U.S. patent application number 15/373042 was filed with the patent office on 2017-06-15 for article transport facility.
The applicant listed for this patent is Daifuku Co., Ltd.. Invention is credited to Motohiro Fujita, Takahiro Horii.
Application Number | 20170166406 15/373042 |
Document ID | / |
Family ID | 58778449 |
Filed Date | 2017-06-15 |
United States Patent
Application |
20170166406 |
Kind Code |
A1 |
Horii; Takahiro ; et
al. |
June 15, 2017 |
ARTICLE TRANSPORT FACILITY
Abstract
An article transport facility is provided with a first control
device that controls an article transport vehicle in a first area
in which articles are transported, and a second control device that
controls the article transport vehicle in a second area in which
adjustment of the article transport vehicle is performed. Based on
a withdrawal instruction from the first control device, an
operation control portion of an article transport vehicle that
needs adjustment causes the article transport vehicle to enter the
second area, and a communication control portion that can perform
exclusive wireless communication with the first control device and
the second control device changes the communication destination to
the second control device. In response to an adjustment instruction
from the second control device, the operation control portion
performs adjustment operations with use of the adjustment device
and updates transport profile information in a profile storage
portion, and then the communication control portion changes the
communication destination to the first control device after
updating is complete.
Inventors: |
Horii; Takahiro; (Hinocho,
JP) ; Fujita; Motohiro; (Hinocho, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Daifuku Co., Ltd. |
Osaka-shi |
|
JP |
|
|
Family ID: |
58778449 |
Appl. No.: |
15/373042 |
Filed: |
December 8, 2016 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B65G 43/00 20130101;
Y02P 90/02 20151101; Y02P 90/18 20151101; G05B 2219/50392 20130101;
G05B 19/4189 20130101; G05B 2219/31273 20130101; Y02P 90/28
20151101 |
International
Class: |
B65G 43/00 20060101
B65G043/00; G05B 19/418 20060101 G05B019/418 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 9, 2015 |
JP |
2015-240458 |
Claims
1. An article transport facility comprising: a traveling rail
disposed on a ceiling; a plurality of loading platforms provided on
a ground side along the traveling rail; an article transport
vehicle that is suspended from the traveling rail, travels along a
traveling path formed by the traveling rail, and transports an
article from a loading platform that is a transport source to a
loading platform that is a transport destination; a first area in
which the article is transported by the article transport vehicle;
a second area that is provided in a region different from the first
area, and in which adjustment of the article transport vehicle is
performed; an adjustment device disposed in the second area; a
first control device that controls operations of the article
transport vehicle in the first area; and a second control device
that controls operations of the article transport vehicle in the
second area, wherein: the traveling path includes a first path
provided in the first area, and a second path that is provided in
the second area and diverges from and merges with the first path,
the article transport vehicle is provided with a communication
control portion that can perform exclusive wireless communication
with at least the first control device and the second control
device, an operation control portion that causes the article
transport vehicle to operate under autonomous control based on
instructions from the first control device and the second control
device, and a profile storage portion that stores transport profile
information that includes at least position information for
transferring the article at the loading platforms, the first
control device gives the article transport vehicle an operation
instruction for causing the article transport vehicle to operate,
the operation instruction includes at least an article transport
instruction for transporting the article, and a withdrawal
instruction for causing the article transport vehicle to withdraw
from the first area to the second area, the operation control
portion of an adjustment target vehicle, which is the article
transport vehicle that needs adjustment, causes the article
transport vehicle to enter the second path based on the withdrawal
instruction, and the communication control portion of the
adjustment target vehicle changes a communication destination from
the first control device to the second control device, in response
to an adjustment instruction from the second control device, the
operation control portion of the adjustment target vehicle performs
adjustment with use of the adjustment device and updates the
transport profile information, and the communication control
portion of the adjustment target vehicle changes the communication
destination from the second control device to the first control
device after the transport profile information has been
updated.
2. The article transport facility according to claim 1, further
comprising a facility supervising device that stores past operation
statuses of each article transport vehicle as running information,
wherein the facility supervising device successively acquires
operation status information that includes at least a transport
count and a travel time for each article transport vehicle, selects
the article transport vehicle that needs adjustment as the
adjustment target vehicle based on the running information, and
gives a result of the selection to the first control device, and
wherein the first control device gives the withdrawal instruction
to the adjustment target vehicle based on the selection result.
3. The article transport facility according to claim 1, wherein the
article transport vehicle is provided with a traveling portion that
travels along the traveling path, a supporting portion that is
supported to the traveling portion and suspends the article, and an
elevation driving portion that raises and lowers the supporting
portion relative to the traveling portion in a state where the
traveling portion is stopped, wherein in the second area, the
supporting portion suspends the adjustment device instead of the
article, and wherein the adjustment device acquires adjustment data
when being raised and lowered by the elevation driving portion,
calculates transport profile information that corresponds to the
adjustment target vehicle, and transmits the transport profile
information to the adjustment target vehicle.
4. The article transport facility according to claim 3, wherein the
second area is provided with an adjustment loading platform that
has an adjustment loading surface on which the adjustment device
can be placed in the same manner as a manner in which the article
is placed on the loading platforms, and wherein in the second area,
the adjustment device is placed on at least two adjustment loading
surfaces that have different heights, and the adjustment device
acquires the adjustment data when being raised and lowered from and
to the at least two adjustment loading surfaces.
5. The article transport facility according to claim 4, wherein at
least two adjustment loading platforms that have adjustment loading
surfaces with different heights are arranged along the second path,
and the adjustment target vehicle transfers the adjustment device
between different adjustment loading platforms while traveling
along the second path, and wherein the adjustment device acquires
the adjustment data for each of the adjustment loading
platforms.
6. The article transport facility according to claim 5, wherein the
adjustment loading platforms are arranged along the second path in
order of descending or ascending ground height.
7. The article transport facility according to claim 4, wherein
ground heights of the adjustment loading surfaces are heights that
correspond to ground heights of the loading platforms.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application claims priority to Japanese Patent
Application No. 2015-240458 filed Dec. 9, 2015, the disclosure of
which is hereby incorporated in its entirety by reference.
FIELD OF THE INVENTION
[0002] The present invention relates to an article transport
facility that includes multiple loading platforms provided on the
ground side, and an article transport vehicle that travels while
being suspended from a traveling rail disposed on a ceiling and
that transports articles from a loading platform that is the
transport source to a loading platform that is the transport
destination.
BACKGROUND
[0003] There are article transport facilities in practical use that
automatically transport articles with use of an article transport
vehicle that is suspended from a rail provided on a ceiling. In
order to transfer articles with high precision, or more
specifically in order to precisely hold articles at the transport
source, transport them, and precisely place them at a predetermined
position at the transport destination, it is preferable to
precisely adjust the stop position of the article transport vehicle
and the position at which a supporting portion for supporting an
article performs a support operation. JP 2005-170544A (Patent
Document 1) discloses technology for correcting such stop positions
and operation positions.
[0004] The technology in Patent Document 1 makes use of a position
corrector that has the same shape as the transport target article
and is internally provided with a camera and an image processing
device, and a correction sheet that is placed on the loading
platform on which the article is to be placed. An article transport
vehicle that holds the position corrector moves the position
corrector relative to the loading platform on which the correction
sheet is placed, and an image of the correction sheet is captured
by the camera provided in the position corrector. The imaging
result is processed by the image processing device and provided to
the article transport vehicle. The article transport vehicle stores
image information that is to serve as a reference, compares the
correction sheet imaging information provided by the position
corrector with the reference image information, and detects the
difference between them as a position offset amount. The detected
position offset amount is stored as correction data. When
subsequent transport is to be performed, the stop position is
corrected using the correction data, thus making it possible to
precisely transport and transfer articles (e.g., see paragraphs
[0022] to [0045] of Patent Document 1).
[0005] Patent Document 1 discloses that an operator lowers the
position corrector and fixes it at a normal position on a reference
frame, and it is necessary for the operator to be involved in the
adjustment operation (e.g., see [0039]). In general, manual
adjustment operations tend to require a longer lead time. The
operation rate of the article transport facility decreases because
articles cannot be transported by the article transport vehicle
that is the adjustment target during adjustment. Also, if
adjustment is simply automated, the article transport vehicle that
is the adjustment target also needs to be controlled by the system
controller that performs overall system control in Patent Document
1 (e.g., see paragraph [0027] and FIG. 4 of Patent Document 1) for
example, and there is also a risk of leading to a decrease in the
operation rate due to an increase in the load on the system
controller.
SUMMARY OF THE INVENTION
[0006] In light of the above-described circumstances, there is
desire for the provision of technology that makes it possible to
efficiently perform article transport vehicle adjustment while also
suppressing a decrease in the overall operation rate of the article
transport facility.
[0007] In light of the above, an article transport facility
according to one aspect includes: a traveling rail disposed on a
ceiling;
[0008] a plurality of loading platforms provided on a ground side
along the traveling rail;
[0009] an article transport vehicle that is suspended from the
traveling rail, travels along a traveling path formed by the
traveling rail, and transports an article from a loading platform
that is a transport source to a loading platform that is a
transport destination;
[0010] a first area in which the article is transported by the
article transport vehicle;
[0011] a second area that is provided in a region different from
the first area, and in which adjustment of the article transport
vehicle is performed;
[0012] an adjustment device disposed in the second area;
[0013] a first control device that controls operations of the
article transport vehicle in the first area; and
[0014] a second control device that controls operations of the
article transport vehicle in the second area,
[0015] wherein the traveling path includes a first path provided in
the first area, and a second path that is provided in the second
area and diverges from and merges with the first path,
[0016] the article transport vehicle is provided with a
communication control portion that can perform exclusive wireless
communication with at least the first control device and the second
control device, an operation control portion that causes the
article transport vehicle to operate under autonomous control based
on instructions from the first control device and the second
control device, and a profile storage portion that stores transport
profile information that includes at least position information for
transferring the article at the loading platforms,
[0017] the first control device gives the article transport vehicle
an operation instruction for causing the article transport vehicle
to operate,
[0018] the operation instruction includes at least an article
transport instruction for transporting the article, and a
withdrawal instruction for causing the article transport vehicle to
withdraw from the first area to the second area,
[0019] the operation control portion of an adjustment target
vehicle, which is the article transport vehicle that needs
adjustment, causes the article transport vehicle to enter the
second path based on the withdrawal instruction, and the
communication control portion of the adjustment target vehicle
changes a communication destination from the first control device
to the second control device,
[0020] in response to an adjustment instruction from the second
control device, the operation control portion of the adjustment
target vehicle performs adjustment with use of the adjustment
device and updates the transport profile information, and
[0021] the communication control portion of the adjustment target
vehicle changes the communication destination from the second
control device to the first control device after the transport
profile information has been updated.
[0022] According to this configuration, the article transport
facility region is divided into the first area in which articles
are transported and the second area in which article transport
vehicle adjustment is performed, and the first control device and
the second control device that control the article transport
vehicle are independently provided in the respective areas.
Accordingly, article transport vehicle adjustment can be performed
independently and efficiently, and without influencing article
transport. Also, wireless communication is performed between the
first control device and the article transport vehicle and between
the second control device and the article transport vehicle, and
therefore operations of the article transport vehicle can be
controlled in the two areas without giving consideration to the
connection of communication wiring or the like. Also, the article
transport vehicle performs exclusive wireless communication with
the first control device and the second control device, and
therefore communication interference is suppressed without using
multiple communication means or communication channels.
[0023] Also, after receiving the withdrawal instruction, the
communication destination of the adjustment target vehicle is
switched from the first control device to the second control
device, and therefore article transport in the first area is never
hindered. Note that the communication control portion may switch
the communication destination based on only the withdrawal
instruction, or may switch the communication destination after the
operation control portion causes the adjustment target vehicle to
enter the second path. In the latter case, an article transport
vehicle that is no longer controlled by the first control device
never remains in the first area. Accordingly, the hindrance of
article transport in the first area is suppressed even more
reliably. In the second area, the adjustment target vehicle
performs adjustment operations in accordance with an adjustment
instruction from the second control device, and updates the
transport profile information. An operator is not involved in the
adjustment operation, thus shortening the adjustment lead time and
also reducing the need for operator effort. After adjustment is
complete, the communication destination of the adjustment target
vehicle is changed from the second control device to the first
control device, and then the adjustment target vehicle is
controlled by the first control device as a normal article
transport vehicle, swiftly returns to the first area, and can
transport articles. In this way, according to the above
configuration, it is possible to efficiently perform article
transport vehicle adjustment while also suppressing a decrease in
the overall operation rate of the article transport facility.
[0024] Further features and advantages of the article transport
facility will become apparent from the following description of
embodiments with reference to the drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0025] FIG. 1 is a diagram schematically showing a configuration of
an article transport facility;
[0026] FIG. 2 is an enlarged view of a diverging part;
[0027] FIG. 3 is a side view of a ceiling transport vehicle;
[0028] FIG. 4 is a block diagram schematically showing a system
configuration of the article transport facility and the ceiling
transport vehicle;
[0029] FIG. 5 is a side view of the ceiling transport vehicle and a
support platform;
[0030] FIG. 6 is a side view of the ceiling transport vehicle and
the support platform;
[0031] FIG. 7 is an illustrative diagram schematically showing a
system configuration of the article transport facility;
[0032] FIG. 8 is a side view of an example of an inspection
platform arrangement;
[0033] FIG. 9 is a side view of the relationship between the
ceiling transport vehicle and an adjustment unit placed on an
inspection platform;
[0034] FIG. 10 is a side view of the relationship between a support
platform and the adjustment unit when suspended;
[0035] FIG. 11 is an enlarged view of the positional relationship
between the adjustment unit and an adjustment platform surface
while adjustment is being carried out;
[0036] FIG. 12 is a state transition diagram schematically showing
the generation and updating of a transport profile; and
[0037] FIG. 13 is a side view showing another example of an
inspection platform.
DETAILED DESCRIPTION
[0038] An embodiment of an article transport facility will be
described below with reference to the drawings. As shown in FIG. 1,
the description in the present embodiment will be given by way of
example of an article transport facility that transports articles
along a traveling path L between semiconductor processing devices
(referred to hereinafter as processing devices 2) that subject
semiconductor substrates to various types of processing such as
thin film formation, photolithography, and etching. As shown in
FIG. 1, the traveling path L is not formed by a single continuous
path, but rather is formed by multiple paths that are connected in
parallel. The traveling path L therefore has diverging portions J1
where the path diverges, and merging portions J2 where paths merge.
FIG. 2 is an enlarged view of a diverging portion J1 where the
traveling path L diverges. The traveling path L is formed by a
traveling rail R (see FIGS. 2 and 3) disposed on a ceiling. In the
present embodiment, a ceiling transport vehicle 1 that is suspended
from the traveling rail R as shown in FIG. 3 will be described as
an example of an article transport vehicle. FIG. 3 is a side view
of the ceiling transport vehicle 1 (view in the direction
orthogonal to a traveling direction Y). In the following
description, the direction in which the ceiling transport vehicle 1
travels will be referred to as the traveling direction Y, and the
direction that is orthogonal to the traveling direction Y in a plan
view (the direction orthogonal to the traveling direction Y on the
horizontal plane) will be referred to as a lateral direction X.
[0039] In the present embodiment, a container W that is called an
FOUP (Front Opening Unified Pod) and accommodates a semiconductor
substrate is described as an example of the article transported by
the ceiling transport vehicle 1 (see FIG. 3). The processing
devices 2 subjects the substrate (semiconductor substrate)
accommodated in the container W to various types of processing such
as those described above. In order to transport the container W
between processing devices 2, the processing devices 2 are each
provided with a support platform 3 (loading platform) on the floor
at a location adjacent to the processing device 2. These support
platforms 3 are transport target locations (transport sources and
transport destinations) to/from which the container W is
transported by the ceiling transport vehicle 1.
[0040] Specifically, the article transport facility includes the
traveling rail R that is disposed on the ceiling, multiple support
platform 3 that are provided on the ground side along the traveling
rail R (traveling path L), and the ceiling transport vehicle 1. The
ceiling transport vehicle 1 is suspended from the traveling rail R,
travels along the traveling path L formed by the traveling rail R,
and transports the container W from one support platform 3 that is
the transport source to another support platform 3 that is the
transport destination. During normal operations, the ceiling
transport vehicle 1 travels along the traveling path L
(later-described first path L1) and transports an article
(container W) from one support platform 3 that is the transport
source to another support platform 3 that is the transport
destination. Note that during a later-described adjustment
operation, the ceiling transport vehicle 1 travels along the
traveling path L (later-described second path L2) and transports an
article (later-described adjustment unit C; see FIG. 9 etc.) from
one inspection platform 4 (adjustment loading platform) that is the
transport source to another inspection platform 4 that is the
transport destination. Note that the inspection platforms 4 and the
adjustment unit C are configured such that the adjustment unit C
can be placed on an inspection platform 4 in the same manner as the
manner in which a container W is placed on a support platform
3.
[0041] As shown in FIG. 1, at least two regions with different
attributes (a first area E1 and a second area E2) are provided in
the article transport facility. The traveling path L includes a
first path L1 that is provided in the first area E1, and a second
path L2 that is provided in the second area E2 and also diverges
from and merges with the first path L1. The first area E1 is the
region in which the above-described processing devices 2 are
provided and in which the container W is transported between
processing devices 2 (support platforms 3) by the ceiling transport
vehicle 1. The second area E2 is provided in a separate region from
the first area E1, and is the region in which adjustment of the
ceiling transport vehicle 1 is performed using the later-described
adjustment unit C. Inspection platforms 4 (adjustment loading
platforms), which serve as inspection target locations where a
later-described detection target object M (see FIG. 9) is provided,
are disposed on the floor in the second area E2. The present
embodiment describes the example of an aspect in which four
inspection platforms 4 are disposed in the second area E2 (see
FIGS. 1 and 8).
[0042] The first path L1 includes a main path Lp that is shaped as
a relatively large ring and is shown in the central portion in FIG.
1, and sub paths Ls that are shaped as relatively small rings and
are shown on the outer side of the main path Lp. As shown in FIG.
2, a guide rail G is provided at the diverging portion J1 where a
sub path Ls diverges from the main path Lp. A diverging portion J1
is also provided at the portion where the second path L2 diverges
from the first path L1, and a guide rail G is similarly provided
there as well. Also, although not shown or described in detail, a
guide rail G is similarly provided at the merging portion J2 where
the sub path Ls merges with the main path Lp as well. The same
follows for the other diverging portions and merging portions
(e.g., the diverging portion and the merging portion between the
main path Lp and external connection paths (entrance path L3 and
exit path L4) that are connected to the main path Lp in the top
portion of FIG. 1).
[0043] As shown in FIG. 3, the ceiling transport vehicle 1 includes
a traveling portion 22 that travels along the traveling path L, and
a container supporting portion 23 that is suspended from the
traveling portion 22 so as to be positioned below the traveling
rail R. The container supporting portion 23 includes a support
mechanism 24 that supports the container W. The traveling portion
22 includes traveling wheels 22a that roll over the traveling rail
R disposed along the traveling path L, and a travel motor 22m that
rotates the traveling wheels 22a. The traveling portion 22 travels
along the traveling path L due to the traveling wheels 22a being
rotated by the driving of the travel motor 22m.
[0044] As shown in FIGS. 2 and 3, the traveling portion 22 also
includes guide rollers 22b that are guided by the guide rails G
provided in the diverging portions J1 and the merging portions J2
of the traveling path L. The guide rollers 22b are configured to be
able to change in orientation in the left-right direction (lateral
direction X) in a view along the traveling direction Y of the
traveling portion 22. The change in orientation of the guide
rollers 22b is performed by a guide roller solenoid 22s (see FIGS.
2 and 4). The guide roller solenoid 22s switches the position of
the guide rollers 22b between a first position on the right side
(rightward direction XR side) in the traveling direction Y and a
second position on the left side (leftward direction XL side), and
also holds the guide rollers 22b at the switched position. When
located at the first position, the guide rollers 22b abut against
the right side surface of the guide rail G in a view along the
traveling direction Y, and guide the traveling portion 22 along the
portion of the guide rail on the non-diverging side (the guide rail
that extends relatively on the right side in the traveling
direction Y (straight-side guide rail GR)). Also, when located at
the second position, the guide rollers 22b abut against the left
side of the guide rail G in a view along the traveling direction Y,
and guide the traveling portion 22 along the portion of the guide
rail that extends on the left side (diverging-side guide rail
GL).
[0045] As shown in FIG. 3, the container W has a flange portion 6
and an accommodating portion 5. The flange portion 6 is provided on
the upper end portion of the container W, and is the portion that
is supported by the support mechanism 24 of the ceiling transport
vehicle 1. The accommodating portion 5 is located below the flange
portion 6 and accommodates multiple semiconductor substrates. Note
that a substrate entrance for the entrance and exit of substrates
is formed in the front surface of the accommodating portion 5. The
container W includes a removable lid member (not shown) that can
close the substrate entrance. The ceiling transport vehicle 1
transports the container W in the state where the flange portion 6
is suspended by the support mechanism 24.
[0046] As shown in FIG. 3, the bottom surface of the accommodating
portion 5 (the bottom surface of the container W) is provided with
three groove-shaped bottom recessed portions 7 that are recessed
upward. These three bottom recessed portions 7 are formed such that
their lengthwise directions extends radially outward from a bottom
reference position as the center. Also, the three bottom recessed
portions 7 are each formed so as to be tapered upward, and the
inner side surfaces of the bottom recessed portions 7 are formed so
as to be inclined surfaces. The functions of these bottom recessed
portions 7 will be described later. Also, as shown in FIG. 3, the
upper surface of the flange portion 6 (the upper surface of the
container W) is provided with a top recessed portion 8 that is
recessed downward with a conical shape. The top recessed portion 8
is formed so as to be tapered downward, and the inner side surface
of the top recessed portion 8 is formed so as to be an inclined
surface. The functions of the top recessed portion 8 will also be
described later.
[0047] The container supporting portion 23 of the ceiling transport
vehicle 1 includes the support mechanism 24 (supporting portion),
an elevation driving portion 25, a slide driving portion 26, a
rotation driving portion 27, and a cover member 28. The support
mechanism 24 is a mechanism for suspending the container W. The
elevation driving portion 25 is a driving portion for raising and
lowering the support mechanism 24 relative to the traveling portion
22. The slide driving portion 26 is a drive portion for sliding the
support mechanism 24 in the lateral direction X relative to the
traveling portion 22. The rotation driving portion 27 is a driving
portion for rotating the support mechanism 24 about a longitudinal
axis (vertical axis; not shown) relative to the traveling portion
22. As shown in FIG. 3, the cover member 28 is a member for
covering the upper side and front and rear sides, in the path
direction, of the container W when the support mechanism 24
supporting the container W has risen to a later-described raising
set position. Note that the raising set position is a position that
has been defined in advance as the up-down position (vertical
position) at which the support mechanism 24 is to be located when
the ceiling transport vehicle 1 travels along the traveling rail R
while supporting an article such as the container W.
[0048] FIG. 4 is a block diagram schematically showing the system
configuration of the article transport facility and the ceiling
transport vehicle 1. A first control device H1 is a system
controller that serves as the core of the article transport
facility. The first control device H1 is a host controller for the
ceiling transport vehicle 1, and is the control device that serves
as the core in transport control for transporting the container W
by mainly controlling the operations of the ceiling transport
vehicle 1 in the first area E1. A second control device H2 is the
host controller that serves as the core in adjustment control for
performing adjustment control on the ceiling transport vehicle 1,
and is the control device that controls operations of the ceiling
transport vehicle 1 in the second area E2. The ceiling transport
vehicle 1 performs exclusive wireless communication with the first
control device H1 and the second control device H2, and holds and
transports an article (the container W or the adjustment unit C) by
operating under autonomous control based on instructions from
either one of the control devices.
[0049] As shown in FIG. 4, the ceiling transport vehicle 1 includes
a communication control portion 10, an operation control portion
11, a profile storage portion 12, and an adjustment communication
portion 15. The communication control portion 10 is constituted by
an antenna, a communication control circuit, and the like that
support wireless LAN communication or the like, and performs
exclusive wireless communication with at least the first control
device H1 and the second control device H2. The operation control
portion 11 is constituted by a microcomputer or the like, and
causes the ceiling transport vehicle 1 to operate under autonomous
control based on instructions from the first control device H1 and
the second control device H2.
[0050] The profile storage portion 12 is constituted by a storage
medium such as a memory, and stores transport profile information
that includes at least position information for transferring the
container W at the support platforms 3. The position information
includes transport stop target position information and transport
move target position information for transporting and transferring
the container W at the support platforms 3. Although described
later in more detail, the transport stop target position
information is information indicating a target position (transport
stop target position) at which the traveling portion 22 is to be
stopped on the traveling rail R (traveling path L, or more
specifically the first path L1). Also, the transport move target
position information is information indicating a target position
(transport move target position) at which the support mechanism 24
is to be moved (raised/lowered, rotated, or slid; described in more
detail later) relative to the traveling portion 22 while stopped on
the traveling rail R (traveling path L, or more specifically the
first path L1).
[0051] The adjustment communication portion 15 is constituted by an
antenna and a communication control circuit that support a
short-range wireless communication standard, for example. Although
described in more detail later, the adjustment communication
portion 15 performs wireless communication with a unit
communication portion 16 of the adjustment unit C and receives
updated transport profile information or profile information for
updating (e.g., difference information).
[0052] The support mechanism 24 included in the container
supporting portion 23 is provided with a pair of gripping claws 24a
(see FIG. 3) and a grip motor 24m (see FIG. 4). As shown in FIG. 3,
the gripping claws 24a are each L-shaped in a view from the side
(in a view in the X direction) such that the flange portion 6 is
supported from below by the lower end portions of the gripping
claws 24a. The pair of gripping claws 24a are configured to move
toward and away from each other in the horizontal direction. The
pair of gripping claws 24a move toward and away from each other by
driving force from the grip motor 24m. A separate grip motor 24m
may be provided for each of the gripping claws 24a, and, in the
case where a coordination mechanism for moving the pair of gripping
claws 24a in coordination is provided, a single grip motor 24m that
drives the coordination mechanism may be provided.
[0053] It is assumed hereinafter that the pair of gripping claws
24a are moved in coordination by a single grip motor 24m. For
example, the grip motor 24m can cause the pair of gripping claws
24a to move toward each other such that the flange portion 6 of the
container W is supported by the pair of gripping claw 24a.
Alternatively, a structure is possible in which the gripping claws
24a are supported by a common support shaft (not shown), and the
grip motor 24m causes the tip portions of the pair of gripping
claws 24a to swing and approach each other so as to support the
flange portion 6. At this time, the support mechanism 24 enters a
support state. Also, the grip motor 24m can cause the pair of
gripping claws 24a to move away from each other such that the
flange portion 6 of the container W is no longer supported by the
pair of gripping claws 24a. At this time, the support mechanism 24
enters a support canceled state. In other words, the support
mechanism 24 is configured to be able to switch between the support
state and the support canceled state.
[0054] As shown in FIG. 3, the support mechanism 24 that suspends
the container W is supported so as to be capable of being raised
and lowered relative to the traveling portion 22 by the elevation
driving portion 25 included in the container supporting portion 23
likewise to the support mechanism 24. The elevation driving portion
25 includes a winding member 25a, a take-up belt 25b, and an
elevation motor 25m (see FIG. 4). The winding member 25a is
supported by a later-described rotating portion 27a. The take-up
belt 25b is wound around the winding member 25a, and the support
mechanism 24 is coupled to and supported by the leading end portion
of the take-up belt 25b. The elevation motor 25m applies motive
force for rotating the winding member 25a. The elevation driving
portion 25 takes up or feeds out the take-up belt 25b by causing
the elevation motor 25m to rotate the winding member 25a in a
forward direction or a reverse direction. The support mechanism 24
and the container W supported by the support mechanism 24 are thus
raised and lowered. Note that the elevation driving portion 25 also
has an encoder (not shown) that measures the feed amount of the
winding member 25a in units of pulses. The operation control
portion 11 controls the elevation height of the support mechanism
24 based on the number of pulses.
[0055] The slide driving portion 26 that is likewise included in
the container supporting portion 23 is provided with a relay
portion 26a (see FIG. 3) and a slide motor 26m (see FIG. 4). The
relay portion 26a is supported by the traveling portion 22 so as to
be capable of sliding in the lateral direction X relative to the
traveling portion 22. The slide motor 26m applies motive force for
sliding the relay portion 26a in the lateral direction X. The slide
driving portion 26 moves the support mechanism 24 and the elevation
driving portion 25 in the lateral direction X by causing the slide
motor 26m to perform driving for sliding the relay portion 26a in
the lateral direction X.
[0056] The rotation driving portion 27 that is likewise included in
the container supporting portion 23 is provided with a rotating
portion 27a (see FIG. 3) and a rotation motor 27m (see FIG. 4). The
rotating portion 27a is rotatably supported by the relay portion
26a so as to be capable of rotating about a longitudinal axis. The
rotation motor 27m applies motive force for rotating the rotating
portion 27a about the longitudinal axis. The rotation driving
portion 27 rotates the support mechanism 24 and the elevation
driving portion 25 about the longitudinal axis by causing the
rotation motor 27m to perform driving for rotating the rotating
portion 27a.
[0057] As described above, the profile storage portion 12 stores
position information (transport stop target position information
and transport move target position information) for transferring an
article (container W) at each of the loading platforms (support
platforms 3). The transport stop target position is a target
position at which the ceiling transport vehicle 1 (traveling
portion 22) is to be stopped on the traveling rail R (traveling
path L) when the ceiling transport vehicle 1 transfers the
container W to or from each of the support platforms 3 (i.e.,
receives or delivers the container W). The transport stop target
position information is information indicating this transport stop
target position. The transport move target position is a target
position to which the support mechanism 24 is to be moved
(raised/lowered, rotated, slid) relative to the traveling portion
22 when the ceiling transport vehicle 1 is stopped at the transport
stop target position and is to transfer the container W between the
container supporting portion 23 and the support platform 3 (i.e.,
receive or deliver the container W). The transport move target
position information is information indicating this transport move
target position.
[0058] For example, the transport move target position is defined
by a rotation set position that defines a rotational position about
the longitudinal axis for the support mechanism 24 relative to the
traveling portion 22, a lateral set position that defines the
position of the support mechanism 24 in the lateral direction X
relative to the traveling portion 22, and a lowering set position
that defines the position of the support mechanism 24 in the
up-down position relative to the traveling portion 22. In this
case, it is preferable that the rotation reference position is the
position of the support mechanism 24 about the longitudinal axis
when the traveling portion 22 is traveling along the traveling rail
R, the lateral reference position is the position of the support
mechanism 24 in the lateral direction X when the traveling portion
22 is traveling, and the raising set position is the position of
the support mechanism 24 in the up-down position when the traveling
portion 22 is traveling. In other words, the position of the
support mechanism 24 when it is located at the rotation reference
position about the longitudinal axis, at the lateral reference
position in the lateral direction X, and at the raising set
position in the up-down position, is the traveling position of the
support mechanism 24. The ceiling transport vehicle 1 travels along
the traveling rail R in the state where the support mechanism 24 is
located at the traveling position.
[0059] As described above with reference to FIG. 1, at least two
regions with different attributes (the first area E1 and the second
area E2) are provided in the article transport facility. In the
first area E1, the ceiling transport vehicle 1 transports the
container W between support platforms 3. The second area E2 is the
region in which adjustment of the ceiling transport vehicle 1 is
performed, and the inspection platforms 4 (adjustment loading
platforms) that serve as inspection target locations are disposed
on the floor. In addition to the transport stop target position
information and the transport move target position information for
transporting and transferring the container W at the support
platforms 3, the position information stored in the profile storage
portion 12 further includes adjustment stop target position
information and adjustment move target position information that
will be described later. In other words, the position information
also includes adjustment stop target position information and
adjustment move target position information for transporting and
transferring the adjustment unit C that serves as the article
relative to an inspection platform 4 (or each of inspection
platforms 4 when there are more than one). In other words, the
profile storage portion 12 stores transport profile information
that includes at least position information for transferring
articles (container W and adjustment unit C) at loading platforms,
including the adjustment loading platforms (i.e., support platforms
3 and inspection platforms 4).
[0060] Although described later in more detail, the adjustment stop
target position information is information indicating a target
position (adjustment stop target position) at which the traveling
portion 22 is to be stopped on the traveling rail R (traveling path
L, or more specifically the second path L2). As will be described
later, adjustment of the ceiling transport vehicle 1 is performed
by a detection target object M (see FIGS. 9 and 10), which is
arranged on an inspection platform 4, being detected by the
position detection sensor 29 built into the adjustment unit C
supported by the ceiling transport vehicle 1. The adjustment unit C
is placed on an inspection platform 4, and the adjustment stop
target position is a target position for stopping the traveling
portion 22 relative to the inspection platform 4 in order to at
least receive the adjustment unit C from the inspection platform 4.
Also, the adjustment move target position information is
information indicating a target position (adjustment move target
position) to which the support mechanism 24 is to be moved
(raised/lowered, rotated, slid) relative to the traveling portion
22 while the ceiling transport vehicle 1 is stopped on the
traveling rail R (traveling path L, or more specifically the second
path L2).
[0061] The operation control portion 11 executes transport control
and adjustment control based on transport instructions from the
first control device H1 and the second control device 112, which
are host controllers. When executing transport control and
adjustment control, the operation control portion 11 controls the
driving of various types of actuators provided in the ceiling
transport vehicle 1. First, transport control will be described.
Transport control is control for transporting a container W from
the support platform 3 that is the transport source to the support
platform 3 that is the transport destination by receiving the
container W from the support platform 3 that is the transport
source and then delivering the container W to the support platform
3 that is the transport destination. Reception transport
processing, reception elevation processing, delivery traveling
processing, and delivery elevation processing are executed in the
stated order in response to a transport instruction for
transporting the container W from the support platform 3 that is
the transport source to the support platform 3 that is the
transport destination.
[0062] In reception transport processing, based on transport stop
target position information regarding the support platform 3 that
is designated as the transport source, the operation control
portion 11 causes the traveling portion 22 to travel to the
transport stop target position of the support platform 3 that is
the transport source, and then causes the traveling portion 22 to
stop at the transport stop target position. The operation control
portion 11 controls the travel motor 22m so as to cause the
traveling portion 22 to stop at the transport stop target
position.
[0063] In reception elevation processing, based on transport move
target position information regarding the support platform 3 that
is the transport source, the operation control portion 11 causes
the support mechanism 24 to move to the transport move target
position, then causes the gripping claws 24a to move to approaching
positions, and then causes the support mechanism 24 to move to a
traveling position. The operation control portion 11 controls the
elevation motor 25m, the slide motor 26m, the rotation motor 27m,
and the like. Accordingly, the container W that was supported on
the support platform 3 that is the transport source becomes
supported on the support mechanism 24 located at the traveling
position.
[0064] In delivery traveling processing, based on transport stop
target position information regarding the support platform 3 that
is designated as the transport destination, the operation control
portion 11 causes the traveling portion 22 to travel to the
transport stop target position. The operation control portion 11
controls the travel motor 22m so as to cause the traveling portion
22 to travel while the container W is suspended, and then stop at
the transport stop target position.
[0065] In delivery elevation processing, based on transport move
target position information regarding the support platform 3 that
is the transport destination, the operation control portion 11
causes the support mechanism 24 to move to the transport move
target position, and then causes the gripping claws 24a to move to
separated positions. The operation control portion 11 controls the
elevation motor 25m, the slide motor 26m, the rotation motor 27m,
and the like. Accordingly, the container W that was supported by
the support mechanism 24 becomes placed on the support platform 3
that is the transport destination. Thereafter, the operation
control portion 11 controls the elevation motor 25m, the slide
motor 26m, the rotation motor 27m, and the like so as to cause the
support mechanism 24 to move to the traveling position.
[0066] As shown in FIG. 3, the top recessed portion 8 is formed in
the upper surface of the flange portion 6 (upper surface of the
container W). The top recessed portion 8 is configured such that a
pressing portion 24c provided on the support mechanism 24 engages
with the top recessed portion 8 from above when the support
mechanism 24 is lowered as shown in FIG. 5. For example, in
reception elevation processing, when the ceiling transport vehicle
1 lowers the support mechanism 24, there are cases where the
support mechanism 24 is shifted in the horizontal direction
relative to the container W placed on the support platform 3. In
this case as well, the pressing portion 24c comes into contact with
and is guided by the inner surfaces of the top recessed portion 8,
and thus the position of the support mechanism 24 in the horizontal
direction is guided to a position that is appropriate for the
container W.
[0067] Also, as shown in FIG. 3, three groove-shaped bottom
recessed portions 7 are provided in the bottom surface of the
container W. As shown in FIG. 6, the bottom recessed portions 7 are
provided at positions where positioning members 9 provided on the
support platform 3 engage with the bottom recessed portions 7 from
below when the container W is placed on the support platform 3 that
is the transport destination. For example, in delivery elevation
processing, when the support mechanism 24 descends and the
container W is placed on the support platform 3, there are cases
where the container W is shifted in the horizontal direction
relative to the proper support position on the support platform 3.
In this case as well, the positioning members 9 come into contact
with the inner surfaces of the bottom recessed portions 7, and the
container W moves in the horizontal direction, and thus the
position of the container W in the horizontal direction is
corrected to the proper support position on the support platform
3.
[0068] In this way, a certain amount of error in reception
elevation processing and delivery elevation processing can be
mitigated by the mechanical structure of the support mechanism 24
and the support platform 3. However, if the amount of error
increases due to aged deterioration, wear, and the like of the
ceiling transport vehicle 1, error can no longer be mitigated by
such mechanical structures, and there are cases where articles such
as the container W can no longer be transferred appropriately. For
example, there are cases where abrasion of the traveling wheels 22a
or the like causes the transport stop target position indicated by
the transport stop target position information to be shifted from
the ideal transport stop target position. Also, due to aged
deterioration and wear of the elevation driving portion 25, there
are cases where there is a gradual increase in the shift between
the transport move target position indicated by the transport move
target position information and the ideal transport move target
position. In general, periodic inspection or the like is performed
at a determined interval, and adjustment is performed at that time.
However, there are also cases where the amount of error becomes
large before periodic inspection due to operation rate differences,
individual differences, and the like between ceiling transport
vehicles 1. Accordingly, it is desirable that appropriate
adjustment is performed at appropriate times according to
individual ceiling transport vehicles 1.
[0069] In many cases, a ceiling transport vehicle 1 is moved from
the first area E1 to the second area E2, and such adjustment is
performed manually by an operator in the second area E2, for
example. For this reason, adjustment is time-consuming, and this
becomes one factor in the decrease of the operation rate of the
ceiling transport vehicle 1. In the present embodiment, the amount
of time required for adjustment is shortened by automating
adjustment. Also, the adjustment duration can be shortened even if
a new ceiling transport vehicle 1 is added (even if the number of
vehicles is increased), thus making it possible to swiftly improve
the transport performance of the article transport facility.
[0070] FIG. 7 is an illustrative diagram schematically showing the
system configuration of the article transport facility. FIG. 7
shows the system configuration for monitoring the running statuses
of the ceiling transport vehicles 1. As described above, the first
control device H1 designates a ceiling transport vehicle 1 and uses
wireless communication to give the ceiling transport vehicle 1 an
operation instruction for causing the ceiling transport vehicle 1
to operate (a container transport instruction for transporting a
container W (article), that is to say an article transport
instruction). In response to the received operation instruction,
the ceiling transport vehicle 1 sends an acknowledgement to the
first control device H1, and starts transport control based on the
operation instruction.
[0071] Upon starting transport control, the ceiling transport
vehicle 1 transmits operation information (e.g., traveling/stopped,
transfer success/failure, number of attempts until transfer
success, and error information) along with information specifying
the ceiling transport vehicle 1 (attribute information) without
specifying the reception destination. In other words, the operation
information need only be transmitted one-way from the ceiling
transport vehicle 1 (so-called broadcast). In the article transport
facility, multiple ceiling transport vehicles 1 perform transport
control at the same time under autonomous control. The first
control device H1 uses polling processing or the like to
successively receive operation information transmitted by multiple
ceiling transport vehicles 1.
[0072] If the operation information transmitted from the ceiling
transport vehicle 1 is transmitted in such a one-way manner,
devices other than the first control device H1 can also receive and
store that information. In the present embodiment, a facility
supervising device FS is provided, and this facility supervising
device FS acquires and stores operation information. The operation
information also includes attributes for specifying each ceiling
transport vehicle 1. Accordingly, by storing operation information,
the facility supervising device FS can store past operation
statuses as running information for each ceiling transport vehicle
1.
[0073] By acquiring the information included in each piece of
operation information along with multiple pieces of operation
information regarding the same ceiling transport vehicle 1, the
facility supervising device FS successively acquires operation
status information that includes at least the transport count and
the travel time of each ceiling transport vehicle 1. The facility
supervising device FS stores successively acquired operation status
information pieces as running information. Furthermore, based on
the running information, the facility supervising device FS selects
a ceiling transport vehicle 1 that needs adjustment as an
adjustment target vehicle. The facility supervising device FS
selects the ceiling transport vehicle 1 that needs adjustment based
on, for example, the running time of the ceiling transport vehicle
1, the elapsed time since the last adjustment, and the transfer
retry rate in a predetermined latest adjustment necessity
determination period. Note that the retry rate is a ratio in which
the numerator is the number of successful transfers in retries
after transfer has failed with respect to one transfer instance (or
the number of transfer instances with successful transfer by
retrying after transfer has failed), and in which the denominator
is the total number of transfer instances in the adjustment
necessity determination period.
[0074] The facility supervising device FS notifies the selection
result to the first control device H1. The facility supervising
device FS and the first control device H1 are fixed devices that
are disposed on the ground side, and FIG. 7 shows an example of an
aspect in which information is transmitted from the facility
supervising device FS to the first control device H1 over a wired
route. However, this is not intended to prevent this transmission
of information from being performed by wireless communication.
[0075] The first control device H1 that received the adjustment
target vehicle selection result from the facility supervising
device FS then gives a withdrawal instruction to a ceiling
transport vehicle 1 (the adjustment target vehicle) based on the
selection result. The withdrawal instruction is an instruction for
causing the ceiling transport vehicle 1 (adjustment target vehicle)
to withdraw from the first area E1 to the second area E2.
Specifically, the operation instruction given by the first control
device H1 includes at least a transport instruction (article
transport instruction) and a withdrawal instruction.
[0076] Based on the withdrawal instruction from the first control
device H1, the operation control portion 11 of the ceiling
transport vehicle 1 designated as the adjustment target vehicle
causes the ceiling transport vehicle 1 to withdraw from the first
area E1 to the second area E2. In other words, the operation
control portion 11 of the adjustment target vehicle causes the
ceiling transport vehicle 1 (adjustment target vehicle) to enter
the second path L2 based on the withdrawal instruction.
Specifically, the guide roller solenoid 22s at a diverging portion
J1 is driven to change the orientation of the guide rollers 22b
(change to the second position on the left side in this present
embodiment). Accordingly, the ceiling transport vehicle 1
(adjustment target vehicle) withdraws from the first path L1 and
enters the second path L2.
[0077] The position of the ceiling transport vehicle 1 on the
traveling path L is known to the ceiling transport vehicle 1 that
performs autonomous traveling. The position is also transmitted to
the first control device H1 as the operation information described
above. The operation control portion 11 of the ceiling transport
vehicle 1 (adjustment target vehicle) determines whether or not it
has entered the second path L2. For example, in the case where
coordinate markers are arranged along the traveling path L, and the
ceiling transport vehicle 1 is provided with a sensor for detecting
the coordinate markers, the fact that the ceiling transport vehicle
1 enters the second path L2 can be determined based on the result
of detecting a coordinate marker that is on the second path L2 side
relative to the diverging portion J1. Upon detecting that entrance
into the second path L2 is complete, the operation control portion
11 transmits the determination result to the communication control
portion 10. Based on this determination result, the communication
control portion 10 changes the communication destination from the
first control device H1 to the second control device H2.
[0078] When communication with the ceiling transport vehicle 1
(adjustment target vehicle) is established, the second control
device H2 transmits an adjustment instruction to the ceiling
transport vehicle 1 (adjustment target vehicle). Based on
adjustment stop target position information regarding an inspection
platform 4 (the adjustment loading platform) stored in the profile
storage portion 12, the operation control portion 11 of the ceiling
transport vehicle 1 (adjustment target vehicle) causes the ceiling
transport vehicle 1 to travel to and stop at the adjustment stop
target position.
[0079] In response to the adjustment instruction from the second
control device H2, the operation control portion 11 of the ceiling
transport vehicle 1 (adjustment target vehicle) performs an
adjustment operation with use of the adjustment unit C (adjustment
device) as will be described later. Furthermore, based on results
obtained by the adjustment operation, the operation control portion
11 updates transport profile information stored in the profile
storage portion 12. After the transport profile information has
been updated, the communication control portion 10 of the ceiling
transport vehicle 1 (adjustment target vehicle) changes the
communication destination from the second control device H2 to the
first control device H1.
[0080] Based on a transport request from an even higher host
controller such as a production management device, the first
control device H1 designates the support platform 3 (loading
platform) to which the ceiling transport vehicle 1 (adjustment
target vehicle) is to be dispatched, and transmits a transport
instruction to the ceiling transport vehicle 1. The operation
control portion 11 of the ceiling transport vehicle 1 causes the
ceiling transport vehicle 1 (adjustment target vehicle) to merge
from the second area E2 into the first area E1 and then transport a
container W based on the transport instruction.
[0081] The following describes a specific example of adjustment
control. In the present embodiment, adjustment is performed by the
ceiling transport vehicle 1 receiving the adjustment unit C
(adjustment device) from one inspection platform 4 (the adjustment
loading platform) instead of the container W, and then delivering
the adjustment unit C to another inspection platform 4.
Specifically, in the second area E2, the adjustment unit C is
suspended by the support mechanism 24 of the ceiling transport
vehicle 1. The adjustment unit C (adjustment device) acquires
adjustment data while being raised/lowered by the elevation driving
portion 25 of the ceiling transport vehicle 1 (adjustment target
vehicle), calculates transport profile information (updating
profile information) corresponding to the adjustment target
vehicle, and then transmits the transport profile information to
the adjustment target vehicle as update data. Note that update data
is not limited to being transport profile information, and may be
difference information indicating differences from original
transport profile information.
[0082] The second area E2 is provided with an inspection platform 4
(i.e., an adjustment loading platform) that has an adjustment
loading surface P configured such that the adjustment unit C can be
placed thereon in the same manner as the manner in which a
container W is placed on a support platform 3. Some of the support
platforms 3 arranged in the first area E1 have different ground
heights. Accordingly, in adjustment control that is carried out in
the second area, it is preferable that the adjustment unit C is
placed on at least two adjustment loading surfaces P (P1, P2, . . .
) that have different heights, and adjustment data is acquired when
raising/lowering the adjustment unit C from each of the adjustment
loading surfaces P (P1, P2, . . . ). As shown in FIG. 8, in the
present embodiment, four loading platforms (inspection platforms 4)
having adjustment loading surfaces P (P1, P2, P3, P4) with
different heights are provided. It is preferable that the ground
heights of the adjustment loading surfaces P are heights that
correspond to the various ground heights of the support platforms
3. If the ground heights of the adjustment loading surface
correspond to the ground heights of the loading platforms on which
articles are actually placed, it is possible to perform adjustment
in aspects that correspond to actual use aspects. As a result, it
is possible to perform appropriate adjustment that is suited to
actual operation.
[0083] The adjustment unit C is raised and lowered by the elevation
driving portion 25 from and to loading platforms with different
heights, and transport profile information is calculated based on
adjustment data acquired when the adjustment unit C is raised and
lowered from and to the respective heights. As shown in FIGS. 1 and
8, in the present embodiment, four inspection platforms 4 having
adjustment loading surfaces P for placing the adjustment unit C at
different heights are arranged along the second path L2, and the
adjustment target vehicle transfers the adjustment unit C between
the different inspection platforms 4 while moving along the second
path L2. The adjustment unit C acquires adjustment data for each of
the inspection platforms 4.
[0084] FIG. 8 shows an example in which four inspection platforms
4, namely a first inspection platform 4a, a second inspection
platform 4b, a third inspection platform 4c, and a fourth
inspection platform 4d, are arranged in order of descending ground
height. The first inspection platform 4a has a first adjustment
loading surface P1, the second inspection platform 4b has a second
adjustment loading surface P2, the third inspection platform 4c has
a third adjustment loading surface P3, and the fourth inspection
platform 4d has a fourth adjustment loading surface P4. In the
present embodiment, the first inspection platform 4a is the storage
location for the adjustment unit C, and the adjustment unit C is
placed on the first inspection platform 4a. The ceiling transport
vehicle 1 that is the adjustment target vehicle first performs
reception transport processing and reception elevation processing
on the adjustment unit C placed on the first inspection platform
4a, and then performs delivery traveling processing and delivery
elevation processing with respect to the second inspection platform
4b. Each time the adjustment unit C performs the aforementioned
types of processing, it acquires adjustment data and calculates
transport profile information corresponding to the adjustment
target vehicle.
[0085] Next, reception elevation processing is performed on the
adjustment unit C placed on the second inspection platform 4b, and
then delivery traveling processing and delivery elevation
processing with respect to the third inspection platform 4c are
performed. Each time the adjustment unit C performs the
aforementioned types of processing, it similarly acquires
adjustment data and calculates transport profile information
corresponding to the adjustment target vehicle. Next, reception
elevation processing is performed on the adjustment unit C placed
on the third inspection platform 4c, and then delivery traveling
processing and delivery elevation processing with respect to the
fourth inspection platform 4d are performed. Each time the
adjustment unit C performs the aforementioned types of processing,
it similarly acquires adjustment data and calculates transport
profile information corresponding to the adjustment target vehicle.
Lastly, reception elevation processing is performed on the
adjustment unit C placed on the fourth inspection platform 4d, and
then delivery traveling processing and delivery elevation
processing with respect to the first inspection platform 4a are
performed via a learning route Lt (see FIG. 1) provided in the
second area E2. Each time the adjustment unit C performs the
aforementioned types of processing, it similarly acquires
adjustment data and calculates transport profile information
corresponding to the adjustment target vehicle.
[0086] The above series of transfer processing and calculation is
considered to be one loop, and the same loop of transfer processing
and calculation is repeated multiple times. For example, in
consideration of measurement error and the like, the loop of
transfer processing and calculation is performed three times, and
transport profile information for updating is determined using an
average or standard deviation. Of course, this processing may be
cut down to one loop if sufficient precision is obtained.
[0087] FIGS. 9 and 10 show examples of behavior of the ceiling
transport vehicle 1 when receiving the adjustment unit C from an
inspection platform 4 instead of the container W. As described
above, the ceiling transport vehicle 1 can support the adjustment
unit C instead of the container W and transport the adjustment unit
C in a manner similar to the manner in which it transports the
container W. Similarly to the container W, a unit flange portion 13
is provided on the upper end portion of the adjustment unit C, and
the unit flange portion 13 is suspended by the support mechanism 24
of the ceiling transport vehicle 1. A unit main body portion 14 is
provided at a location that is below the unit flange portion 13 and
corresponds to the accommodating portion 5 of the container W. A
distance sensor 18 and an image sensor 19 are supported on the unit
main body portion 14.
[0088] Similarly to the container W, the bottom surface of the unit
main body portion 14 (the bottom surface of the adjustment unit C)
is provided with three groove-shaped bottom recessed portions (unit
bottom recessed portions 7b) that are recessed upward (see FIG.
10). Also, similarly to the support platform 3, the upper surface
of the inspection platform 4 is provided with positioning members 9
at positions for engaging with the adjustment unit C from below.
For this reason, when the adjustment unit C is transferred to the
inspection platform 4, even if the adjustment unit C is shifted in
the horizontal direction relative to the proper support position on
the support platform 3, the positioning members 9 come into contact
with the inner surfaces of the unit bottom recessed portions 7b,
and the adjustment unit C moves in the horizontal direction, and
thus the position of the adjustment unit C in the horizontal
direction is corrected to the proper support position. Accordingly,
even if error arises in the delivery traveling processing and the
delivery elevation processing of the adjustment unit C with respect
to one of the inspection platforms 4, it is also possible to place
the adjustment unit C at a prescribed position. Accordingly,
subsequent reception transport processing and reception elevation
processing with respect to that inspection platform 4 can be
performed appropriately.
[0089] Also, similarly to the container W, the upper surface of the
unit flange portion 13 (the upper surface of the adjustment unit C)
is provided with a unit top recessed portion (not shown) that is
recessed downward with a conical shape. The unit top recessed
portion is configured such that the pressing portion 24c provided
on the support mechanism 24 engages with the top recessed portion
from above when the support mechanism 24 is lowered as shown in
FIG. 9. For example, in reception elevation processing, when the
ceiling transport vehicle 1 lowers the support mechanism 24, there
are cases where the support mechanism 24 is shifted in the
horizontal direction relative to the adjustment unit C placed on
the inspection platform 4. In this case as well, the pressing
portion 24c comes into contact with and is guided by the inner
surfaces of the unit top recessed portion, and thus the position of
the support mechanism 24 in the horizontal direction is guided to a
position that is appropriate for the adjustment unit C.
[0090] As shown in FIG. 4, the ceiling transport vehicle 1 is
provided with an adjustment communication portion 15 for exchanging
various types of information with the unit communication portion 16
of the adjustment unit C by wireless communication. The adjustment
unit C is also provided with the distance sensor 18, the image
sensor 19, the unit communication portion 16, and a unit control
portion 17. The distance sensor 18 is a laser range finder for
example, and measures the distance between the adjustment loading
surface P and the bottom portion of the adjustment unit C, as will
be described later with reference to FIG. 11. The image sensor 19
is a two-dimensional image sensor for example, and is for capturing
images of the detection target object M provided on the inspection
platform 4 (preferably the adjustment loading surface P). The unit
communication portion 16 includes an antenna and a communication
control circuit, and exchanges various types of information with
the ceiling transport vehicle 1 by short-range wireless
communication. The unit control portion 17 includes a microcomputer
or the like as its core, and controls operations of the distance
sensor 18, the image sensor 19, and the unit communication portion
16, as well as performs image recognition on captured images of the
detection target object M captured by the image sensor 19 and
calculates update data such as transport profile information for
updating, based on the image recognition results.
[0091] As shown in FIG. 9, in the case where the adjustment unit C
is lowered toward the adjustment loading surface P, the ceiling
transport vehicle 1 first drives the elevation motor 25m so as to
feed out the take-up belt 25b until the adjustment unit C is seated
on (placed on) the adjustment loading surface P. As described
above, the feed amount of the take-up belt 25b is calculated in
units of pulses by an encoder. Whether or not the adjustment unit C
is seated on the adjustment loading surface P is determined by the
elevation driving portion 25 or the operation control portion 11
based on a change in tensile force acting on the take-up belt 25b,
for example. After it has been determined that the adjustment unit
C is seated on the adjustment loading surface P, the ceiling
transport vehicle 1 drives the elevation motor 25m so as to slowly
start taking up the take-up belt 25b.
[0092] As shown in FIG. 11, due to the take-up belt 25b being taken
up, the adjustment unit C rises up from the adjustment loading
surface P. The distance sensor 18 measures the distance between the
adjustment loading surface P and the bottom portion of the
adjustment unit C, and then transmits the measurement results to
the ceiling transport vehicle 1. When the distance falls within a
predetermined allowable range with respect to an adjustment
separation distance D, the taking up of the take-up belt 25b is
stopped. Accordingly, the adjustment unit C is suspended by the
support mechanism 24 in a state of being separated from the
adjustment loading surface P by the adjustment separation distance
D. The number of pulses in the state where tensile force is applied
to the take-up belt 25b is acquired as the feed amount of the
take-up belt 25b and transmitted to the adjustment unit C. Note
that the adjustment separation distance D is approximately 5 to 10
[mm] for example, and error of approximately 2.5 to 3 [mm] is
allowed in both the plus and minus directions. For example, if the
adjustment separation distance D is 5 [mm] and the allowable error
is .+-.2.5 [mm], the adjustment unit C becomes suspended by the
support mechanism 24 when the distance between the adjustment
loading surface P and the bottom portion of the adjustment unit C
falls within the range of 2.5 to 7.5 [mm]. The image sensor 19
captures an image of the detection target object M in this
state.
[0093] The detection target object M is constituted to include a
two-dimensional code, for example. The adjustment unit C (unit
control portion 17) identifies offset amounts of the detection
target object M relative to the image sensor 19 in the traveling
direction, the width direction, and about the longitudinal axis
based on the size, angle, position, and the like of the detection
target object M in the image captured by the image sensor 19. The
position of the image sensor 19 is fixed on the adjustment unit C,
thus making it possible to identify offset amounts of the detection
target object M relative to the adjustment unit C in the traveling
direction, the width direction, and about the vertical axis. Note
that a configuration is possible in which the distance sensor 18 is
not provided, and the unit control portion 17 calculates the
distance between the adjustment loading surface P and the bottom
portion of the adjustment unit C based on the size of the detection
target object M in the image captured by the image sensor 19. Also,
even if the distance sensor 18 is provided, error in the distance
is allowed as described above, and therefore a configuration is
possible in which the distance is corrected based on the size of
the detection target object M in the image captured by the image
sensor 19, and the feed amount of the take-up belt 25b is also
corrected.
[0094] FIG. 12 is a state transition diagram schematically showing
the generation and updating of a transport profile. When a new
article transport facility is constructed, transport profile
information is prepared for a reference transport vehicle 1R, which
is a ceiling transport vehicle 1 that is to serve as a reference
among all of the ceiling transport vehicles 1 in the article
transport facility. This transport profile information is profile
information that is to serve as a reference for all of the other
ceiling transport vehicles 1 in the article transport facility, and
will be referred to as reference profile information. The reference
profile information is generated by actually transporting and
delivering articles (the container W and the adjustment unit C, or
another alternative reference article) among all of the loading
platforms, including adjustment loading platforms, that is to say
all of the support platforms 3 in the first area E1 and all of the
inspection platforms 4 in the second area E2 (reference profile
preparation phase #1).
[0095] When a ceiling transport vehicle 1 other than the reference
transport vehicle 1R is added to the article transport facility,
the reference profile information is written to the profile storage
portion 12 of the ceiling transport vehicle 1 that is to be added.
Next, the ceiling transport vehicle 1 is sent to the second area
E2, and adjustment is performed as described above. During
adjustment, reception transport processing, reception elevation
processing, delivery traveling processing, and delivery elevation
processing are executed based on the reference profile information,
and individual differences between the reference transport vehicle
1R and the ceiling transport vehicle 1 being added are extracted as
difference data. Unique transport profile for the ceiling transport
vehicle 1 is generated based on the reference profile information
and the difference data, and then written to the profile storage
portion 12 (transport profile initial setting phase #3). After the
unique transport profile information has been set, the ceiling
transport vehicle 1 is introduced to the first area E1.
[0096] After the article transport facility has been running, a
ceiling transport vehicle 1 that needs adjustment is selected as
the adjustment target vehicle based on information from the
facility supervising device FS, as described above. The adjustment
target vehicle withdraws from the first area E1 to the second area
E2, and adjustment is performed as described above. When adjustment
is complete, new transport profile information is stored in the
profile storage portion 12 of the adjustment target vehicle
(transport profile adjustment phase #5). After adjustment is
complete, the ceiling transport vehicle 1 is reintroduced to the
first area E1.
OTHER EMBODIMENTS
[0097] The following describes other embodiments. Note that the
configurations of the embodiments described below are not limited
to being applied on their own, and they can also be applied in
combination with the configurations of other embodiments as long as
no contradiction arises.
[0098] (1) In the example described above, four adjustment loading
platforms (inspection platforms 4) with different heights are
provided. However, the number of inspection platforms 4 is not
limited to four. It is sufficient that two or more inspection
platforms 4 with different heights are provided, and the number
thereof may be less than four, or five or more. In other words, it
is sufficient that in the second area E2, the adjustment unit C
(adjustment device) is placed on at least two adjustment loading
surfaces P that have different heights, and transport profile
information is calculated based on adjustment data acquired when
the adjustment unit C is raised from and lowered to the adjustment
loading surfaces P. Preferably, at least two adjustment loading
platforms (inspection platforms 4) on which the adjustment unit C
(adjustment device) can be placed at different heights are arranged
along the second path L2, and the adjustment target vehicle
transfers the adjustment unit C (adjustment device) to or from
different adjustment loading platforms (inspection platforms 4)
while moving along the second path L2.
[0099] In the above description, the series of transfer processing
and calculation when transferring the adjustment unit C between
inspection platforms 4 is considered to be one loop, and the same
loop of processing and calculation is repeated multiple times.
Although the above description gives an example in which four
inspection platforms 4 are provided, in the case where the number
of inspection platforms 4 is a number other than four, for example
in the case where n (n being a natural number) inspection platforms
4 are provided and the last inspection platform 4 along the second
path L2 is the n-th inspection platform 4n (see FIG. 8), the same
series of transfer processing and calculation is carried out as one
loop up to and including the n-th inspection platform 4.
[0100] (2) In the example described above, four adjustment loading
platforms (inspection platforms 4) are arranged along the second
path L2 in order of descending or ascending ground height, for
example. However, a configuration is possible in which inspection
platforms 4 having different heights are arranged without giving
consideration to the order of ground heights. For example, in the
case where three or more inspection platforms 4 having different
heights are provided, the inspection platforms 4 may be arranged
without giving consideration to the order of ground heights.
[0101] (3) In the example described above, two or more inspection
platforms 4 having different heights are provided. In other words,
in the example described above, adjustment is performed by the
ceiling transport vehicle 1 receiving the adjustment unit C from
one inspection platform 4 instead of the container W, and then
delivering the adjustment unit C to another inspection platform 4.
Specifically, in the example described above, at least two
inspection platforms 4 on which the adjustment unit C can be placed
at different heights are provided, the adjustment unit C is raised
and lowered by the elevation driving portion 25 from and to the at
least two inspection platforms 4 with different heights, and
transport profile information is calculated based on adjustment
data acquired when the adjustment unit C is raised from and lowered
to the at least two or more heights. However, adjustment may be
performed with use of one inspection platform 4 as shown in FIG.
13. Specifically, a configuration is possible in which one
inspection platform 4 is provided in the case where the inspection
platform 4 has adjustment loading surfaces P on which the
adjustment unit C can be placed at at least two different heights
in the same manner as the manner in which the container W is placed
on a support platform 3, and the adjustment unit C can acquire
adjustment data when being raised from and lowered to the
adjustment loading surfaces P.
[0102] In one aspect, a configuration is possible in which
adjustment is performed by the ceiling transport vehicle 1
receiving the adjustment unit C from an inspection platform 4 whose
adjustment loading surface P is set at a certain height (e.g., an
inspection platform 4 set to have a first adjustment loading
surface P1), and then the ceiling transport vehicle 1 again
delivering the adjustment unit C to the same inspection platform 4
whose adjustment loading surface P has been re-set to a different
height (e.g., the same inspection platform 4 set to have a second
adjustment loading surface P2 or a third adjustment loading surface
P3). In other words, if the ground height of the adjustment loading
surface P of the inspection platform 4 is variable as shown in FIG.
13, adjustment of the ceiling transport vehicle 1 can be performed
by performing transfer from and to multiple heights using a single
inspection platform 4.
[0103] Specifically, a configuration is possible in which the
article transport facility includes an inspection platform 4 that
has variable-height loading portions S on which the adjustment unit
C can be placed, such that the adjustment unit C can be placed on
the adjustment loading surfaces P at at least two different
heights, and the adjustment unit C acquires adjustment data when
being raised from and lowered to the loading portions S set at at
least two different heights. For example, a configuration is
preferable in which the loading portions S span beam portions BG,
and the orientations thereof can be changed between a state in
which the adjustment loading surface P extends along the vertical
direction (up-down direction) and a state in which the adjustment
loading surface P extends along the horizontal direction, by being
swung by an actuator (not shown). Also, it is preferable that this
actuator is controlled by the second control device H2.
[0104] (4) In the example described above, the ceiling transport
vehicle 1 that needs adjustment is selected as the adjustment
target vehicle by the facility supervising device FS, and the first
control device H1 receives a notification of the selection result
and gives a withdrawal instruction to the adjustment target
vehicle. However, a configuration is possible in which the facility
supervising device FS is not provided, and the first control device
H1 selects the adjustment target vehicle. In this case, the first
control device H1 may store running information and make the
selection based on the running information, or may make the
selection according to a simple running time or the elapsed time
since the last time adjustment was performed. Also, the selection
may be made based on the most recent retry rate or the like.
[0105] (5) In the example described above, the communication
destination is switched from the first control device H1 to the
second control device H2 after the adjustment target vehicle has
received the withdrawal instruction, and furthermore the adjustment
target vehicle has entered the second path L2. With this
configuration, a ceiling transport vehicle 1 that is no longer
controlled by the first control device H1 never remains in the
first area E1, and therefore the hindrance of container W transport
in the first area E1 can be more reliably suppressed. However,
given that the traveling position and the like of the ceiling
transport vehicle 1 are transmitted from the ceiling transport
vehicle 1 as operation information, the first control device H1 can
know the traveling position of the ceiling transport vehicle 1 that
has been designated as the adjustment target vehicle. Accordingly,
when it is determined that the adjustment target vehicle is
traveling along the first path L1 at a point before diverging to
the second path L2, it is also possible to transmit a transport
instruction to another ceiling transport vehicle 1. Accordingly,
the communication control portion 10 of the adjustment target
vehicle may switch the communication destination before the
adjustment target vehicle enters the second path L2. For example,
the communication control portion 10 may switch the communication
destination on the condition of receiving a withdrawal instruction,
or the operation control portion 11 may switch the communication
destination on the condition of the start of a path change to the
second path L2.
[0106] (6) In the example described above, the adjustment unit C
constitutes the adjustment device on its own, and the unit control
portion 17 of the adjustment unit C calculates a transport profile.
However, the adjustment device arranged in the second area E2 may
be constituted by a combination of the adjustment unit C and an
adjustment control device (not shown) that is fixedly disposed on
the ground side. Note that in this case, it is preferable that the
adjustment unit C and the adjustment control device perform
wireless communication with each other.
[0107] (7) Note that the configurations disclosed in the
embodiments described above can be applied in combination with the
configurations of other embodiments as long as no contradiction
arises. Regarding other configurations as well, the embodiments
disclosed in the present specification are merely illustrative in
all respects. Accordingly, various improvements can be made as
appropriate without departing from the gist of the present
invention.
[0108] Summary of Above Embodiments
[0109] The following describes a summary of the article transport
facility described above.
[0110] An article transport facility according to one aspect
includes: a traveling rail disposed on a ceiling; a plurality of
loading platforms provided on a ground side along the traveling
rail; an article transport vehicle that is suspended from the
traveling rail, travels along a traveling path formed by the
traveling rail, and transports an article from a loading platform
that is a transport source to a loading platform that is a
transport destination; a first area in which the article is
transported by the article transport vehicle; a second area that is
provided in a region different from the first area, and in which
adjustment of the article transport vehicle is performed; an
adjustment device disposed in the second area; a first control
device that controls operations of the article transport vehicle in
the first area; and a second control device that controls
operations of the article transport vehicle in the second area,
wherein the traveling path includes a first path provided in the
first area, and a second path that is provided in the second area
and diverges from and merges with the first path, the article
transport vehicle is provided with a communication control portion
that can perform exclusive wireless communication with at least the
first control device and the second control device, an operation
control portion that causes the article transport vehicle to
operate under autonomous control based on instructions from the
first control device and the second control device, and a profile
storage portion that stores transport profile information that
includes at least position information for transferring the article
at the loading platforms, the first control device gives the
article transport vehicle an operation instruction for causing the
article transport vehicle to operate, the operation instruction
includes at least an article transport instruction for transporting
the article, and a withdrawal instruction for causing the article
transport vehicle to withdraw from the first area to the second
area, the operation control portion of an adjustment target
vehicle, which is the article transport vehicle that needs
adjustment, causes the article transport vehicle to enter the
second path based on the withdrawal instruction, and the
communication control portion of the adjustment target vehicle
changes a communication destination from the first control device
to the second control device, in response to an adjustment
instruction from the second control device, the operation control
portion of the adjustment target vehicle performs adjustment with
use of the adjustment device and updates the transport profile
information, and the communication control portion of the
adjustment target vehicle changes the communication destination
from the second control device to the first control device after
the transport profile information has been updated.
[0111] According to this configuration, the article transport
facility region is divided into the first area in which articles
are transported and the second area in which article transport
vehicle adjustment is performed, and the first control device and
the second control device that control the article transport
vehicle are independently provided in the respective areas.
Accordingly, article transport vehicle adjustment can be performed
independently and efficiently, and without influencing article
transport. Also, wireless communication is performed between the
first control device and the article transport vehicle and between
the second control device and the article transport vehicle, and
therefore operations of the article transport vehicle can be
controlled in the two areas without giving consideration to the
connection of communication wiring or the like. Also, the article
transport vehicle performs exclusive wireless communication with
the first control device and the second control device, and
therefore communication interference is suppressed without using
multiple communication means or communication channels.
[0112] Also, after receiving the withdrawal instruction, the
communication destination of the adjustment target vehicle is
switched from the first control device to the second control
device, and therefore article transport in the first area is never
hindered. Note that the communication control portion may switch
the communication destination based on only the withdrawal
instruction, or may switch the communication destination after the
operation control portion causes the adjustment target vehicle to
enter the second path. In the latter case, an article transport
vehicle that is no longer controlled by the first control device
never remains in the first area. Accordingly, the hindrance of
article transport in the first area is suppressed even more
reliably. In the second area, the adjustment target vehicle
performs adjustment operations in accordance with an adjustment
instruction from the second control device, and updates the
transport profile information. An operator is not involved in the
adjustment operation, thus shortening the adjustment lead time and
also reducing the need for operator effort. After adjustment is
complete, the communication destination of the adjustment target
vehicle is changed from the second control device to the first
control device, and then the adjustment target vehicle is
controlled by the first control device as a normal article
transport vehicle, swiftly returns to the first area, and can
transport articles. In this way, according to the above
configuration, it is possible to efficiently perform article
transport vehicle adjustment while also suppressing a decrease in
the overall operation rate of the article transport facility.
[0113] In another aspect, it is preferable that the article
transport facility further includes a facility supervising device
that stores past operation statuses of each article transport
vehicle as running information, the facility supervising device
successively acquires operation status information that includes at
least a transport count and a travel time for each article
transport vehicle, selects the article transport vehicle that needs
adjustment as the adjustment target vehicle based on the running
information, and gives a result of the selection to the first
control device, and the first control device gives the withdrawal
instruction to the adjustment target vehicle based on the selection
result.
[0114] Article transport vehicle adjustment can be carried out at
the time of periodic inspection that is performed at a determined
interval, for example. However, there are also cases where
adjustment becomes necessary before periodic inspection, due to
operation rate differences, individual differences, and the like
between article transport vehicles. However, if the periodic
inspection cycle is shortened, the operation rate of the article
transport facility decreases. According to the above configuration,
adjustment can be carried out on appropriate article transport
vehicles at appropriate times.
[0115] In another aspect, it is preferable that the article
transport vehicle is provided with a traveling portion that travels
along the traveling path, a supporting portion that is supported to
the traveling portion and suspends the article, and an elevation
driving portion that raises and lowers the supporting portion
relative to the traveling portion in a state where the traveling
portion is stopped, in the second area, the supporting portion
suspends the adjustment device instead of the article, and the
adjustment device acquires adjustment data when being raised and
lowered by the elevation driving portion, calculates transport
profile information that corresponds to the adjustment target
vehicle, and transmits the transport profile information to the
adjustment target vehicle.
[0116] Similarly to a transport target article, the article
transport vehicle uses the supporting portion to support the
adjustment device, and uses the elevation driving portion to raise
and lower the supporting portion that supports the adjustment
device, thus making it possible to reproduce a state similar to
that when actually transferring articles. The adjustment device can
calculate precise transport profile information by acquiring
adjustment data that conforms to actual operation.
[0117] Furthermore, it is preferable that the second area is
provided with an adjustment loading platform that has an adjustment
loading surface on which the adjustment device can be placed in the
same manner as a manner in which the article is placed on the
loading platforms, and in the second area, the adjustment device is
placed on at least two adjustment loading surfaces that have
different heights, and the adjustment device acquires the
adjustment data when being raised and lowered from and to the at
least two adjustment loading surfaces.
[0118] Besides the stop position of the article transport vehicle
on the traveling path, there are also cases where error arises in
the position of the supporting portion in the up-down direction due
to change over time and individual differences between article
transport vehicles. It is not always the case that the ground
height of the loading platform on which the article is placed is
constant. Due to the adjustment device being placed on adjustment
loading surfaces that have different heights, the adjustment device
can acquire adjustment data when the supporting portion is raised
from and lowered to various heights. Accordingly, it is possible to
perform even more appropriate adjustment that is suited to actual
operation.
[0119] Also, it is preferable that at least two adjustment loading
platforms that have adjustment loading surfaces with different
heights are arranged along the second path, and the adjustment
target vehicle transfers the adjustment device between different
adjustment loading platforms while traveling along the second path,
and the adjustment device acquires the adjustment data for each of
the adjustment loading platforms.
[0120] According to this configuration, the operations for
transferring the adjustment device instead of the article are
performed successively while moving along the traveling path, thus
making it possible for the adjustment device to efficiently acquire
adjustment data while performing transfer under various conditions
and while satisfying transport conditions. In other words,
according to this configuration, adjustment corresponding to
various conditions can be carried out efficiently.
[0121] Furthermore, it is preferable that the adjustment loading
platforms are arranged along the second path in order of descending
or ascending ground height.
[0122] In general, when transfer of the adjustment device with
respect to one adjustment loading platform is complete, the
supporting portion that is raised and lowered by the elevation
driving portion generally returns to a reference position. However,
it is also possible to continue on to a different adjustment
loading platform without returning the supporting portion to the
reference position. In such a case, if the adjustment loading
platforms are aligned in order of ground height, it is possible to
reduce the amount of movement of the supporting portion in the
up-down direction by the elevation driving portion, and it is
possible to shorten the adjustment time. In other words, according
to this configuration, it is possible for the adjustment device to
even more efficiently acquire adjustment data while performing
transfer under various conditions and while satisfying transport
conditions.
[0123] Also, it is preferable that ground heights of the adjustment
loading surfaces are heights that correspond to ground heights of
the loading platforms.
[0124] If the ground heights of the adjustment loading surface
correspond to the ground heights of the loading platforms on which
articles are actually placed, it is possible to perform adjustment
in aspects that correspond to actual use aspects. As a result, it
is possible to perform appropriate adjustment that is suited to
actual operation.
* * * * *