WO2022185787A1 - 走行車及び走行車システム - Google Patents
走行車及び走行車システム Download PDFInfo
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- WO2022185787A1 WO2022185787A1 PCT/JP2022/002699 JP2022002699W WO2022185787A1 WO 2022185787 A1 WO2022185787 A1 WO 2022185787A1 JP 2022002699 W JP2022002699 W JP 2022002699W WO 2022185787 A1 WO2022185787 A1 WO 2022185787A1
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- marker
- traveling vehicle
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- small
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Images
Classifications
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- 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
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Definitions
- One aspect of the present invention relates to a traveling vehicle and a traveling vehicle system.
- a traveling vehicle system in which a plurality of traveling vehicles travel along a predetermined route is known.
- each traveling vehicle monitors other traveling vehicles with a sensor, compares the distance to the other traveling vehicle and the remaining traveling distance, and determines that the remaining traveling distance is the distance to the other traveling vehicle.
- a traveling vehicle system is disclosed that continues traveling at a lower speed if it is shorter than .
- Patent Document 2 discloses an electronic system that includes a marker provided on an object and an imaging unit capable of capturing an image of the marker, and performs some control by capturing an image of the marker with the imaging unit. . Further, in Patent Document 2, by arranging a marker with a large area (large marker) and a marker with a small area (small marker) side by side, even when the distance between the imaging unit and the marker is long or short, Even if there is, the marker is configured to fit within the imaging range of the imaging unit.
- an object of one aspect of the present invention is to provide a traveling vehicle and a traveling vehicle system in which one traveling vehicle can more reliably recognize the other traveling vehicle regardless of the inter-vehicle distance between the two traveling vehicles. That's what it is.
- a traveling vehicle is a traveling vehicle that travels along a predetermined travel route, and is provided with a small marker and a large marker having an area larger than that of the small marker.
- At least one imaging section provided in the main body so that the imaging range is at least one of the front and rear of the traveling vehicle, and the small marker and the large marker based on the captured image acquired by the imaging section.
- a pattern recognition unit that distinguishes between and recognizes a small marker or a large marker
- a state determination unit that determines that another vehicle is present in at least one of the front and rear of the own vehicle when the small marker or the large marker is recognized by the pattern recognition unit.
- the large marker is configured to have a size that does not entirely fit within the imaging range of an imaging unit provided in another traveling vehicle located less than a predetermined distance from the own traveling vehicle, and the small marker is configured from the own traveling vehicle. is less than a predetermined distance, the large marker is arranged within the area in which the large marker has a display pattern including a first area, a second area having a lower reflectance than the first area, and an area in which small markers are arranged, and the small markers have a lower reflectance than the first area. and a fourth region having a lower reflectance than the third region and a lower reflectance than the second region.
- the pattern recognition unit can recognize the small marker.
- the traveling vehicle of this configuration when the distance between the two traveling vehicles is relatively long, the small marker and the large marker are imaged by the imaging unit, but the third region of the small marker is the large marker. and the fourth area of the small marker has a lower reflectance than the second area of the large marker. It becomes easy to recognize as the second area.
- the pattern recognition unit can more reliably recognize the large marker from the captured image in which the small marker and the large marker are captured.
- the reflectance here means the reflectance when visible light or infrared light is irradiated.
- the small marker has the third area and the fourth area arranged inside the frame-shaped fifth area, and the fifth area is the first area of the large marker. It may be an area having a lower reflectance than the area and a higher reflectance than the fourth area of the small marker.
- the pattern recognition unit is obtained by binarizing such that the area corresponding to the third area of the small marker is white and the area corresponding to the fourth area is black.
- Small markers are recognized by recognizing the first color scheme pattern, and binarization is performed so that the area corresponding to the first area of the large marker is white and the area corresponding to the second area and the small marker area is black.
- the large marker may be recognized by recognizing the second coloration pattern obtained by the above.
- the display patterns of the large markers and the small markers are different from each other. , it may be determined that the distance from the own traveling vehicle to the other traveling vehicle is short. With this configuration, it is possible to detect the distance to the traveling vehicle positioned ahead or behind.
- the main body portion is arranged so as not to entirely fit within the imaging range of the imaging unit provided in another traveling vehicle positioned less than a predetermined distance from the own traveling vehicle.
- a second display unit for switching the display mode according to the state of the vehicle itself a traveling control unit that acquires the state of the other traveling vehicle based on the display mode of at least one of the first display unit and the second display unit, and controls the own traveling unit based on the acquired state; You may also prepare.
- the traveling vehicle with this configuration different display modes are displayed on the first display section and the second display section depending on the state of the traveling vehicle.
- One traveling vehicle can immediately determine the state of the other traveling vehicle. As a result, one traveling vehicle can quickly perform an operation according to the state of the other traveling vehicle.
- the traveling vehicle of this configuration is provided with the first display section and the second display section, the distance between the two traveling vehicles is relatively short or far. At least one of the first display section and the second display section is imaged by the imaging section. As a result, regardless of the inter-vehicle distance between the two traveling vehicles, one traveling vehicle can acquire the information of the other traveling vehicle more reliably.
- the first display unit and the second display unit switch display modes according to the traveling state of the own traveling vehicle, and the traveling state includes an acceleration state and a deceleration state.
- the traveling state includes an acceleration state and a deceleration state.
- a traveling vehicle system includes a plurality of traveling vehicles described above, a track on which the plurality of traveling vehicles travel in a predetermined direction, and a traveling vehicle controller that assigns a transport command to the traveling vehicles.
- a traveling vehicle controller that assigns a transport command to the traveling vehicles.
- one traveling vehicle can more reliably recognize the other traveling vehicle regardless of the inter-vehicle distance between the two traveling vehicles.
- FIG. 1 is a schematic configuration diagram showing a traveling vehicle system according to the first embodiment.
- FIG. 2 is a side view of the traveling vehicle according to the first embodiment, viewed from the side.
- 3 is a rear view of the main body of the traveling vehicle of FIG. 1 as seen from the rear in the traveling direction.
- FIG. 4 is a diagram showing an example of a coloration pattern of large markers and small markers provided on the main body.
- FIG. 5A shows an example of a coloration pattern of small markers
- FIG. 5B shows an example of a coloration pattern of large markers.
- FIG. 6 is a block diagram showing the functional configuration of the traveling vehicle of FIG.
- FIG. 7 is a rear view of the main body of the traveling vehicle according to the second embodiment, viewed from the rear in the traveling direction.
- FIG. 8 is a block diagram showing the functional configuration of the traveling vehicle according to the second embodiment.
- FIG. 1 A traveling vehicle system 1 of the first embodiment will be mainly described with reference to FIGS. 1 to 6.
- the traveling vehicle system 1 is a system for conveying an article 10 between placement sections 9 and 9 using an overhead traveling vehicle 6 that can move along a track (predetermined traveling route) 4 .
- the article 10 includes, for example, a container such as a FOUP (Front Opening Unified Pod) for storing a plurality of semiconductor wafers, a reticle pod for storing a glass substrate, general parts, and the like.
- FOUP Front Opening Unified Pod
- a traveling vehicle system 1 in which an overhead traveling vehicle 6 (hereinafter simply referred to as "traveling vehicle 6") travels along a one-way track 4 laid on the ceiling of a factory or the like is taken as an example. to explain.
- the traveling vehicle system 1 includes a track 4 , a plurality of placement units 9 , and a plurality of traveling vehicles 6 .
- the track 4 is laid, for example, near the ceiling, which is the overhead space of the worker.
- the track 4 is suspended from the ceiling, for example.
- the placing section 9 is arranged along the track 4 and provided at a position where the article 10 can be delivered to and from the traveling vehicle 6 .
- the receiver 9 includes a buffer and a transfer port.
- the buffer is a placement section on which the article 10 is temporarily placed. For example, when the article 10 being transported by the traveling vehicle 6 cannot be transferred to the target delivery port because another article 10 is placed on the target delivery port, the buffer This is a placement section for temporary placement.
- the delivery port is a placement for delivering the article 10 to a semiconductor processing apparatus (not shown) such as a cleaning apparatus, a film formation apparatus, a lithography apparatus, an etching apparatus, a heat treatment apparatus, and a planarization apparatus. Department.
- the processing device is not particularly limited, and may be various devices.
- the placement section 9 is arranged on the side of the track 4 .
- the traveling vehicle 6 laterally feeds the elevation driving section 28 and the like by the lateral feeding section 24 and raises and lowers the elevation section 30 to transfer the article 10 to and from the placement section 9 .
- the placement section 9 may be arranged directly below the track 4 . In this case, the traveling vehicle 6 transfers the article 10 to and from the placement section 9 by raising and lowering the elevation section 30 .
- the traveling vehicle 6 travels along the track 4 and conveys the article 10.
- the traveling vehicle 6 is configured so that the article 10 can be transferred.
- the traveling vehicle 6 is an overhead traveling automatic guided vehicle.
- the number of traveling vehicles 6 provided in the traveling vehicle system 1 is not particularly limited, and is plural.
- the traveling vehicle 6 has a traveling section 18 , a body section 7 , an imaging section 8 , a marker 70 and a control section 50 .
- the traveling unit 18 includes a motor and the like, and causes the traveling vehicle 6 to travel along the track 4 .
- the body portion 7 includes a body frame 22 , a lateral feeding portion 24 , a ⁇ drive 26 , an elevation driving portion 28 , an elevation portion 30 and a body cover 33 .
- the main body frame 22 supports the lateral feeding section 24, the ⁇ drive 26, the elevation driving section 28, and the elevation section 30.
- the traverse section 24 collectively traverses the ⁇ drive 26 , the elevation drive section 28 and the elevation section 30 in a direction perpendicular to the running direction of the track 4 .
- the ⁇ drive 26 rotates at least one of the elevation driving section 28 and the elevation section 30 within a predetermined angle range in the horizontal plane.
- the elevation drive unit 28 raises and lowers the elevation unit 30 by winding or unwinding a suspension member such as a wire, rope, or belt.
- the lifting section 30 is provided with a chuck so that the article 10 can be freely grasped or released.
- the main body covers 33 are provided on the front and rear sides of the traveling vehicle 6 respectively.
- the main body cover 33 prevents the article 10 from falling during transportation by allowing claws (not shown) to appear and disappear.
- the body cover 33 has a front cover 34 provided on the front side in the traveling direction of the traveling vehicle 6 and a rear cover 35 provided on the rear side.
- the front cover 34 is formed in a substantially isosceles trapezoidal shape in plan view when viewed from above. and leg surfaces 34c, 34c connecting the front surface 34a and the rear surface 34b.
- the rear surface cover 35 is formed in a substantially isosceles trapezoidal shape in plan view when viewed from above. and leg surfaces 35c, 35c connecting the rear surface 35a and the front surface 35b.
- the imaging section 8 is provided on the front surface 34a of the front cover 34 of the main body section 7 so that the imaging range is in front of the traveling vehicle 6 itself.
- the imaging unit 8 is a device that includes a lens, an imaging device that converts light coming from the lens into an electrical signal, and the like.
- the captured image acquired by the imaging unit 8 is acquired by the control unit 50 which will be detailed later.
- the marker 70 is mounted on the rear cover 35 so as to be visible from another traveling vehicle 6 positioned behind the own traveling vehicle 6 (hereinafter also referred to as "backward traveling vehicle 6"). is provided on the rear surface 35a of the .
- the marker 70 has a small marker 71 and a large marker 73, as shown in FIG.
- the large marker 73 has a larger area than the small marker 71 and includes a first region 73A, a second region 73B having a lower reflectance than the first region 73A, and a region 73C where the small marker 71 is arranged.
- a display pattern VP2 is configured.
- the small marker 71 is arranged in an area 73C inside the area in which the large marker 73 is configured.
- the center (center of gravity) position of the area forming the small marker 71 and the center (center of gravity) position of the area forming the large marker 73 may coincide.
- the display pattern VP1 includes a third region 71A having a lower reflectance than the first region 73A, a fourth region 71B having a lower reflectance than the third region 71A and a lower reflectance than the second region 73B, and a third region 71B having a lower reflectance than the second region 73B. It includes a region 71A and a fourth region 71B, and includes a fifth region 71C having a lower reflectance than the first region 73A of the large marker 73 and a higher reflectance than the fourth region 71B. .
- the reflectance in the present embodiment is the reflectance when visible light is irradiated, and the relationship between the reflectance of each region is “first region 73A>third region 71A/fifth region 71C>second region 73B> 4th area 71B".
- the third area 71A and the fifth area 71C of the small marker 71 are light gray
- the fourth area 71B is black
- the first area 73A of the large marker 73 is white
- the second area 73B is white. It is made in dark grey.
- the above-mentioned reflectance is improved by configuring the lightness relationship of each region so as to be "first region 73A>third region 71A/fifth region 71C>second region 73B>fourth region 71B". relationship.
- the size of the large marker 73 is such that the entirety of the large marker 73 does not fit within the imaging range of the imaging unit 8 provided in the rear traveling vehicle (another traveling vehicle) 6 positioned less than a predetermined distance (for example, 0.5 m) from the own traveling vehicle 6. formed.
- the small marker 71 is formed in a size that is entirely within the image pickup range of the image pickup unit 8 provided in the rear traveling vehicle 6 even if the distance from the own traveling vehicle 6 is less than a predetermined distance (for example, 0.5 m).
- the entire small marker 71 fits within the imaging range here means not only the case where the image is captured in a size extracted (recognized) by the pattern recognition unit 51, which will be described in detail later, but also the case where the pattern recognition A case where the image is captured in a size that cannot be extracted (recognized) by the unit 51 is also included. That is, it is sufficient that the imaging range includes the position where the small marker 71 was installed. Also, it does not matter whether or not the imaging unit 8 is focused. Furthermore, the lower limit value of "even if the distance is less than the predetermined distance" may be the distance at which the front and rear traveling vehicles 6, 6 can approach each other.
- the small markers 71 and large markers 73 may be drawn directly on the rear cover 35 , or a plate or the like on which the small markers 71 and large markers 73 are drawn may be fixed to the rear cover 35 . Images of the small markers 71 and the large markers 73 may be displayed on a display unit such as a liquid crystal display provided on the rear cover 35 .
- the control unit 50 is an electronic control unit consisting of a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and the like.
- the control unit 50 controls various operations in the traveling vehicle 6 .
- the control unit 50 includes a travel unit 18, a lateral feed unit 24, a ⁇ drive 26, an elevation drive unit 28, an elevation unit 30, an imaging unit 8, to control.
- the control unit 50 can be configured as software in which, for example, a program stored in the ROM is loaded onto the RAM and executed by the CPU.
- the control unit 50 may be configured as hardware such as an electronic circuit.
- control unit 50 In the control unit 50, a pattern recognition unit 51, a state determination unit 53, and a running control unit 55 described below are realized by cooperation of hardware such as a CPU, RAM, and ROM, and software such as a program. It is formed.
- the control unit 50 communicates with the controller 60 using the communication line (feeder line) of the track 4 or the like.
- the pattern recognition unit 51 attempts to recognize (extract) the marker 70 from the captured image acquired by the imaging unit 8 .
- the pattern recognition unit 51 recognizes the small markers 71 based on the first image in which the entire small marker 71 is included in the imaging range of the imaging unit 8 and the entire large marker 73 is not included in the imaging range.
- the large marker 73 is recognized based on the second image in which the entirety of the large marker 71 and the large marker 73 are included in the imaging range. More specifically, the pattern recognition unit 51 binarizes the first image so that the area corresponding to the third area 71A of the small marker 71 is white and the area corresponding to the fourth area 71B is black.
- the small marker 71 is recognized by recognizing the obtained first coloration pattern P1 shown in FIG.
- the pattern recognition unit 51 also binarizes the second image so that the area corresponding to the first area 73A of the large marker 73 is white, and the area corresponding to the second area 73B and the area of the small marker 71 is black.
- the large marker 73 is recognized by recognizing the second coloration pattern P2 shown in FIG. 5B obtained by doing so.
- the state determination unit 53 Based on the recognition of the small marker 71 or the large marker 73 by the pattern recognition unit 51, the state determination unit 53 detects another vehicle 6 located in front of the own vehicle 6 (hereinafter referred to as "front vehicle 6"). ) is determined. The state determination unit 53 determines that the preceding vehicle 6 is present when at least one of the entire small marker 71 and the entire large marker 73 is extracted from the captured image. The state determination unit 53 of the present embodiment determines that when the pattern recognition unit 51 recognizes the small marker 71, the distance from the own vehicle 6 to the preceding vehicle 6 is greater than when the large marker 73 is recognized. Determine close.
- the state determination unit 53 determines that the distance from the own vehicle 6 to the preceding vehicle 6 is less than 0.5 m.
- the marker 73 is recognized, it is determined that the distance from the own traveling vehicle 6 to the preceding traveling vehicle 6 is 0.5 m or more.
- the travel control unit 55 controls the travel unit 18 to travel at a speed slower than the normal travel speed. Further, the traveling control section 55 controls the traveling section 18 to stop completely when the small marker 71 is recognized by the pattern recognition section 51 .
- This control is only an example, and the control when the pattern recognition unit 51 distinguishes between the small marker 71 and the large marker 73 is not limited to the control described above.
- the controller 60 is an electronic control unit consisting of a CPU, ROM, RAM, and the like.
- the controller 60 can be configured, for example, as software in which a program stored in a ROM is loaded onto a RAM and executed by a CPU.
- the controller 60 may be configured as hardware such as an electronic circuit.
- the controller 60 transmits a transport command to transport the article 10 to the traveling vehicle 6 .
- the traveling vehicle system 1 of the first embodiment even when the distance between the two traveling vehicles 6, 6 is relatively close, the image of the small marker 71 is captured by the imaging unit 8. Therefore, the pattern recognition unit 51 can recognize the small marker 71 . Further, in the traveling vehicle system 1 of the first embodiment, when the distance between the two traveling vehicles 6, 6 is relatively long, the imaging unit 8 images the small marker 71 and the large marker 73. However, the third area 71A of the small marker 71 has a lower reflectance than the first area 73A of the large marker 73, and the fourth area 71B of the small marker 71 has a lower reflectance than the second area 73B of the large marker 73.
- the pattern VP ⁇ b>2 makes it easier for the pattern recognition unit 51 to recognize the entire small marker 71 as the second region 73 ⁇ /b>B of the large marker 73 .
- the pattern recognition unit 51 recognizes the elements of the small marker 71 as a large marker instead of making it difficult to recognize the small marker 71 as a single marker. Since the large marker 73 is recognized as a part of the element 73, it becomes easier to recognize the large marker 73. As a result, regardless of the inter-vehicle distance between the two traveling vehicles 6, 6, the traveling vehicle 6 can recognize the preceding traveling vehicle 6 more reliably.
- the small marker 71 has the third area 71A and the fourth area 71B arranged inside the frame-shaped fifth area 71C.
- the reflectance is lower than that of the first area 73A of the large marker 73 and higher than that of the fourth area 71B of the small marker 71 .
- the pattern recognition unit 51 can more reliably recognize the large marker 73 from the captured image in which the small marker 71 and the large marker 73 are captured.
- the pattern recognition unit 51 binarizes the area corresponding to the third area 71A of the small marker 71 to white and the area corresponding to the fourth area 71B to black.
- the small marker 71 is recognized by recognizing the first coloration pattern P1 (see FIG. 5A) obtained by doing so.
- the pattern recognition unit 51 obtains by binarizing such that the area corresponding to the first area 73A of the large marker 73 is white, and the area corresponding to the second area 73B and the area of the small marker 71 is black.
- the large marker 73 is recognized by recognizing the second coloration pattern P2 (see FIG. 5B). Thereby, the pattern recognition unit 51 can recognize the small marker 71 and the large marker 73 from the captured image by a simple processing method.
- the display pattern VP2 of the large marker 73 and the display pattern VP1 of the small marker 71 have different color schemes. is recognized, it is determined that the distance from the own vehicle 6 to the preceding vehicle 6 is shorter than when the large marker 73 is recognized. As a result, the distance to the traveling vehicle 6 located ahead or behind can be detected without providing a sensor or the like.
- the traveling vehicle system 101 of the second embodiment includes a first LED array (first display section) 81, a second LED array (second display section) 83, and LED An array controller 57 is provided.
- first LED array 81, the second LED array 83 and the LED array control section 57 will be described in detail.
- the first LED array 81 and the second LED array 83 are arranged on the rear cover 35 of the traveling vehicle 106, as shown in FIG.
- the first LED array 81 is arranged so that even if the distance from the vehicle 106 is less than a predetermined distance (for example, 0.5 m), the entirety of the first LED array 81 is within the imaging range of the imaging unit 8 provided in the vehicle 106 traveling ahead.
- the second LED array 83 is arranged so that the entirety of the second LED array 83 does not fall within the imaging range of the imaging unit 8 of the preceding vehicle 106 positioned less than a predetermined distance (for example, 0.5 m) from the own vehicle 106 .
- the first LED array 81 and the second LED array 83 may also be arranged on the front cover 34 of the traveling vehicle 106 .
- the first LED array 81 is an LED unit in which multiple (six) LEDs 81A and 81B are arranged.
- the second LED array 83 is an LED unit in which a plurality (six) of LEDs 83A and 83B are arranged.
- the first LED array 81 and the second LED array 83 switch the display mode according to the state of the own traveling vehicle 106 (the traveling vehicle 106 provided with the first LED array 81 and the second LED array 83).
- the first LED array 81 changes the display mode by a combination of the LEDs 81A that are lit and the LEDs 81A that are not lit (hereinafter simply referred to as "combination of lighting") in the five LEDs 81A.
- the remaining one LED 81B is used as parity. That is, the LED 81B is used to determine whether or not the lighting combination of the five LEDs 81A is the display mode intended by the control unit 50.
- FIG. Switching of the display mode in the first LED array 81 is performed by the controller 50 .
- the second LED array 83 also changes the display mode by combining the LEDs 83A that are lit and the LEDs 83A that are not lit in the five LEDs 83A. It is also the same as the first LED array 81 in that the remaining one LED 83B is used as parity.
- an LED array control unit 57 is formed.
- the LED array control unit 57 switches the display modes of the first LED array 81 and the second LED array 83 according to the running state of the vehicle itself. Specifically, for example, when the LED array control unit 57 receives a command from the controller 60 and acquires that its own running state is in an accelerating state or a decelerating state, it becomes a display mode corresponding to the acquired running state. Lighting of the LED 81A in the first LED array 81 and lighting of the LED 83A in the second LED array 83 are controlled as follows. That is, the LED array control unit 57 switches the display mode of the first LED array 81 and the second LED array 83 provided on the traveling vehicle 106 to display the traveling vehicle 106 located behind the own traveling vehicle 106. It transmits its own running state.
- the operation of the rear traveling vehicle 106 when the front traveling vehicle 106 decelerates will be described.
- the forward traveling vehicle 106 decelerates when the distance to the obstacle ahead reaches a predetermined distance, and the distance to the obstacle ahead reaches the predetermined distance. It stops when it reaches a second predetermined distance that is shorter than the distance.
- the forward traveling vehicle 106 decelerates when the distance to the obstacle in front reaches a predetermined distance, and at the same time displays on the first LED array 81 and the second LED array 83 that the vehicle is decelerating.
- the travel control unit 55 of the vehicle 106 traveling behind determines the state of the vehicle 106 traveling ahead based on the combination of lighting of the first LED array 81 and the second LED array 83 captured by the imaging unit 8 .
- the pattern recognition unit 51 of the following vehicle 106 tries to recognize the small marker 71 and the large marker 73 based on the image captured by the imaging unit 8 .
- the traveling control unit 55 stops the traveling unit 18.
- the pattern recognition unit 51 recognizes the large marker 73 , it is determined that the preceding vehicle 106 is located 0.5 m or more in front of the following vehicle 106 , and the traveling control unit 55 decelerates the traveling unit 18 .
- the operation of the rear traveling vehicle 106 when the front traveling vehicle 106 accelerates will be described.
- the preceding vehicle 106 receives a transport command from the controller 60 and accelerates forward, it displays on the first LED array 81 and the second LED array 83 that it is in an accelerating state.
- the travel control unit 55 of the vehicle 106 traveling behind determines the state of the vehicle 106 traveling ahead based on the combination of lighting of the first LED array 81 and the second LED array 83 captured by the imaging unit 8 .
- the pattern recognition unit 51 of the following vehicle 106 tries to recognize the small marker 71 and the large marker 73 based on the image captured by the imaging unit 8 .
- the pattern recognition unit 51 recognizes the large marker 73, it is determined that the preceding vehicle 106 is at a position 0.5 m or more in front of the following vehicle 106, and the driving control unit 55 causes the driving unit 18 to move. accelerate. As a result, the vehicle 106 traveling behind can smoothly follow the vehicle 106 traveling ahead.
- the small marker 71 is recognized by the pattern recognition unit 51, it is determined that the preceding vehicle 106 is less than 0.5 m in front of the following vehicle 106. to maintain As a result, the vehicle 106 traveling behind can reduce the possibility of colliding with the vehicle 106 traveling ahead.
- the traveling vehicle system 101 of the second embodiment different display modes are displayed on the first LED array 81 and the second LED array 83 depending on the state of the traveling vehicle 106.
- the vehicle 106 traveling behind can immediately determine the state of the vehicle 106 traveling ahead.
- the vehicle 106 traveling behind can quickly perform an operation according to the state of the vehicle 106 traveling ahead.
- the first LED array 81 is arranged corresponding to the small marker 71
- the second LED array 83 is arranged corresponding to the large marker 73.
- At least one of the first LED array 81 and the second LED array 83 is imaged by the imaging unit 8 regardless of whether the inter-vehicle distance between the traveling vehicles 106 and 106 is relatively short or long. As a result, regardless of the inter-vehicle distance between the two traveling vehicles 106, 106, the rear traveling vehicle 106 can more reliably obtain information on the forward traveling vehicle 106.
- FIG. 1 A block diagram illustrating an exemplary computing environment in this specification.
- the first LED array 81 and the second LED array 83 switch the display mode according to the traveling state of the own traveling vehicle 106, and the traveling state includes an acceleration state and a deceleration state. state is included. As a result, at least the following vehicle 106 can recognize whether the vehicle 106 traveling ahead is accelerating or decelerating.
- the imaging unit 8 includes a lens and an imaging device that converts the light coming from the lens into an electric signal, and measures the distance to the object.
- the imaging unit 8 may employ a device having a distance measurement function, such as a stereo camera or a TOF camera.
- the small markers 71 and the large markers 73 are formed as display patterns (for example, AR markers) made up of graphics in multiple colors.
- display patterns for example, AR markers
- it may be a two-dimensional code.
- two-dimensional codes include QR codes (registered trademark) and the like.
- control unit 50 for controlling the traveling vehicle 6 (106) is provided in the main body portion 7 of each traveling vehicle 6 (106) has been described. It may be separated and placed in a location where it can communicate by wire or wirelessly (eg controller 60). In such a case, the control unit 50 may be configured to collectively control the plurality of traveling vehicles 6 instead of being provided for each of the plurality of traveling vehicles 6 (106).
- an overhead traveling vehicle was described as an example of a traveling vehicle. It includes unmanned vehicles and stacker cranes that run on the track.
- the small marker 71 and the large marker 73 are provided on the rear surface 35a of the rear surface cover 35 .
- the installation position is not limited as long as it is visible from the car 6 (106).
- the small marker 71 and the large marker 73 may be provided on the leg surfaces 35c, 35c instead of or in addition to the rear surface 35a.
- the example in which the small marker 71 and the large marker 73 are arranged at a position visible from the rear traveling vehicle 6 to the front traveling vehicle 6 (that is, the rear surface 35a of the front traveling vehicle 6) has been described.
- the small marker 71 and the large marker 73 may be arranged at positions visible from the forward vehicle 6 to the rear vehicle 6 (for example, the front surface 34a and leg surfaces 34c, 34c, etc. of the rear vehicle 6).
- the first LED array 81 and the second LED array are used as the first display unit and the second display unit that switch the display mode according to the state of the vehicle.
- 83 has been described, but the present invention is not limited to this.
- a liquid crystal display screen may be employed, and display contents (colors, patterns, symbols, characters, etc.) may be changed according to the user's state.
- the lighting device may simply switch colors to be displayed (lighted).
- the acceleration state and deceleration state were explained as examples of the self state.
- information such as whether or not the article 10 is being transported may be used.
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Abstract
Description
主に、図1~図6を用いて第一実施形態の走行車システム1について説明する。走行車システム1は、軌道(予め定められた走行経路)4に沿って移動可能な天井走行車6を用いて、物品10を載置部9,9間で搬送するためのシステムである。物品10には、例えば、複数の半導体ウェハを格納するFOUP(Front Opening Unified Pod)及びガラス基板を格納するレチクルポッド等のような容器、並びに一般部品等が含まれる。ここでは、例えば、天井走行車6(以下、単に「走行車6」と称する。)が、工場の天井等に敷設された一方通行の軌道4に沿って走行する走行車システム1を例に挙げて説明する。図1に示されるように、走行車システム1は、軌道4、複数の載置部9、及び複数の走行車6を備える。
主に、図7及び図8を用いて第二実施形態の走行車システム101について説明する。第二実施形態の走行車システム101は、第一実施形態の走行車システム1の構成に加え、第一LEDアレイ(第一表示部)81、第二LEDアレイ(第二表示部)83及びLEDアレイ制御部57が設けられている。ここでは、第一LEDアレイ81、第二LEDアレイ83及びLEDアレイ制御部57について詳細に説明する。
Claims (7)
- 予め定められた走行経路に沿って走行する走行車であって、
小マーカと前記小マーカよりも面積が大きい大マーカとが設けられている本体部と、
撮像範囲が自己の前記走行車の前方及び後方の少なくとも一方となるように、前記本体部に設けられている少なくとも一つの撮像部と、
前記撮像部によって取得された撮像画像に基づいて、前記小マーカ及び前記大マーカを区別して認識するパターン認識部と、
前記パターン認識部によって、前記小マーカ又は前記大マーカが認識されたとき、自己の前記走行車の前方及び後方の少なくとも一方に他の前記走行車が存在すると判別する状態判別部と、を備え、
前記大マーカは、自己の前記走行車から所定距離未満に位置する他の前記走行車に備わる前記撮像部の撮像範囲に全体が収まらないサイズに構成され、
前記小マーカは、自己の前記走行車からの距離が前記所定距離未満であっても他の前記走行車に備わる前記撮像部の撮像範囲に全体が収まるサイズに構成されると共に、前記大マーカが構成されている領域の内部に配置されており、
前記大マーカは、第一領域と、前記第一領域よりも反射率の低い第二領域と、前記小マーカが配置される領域と、を含んで表示パターンが構成され、
前記小マーカは、第一領域よりも反射率が低い第三領域と、第三領域よりも反射率が低くかつ第二領域よりも反射率が低い第四領域と、を含んで表示パターンが構成されている、走行車。 - 前記小マーカは、枠状に形成される第五領域の内側に前記第三領域及び前記第四領域が配置されており、
前記第五領域は、前記大マーカの前記第一領域よりも反射率が低く、前記小マーカの前記第四領域の反射率よりも高い領域である、請求項1記載の走行車。 - 前記パターン認識部は、前記小マーカの前記第三領域に対応する領域が白、前記第四領域に対応する領域が黒となるように二値化することで得られる第一配色パターンを認識することで前記小マーカを認識し、前記大マーカの前記第一領域に対応する領域が白、前記第二領域及び前記小マーカの領域に対応する領域が黒となるように二値化することで得られる第二配色パターンを認識することで前記大マーカを認識する、請求項1又は2記載の走行車。
- 前記大マーカと前記小マーカとは互いに表示パターンが異なっており、
前記状態判別部は、前記パターン認識部によって前記小マーカが認識されたとき、前記大マーカが認識されたときと比べて、自己の前記走行車から他の前記走行車までの距離が近いと判別する、請求項1~3の何れか一項記載の走行車。 - 前記本体部には、自己の前記走行車から前記所定距離未満に位置する他の前記走行車に備わる前記撮像部の撮像範囲に全体が収まらないように配置され、自己の前記走行車の状態に合わせて表示態様を切り替える第一表示部と、自己の前記走行車からの距離が前記所定距離未満であっても他の前記走行車に備わる前記撮像部の撮像範囲に全体が収まるように配置され、自己の前記走行車の状態に合わせて表示態様を切り替える第二表示部と、が更に設けられており、
前記走行車は、
前記本体部を前記走行経路に沿って走行させる走行部と、
前記撮像部によって撮像された前記第一表示部及び前記第二表示部の少なくとも一方の前記表示態様に基づいて他の前記走行車の状態を取得すると共に、取得した前記状態に基づいて自己の前記走行部を制御する走行制御部と、を更に備える、請求項1~4の何れか一項記載の走行車。 - 前記第一表示部及び前記第二表示部は、自己の前記走行車の走行状態に合わせて前記表示態様を切り替え、
前記走行状態には、加速状態及び減速状態が含まれる、請求項5記載の走行車。 - 請求項1~6の何れか一項記載の複数の走行車と、
複数の前記走行車が予め定められた方向に走行する軌道と、
前記走行車に搬送指令を割り付ける走行車コントローラと、を備える、走行車システム。
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US18/278,456 US20240132123A1 (en) | 2021-03-04 | 2022-01-25 | Travelling vehicle and travelling vehicle system |
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JP2004185630A (ja) * | 1996-09-30 | 2004-07-02 | Sony Corp | 識別装置及び方法、ロボット装置並びに色抽出装置 |
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