TW201812495A - Article transport facility having a control device to execute a halt operation according to detection information of the existence of a second detected body when a detection device detects the existence of the second detected body - Google Patents
Article transport facility having a control device to execute a halt operation according to detection information of the existence of a second detected body when a detection device detects the existence of the second detected body Download PDFInfo
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- TW201812495A TW201812495A TW106126365A TW106126365A TW201812495A TW 201812495 A TW201812495 A TW 201812495A TW 106126365 A TW106126365 A TW 106126365A TW 106126365 A TW106126365 A TW 106126365A TW 201812495 A TW201812495 A TW 201812495A
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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
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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
- H01L21/67005—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
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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
- H01L21/67706—Mechanical details, e.g. roller, belt
Abstract
Description
發明領域 本發明是有關於一種物品搬送設備，其具備：沿著行走路徑行走的行走台車、控制前述行走台車的控制裝置、及與設定作為前述行走台車的停止位置之設定停止位置相對應而設置的被檢測體，前述行走台車具備有檢測前述被檢測體的檢測裝置，前述控制裝置是根據由前述檢測裝置所得之前述被檢測體的檢測資訊，來使前述行走台車停止。FIELD OF THE INVENTION The present invention relates to an article transporting apparatus including a walking trolley that travels along a walking path, a control device that controls the walking trolley, and a setting stop position that is set corresponding to a stop position that is set as the stopping position of the walking trolley The subject vehicle includes a detection device for detecting the subject, and the control device stops the traveling vehicle based on detection information of the subject obtained by the detection device.
發明背景 所述物品搬送設備的以往的例子已記載在日本專利特開2005-202464號公報(專利文獻1)上。專利文獻1的物品搬送設備，作為被檢測體，具備有停止位置用的標記與事前檢測用的ID標籤，而作為檢測裝置，則具備有用來檢測標記的絕對位置感測器，以及用來檢測ID標籤的二維條碼讀取器。在ID標籤中，是將顯示設定停止位置的座標資訊作為附加資訊來顯示。標記是設置在當行走台車停止在設定停止位置的狀態下可藉由絕對位置感測器來檢測的位置，ID標籤是設置在比標記更上游側。 並且，控制裝置使行走台車朝向設定停止位置行走時，藉由二維條碼讀取器檢測ID標籤並讀取附加資訊後，根據該附加資訊來進行減速處理而停止在設定停止位置上。又，控制裝置是在藉由減速處理而停止的狀態下，根據由絕對位置感測器所得之標記的存在與否之檢測資訊，來進行判別行走台車是否停止在設定停止位置之判別處理。BACKGROUND OF THE INVENTION A conventional example of the article transfer device is described in Japanese Patent Laid-Open No. 2005-202464 (Patent Document 1). The article transporting device of Patent Document 1 includes, as a test object, a mark for a stop position and an ID tag for pre-detection, and as a detection device, an absolute position sensor for detecting the mark, and a device for detecting 2D barcode reader for ID tags. In the ID tag, the coordinate information of the display setting stop position is displayed as additional information. The mark is set at a position that can be detected by the absolute position sensor when the traveling trolley is stopped at the set stop position, and the ID tag is set more upstream than the mark. In addition, when the control device moves the walking cart toward the set stop position, the two-dimensional barcode reader detects the ID tag and reads the additional information, and then performs deceleration processing based on the additional information to stop the set stop position. In the state where the control device is stopped by the deceleration processing, the control device performs the determination processing for determining whether the traveling trolley stops at the set stop position based on the detection information of the presence or absence of the mark obtained by the absolute position sensor.
發明概要 課題、用以解決課題之手段 在上述物品搬送設備中，是以二維條碼讀取器來讀取ID標籤所顯示之顯示設定停止位置的座標資訊，且根據該資訊來判別設定停止位置並進行減速處理。像這樣，以二維條碼讀取器讀取座標資訊並演算到設定停止位置的距離來進行減速處理時，若由控制裝置進行的處理耗費較長的時間，行走台車藉由二維條碼讀取器檢測ID標籤後到設定停止位置為止的時間會變長。因此，有必要將ID標籤設置在相對於標記較遠離的位置。藉此，由於以相同的支撐體支撐ID標籤與標記的情況下，必須在行走方向上將支撐體形成得較長，因此會發生難以將ID標籤與標記支撐在相同的支撐體等問題。 又，在上述物品搬送設備中，由於必須將二維條碼讀取器與絕對位置感測器等2個檢測裝置設置在行走台車上，因此容易使行走台車的製造成本變高。Summary of the Invention Problems and Means for Solving the Problems In the above-mentioned article conveying equipment, a two-dimensional barcode reader is used to read the coordinate information of the display setting stop position displayed on the ID tag, and determine the setting stop position based on the information. And decelerate. In this way, when the two-dimensional barcode reader reads the coordinate information and calculates the distance to the set stop position to perform deceleration processing, if the processing by the control device takes a long time, the walking trolley reads the two-dimensional barcode. It takes longer after the ID tag is detected by the device until the stop position is set. Therefore, it is necessary to set the ID tag away from the mark. Accordingly, when the ID tag and the tag are supported by the same support, the support must be formed long in the walking direction, so that it is difficult to support the ID tag and the tag on the same support. Furthermore, in the above-mentioned article transfer facility, since two detection devices such as a two-dimensional bar code reader and an absolute position sensor must be installed on the traveling cart, it is easy to increase the manufacturing cost of the traveling cart.
於是，所要求的是可以使2個被檢測體在行走方向上接近，並且可容易地抑制行走台車的製造成本之物品搬送設備。Therefore, what is required is an article transfer device that can make two test objects approach in the walking direction and can easily suppress the manufacturing cost of the walking trolley.
物品搬送設備的特徵構成在於下述之點，其具備有：行走台車，沿著行走路徑行走；控制裝置，控制前述行走台車；及被檢測體，與設定作為前述行走台車的停止位置之設定停止位置相對應而設置，前述行走台車具備有檢測前述被檢測體的檢測裝置，前述控制裝置是根據由前述檢測裝置所得之前述被檢測體的檢測資訊，來使前述行走台車停止， 作為前述被檢測體，具備有第1被檢測體及第2被檢測體，前述第1被檢測體是設置在當前述行走台車位於前述設定停止位置的狀態下，可藉由前述檢測裝置檢測的位置，並且至少具備有顯示該被檢測體為第1被檢測體之第1附加資訊，前述第2被檢測體是在行走方向上設置在比前述第1被檢測體更上游側，並且可具備有比前述第1附加資訊更少的資訊量之第2附加資訊、或不具備該第2附加資訊，前述檢測裝置可檢測前述第1被檢測體及前述第2被檢測體的存在，並且可讀取檢測出存在的前述第1被檢測體之前述第1附加資訊，且進一步地在檢測出存在的前述第2被檢測體具備有前述第2附加資訊的情況下，可讀取該第2附加資訊， 前述控制裝置，在使前述行走台車朝向前述設定停止位置行走時，藉由前述檢測裝置檢測到前述第2被檢測體的存在之情況下，是根據該第2被檢測體的存在之檢測資訊，以及在可讀取到前述第2附加資訊時也根據該第2附加資訊，來執行使前述行走台車減速成將前述設定停止位置設為目標停止位置而停止的停止處理，在藉由前述停止處理而前述行走台車為已停止的狀態下，是根據由前述檢測裝置所得之前述第1被檢測體的存在之檢測資訊及前述第1附加資訊，來執行判別前述行走台車是否停止在前述設定停止位置的判別處理。The article conveying equipment is characterized in that it includes a traveling trolley that travels along a traveling path; a control device that controls the aforementioned traveling trolley; and a subject to be set and stopped as a stop position of the aforementioned traveling trolley. The traveling cart is provided corresponding to the position. The traveling cart is provided with a detection device for detecting the object. The control device stops the traveling cart as the detected object based on detection information of the object obtained by the detection device. A body including a first subject and a second subject, wherein the first subject is located at a position that can be detected by the detecting device when the traveling trolley is at the set stop position, and at least The first subject is provided with additional information indicating that the subject is the first subject. The second subject is provided on the upstream side of the first subject in the walking direction, and may include 1 The second additional information with a smaller amount of additional information, or the second additional information is not provided. Presence of the first subject and the second subject, and the first additional information of the first subject to be detected can be read, and the second subject to be detected is further detected. When the second additional information is provided, the second additional information can be read, and the control device detects the second object to be detected by the detection device when the walking trolley is moved toward the set stop position. In the case of the presence of the vehicle, it is based on the detection information of the existence of the second subject, and when the second additional information can be read, the execution of the deceleration of the traveling trolley is performed based on the second additional information. When the stop position is set as the target stop position and the stop process is stopped, in the state in which the walking trolley is stopped by the stop process, it is based on the detection information of the presence of the first subject obtained by the detection device. And the above-mentioned first additional information, a determination process is performed to determine whether the traveling cart has stopped at the set stop position.
根據此特徵構成，在使行走台車朝向設定停止位置行走時，可藉由檢測裝置來檢測第2被檢測體。並且，當第2被檢測體具備有附加資訊時，也藉由檢測裝置來讀取第2被檢測體所具備的附加資訊。 具體而言，可考慮為例如，在第2被檢測體未具備有附加資訊的情況下，是將顯示從第2被檢測體到設定停止位置的距離之分開距離資訊先儲存在控制裝置。藉由像這樣將分開距離資訊先儲存在控制裝置，只要藉由檢測裝置來檢測第2被檢測體的存在，即可以判別從檢測出第2被檢測體的位置到設定停止位置為止的行走距離，因此可以根據此行走距離來執行停止處理，藉此使行走台車停止在設定停止位置。 又，可考慮為例如，在第2被檢測體具備有附加資訊的情況下，是將從現在位置到設定停止位置的行走距離作為符號資訊而設置於第2被檢測體。藉由像這樣在第2被檢測體上先具備有符號資訊，藉由檢測裝置來檢測第2被檢測體的存在並讀取符號資訊，即可以判別從檢測出第2被檢測體的位置到設定停止位置為止的行走距離，因此可以根據此行走距離來執行停止處理，藉此使行走台車停止在設定停止位置。According to this characteristic configuration, when the walking trolley is moved toward the set stop position, the second subject can be detected by the detection device. In addition, when the second subject has additional information, the additional information included in the second subject is also read by the detection device. Specifically, it may be considered that, for example, when the second subject does not have additional information, the separation distance information showing the distance from the second subject to the set stop position is stored in the control device first. By storing the separation distance information in the control device in this way, as long as the detection device detects the presence of the second object, the walking distance from the position where the second object is detected to the stop position can be determined. Therefore, the stopping process can be performed according to this walking distance, thereby stopping the walking trolley at the set stopping position. It is also considered that, for example, when the second subject has additional information, a walking distance from the current position to the set stop position is provided as the symbol information on the second subject. By first having symbol information on the second subject as described above, and detecting the presence of the second subject by the detection device and reading the symbol information, it can be determined from the position where the second subject is detected to The walking distance up to the stop position is set. Therefore, the stop process can be performed based on this walking distance, thereby stopping the walking trolley at the set stop position.
並且，在判別處理中，當藉由停止處理而行走台車為已停止的狀態下，是藉由檢測裝置來檢測第1被檢測體的存在，並且讀取該檢測到的第1被檢測體所具備的第1附加資訊。作為第1附加資訊，可考慮在第1被檢測體中具備有顯示第1被檢測體所設置的位置之資訊、或在第1被檢測體中具備有顯示為第1被檢測體的資訊。 第1被檢測體中具備有顯示第1被檢測體所設置的位置之資訊，以作為第1附加資訊，藉此以檢測裝置來檢測第1被檢測體的存在並且讀取第1附加資訊，若該第1附加資訊所示的資訊是顯示和目標停止位置同樣的資訊，控制裝置即可以判別為行走台車正停止在目標停止位置上。 又，第1被檢測體中具備有顯示為第1被檢測體的資訊，以作為第1附加資訊，並藉由檢測裝置來檢測第1被檢測體的存在並且讀取第1附加資訊，藉此由於控制裝置可以判別是否停止在與第1被檢測體相對應的位置，因此可以避免因誤將第1被檢測體以外的物體檢測為第1被檢測體，而控制裝置錯誤判別為停止在目標停止位置的情況。In the discrimination processing, when the traveling trolley is stopped by the stop processing, the presence of the first subject is detected by the detection device, and the detected first subject is read. 1st additional information provided. As the first additional information, it is conceivable that the first subject is provided with information indicating the position where the first subject is set, or the first subject is provided with information displayed as the first subject. The first subject is provided with information showing the position set by the first subject as the first additional information, thereby detecting the presence of the first subject with the detection device and reading the first additional information, If the information shown in the first additional information is the same information displayed as the target stop position, the control device can determine that the traveling trolley is stopping at the target stop position. In addition, the first subject is provided with information displayed as the first subject as the first additional information, and the presence of the first subject is detected by the detection device and the first additional information is read. Since the control device can determine whether to stop at the position corresponding to the first test object, it can avoid erroneously detecting an object other than the first test object as the first test object, and the control device erroneously determines to stop at the first test object. The target stop position.
並且，當第2被檢測體未具備有第2附加資訊，或者，即使是具備有第2附加資訊的情況下，該第2附加資訊的資訊量比第1附加資訊更少。因此，由於以檢測裝置檢測出第2被檢測體的存在時，不需要讀取第2附加資訊、或者第2附加資訊的資訊量是比較少的資訊量，所以控制裝置對來自檢測出第2被檢測體的檢測裝置之資訊的處理所需要的時間可以縮短。據此，由於行走台車從檢測出第2被檢測體的存在到停止為止的時間可以縮短，因而可以將第2被檢測體設置在相對於第1被檢測體比較近的位置。 又，由於不需要分別具備有檢測第1被檢測體的檢測裝置與檢測第2被檢測體的檢測裝置，因此可容易地抑制行走台車的製造成本。 像這樣，可以使2個被檢測體在行走方向上接近，並且可容易地抑制行走台車的製造成本。In addition, when the second subject does not have the second additional information, or even when the second additional information is provided, the amount of information of the second additional information is less than the first additional information. Therefore, since the presence of the second subject is detected by the detection device, it is not necessary to read the second additional information, or the amount of information of the second additional information is relatively small, so the control device detects the second The time required for processing the information of the detection device of the subject can be shortened. According to this, since the time from the detection of the presence of the second subject to the stop of the walking trolley can be shortened, the second subject can be set closer to the first subject. In addition, since it is not necessary to separately provide a detection device that detects the first object and a detection device that detects the second object, the manufacturing cost of the traveling trolley can be easily suppressed. In this way, the two test objects can be brought closer to each other in the walking direction, and the manufacturing cost of the walking cart can be easily suppressed.
用以實施發明之形態 以下，根據圖式來說明物品搬送設備之實施形態。 如圖1及圖2所示，物品搬送設備中具備有物品搬送車1、行走軌道2、處理裝置3及保管架4。行走軌道2是沿行走路徑設置，並被天花板懸吊支撐。物品搬送車1是沿著行走路徑在行走軌道2上行走來搬送物品W。此物品搬送車1相當於沿行走路徑而行走之行走台車。處理裝置3是對物品W進行處理的裝置，且是設置在地面上。以相鄰於此處理裝置3的狀態而設置有支撐台5。保管架4是被天花板懸吊支撐，且構成為可保管複數個物品W。 再者，有時會將沿行走路徑的方向稱為路徑長度方向，並將從上下方向來看與路徑長度方向正交的方向稱為路徑寬度方向。又，有時會將路徑寬度方向的一個方向稱為第1方向，且將其相反方向稱為第2方向。Embodiments for Carrying Out the Invention Embodiments of the article transport facility will be described below with reference to the drawings. As shown in FIGS. 1 and 2, the article transfer facility includes an article transfer vehicle 1, a running rail 2, a processing device 3, and a storage rack 4. The walking track 2 is provided along a walking path and is supported by a ceiling suspension. The article transport vehicle 1 transports an article W while traveling on a traveling track 2 along a traveling path. This article transport vehicle 1 corresponds to a traveling trolley that travels along a traveling path. The processing device 3 is a device that processes the article W, and is installed on the ground. A support stand 5 is provided in a state adjacent to the processing device 3. The storage rack 4 is supported by a ceiling, and is configured to store a plurality of articles W. In addition, the direction along the walking path may be referred to as a path length direction, and a direction orthogonal to the path length direction when viewed from above and below may be referred to as a path width direction. In addition, one direction of the path width direction may be referred to as a first direction, and the opposite direction may be referred to as a second direction.
如圖2所示，物品W可收納複數片基板，且是裝卸自如地具備有封閉基板的搬出搬入口之蓋的容器，在本實施形態中，是將基板設為半導體晶圓，且將收容該半導體晶圓的FOUP(前開式晶圓傳送盒，Front Opening Unified Pod)設為容器。 支撐台5是設置在物品搬送車1的行走路徑之正下方，且沿著路徑長度方向設置有複數個。保管架4是設置在物品搬送車1的行走路徑之橫向側邊，且沿著路徑長度方向設置有複數個。As shown in FIG. 2, the article W can store a plurality of substrates, and is a container that is detachably provided with a lid that closes the loading and unloading entrance of the substrate. In this embodiment, the substrate is a semiconductor wafer, and the container W This semiconductor wafer has a FOUP (Front Opening Unified Pod) as a container. The support stand 5 is provided directly below the travel path of the article transport vehicle 1, and a plurality of support stands 5 are provided along the path length direction. The storage racks 4 are provided on the lateral sides of the walking path of the article transport vehicle 1, and a plurality of storage racks 4 are provided along the path length direction.
物品搬送車1是將物品W搬送到保管架4的保管部4a，而將物品W保管在保管部4a，並且從保管部4a搬送保管部4a所保管的物品W。又，物品搬送車1將物品W搬送到支撐台5，並且從支撐台5搬送物品W。 並且，可藉由圖式外的搬送裝置，將物品W的整體或僅有物品W內的基板，在支撐台5與處理裝置3之間搬送。The article transport vehicle 1 transports articles W to the storage section 4a of the storage rack 4, stores the articles W in the storage section 4a, and transfers the articles W stored in the storage section 4a from the storage section 4a. In addition, the article transport vehicle 1 transports the article W to the support table 5 and transports the article W from the support table 5. In addition, the entire article W or only the substrate in the article W can be transferred between the support table 5 and the processing device 3 by a transfer device outside the drawing.
[行走軌道及保管架] 如圖3所示，行走軌道2具備有一對軌道部2a，一對軌道部2a是在路徑寬度方向上以一定間隔配置為互相平行。一對軌道部2a是藉由從路徑長度方向來看形成為倒U字形的第1連結構件7而被連結。又，一對軌道部2a分別是藉由第1支撐構件8而被天花板懸吊支撐。[Traveling Rail and Storage Rack] As shown in FIG. 3, the traveling rail 2 includes a pair of rail portions 2 a, and the pair of rail portions 2 a are arranged parallel to each other at a certain interval 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 when viewed in the path length direction. The pair of rail portions 2 a are suspended and supported by the ceiling by the first support member 8.
如圖1及圖3所示，保管架4具備有支撐物品W的支撐板9，如圖1所示，在支撐板9上沿著路徑長度方向形成有複數個保管部4a。保管架4是在1個保管部4a收納1個物品W的狀態下，構成為可保管複數個物品W。保管架4的支撐板9是藉由在上下方向延伸的第2支撐構件10，而被天花板懸吊支撐。 如圖3所示，第2支撐構件10是沿路徑長度方向設置複數個，該等複數個第2支撐構件10是藉由在路徑長度方向延伸的第2連結構件11而相互連結。As shown in FIGS. 1 and 3, the storage rack 4 includes a support plate 9 that supports the article W. As shown in FIG. 1, a plurality of storage portions 4 a are formed on the support plate 9 along the path length direction. The storage rack 4 is configured to be able to store a plurality of articles W in a state where one storage unit 4a stores one article W. The support plate 9 of the storage rack 4 is suspended and supported by the ceiling by the second support member 10 extending in the vertical direction. As shown in FIG. 3, a plurality of second support members 10 are provided along the path length direction, and the plurality of second support members 10 are connected to each other by a second connection member 11 extending in the path length direction.
保管架4是相對於行走軌道2，設置在路徑寬度方向的第1方向及第2方向之雙方。並且，位於一對軌道部2a中的第1方向之軌道部2a，以及相對於行走軌道2而位於第1方向的第2連結構件11，是藉由在路徑寬度方向延伸的第3連結構件13而連結。又，同樣地，位於一對軌道部2a中的第2方向之軌道部2a，以及相對於行走軌道2而位於第2方向的第2連結構件11，是藉由在路徑寬度方向延伸的第3連結構件13而連結。 像這樣，行走軌道2與保管架4是藉由連結構件(第2支撐構件10、第2連結構件11及第3連結構件13)而相互連結。並且，藉由行走軌道2與保管架4相連結，行走軌道2除了第1支撐構件8之外，也被第2支撐構件10及第2連結構件11所支撐。 在第2支撐構件10上連結有支撐體12。像這樣藉由在第2支撐構件10上連結有支撐體12，而在支撐行走軌道2的構件上具備有支撐體12。The storage rack 4 is provided in both the first direction and the second direction of the path width direction with respect to the running rail 2. The rail portion 2a located in the first direction among the pair of rail portions 2a, and the second connection member 11 located in the first direction with respect to the traveling rail 2 are third connection members 13 extending in the path width direction. While linking. Similarly, the rail portion 2a located in the second direction of the pair of rail portions 2a and the second connection member 11 located in the second direction with respect to the running rail 2 are third portions extending in the path width direction. The connection member 13 is connected. In this manner, the running rail 2 and the storage rack 4 are connected to each other by a connection member (the second support member 10, the second connection member 11, and the third connection member 13). In addition, the running rail 2 is connected to the storage rack 4, and the running rail 2 is supported by the second supporting member 10 and the second connecting member 11 in addition to the first supporting member 8. A support body 12 is connected to the second support member 10. As described above, the support body 12 is connected to the second support member 10, and the support body 12 is provided on a member that supports the traveling rail 2.
[物品搬送車] 接著，針對此物品搬送車1進行說明。 如圖4所示，物品搬送車1具備有：在行走軌道2上行走的行走部15，及被行走部15懸吊支撐成位於行走軌道2的下方之本體部16。 物品搬送車1的本體部16具備有：支撐物品W的支撐機構18、使支撐機構18升降移動的升降操作機構19、使升降操作機構19及支撐機構18在路徑寬度方向上移動的滑動操作機構20、覆蓋支撐機構18所支撐的物品W之上方側及路徑長度方向的兩側之蓋體21。[Article Transport Vehicle] Next, this article transport vehicle 1 will be described. As shown in FIG. 4, the article transport vehicle 1 includes a running portion 15 that runs on the running track 2, and a main body portion 16 that is suspended and supported by the running portion 15 so as to be positioned below the running track 2. The body portion 16 of the article transport vehicle 1 includes a support mechanism 18 that supports the article W, a lift operation mechanism 19 that moves the support mechanism 18 up and down, and a slide operation mechanism that moves the lift operation mechanism 19 and the support mechanism 18 in the path width direction. 20. Covers 21 covering the upper side of the article W supported by the support mechanism 18 and both sides of the path length direction.
在支撐機構18上具備有繞著橫軸心擺動自如的一對把持爪18a。一對把持爪18a是構成為可自如地姿勢變更為把持物品W的把持姿勢，以及解除對物品W把持的解除姿勢。 升降操作機構19是構成為可自如地捲取及送出前端部上連結有支撐機構18的捲取帶19a。升降操作機構19是構成為藉由對捲取帶19a進行捲取及送出操作，使支撐機構18沿著上下方向移動。The support mechanism 18 is provided with a pair of gripping claws 18 a that swing freely about the horizontal axis. The pair of gripping claws 18 a are configured to freely change the posture to a gripping posture to grip the article W, and a release posture to release gripping of the article W. The raising / lowering operation mechanism 19 is a winding belt 19a which is configured to be able to freely wind and unwind the support mechanism 18 connected to the front end portion. The raising / lowering operation mechanism 19 is configured to move the support mechanism 18 in the vertical direction by performing a winding and feeding operation on the winding belt 19a.
滑動操作機構20是構成為可自如地沿著路徑寬度方向來滑動移動升降操作機構19所連結的支撐部分20a。滑動操作機構20是構成為：藉由使支撐部分20a在路徑寬度方向上滑動移動，而可自如地將支撐機構18移動至退回位置、第1突出位置及第2突出位置。退回位置是支撐機構18在行走軌道2的正下方且位於蓋體21內的位置。第1突出位置是從退回位置向路徑寬度方向的第1方向側突出的位置(在圖2及圖4中以實線顯示的位置)。第2突出位置是從退回位置向路徑寬度方向的第2方向側突出的位置(在圖2中以假想線顯示的位置)。The slide operation mechanism 20 is a support portion 20 a that is configured to be slidably moved along the path width direction to which the elevation operation mechanism 19 is connected. The slide operation mechanism 20 is configured to move the support mechanism 18 to the retracted position, the first protruding position, and the second protruding position freely by slidingly moving the support portion 20a in the path width direction. The retracted position is a position where the support mechanism 18 is directly below the traveling rail 2 and located in the cover 21. The first protruding position is a position protruding from the retracted position toward the first direction side in the path width direction (the position shown by a solid line in FIGS. 2 and 4). The second protruding position is a position protruding from the retracted position toward the second direction side in the path width direction (the position shown by an imaginary line in FIG. 2).
如圖5所示，在本體部16的蓋體21上具備有第1檢測裝置S1、第2檢測裝置S2及第3檢測裝置S3。再者，第1檢測裝置S1相當於檢測被檢測體T的檢測裝置。 第1檢測裝置S1是以二維條碼讀取器所構成，具備有讀取顯示在被檢測體T的QR碼(註冊商標)等二維條碼的功能，並且具備有檢測被檢測體T的存在與否之功能。作為檢測被檢測體T的存在與否之功能，可為例如，藉由是否檢測到顯示在被檢測體T的QR碼之存在，來檢測被檢測體T的存在與否，又，亦可為藉由是否檢測到被檢測體T的外周緣來檢測被檢測體T的存在與否。亦即，第1檢測裝置S1是構成為可檢測後述之第1被檢測體T1及第2被檢測體T2的存在，並且可讀取檢測到存在之第1被檢測體T1的第1附加資訊(二維條碼所示的資訊)。 第2檢測裝置S2是以可讀取一維條碼的一維條碼讀取器所構成，具備有讀取顯示在第3被檢測體T3的條碼等一維條碼的功能，並且具備有檢測第3被檢測體T3的存在與否之功能。作為檢測第3被檢測體T3的存在與否之功能，可為例如，藉由是否檢測到顯示在第3被檢測體T3的條碼之存在，來檢測第3被檢測體T3的存在與否。亦即，第2檢測裝置S2是構成為可檢測後述之第3被檢測體T3的存在，並且可讀取顯示在第3被檢測體T3的第3附加資訊(以一維條碼所顯示的資訊)。 第3檢測裝置S3是以可檢測第4被檢測體T4的存在與否之光學感測器所構成。As shown in FIG. 5, the cover 21 of the main body portion 16 includes a first detection device S1, a second detection device S2, and a third detection device S3. The first detection device S1 corresponds to a detection device that detects the subject T. The first detection device S1 is constituted by a two-dimensional bar code reader, and has a function of reading a two-dimensional bar code such as a QR code (registered trademark) displayed on the subject T, and has a function of detecting the presence of the subject T Or not. As a function of detecting the presence or absence of the subject T, for example, the presence or absence of the QR code displayed on the subject T can be detected to detect the presence or absence of the subject T, or The presence or absence of the subject T is detected by whether or not the outer periphery of the subject T is detected. That is, the first detection device S1 is configured to detect the presence of the first subject T1 and the second subject T2 described later, and to read the first additional information of the first subject T1 in which the presence is detected. (Information shown by a two-dimensional barcode). The second detection device S2 is constituted by a one-dimensional barcode reader capable of reading one-dimensional barcodes, and has a function of reading one-dimensional barcodes such as a barcode displayed on the third subject T3, and has a function of detecting a third one. The function of the presence or absence of the subject T3. The function of detecting the presence or absence of the third subject T3 may be, for example, detecting the presence or absence of the third subject T3 by detecting whether or not the barcode displayed on the third subject T3 is present. That is, the second detection device S2 is configured to detect the presence of a third subject T3 described later, and to read third additional information (information displayed by a one-dimensional bar code) displayed on the third subject T3. ). The third detection device S3 is constituted by an optical sensor that can detect the presence or absence of the fourth subject T4.
如圖6及圖7所示，在行走路徑上設定有第1停止位置P1及第2停止位置P2。第1停止位置P1是物品搬送車1在保管架4之間移載物品W時，物品搬送車1停止的位置，且是相對於複數個保管部4a的每一個而設定。第2停止位置P2是物品搬送車1在支撐台5之間移載物品W時，物品搬送車1停止的位置，且是相對於複數個支撐台5的每一個而設定。 像這樣，作為物品搬送車1停止的停止位置，設定有第1停止位置P1、以及與此第1停止位置P1不同的第2停止位置P2。再者，第1停止位置P1相當於設定停止位置。 順帶一提，所謂「與第1停止位置P1不同的第2停止位置P2」是指第1停止位置P1與第2停止位置P2設定的對象不同，因保管部4a與支撐台5的位置關係，會有第1停止位置P1與第2停止位置P2在路徑長度方向上被設定為相同的位置之情形。As shown in FIGS. 6 and 7, a first stop position P1 and a second stop position P2 are set on the travel path. The first stop position P1 is a position where the article transport vehicle 1 stops when the article transport vehicle 1 transfers the article W between the storage racks 4 and is set for each of the plurality of storage sections 4a. The second stop position P2 is a position where the article transport vehicle 1 stops when the article transport vehicle 1 transfers the article W between the support tables 5, and is set for each of the plurality of support tables 5. In this manner, as the stop position at which the article transport vehicle 1 stops, a first stop position P1 and a second stop position P2 different from the first stop position P1 are set. The first stop position P1 corresponds to the set stop position. Incidentally, the "second stop position P2 different from the first stop position P1" means that the objects set in the first stop position P1 and the second stop position P2 are different. Because of the positional relationship between the storage unit 4a and the support table 5, The first stop position P1 and the second stop position P2 may be set to the same position in the path length direction.
如圖5至圖7所示，在物品搬送設備中，具備有對應於第1停止位置P1而設置的被檢測體T。作為此被檢測體T，具備有第1被檢測體T1及第2被檢測體T2。亦即，第1被檢測體T1及第2被檢測體T2是對應於第1停止位置P1而設置。 又，如圖5及圖8所示，在物品搬送設備中具備有第3被檢測體T3及第4被檢測體T4，該等第3被檢測體T3及第4被檢測體T4是對應於第2停止位置P2而設置。As shown in FIGS. 5 to 7, the article transport facility includes a subject T that is provided corresponding to the first stop position P1. The subject T includes a first subject T1 and a second subject T2. That is, the first subject T1 and the second subject T2 are provided corresponding to the first stop position P1. As shown in FIGS. 5 and 8, the article transfer facility includes a third subject T3 and a fourth subject T4, and the third subject T3 and the fourth subject T4 correspond to each other. The second stop position P2 is set.
如圖6及圖7所示，第1被檢測體T1是設置在：當物品搬送車1位於第1停止位置P1的狀態下，可藉由物品搬送車1的第1檢測裝置S1來檢測的位置。又，第1被檢測體T1至少具備有顯示該被檢測體為第1被檢測體T1之第1附加資訊。具體而言，在第1被檢測體T1上具備有顯示該第1被檢測體T1所設置的位置之位址資訊，以作為第1附加資訊。像這樣，作為第1附加資訊，具備有第1被檢測體T1所具備的位址資訊，且將此位址資訊設為顯示是第1被檢測體T1的第1附加資訊。 第1被檢測體T1在朝向第1檢測裝置S1的面上，可讀取地顯示有第1附加資訊。具體而言，是以第1檢測裝置S1可讀取的QR碼等二維條碼來顯示第1附加資訊。第1被檢測體T1是以板狀的構件來構成且在表面上顯示二維條碼，並且將該第1被檢測體T1固定在支撐體12上。As shown in FIG. 6 and FIG. 7, the first object T1 is installed in a state where the article transport vehicle 1 is located at the first stop position P1 and can be detected by the first detection device S1 of the article transport vehicle 1. position. The first subject T1 includes at least first additional information indicating that the subject is the first subject T1. Specifically, the first subject T1 is provided with address information indicating a position set by the first subject T1 as the first additional information. As described above, as the first additional information, the address information included in the first subject T1 is provided, and the address information is set to be displayed as the first additional information of the first subject T1. The first subject T1 readablely displays the first additional information on a surface facing the first detection device S1. Specifically, the first additional information is displayed as a two-dimensional bar code such as a QR code that can be read by the first detection device S1. The first test object T1 is configured by a plate-shaped member and displays a two-dimensional barcode on the surface, and the first test object T1 is fixed to the support 12.
第2被檢測體T2是設置在行走方向(路徑長度方向)上比第1被檢測體T1更上游側，且相對於第1被檢測體T1分離的位置。 像這樣，第2被檢測體T2是設置在第1設定位置，該第1設定位置是設定在比第1被檢測體T1更上游側相當於第1設定距離的位置。第1設定距離是設定為：當物品搬送車1進行為了停止到第1停止位置P1之行走時，適合在藉由第1檢測裝置S1檢測到第2被檢測體T2後再藉由後述的第1減速控制來停止到第1停止位置P1的距離。第2被檢測體T2是設置在：當物品搬送車1位於第1設定位置的狀態下，可藉由物品搬送車1的第1檢測裝置S1來檢測的位置。 第2被檢測體T2朝向第1檢測裝置S1的面為單色，且未顯示有附加資訊(例如，比第1附加資訊更少的資訊量之第2附加資訊)。第2被檢測體T2是以板狀的構件來構成且被固定在支撐體12上。第2被檢測體T2中朝向第1檢測裝置S1的面(朝向路徑寬度方向的一個方向之面)上，是以與支撐體12不同的顏色所形成。 順帶一提，在此所謂單色及不同的顏色，是針對第1檢測裝置S1所辨識的顏色，例如，以肉眼來看第2被檢測體T2的表面時即使看起來是顯示有複數個顏色的情況，但當第1檢測裝置S1將第2被檢測體T2的表面辨識為單色的情況下，第1檢測裝置S1則為單色。The second subject T2 is disposed at a position more upstream than the first subject T1 in the walking direction (path length direction) and separated from the first subject T1. As described above, the second subject T2 is set at the first setting position, and the first setting position is set at a position corresponding to the first set distance on the upstream side from the first subject T1. The first set distance is set such that when the article transport vehicle 1 is walking to stop to the first stop position P1, it is suitable to detect the second object T2 by the first detection device S1 and then use the first 1 deceleration control to stop the distance to the first stop position P1. The second subject T2 is installed at a position where the article transport vehicle 1 is located at the first set position and can be detected by the first detection device S1 of the article transport vehicle 1. The surface of the second subject T2 facing the first detection device S1 is monochrome, and no additional information is displayed (for example, second additional information having a smaller amount of information than the first additional information). The second subject T2 is a plate-shaped member and is fixed to the support 12. The surface of the second object 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. Incidentally, the so-called monochromatic and different colors herein refer to the colors recognized by the first detection device S1. For example, even when the surface of the second object T2 is seen with the naked eye, a plurality of colors are displayed In the case where the first detection device S1 recognizes the surface of the second subject T2 as monochrome, the first detection device S1 is monochrome.
第1被檢測體T1與第2被檢測體T2是以在路徑長度方向上排列成同時包含在第1檢測裝置S1的檢測範圍E內的狀態，而被相同的支撐體12所支撐。 進一步說明，是將第1被檢測體T1與第2被檢測體T2以在路徑長度方向上分開的狀態設置成：使第1檢測裝置S1的檢測範圍E之路徑長度方向的長度比第1被檢測體T1的上游側端與第2被檢測體T2的下游側端之間隔更寬，且比第1被檢測體T1的下游側端與第2被檢測體T2的上游側端之間隔更狹窄。The first subject T1 and the second subject T2 are arranged in the path length direction and are included in the detection range E of the first detection device S1 while being supported by the same support 12. Further explanation is that the first subject T1 and the second subject T2 are separated in the path length direction so that the length in the path length direction of the detection range E of the first detection device S1 is longer than the first length The distance between the upstream end of the test subject T1 and the downstream end of the second test subject T2 is wider and narrower than the distance between the downstream end of the first test subject T1 and the upstream end of the second test subject T2. .
如圖8所示，第3被檢測體T3及第4被檢測體T4是從第2停止位置P2起設置到在行走方向(路徑長度方向)上設定在比此第2停止位置P2更上游側的第2設定位置為止。因此，第3被檢測體T3是設置為：當物品搬送車1從第2設定位置行走到第2停止位置P2的期間、以及物品搬送車1位於第2停止位置P2的狀態下，可藉由物品搬送車1的第2檢測裝置S2來檢測。 又，第4被檢測體T4是設置為：當物品搬送車1從第2設定位置行走到第2停止位置P2的期間、以及物品搬送車1位於第2停止位置P2的狀態下，可藉由物品搬送車1的第3檢測裝置S3來檢測。As shown in FIG. 8, the third object T3 and the fourth object T4 are set from the second stop position P2 to the upstream side of the second stop position P2 in the walking direction (path length direction). Up to the second setting position. Therefore, the third test object T3 is provided in a state where the article transport vehicle 1 is walking from the second set position to the second stop position P2, and the article transport vehicle 1 is in the second stop position P2. It is detected by the second detection device S2 of the article transport vehicle 1. In addition, the fourth object T4 is provided in a state in which the article transport vehicle 1 is walking from the second set position to the second stop position P2, and the article transport vehicle 1 is in the second stop position P2. It is detected by the third detection device S3 of the article transport vehicle 1.
第3被檢測體T3至少具備有顯示該被檢測體為第3被檢測體T3之第3附加資訊。在第3被檢測體T3上具備有顯示該第3被檢測體T3所設置的位置之位址資訊，以作為第3附加資訊。 第3被檢測體T3在朝向第2檢測裝置S2的面上，可讀取地顯示有第3附加資訊。具體而言，在第3被檢測體T3上，顯示有顯示第3附加資訊的條碼等一維條碼。第3被檢測體T3是以板狀的構件來構成且在表面上顯示一維條碼，該第3被檢測體T3是被直接固定在軌道部2a上。 第4被檢測體T4是以反射板來構成，且藉由直接固定至軌道部2a上而被該軌道部2a支撐。The third subject T3 includes at least third additional information indicating that the subject is the third subject T3. The third subject T3 is provided with address information showing the position set by the third subject T3 as the third additional information. The third subject T3 readablely displays the third additional information on a surface facing the second detection device S2. Specifically, a one-dimensional bar code such as a bar code displaying the third additional information is displayed on the third subject T3. The third test object T3 is a plate-shaped member and displays a one-dimensional barcode on the surface. The third test object T3 is directly fixed to the rail portion 2a. The fourth object T4 is a reflection plate, and is supported by the rail portion 2a by being directly fixed to the rail portion 2a.
[控制裝置] 在物品搬送設備中具備有控制物品搬送車1的控制裝置H。如圖4所示，在行走路徑上行走的物品搬送車1的每一個中，具備有此控制裝置H。 控制裝置H是構成為：根據來自設置在地上側的上位控制器(圖未示)之搬送指令，為了從搬送起點(保管架4或支撐台5)接收物品W而執行行走控制及接收控制，並為了將物品W移交至搬送目的地(保管架4或支撐台5)而執行行走控制及移交控制，來控制物品搬送車1。 行走控制是使物品搬送車1停止在對應於搬送起點或搬送目的地而設定的停止位置(第1停止位置P1或第2停止位置P2)之控制。接收控制是接收物品W的控制，是停止在停止位置的狀態下，以支撐機構18來支撐位於搬送起點(保管架4或支撐台5)的物品W。移交控制是當停止在停止位置的狀態下，將支撐機構18所支撐的物品W移交到搬送目的地(保管架4或支撐台5)的控制。[Control Device] The article transfer facility includes a control device H that controls the article transfer vehicle 1. As shown in FIG. 4, each of the article transport vehicles 1 traveling on the traveling path is provided with this control device H. The control device H is configured to execute walking control and reception control in order to receive an article W from a transportation starting point (storage rack 4 or support stand 5) based on a transfer instruction from a higher-level controller (not shown) provided on the ground. In order to transfer the article W to the transfer destination (storage rack 4 or support stand 5), walking control and transfer control are performed to control the article transfer vehicle 1. The running control is a control for stopping the article transport vehicle 1 at a stop position (the first stop position P1 or the second stop position P2) that is set in accordance with the transfer start point or the transfer destination. The receiving control is a control for receiving the article W, and is a state in which the article W is stopped at the stop position, and the article W at the starting point of the transfer (the storage rack 4 or the support stand 5) is supported by the support mechanism 18. The transfer control is a control for transferring the article W supported by the support mechanism 18 to the transfer destination (storage rack 4 or support stand 5) when stopped in the stopped position.
控制裝置H是執行以下的第1行走控制及第2行走控制，以作為行走控制：第1行走控制是使物品搬送車1停止在對應於保管架4的停止位置之第1停止位置P1；第2行走控制是使物品搬送車1停止在對應於支撐台5的停止位置之第2停止位置P2。 又，在搬送指令中包含有顯示搬送起點及搬送目的地的位址資訊，控制裝置H是根據搬送指令所包含的位址資訊，來判別搬送起點的位址資訊所顯示的停止位置(第1停止位置P1或第2停止位置P2)、以及搬送目的地的位址資訊所顯示的停止位置(第1停止位置P1或第2停止位置P2)。The control device H executes the following first travel control and second travel control as the travel control: the first travel control is to stop the article transport vehicle 1 at the first stop position P1 corresponding to the stop position of the storage rack 4; The 2 walking control is to stop the article transport vehicle 1 at the second stop position P2 corresponding to the stop position of the support stand 5. In addition, the transfer instruction includes address information indicating the transfer start point and the transfer destination. The control device H determines the stop position indicated by the address information of the transfer start point based on the address information included in the transfer instruction (the first position). The stop position P1 or the second stop position P2) and the stop position (the first stop position P1 or the second stop position P2) indicated by the address information of the transfer destination.
在第1行走控制及第2行走控制中，是控制行走部15以執行下列處理：加速處理，是從物品搬送車1停止的狀態，以設定加速度將物品搬送車1的行走速度加速到設定行走速度；定速處理，是以設定行走速度行走；停止處理，當物品搬送車1行走到減速開始位置時，以設定減速度將物品搬送車1的行走速度減速而使其停止在停止位置。 設定行走速度、設定加速度及設定減速度是根據物品搬送車1的性能、支撐機構18是否支撐著物品W及到停止位置的行走距離等來事先設定的。顯示該等設定行走速度、設定加速度及設定減速度的數值是被儲存在控制裝置H中。 又，減速開始位置是設定在比物品搬送車1的停止位置更往前設定距離的位置，且是設定在當設定行走速度的物品搬送車1以設定減速度減速時，可以使其停止在停止位置的位置。減速開始位置是藉由控制裝置H從顯示停止位置的資訊之演算來求得的。In the first walking control and the second walking control, the walking unit 15 is controlled to execute the following processing: acceleration processing is a state in which the article transport vehicle 1 is stopped, and the traveling speed of the article transport vehicle 1 is accelerated to the set walking at a set acceleration. Speed; fixed speed processing, walking at a set walking speed; stop processing, when the article transport vehicle 1 walks to the deceleration start position, the traveling speed of the article transport vehicle 1 is decelerated at a set deceleration to stop it at the stop position. The set walking speed, the set acceleration, and the set deceleration are set in advance according to the performance of the article transport vehicle 1, whether the support mechanism 18 supports the article W, the walking distance to the stop position, and the like. The numerical values showing the set walking speed, set acceleration, and set deceleration are stored in the control device H. In addition, the deceleration start position is set to a position further forward than the stop position of the article transport vehicle 1, and is set to stop when the article transport vehicle 1 of the traveling speed is set to decelerate and decelerate. Location of location. The deceleration start position is obtained by a calculation by the control device H from the information showing the stop position.
由於在為了使物品搬送車1停止到停止位置之使其行走的途中發生車輸打滑等，而有即使想藉由行走控制來使物品搬送車1停止到停止位置，仍使物品搬送車1從停止位置偏離而停止的可能性。因此，控制裝置H會在減速處理的執行中，進行修正減速度的處理(停止處理)。又，控制裝置H是執行下述之處理(判別處理)：判別在藉由行走處理(行走處理中的停止處理)而停止的狀態下是否停止在停止位置。In order to stop the article transporting vehicle 1 to stop it and cause it to slip, the article transporting vehicle 1 may be moved from the stopping position to the stopping position by the walking control. Possibility of stopping the stop position. Therefore, the control device H performs a process (stop process) of correcting the deceleration during the execution of the deceleration process. In addition, the control device H executes processing (judgment processing) to determine whether to stop at the stop position in a state of being stopped by the walking processing (stop processing during walking processing).
接著，說明第1行走控制中的停止處理及判別處理、以及第2行走控制中的停止處理及判別處理。順帶一提，第1行走控制中的判別處理，相當於下述之判別處理：在藉由第1行走控制的停止處理而物品搬送車1為已停止的狀態下，根據由第1檢測裝置S1所得之第1被檢測體T1的存在之檢測資訊及第1附加資訊，來判別物品搬送車1是否停止在第1停止位置P1。又，第2行走控制中的判別處理為相當於下述之第2判別處理：在藉由第2行走控制的停止處理而物品搬送車1為已停止的狀態下，根據由第2檢測裝置S2所得之第3被檢測體T3的存在之檢測資訊及第3附加資訊，來判別物品搬送車1是否停止在第2停止位置P2。Next, stop processing and discrimination processing in the first walking control and stop processing and discrimination processing in the second walking control will be described. Incidentally, the determination processing in the first walking control is equivalent to the following determination processing: In a state where the article transport vehicle 1 is stopped by the stop processing of the first walking control, according to the first detection device S1 The obtained detection information of the first subject T1 and the first additional information are used to determine whether the article transport vehicle 1 has stopped at the first stop position P1. In addition, the determination processing in the second walking control is equivalent to the second determination processing in a state where the article transport vehicle 1 is stopped by the stop processing of the second walking control according to the second detection device S2 The obtained detection information of the third subject T3 and the third additional information are used to determine whether the article transport vehicle 1 has stopped at the second stop position P2.
[第1行走控制] 針對第1行走控制中的停止處理進行說明。 使物品搬送車1朝向第1設定位置行走的第1行走控制的執行中(詳細來說，是第1行走控制中的減速處理之執行中)，如圖6所示，藉由第1檢測裝置S1檢測到第2被檢測體T2的存在時(為圖6所示的狀態，圖9中的(1)之時間點)，控制裝置H是執行調節減速度的停止處理。在此停止處理中，是根據以第1檢測裝置S1檢測到第2被檢測體T2的存在時之物品搬送車1的行走速度、以及從第2被檢測體T2到第1停止位置P1的距離，來設定調整後的減速度(調整減速度)。並且，在第1行走控制的停止處理中，是以調整減速度減速而減速到潛移用行走速度的情況(圖9中的(2)之時間點)下，以潛移用行走速度行走一定距離，之後，使物品搬送車1的行走停止(圖9中的(3)之時間點)。 像這樣，控制裝置H是根據以第1檢測裝置S1檢測到第2被檢測體T2的存在之資訊，來執行使物品搬送車1減速的停止處理，以將第1停止位置P1設為目標停止位置來使物品搬送車1停止。[First running control] The stop processing in the first running control will be described. As shown in FIG. 6, the first detection control of the article transport vehicle 1 is being executed toward the first set position (in detail, the deceleration processing in the first travel control is being executed). When S1 detects the presence of the second subject T2 (in the state shown in FIG. 6 and the time point of (1) in FIG. 9), the control device H executes the stop process of adjusting the deceleration. The stopping process is based on the walking speed of the article transport vehicle 1 when the presence of the second subject T2 is detected by the first detection device S1 and the distance from the second subject T2 to the first stopping position P1. To set the adjusted deceleration (adjust the deceleration). In addition, in the stop process of the first walking control, when the deceleration is adjusted to decelerate to decelerate to the walking speed for submergence (point of time (2) in FIG. 9), the walking is performed at the walking speed for submergence After that, the walking of the article transport vehicle 1 is stopped (at the time point (3) in FIG. 9). As described above, the control device H executes the stop process of decelerating the article transport vehicle 1 based on the information that the first detection device S1 detects the presence of the second subject T2, and sets the first stop position P1 as the target stop. Position to stop the article transport vehicle 1.
針對第1行走控制中的判別處理進行說明。 控制裝置H是在藉由第1行走控制的停止處理而物品搬送車1停止的狀態下，執行判別處理。在此判別處理中，首先，判別在檢測範圍E中適當的位置(在檢測範圍E中在路徑長度方向上中心的位置)上是否檢測到第1被檢測體T1的存在。在檢測範圍E的適當位置上檢測到第1被檢測體T1的情況下，則進入到接著的位址資訊之確認，當第1被檢測體T1的存在為在路徑長度方向上偏離於檢測範圍E的適當位置之情況下，是在進行用以使物品搬送車1沿著路徑長度方向移動成可在適當的位置被檢測的控制之後，進入到位址資訊的確認。 接著，藉由第1檢測裝置S1來進行位址資訊的確認，以判別作為目標停止位置的位址資訊，以及由第1被檢測體T1讀取到的位址資訊是否一致，若位址資訊一致，則結束行走控制，若位址資訊不一致，則將顯示停止在與目標停止位置不同的位置之錯誤資訊，發送到控制器。The determination processing in the first walking control will be described. The control device H executes the determination processing in a state where the article transport vehicle 1 is stopped by the stop processing of the first running control. In this determination processing, first, it is determined whether or not the presence of the first subject T1 is detected at an appropriate position in the detection range E (a position centered in the path length direction in the detection range E). When the first subject T1 is detected at an appropriate position in the detection range E, the next address information is confirmed. When the existence of the first subject T1 deviates from the detection range in the path length direction In the case of the appropriate position of E, the control for moving the article transport vehicle 1 along the length of the path so that it can be detected at the appropriate position is performed, and then the address information is confirmed. Next, the address information is confirmed by the first detection device S1 to determine whether the address information as the target stop position and the address information read by the first subject T1 are consistent. If they are the same, the walking control is ended. If the address information is not the same, the error information displayed at a position different from the target stop position will be displayed and sent to the controller.
[第2行走控制] 針對第2行走控制中的停止處理進行說明。 使物品搬送車1朝向第2設定位置行走的第2行走控制的執行中(詳細來說，是第2行走控制中的減速處理之執行中)，藉由第3檢測裝置S3檢測到第4被檢測體T4的存在時，控制裝置H會調節減速度。進一步說明，是根據以第3檢測裝置S3檢測到第4被檢測體T4的存在時之物品搬送車1的行走速度、以及從第4被檢測體T4到第2停止位置P2的距離，來設定調整後的減速度(調整減速度)。並且，在第2行走控制的停止控制中，是以調整減速度減速而減速到潛移用行走速度的情況下，以潛移用行走速度行走一定距離，之後，使物品搬送車1的行走停止。 像這樣，控制裝置H是根據以第3檢測裝置S3檢測到第4被檢測體T4的存在之資訊，來執行使物品搬送車1減速的停止處理，以將第2停止位置P2設為目標停止位置來使物品搬送車1停止。[Second running control] The stop processing in the second running control will be described. During the execution of the second walking control (specifically, the execution of the deceleration process in the second walking control) to move the article transport vehicle 1 toward the second set position, the fourth detection device S3 detects that the fourth When the detection body T4 is present, the control device H adjusts the deceleration. Further explanation is based on the travel speed of the article transport vehicle 1 when the presence of the fourth subject T4 is detected by the third detection device S3, and the distance from the fourth subject T4 to the second stop position P2. Adjusted deceleration (adjusted deceleration). Further, in the stop control of the second walking control, when the deceleration is adjusted to decelerate to the walking speed for submergence, the vehicle travels a certain distance at the walking speed for submergence, and then stops the walking of the article transport vehicle 1. . As described above, the control device H executes the stop process of decelerating the article transport vehicle 1 based on the information that the third detection device S3 detects the presence of the fourth subject T4, and sets the second stop position P2 as the target stop. Position to stop the article transport vehicle 1.
針對第2行走控制中的判別處理進行說明。 控制裝置H是在藉由第2行走控制的停止處理而物品搬送車1為已停止的狀態下，執行判別處理。在此判別處理中，首先，判別是否藉由第2檢測裝置S2檢測到第3被檢測體T3的存在，當藉由第2檢測裝置S2檢測到第3被檢測體T3的存在之情況下，則進入到接著的位址資訊之確認，當藉由第2檢測裝置S2未檢測到第3被檢測體T3的存在之情況下，則將顯示停止在與目標停止位置不同的位置之錯誤資訊發送到控制器。 接著，藉由第3檢測裝置S3來進行位址資訊的確認，以判別作為目標停止位置的位址資訊，以及由第3被檢測體T3讀取到的位址資訊是否一致，若位址資訊一致，則結束行走控制，若位址資訊不一致，則將顯示停止在與目標停止位置不同的位置之錯誤資訊發送到控制器。The determination processing in the second walking control will be described. The control device H executes the determination processing in a state where the article transport vehicle 1 is stopped by the stop processing of the second running control. In this determination process, first, it is determined whether or not the presence of the third subject T3 is detected by the second detection device S2. When the presence of the third subject T3 is detected by the second detection device S2, Then, it proceeds to the confirmation of the next address information. When the presence of the third test object T3 is not detected by the second detection device S2, an error message indicating that the display is stopped at a position different from the target stop position is transmitted. To the controller. Next, the third detection device S3 confirms the address information to determine whether the address information as the target stop position and the address information read by the third subject T3 are consistent. If they are the same, the walking control is ended. If the address information is not the same, the error information that the display stops at a position different from the target stop position is sent to the controller.
像這樣，第2被檢測體T2並不具備有如第1被檢測體T1的第1附加資訊之附加資訊。因此，以第1檢測裝置S1檢測到第2被檢測體T2的存在時，控制裝置H對來自第1檢測裝置S1的資訊之處理所需要的時間可以縮短。並且，由於物品搬送車1從檢測到第2被檢測體T2的存在到停止為止的時間可以縮短，因此可以將第2被檢測體T2設置在相對於第1被檢測體T1比較近的位置。又，由於不需要分別具備有檢測第1被檢測體T1的檢測裝置及檢測第2被檢測體T2的檢測裝置，因此可以抑制物品搬送車1的製造成本。As such, the second subject T2 does not have additional information such as the first additional information of the first subject T1. Therefore, when the presence of the second subject 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. In addition, since the time from when the article transport vehicle 1 detects the existence of the second subject T2 to the stop can be shortened, the second subject T2 can be set closer to the first subject T1. In addition, since it is not necessary to separately include a detection device that detects the first object T1 and a detection device that detects the second object T2, the manufacturing cost of the article transport vehicle 1 can be suppressed.
[其他實施形態] (1)在上述實施形態中，雖然是對第2停止位置設置第3被檢測體及第4被檢測體，但也可以不設置第3被檢測體及第4被檢測體，而和第1停止位置同樣地，對第2停止位置設置第1被檢測體及第2被檢測體。[Other Embodiments] (1) In the above-mentioned embodiment, although the third subject and the fourth subject are provided at the second stop position, the third subject and the fourth subject may not be provided. As in the first stop position, a first subject and a second subject are provided in the second stop position.
(2)在上述實施形態中，雖然第2被檢測體不具備有第2附加資訊，但只要是比第1附加資訊更少的資訊量，第2被檢測體也可以具備有第2附加資訊，例如，第2被檢測體也可以具備有顯示是第2被檢測體的資訊、及顯示從第2被檢測體所設置的位置到第1停止位置的距離之資訊等，以作為第2附加資訊。 具體而言，亦可為例如，在第2被檢測體的表面上以二維條碼來顯示表示是第2被檢測體的資訊。又，亦可為例如，只顯示表示二維條碼的位置之資訊(在QR碼中為配置在3個角落的位置檢測用圖案)等之作為二維條碼而可以辨識的最低限度之資訊，並將該資訊作為顯示是檢測對象的資訊。(2) In the above embodiment, although the second subject does not have the second additional information, as long as the amount of information is smaller than the first additional information, the second subject may also have the second additional information. For example, the second subject may include information indicating that it is the second subject, and information that displays the distance from the position where the second subject is set to the first stop position, etc., as the second addition. Information. Specifically, for example, information indicating that it is the second subject may be displayed on the surface of the second subject in a two-dimensional bar code. Alternatively, for example, only information indicating the position of a two-dimensional bar code (a position detection pattern arranged at three corners in a QR code) and the like can be displayed as minimum information that can be recognized as a two-dimensional bar code, and Use this information as the information to be detected.
(3)在上述實施形態中，雖然是在第1被檢測體的表面上以二維條碼顯示第1附加資訊，藉此在第1被檢測體上具備有第1附加資訊，且在第3被檢測體上以一維條碼顯示第3附加資訊，藉此在第3被檢測體具備有第3附加資訊，但也可以以其他形態來在被檢測體上具備附加資訊。 具體而言，也可以在第1被檢測體的表面上以一維條碼來顯示第1附加資訊，也可以是構成為具備有第1被檢測體所具備的被接觸IC標籤，並可將第1附加資訊發送到第1檢測裝置。又，也可以在第3被檢測體的表面上以二維條碼來顯示第3附加資訊，也可以是構成為具備有第3被檢測體所具備的被接觸IC標籤，並可將第3附加資訊發送到第2檢測裝置。 又，雖然可使用QR碼來作為二維條碼，但也可以使用矩陣式二維條碼Datamatrix(註冊商標)等其他二維條碼。(3) In the above embodiment, although the first additional information is displayed by a two-dimensional bar code on the surface of the first subject, the first additional information is provided on the first subject, and the third additional information is provided on the first subject. The third additional information is displayed on the subject with a one-dimensional bar code, whereby the third subject is provided with the third additional information. However, the additional information may be provided on the subject in other forms. Specifically, the first additional information may be displayed on the surface of the first subject as a one-dimensional bar code, or may be configured to include a contact IC tag included in the first subject, and the first 1 Additional information is sent to the first detection device. In addition, the third additional information may be displayed on the surface of the third subject as a two-dimensional bar code, or may be configured to include a contact IC tag included in the third subject, and the third may be added. The information is sent to the second detection device. Also, although a QR code may be used as the two-dimensional barcode, another two-dimensional barcode such as a matrix-type two-dimensional barcode Datamatrix (registered trademark) may be used.
(4)在上述實施形態中，雖然是將第1被檢測體及第2被檢測體設置成：在第1檢測裝置的檢測範圍內，同時地包含有至少第1被檢測體與第2被檢測體的各自的一部分，但第1被檢測體與第2被檢測體也可以設置成如下。 亦即，也可以將第1被檢測體及第2被檢測體設置成：在第1檢測裝置的檢測範圍內，同時包含有第1被檢測體與第2被檢測體的雙方整體。又，也可以將第1被檢測體及第2被檢測體設置成：在第1檢測裝置的檢測範圍內，不同時包含有第1被檢測體及第2被檢測體。 又，雖然是在相同的支撐板上具備有第1被檢測體及第2被檢測體，但也可以是在不同的支撐板上具備有第1被檢測體及第2被檢測體，且也可以是在行走軌道等的支撐板以外的位置上具備有第1被檢測體及第2被檢測體。又，也可以使支撐體來支撐第3被檢測體及第4被檢測體。(4) In the above embodiment, the first subject and the second subject are provided so that at least the first subject and the second subject are included in the detection range of the first detection device. Each of the detection objects is a part, but the first detection object and the second detection object may be provided as follows. That is, the first subject and the second subject may be provided so that both the first subject and the second subject are included in the detection range of the first detection device. In addition, the first subject and the second subject may be provided so that the first subject and the second subject are not included in the detection range of the first detection device at the same time. In addition, although the first test object and the second test object are provided on the same support plate, the first test object and the second test object may be provided on different support plates, and also The first test object and the second test object may be provided at positions other than a support plate such as a walking rail. In addition, a support may be used to support the third subject and the fourth subject.
[上述實施形態的概要] 以下，針對在上述所說明之物品搬送設備的概要進行說明。[Outline of the above embodiment] An outline of the article transport facility described above will be described below.
物品搬送設備的特徵構成在於下述之點：其具備有：行走台車，沿著行走路徑行走；控制裝置，控制前述行走台車；及被檢測體，與設定作為前述行走台車的停止位置之設定停止位置相對應而設置，前述行走台車具備有檢測前述被檢測體的檢測裝置，前述控制裝置是根據由前述檢測裝置所得之前述被檢測體的檢測資訊，來使前述行走台車停止， 作為前述被檢測體，具備有第1被檢測體及第2被檢測體，前述第1被檢測體是設置在當前述行走台車位於前述設定停止位置的狀態下，可藉由前述檢測裝置檢測的位置，並且至少具備有顯示該被檢測體為第1被檢測體之第1附加資訊，前述第2被檢測體是在行走方向上設置在比前述第1被檢測體更上游側，並且可具備有比第1附加資訊更少的資訊量之第2附加資訊、或不具備該第2附加資訊，前述檢測裝置可檢測前述第1被檢測體及前述第2被檢測體的存在，並且可讀取檢測出存在的前述第1被檢測體之前述第1附加資訊，且進一步地在檢測出存在的前述第2被檢測體具備有前述第2附加資訊的情況下，可讀取該第2附加資訊， 前述控制裝置，在使前述行走台車朝向前述設定停止位置行走時，藉由前述檢測裝置檢測到前述第2被檢測體的存在之情況下，是根據該第2被檢測體的存在之檢測資訊 ，以及在可讀取到前述第2附加資訊時也根據該第2附加資訊，來執行使前述行走台車減速成將前述設定停止位置設為目標停止位置而停止的停止處理，當藉由前述停止處理而前述行走台車為已停止的狀態下，是根據由前述檢測裝置所得之前述第1被檢測體的存在之檢測資訊及前述第1附加資訊，來執行判別前述行走台車是否停止在前述設定停止位置的判別處理。The article conveying equipment is characterized by the following points: it is provided with: a traveling trolley that travels along a traveling path; a control device that controls the aforementioned traveling trolley; and an object to be detected and a setting stop set as a stop position of the aforementioned traveling trolley The traveling cart is provided corresponding to the position. The traveling cart is provided with a detection device for detecting the object. The control device stops the traveling cart as the detected object based on detection information of the object obtained by the detection device. A body including a first subject and a second subject, wherein the first subject is located at a position that can be detected by the detecting device when the traveling trolley is at the set stop position, and at least The first subject is provided with additional information indicating that the subject is the first subject, and the second subject is provided on the upstream side of the first subject in the walking direction, and may be provided further than the first subject. The second additional information with a smaller amount of additional information or the second additional information is not provided, and the detection device can detect the first The presence of the subject and the second subject, and the first additional information of the first subject to be detected can be read, and the second subject to be detected is further provided with the aforementioned In the case of the second additional information, the second additional information may be read. When the control device moves the walking trolley toward the set stop position, the detection device detects the presence of the second subject. In this case, based on the detection information of the existence of the second subject, and when the second additional information can be read, the execution of the deceleration of the traveling trolley to the set stop position is performed based on the second additional information. When the stop process is stopped by setting the target stop position, when the traveling trolley is stopped by the stop process, it is based on the detection information of the existence of the first subject obtained by the detection device and the first 1 Additional information is used to perform a determination process for determining whether the traveling trolley is stopped at the set stop position.
根據此特徵構成，在使行走台車朝向設定停止位置行走時，可藉由檢測裝置來檢測第2被檢測體。並且，當第2被檢測體具備有附加資訊時，也藉由檢測裝置來讀取第2被檢測體所具備的附加資訊。 具體而言，可考慮為例如，在第2被檢測體未具備有附加資訊的情況下，是將顯示從第2被檢測體到設定停止位置的距離之分開距離資訊先儲存在控制裝置。藉由像這樣將分開距離資訊先儲存在控制裝置，只要藉由檢測裝置來檢測第2被檢測體的存在，即可以判別從檢測出第2被檢測體的位置到設定停止位置為止的行走距離，因此可以根據此行走距離來執行停止處理，藉此使行走台車停止在設定停止位置。 又，可考慮為例如，在第2被檢測體具備有附加資訊的情況下，是將從現在位置到設定停止位置的行走距離作為符號資訊而設置於第2被檢測體。藉由像這樣在第2被檢測體上先具備有符號資訊，藉由檢測裝置來檢測第2被檢測體的存在並讀取符號資訊，即可以判別從檢測出第2被檢測體的位置到設定停止位置為止的行走距離，因此可以根據此行走距離來執行停止處理，藉此使行走台車停止在設定停止位置。According to this characteristic configuration, when the walking trolley is moved toward the set stop position, the second subject can be detected by the detection device. In addition, when the second subject has additional information, the additional information included in the second subject is also read by the detection device. Specifically, it may be considered that, for example, when the second subject does not have additional information, the separation distance information showing the distance from the second subject to the set stop position is stored in the control device first. By storing the separation distance information in the control device in this way, as long as the detection device detects the presence of the second object, the walking distance from the position where the second object is detected to the stop position can be determined. Therefore, the stopping process can be performed according to this walking distance, thereby stopping the walking trolley at the set stopping position. It is also considered that, for example, when the second subject has additional information, a walking distance from the current position to the set stop position is provided as the symbol information on the second subject. By first having symbol information on the second subject as described above, and detecting the presence of the second subject by the detection device and reading the symbol information, it can be determined from the position where the second subject is detected to The walking distance up to the stop position is set. Therefore, the stop process can be performed based on this walking distance, thereby stopping the walking trolley at the set stop position.
並且，在判別處理中，當藉由停止處理而行走台車為已停止的狀態下，是藉由檢測裝置來檢測第1被檢測體的存在，並且讀取該檢測到的第1被檢測體所具備的第1附加資訊。作為第1附加資訊，可考慮在第1被檢測體中具備有顯示第1被檢測體所設置的位置之資訊、或在第1被檢測體中具備有顯示為第1被檢測體的資訊。 第1被檢測體中具備有顯示第1被檢測體所設置的位置之資訊，以作為第1附加資訊，藉此以檢測裝置來檢測第1被檢測體的存在並且讀取第1附加資訊，若該第1附加資訊所示的資訊是顯示和目標停止位置同樣的資訊，控制裝置即可以判別為行走台車正停止在目標停止位置上。 又，第1被檢測體中具備有顯示為第1被檢測體的資訊，以作為第1附加資訊，並藉由檢測裝置來檢測第1被檢測體的存在並且讀取第1附加資訊，藉此由於控制裝置可以判別是否停止在與第1被檢測體相對應的位置，因此可以避免因誤將第1被檢測體以外的物體檢測為第1被檢測體，而控制裝置錯誤判別為停止在目標停止位置的情況。In the discrimination processing, when the traveling trolley is stopped by the stop processing, the presence of the first subject is detected by the detection device, and the detected first subject is read. 1st additional information provided. As the first additional information, it is conceivable that the first subject is provided with information indicating the position where the first subject is set, or the first subject is provided with information displayed as the first subject. The first subject is provided with information showing the position set by the first subject as the first additional information, thereby detecting the presence of the first subject with the detection device and reading the first additional information, If the information shown in the first additional information is the same information displayed as the target stop position, the control device can determine that the traveling trolley is stopping at the target stop position. In addition, the first subject is provided with information displayed as the first subject as the first additional information, and the presence of the first subject is detected by the detection device and the first additional information is read. Since the control device can determine whether to stop at the position corresponding to the first test object, it can avoid erroneously detecting an object other than the first test object as the first test object, and the control device erroneously determines to stop at The target stop position.
並且，於第2被檢測體中並未具備有第2附加資訊、或者即使是具備有第2附加資訊的情況下，該第2附加資訊的資訊量也會比第1附加資訊更少。因此，由於以檢測裝置檢測出第2被檢測體的存在時，不需要讀取第2附加資訊、或者第2附加資訊的資訊量是比較少的資訊量，所以可以縮短控制裝置對來自檢測出第2被檢測體的檢測裝置之資訊的處理所需要的時間。據此，由於可以縮短行走台車從檢測出第2被檢測體的存在到停止為止的時間，因而可以將第2被檢測體設置在相對於第1被檢測體比較近的位置。 又，由於不需要分別具備有檢測第1被檢測體的檢測裝置與檢測第2被檢測體的檢測裝置，因此可容易地抑制行走台車的製造成本。 像這樣，可以使2個被檢測體在行走方向上接近，並且可容易地抑制行走台車的製造成本。Furthermore, even if the second subject does not have the second additional information, or even when the second additional information is provided, the amount of information of the second additional information is smaller than that of the first additional information. Therefore, when the presence of the second subject is detected by the detection device, it is not necessary to read the second additional information, or the amount of information of the second additional information is relatively small, so the control device can shorten the detection of The time required for processing the information of the detection device of the second subject. This makes it possible to shorten the time from the detection of the presence of the second subject to the stop of the traveling trolley, and therefore it is possible to set the second subject closer to the first subject. In addition, since it is not necessary to separately provide a detection device that detects the first object and a detection device that detects the second object, the manufacturing cost of the traveling trolley can be easily suppressed. In this way, the two test objects can be brought closer to each other in the walking direction, and the manufacturing cost of the walking cart can be easily suppressed.
在此，較理想的是，前述行走台車是行走在沿著前述行走路徑設置的行走軌道上，前述行走軌道或支撐前述行走軌道的構件具備有支撐體，前述第1被檢測體與前述第2被檢測體，是以在前述行走路徑的長度方向上排列成同時包含在前述檢測裝置的檢測範圍內的狀態，被相同的前述支撐體所支撐。Here, it is preferable that the traveling trolley is traveling on a traveling track provided along the traveling path, the traveling track or a member supporting the traveling track is provided with a support, and the first subject and the second The object to be detected is supported by the same support body in a state of being arranged in the longitudinal direction of the walking path and simultaneously included in the detection range of the detection device.
根據此構成，使相同的支撐體來支撐第1被檢測體及第2被檢測體，藉此和使各別不同的支撐體來支撐該等第1被支撐體及第2被支撐體的情況相較之下，可以減少支撐體的數量。並且，由於可以將第1被檢測體及第2被檢測體設置在行走路徑的長度方向上比較接近的位置，因此支撐體上的行走路徑之長度方向的長度可以縮短，而可以謀求支撐體的小型化。又，由於第1被檢測體與第2被檢測體只相分離到同時被包含在檢測裝置的檢測範圍內的程度，因此檢測裝置檢測到第2被檢測體後到停止於設定停止位置為止，可以藉由檢測裝置來檢測第1被檢測體與第2被檢測體的至少一個被檢測體。According to this configuration, the first support body and the second support body are supported by the same support body, and thus the first support body and the second support body are supported by different support bodies. In contrast, the number of supports can be reduced. In addition, since the first object and the second object can be set at relatively close positions along the length of the walking path, the length of the length of the walking path on the support can be shortened, and the support can be obtained. miniaturization. In addition, the first subject and the second subject are separated only to the extent that they are also included in the detection range of the detection device. Therefore, the detection device detects the second subject and stops at the set stop position. At least one of the first subject and the second subject can be detected by the detection device.
又，較理想的是，將前述設定停止位置設為第1停止位置，並和前述第1停止位置分開另行設定第2停止位置，以作為前述行走台車停止的停止位置，前述行走台車具備有當停止在前述第2停止位置的狀態下檢測第3被檢測體的第2檢測裝置，前述第3被檢測體是被前述行走軌道支撐，並且具備有顯示該被檢測體為第3被檢測體之第3附加資訊，前述第2檢測裝置可檢測前述第3被檢測體的存在，並且可讀取前述第3被檢測體的前述第3附加資訊，前述控制裝置是根據由前述第2檢測裝置所得之前述第3被檢測體的存在之檢測資訊及前述第3附加資訊，來執行第2判別處理，該第2判別處理是判別前述行走台車是否停止在前述第2停止位置。In addition, it is preferable that the set stop position is set to a first stop position, and a second stop position is set separately from the first stop position as a stop position where the traveling trolley stops, and the traveling trolley is provided with a proper The second detection device that detects the third subject while stopped at the second stop position, the third subject is supported by the walking track, and is provided with a display indicating that the subject is the third subject. In the third additional information, the second detection device can detect the presence of the third object, and can read the third additional information of the third object. The control device is based on the information obtained by the second detection device. The detection information of the existence of the third subject and the third additional information perform a second determination process, and the second determination process is to determine whether the traveling trolley has stopped at the second stop position.
根據此構成，由於檢測裝置所檢測的第1被檢測體及第2被檢測體、以及第2檢測裝置所檢測的第3被檢測體是被不同的構件所支撐，因此可以容易地將該等第1被檢測體及第2被檢測體、以及第3被檢測體在上下方向或路徑寬度方向上分離設置。因此，可以將由檢測裝置錯誤檢測到第3被檢測體、或由第2檢測裝置錯誤檢測到第1被檢測體及第2被檢測體的情況防範於未然。According to this configuration, since the first and second objects detected by the detection device and the third object detected by the second detection device are supported by different members, it is possible to easily carry out such operations. The first subject, the second subject, and the third subject are separated from each other in the vertical direction or the path width direction. Therefore, it is possible to prevent the situation where the third subject is erroneously detected by the detection device, or the first subject and the second subject are erroneously detected by the second detection device.
又，較理想的是，前述第1被檢測體在朝向前述檢測裝置的面上可讀取地顯示有前述第1附加資訊，前述第2被檢測體，朝向前述檢測裝置的面為單色，且未顯示有前述第2附加資訊。Further, it is preferable that the first subject is readablely displayed on a surface facing the detection device, the first additional information is readable, and a surface of the second object facing the detection device is monochrome, And the aforementioned second additional information is not displayed.
根據此構成，檢測裝置可以藉由讀取第1被檢測體的表面上以二維條碼等所顯示的資訊，以讀取第1附加資訊，且可以藉由檢測第1被檢測體的外形或檢測第1被檢測體的表面所顯示的資訊之存在等，以檢測第1被檢測體的存在。又，檢測裝置可以藉由檢測第2被檢測體的外形等，以檢測第2被檢測體的存在。 並且，第2被檢測體上並不具備有第2附加資訊。因此，由於以檢測裝置檢測出第2被檢測體的存在時，不需要讀取第2附加資訊，所以可以將控制裝置對來自檢測出第2被檢測體的檢測裝置之資訊的處理所需要的時間縮短。 産業上之可利用性According to this configuration, the detection device can read the first additional information by reading the information displayed on the surface of the first object in a two-dimensional barcode or the like, and can detect the outer shape of the first object or The presence of information displayed on the surface of the first subject is detected to detect the presence of the first subject. The detection device can detect the presence of the second subject by detecting the outer shape of the second subject. In addition, the second subject does not have the second additional information. Therefore, since the presence of the second subject is detected by the detection device, it is not necessary to read the second additional information, so that the control device can process the information required from the detection device that detects the second subject. Time is shortened. Industrial availability
本揭示之技術可以利用在具備有行走台車、控制行走台車的控制裝置、及對應於設定停止位置而設置的被檢測體之物品搬送設備上。The technology of the present disclosure can be applied to an article transfer device including a traveling trolley, a control device for controlling the traveling trolley, and a subject to be installed corresponding to a set stop position.
1‧‧‧物品搬送車(行走台車)1‧‧‧ Goods Transfer Vehicle (Trolley)
2‧‧‧行走軌道2‧‧‧ walking track
2a‧‧‧軌道部2a‧‧‧Track Department
3‧‧‧處理裝置3‧‧‧Processing device
4‧‧‧保管架4‧‧‧Storage rack
4a‧‧‧保管部4a‧‧‧Storage Department
5‧‧‧支撐台5‧‧‧ support
7‧‧‧第1連結構件7‧‧‧The first connection member
8‧‧‧第1支撐構件8‧‧‧ the first supporting member
9‧‧‧支撐板9‧‧‧ support plate
10‧‧‧第2支撐構件10‧‧‧ 2nd support member
11‧‧‧第2連結構件11‧‧‧The second connecting member
12‧‧‧支撐體12‧‧‧ support
13‧‧‧第3連結構件13‧‧‧3rd connecting member
15‧‧‧行走部15‧‧‧ Walking Department
16‧‧‧本體部16‧‧‧Body
18‧‧‧支撐機構18‧‧‧ support mechanism
18a‧‧‧把持爪18a‧‧‧Grip
19‧‧‧升降操作機構19‧‧‧ Lifting operation mechanism
19a‧‧‧捲取帶19a‧‧‧ take-up tape
20‧‧‧滑動操作機構20‧‧‧ sliding operation mechanism
20a‧‧‧支撐部分20a‧‧‧ support
21‧‧‧蓋體21‧‧‧ Cover
E‧‧‧檢測範圍E‧‧‧ Detection range
H‧‧‧控制裝置H‧‧‧control device
P1‧‧‧第1停止位置(設定停止位置)P1‧‧‧1st stop position (set stop position)
P2‧‧‧第2停止位置P2‧‧‧ 2nd stop position
S1‧‧‧第1檢測裝置(檢測裝置)S1‧‧‧The first detection device (detection device)
S2‧‧‧第2檢測裝置S2‧‧‧Second detection device
S3‧‧‧第3檢測裝置S3‧‧‧The third detection device
T‧‧‧被檢測體T‧‧‧Subject
T1‧‧‧第1被檢測體T1‧‧‧1st test subject
T2‧‧‧第2被檢測體T2‧‧‧2nd test subject
T3‧‧‧第3被檢測體T3‧‧‧3rd test subject
T4‧‧‧第4被檢測體T4‧‧‧4th test subject
W‧‧‧物品W‧‧‧ Items
圖1是物品搬送設備的側面圖。 圖2是物品搬送設備的正面圖。 圖3是物品搬送車的正面圖。 圖4是顯示物品搬送車與保管架的正面圖。 圖5是顯示物品搬送車的上部之正面圖。 圖6是顯示以第1檢測裝置檢測到第2被檢測體的狀態之圖。 圖7是顯示以第1檢測裝置檢測到第1被檢測體的狀態之圖。 圖8是顯示第3被檢測體及第4被檢測體的圖。 圖9是顯示第1速度控制中的物品搬送車之行走速度的圖。FIG. 1 is a side view of an article transport facility. FIG. 2 is a front view of the article transport facility. Fig. 3 is a front view of the article transport vehicle. Fig. 4 is a front view showing an article transport vehicle and a storage rack. Fig. 5 is a front view showing an upper portion of the article transport vehicle. FIG. 6 is a diagram showing a state where a second subject is detected by the first detection device. FIG. 7 is a diagram showing a state where a first subject is detected by the first detection device. FIG. 8 is a diagram showing a third subject and a fourth subject. FIG. 9 is a diagram showing the traveling speed of the article transport vehicle in the first speed control.
Claims (4)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016-176970 | 2016-09-09 | ||
| JP2016176970A JP6809062B2 (en) | 2016-09-09 | 2016-09-09 | Goods transport equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201812495A true TW201812495A (en) | 2018-04-01 |
| TWI740999B TWI740999B (en) | 2021-10-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW106126365A TWI740999B (en) | 2016-09-09 | 2017-08-04 | Article transport facility |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6809062B2 (en) |
| KR (1) | KR102390053B1 (en) |
| TW (1) | TWI740999B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020013344A (en) * | 2018-07-18 | 2020-01-23 | 中外炉工業株式会社 | Position recognition mechanism of carrier track |
| JP7294029B2 (en) * | 2019-09-26 | 2023-06-20 | 株式会社ダイフク | Goods transport equipment |
| JP7338655B2 (en) | 2021-03-04 | 2023-09-05 | 株式会社ダイフク | control system |
| JP7409347B2 (en) | 2021-04-05 | 2024-01-09 | 株式会社ダイフク | Goods conveyance equipment |
| JP7388394B2 (en) | 2021-05-28 | 2023-11-29 | 株式会社ダイフク | control system |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4375565B2 (en) * | 2005-07-12 | 2009-12-02 | 村田機械株式会社 | Traveling cart system |
| JP5019540B2 (en) * | 2008-07-01 | 2012-09-05 | 村田機械株式会社 | Transport system and transport vehicle |
| JP5735753B2 (en) * | 2010-04-14 | 2015-06-17 | 株式会社岡村製作所 | Article conveying device |
| JP5660394B2 (en) * | 2011-09-20 | 2015-01-28 | 株式会社ダイフク | Equipment control system |
| JP5590420B2 (en) * | 2011-12-21 | 2014-09-17 | 株式会社ダイフク | Goods transport equipment |
| CN105009013A (en) * | 2013-02-15 | 2015-10-28 | 村田机械株式会社 | Conveyance system |
| JP5892111B2 (en) * | 2013-05-29 | 2016-03-23 | 株式会社ダイフク | Goods transport cart |
| JP6143630B2 (en) | 2013-10-08 | 2017-06-07 | 住友重機械搬送システム株式会社 | Anomaly detection device for cords |
| JP6102759B2 (en) * | 2014-01-16 | 2017-03-29 | 株式会社ダイフク | Goods transport cart |
| US9845192B2 (en) * | 2014-06-04 | 2017-12-19 | Murata Machinery, Ltd. | Transport vehicle system and transport method |
| JP6183714B2 (en) * | 2014-06-13 | 2017-08-23 | 株式会社ダイフク | Container lifting and lowering conveyor |
| TWM501356U (en) * | 2015-03-12 | 2015-05-21 | Techmation Co Ltd | Producing line equipment |
-
2016
- 2016-09-09 JP JP2016176970A patent/JP6809062B2/en active Active
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2017
- 2017-08-04 TW TW106126365A patent/TWI740999B/en active
- 2017-08-23 KR KR1020170106717A patent/KR102390053B1/en active IP Right Grant
Also Published As
| Publication number | Publication date |
|---|---|
| JP6809062B2 (en) | 2021-01-06 |
| TWI740999B (en) | 2021-10-01 |
| JP2018041409A (en) | 2018-03-15 |
| KR102390053B1 (en) | 2022-04-22 |
| KR20180028915A (en) | 2018-03-19 |
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