified point. Therefore, the article conveying facility of this configuration can appropriately control the article conveying vehicle while suppressing an increase in cost.

前記第２被検出体及び前記第３被検出体が前記確認領域を示すように形成されている場合において、前記第２被検出体及び前記第３被検出体は、前記走行経路に沿って延在するように配置された帯状の標章であり、当該標章が同一幅で連続する第１部分によって前記確認領域を示し、前記物品搬送車の前記走行方向において上流側に位置する当該標章の端部である上流側端部により前記確認領域の開始位置を示し、前記第１部分とは異なる幅を有する第２部分によって前記停止位置を示していると好適である。 When the second detectable body and the third detectable body are formed to indicate the confirmation area, the second detectable body and the third detectable body extend along the travel route. A strip-shaped mark arranged so as to be present, the mark indicates the confirmation area by a first portion that is continuous with the same width, and the mark is located upstream in the traveling direction of the article transport vehicle Preferably, the start position of the confirmation area is indicated by an upstream end, which is the end of the , and the stop position is indicated by a second portion having a width different from that of the first portion.

標章の形状の検出は、比較的簡単な構成の検出装置によって行うことができる。本構成によれば、第２被検出体及び第３被検出体が第１部分と第２部分とを備えることによって、簡単に確認領域と停止位置との双方を示すことができる。また、例えば画像処理によるエッジ検出は比較的負荷の軽い演算で可能であり、検出装置は、第１部分の上流側端部によって示される確認領域の開始位置を比較的容易に検出することができる。 The shape of the mark can be detected by a relatively simple detection device. According to this configuration, both the confirmation area and the stop position can be easily indicated by providing the second detectable body and the third detectable body with the first portion and the second portion. Further, for example, edge detection by image processing can be performed with a relatively light calculation load, and the detection device can relatively easily detect the start position of the confirmation area indicated by the upstream end of the first portion. .

また、前記物品搬送車が、前記走行経路に沿った両方向に走行可能な区間において、前記第２被検出体又は前記第３被検出体は、前記第１被検出体の前記走行経路に沿った両端部よりも内側に全体が含まれるように配置されていると好適である。 Further, in a section in which the article transport vehicle can travel in both directions along the travel route, the second detectable object or the third detectable object moves along the travel route of the first detectable object. It is preferable that it is arranged so that the whole is contained inside the both ends.

物品搬送車の走行方向が一方向の場合には、第２被検出体が示す第１停止位置の第１被検出体に対する走行方向における相対位置、及び、第３被検出体が示す第２停止位置の第１被検出体に対する走行方向における相対位置を、全ての被検出体において同様にすることができる。しかし、走行方向が両方向の場合には、走行方向が異なることに応じてこの相対位置が逆となる場合がある。本構成のように、第１被検出体の前記走行経路に沿った両端部よりも内側に第２被検出体又は第３被検出体の全体が含まれると、走行方向が両方向の場合であっても、停止位置の第１被検出体に対する走行方向における相対位置を、全ての被検出体において同様にすることができる。 When the traveling direction of the article transport vehicle is one direction, the relative position in the traveling direction of the first stop position indicated by the second detected object with respect to the first detected object, and the second stop indicated by the third detected object The position relative to the first detected object in the running direction can be the same for all detected objects. However, when the traveling direction is bidirectional, this relative position may be reversed depending on the traveling direction being different. As in this configuration, if the entirety of the second or third object to be detected is included inside both ends of the first object to be detected along the traveling path, the traveling direction may be in both directions. However, the relative position of the stop position in the running direction with respect to the first detectable object can be the same for all the detectable objects.

１：物品搬送車
１０：検出装置
１１：第１検出装置
１２：第２検出装置
１３：第３検出装置
２０：被検出体
２１：第１被検出体
２１Ｔ：上流側端部
２２：第２被検出体
２３：第３被検出体
３１：第１部分
３２：第２部分
１００：物品搬送設備
Ｃ：確認領域
Ｄ：走行方向
Ｈ：幅方向
Ｈ１：幅方向第１側
Ｈ２：幅方向第２側
Ｋ：両方向走行区間（両方向に走行可能な区間）
Ｌ：走行経路
Ｐ：停止位置
Ｐ１：第１停止位置
Ｐ２：第２停止位置
Ｗ：物品 Reference Signs List 1: Article transport vehicle 10: Detecting device 11: First detecting device 12: Second detecting device 13: Third detecting device 20: Object to be detected 21: First object to be detected 21T: Upstream end 22: Second object Detecting body 23 : Third detected body 31 : First part 32 : Second part 100 : Article conveying equipment C : Confirmation area D : Running direction H : Width direction H1 : Width direction first side H2 : Width direction second side K : Bi-directional section (section that can be traveled in both directions)
L: travel path P: stop position P1: first stop position P2: second stop position W: article

Claims

An article conveying facility comprising an article conveying vehicle that conveys articles by traveling along a travel route,
The article transport vehicle has a width direction perpendicular to the traveling direction of the article transport vehicle in plan view, and detects the detectable bodies installed on both sides in the width direction, and is held by the detectable bodies. Equipped with a detection device that reads the information
The detectable body includes a first detectable body, a second detectable body and a third detectable body,
The first detected object holds address information indicating a position along the travel route and is installed on the first side in the width direction, which is one side in the width direction,
The second detectable body is installed on the first side in the width direction so as to indicate a first stop position at which the article transport vehicle stops,
The third detectable body is installed on the second side in the width direction, which is the other side in the width direction, so as to indicate a second stop position that is the stop position different from the first stop position,
The second detectable body and the third detectable body are regions on the near side of the stop position where the article transport vehicle stops in the traveling direction of the article transport vehicle, and Formed to further indicate a confirmation area for confirming whether the running speed is a speed that can be stopped at the stop position,
The second detectable object and the third detectable object are strip-shaped marks arranged so as to indicate at least the stop position by their shape and extend along the travel route,
The detection device includes a first detection device that detects the first detectable object, a second detection device that detects the second detectable object, and a third detection device that detects the third detectable object. including
the second detection device and the third detection device are optical sensors;
The second detectable body and the third detectable body indicate the confirmation area by a first portion in which the marks are continuous with the same width, and the marks are positioned upstream in the traveling direction of the article transport vehicle. Article conveying equipment, wherein an upstream end, which is the end of a chapter, indicates the starting position of said verification area, and a second portion, which has a different width than said first portion, indicates said stopping position.

The first stop position corresponds to a position of a first article transfer location that is installed on the first side in the width direction with respect to the travel path and transfers an article,
2. The article conveying apparatus according to claim 1, wherein said second stop position corresponds to a position of a second article transfer location installed on said second side in said width direction with respect to said traveling path for transferring articles. Facility.

3. The article transport facility according to claim 2, wherein said first stop position and said second stop position are assigned to one piece of said address information.

The first detection device and the second detection device are installed on the first side in the width direction of the article transport vehicle,
The article transport facility according to any one of claims 1 to 3, wherein the third detection device is installed on the second side in the width direction of the article transport vehicle.

In a section where the article transport vehicle can travel in both directions along the travel route, the second detectable object or the third detectable object is positioned at both ends of the first detectable object along the travel route. 5. The article conveying facility according to any one of claims 1 to 4, arranged so as to be entirely contained inside.

An article conveying facility comprising an article conveying vehicle that conveys articles by traveling along a travel route,
The article transport vehicle has a width direction perpendicular to the traveling direction of the article transport vehicle in plan view, and detects the detectable bodies installed on both sides in the width direction, and is held by the detectable bodies. Equipped with a detection device that reads the information
The detectable body includes a first detectable body, a second detectable body and a third detectable body,
The first detected object holds address information indicating a position along the travel route and is installed on the first side in the width direction, which is one side in the width direction,
The second detectable body is installed on the first side in the width direction so as to indicate a first stop position at which the article transport vehicle stops,
The third detectable body is installed on the second side in the width direction, which is the other side in the width direction, so as to indicate a second stop position that is the stop position different from the first stop position,
The first stop position corresponds to a position of a first article transfer location that is installed on the first side in the width direction with respect to the travel path and transfers an article,
The second stop position corresponds to a position of a second article transfer location installed on the second side in the width direction with respect to the travel path to transfer the article,
Article transport equipment, wherein the first stop position and the second stop position are assigned to one piece of address information.