Article transport facility

Patent metadata

Field	Value
Publication number	US-10940878-B2
Application number	US-201815951374-A
Country	US
Kind code	B2
Filing date	Apr 12, 2018
Priority date	Apr 14, 2017
Publication date	Mar 9, 2021
Grant date	Mar 9, 2021

Abstract

An article transport facility includes one or more rails which include one or more portions in which a travel path is curved, and an article transport vehicle configured to travel along the one or more rails to transport an article. The article transport vehicle includes a guided portion configured to be in contact with the one or more rails to be guided thereby, an obstacle detection sensor configured to detect an obstacle in a detection area which is set to be located ahead of the article transport vehicle, and a setting portion configured to changeably set the detection area. The setting portion is configured to change the detection area depending on an in-contact-rail shape which is a shape of one or more portions of the one or more rails that the guided portion is in contact with.

First claim

What is claimed is:

1. An article transport facility comprising:
one or more rails which include one or more portions in which a travel path is curved; and
an article transport vehicle configured to travel along the one or more rails to transport an article;
wherein the article transport vehicle includes a guided portion configured to be in contact with the one or more rails to be guided thereby, an obstacle detection sensor configured to detect an obstacle in an detection area which is set to be located ahead in a travel direction of the article transport vehicle, and a setting portion configured to changeably set the detection area, and
wherein the setting portion is configured to change the detection area depending on an in-contact-rail shape which is a shape along the travel direction of one or more portions of the one or more rails that the guided portion is in contact with.

2. The article transport facility as defined in claim 1 , wherein the one or more rails further includes one or more portions in which the travel path is linear,
wherein the guided portion is configured to be in contact with the one or more rails in at least two locations that are spaced apart from each other along a direction parallel to the travel path, and
wherein the setting portion is configured to set a different shape for the detection area for each of: when the in-contact-rail shape of each of the at least two locations is linear; when the in-contact-rail shape of each of the at least two locations is curved; and when the in-contact-rail shape of the at least two locations is a combination of a linear shape and a curved shape.

3. The article transport facility as defined in claim 2 , wherein the setting portion is further configured to set the detection area depending on a travel speed of the article transport vehicle such that the detection distance ahead of the article transport vehicle is increased in a stepwise or continuous manner as the travel speed is increased.

4. The article transport facility as defined in claim 2 , wherein the setting portion is configured to change the detection area depending also on a detection-area-rail shape which is a shape of the one or more travel rails in the detectable area of the obstacle detection sensor.

5. The article transport facility as defined in claim 4 , wherein the setting portion is further configured to set the detection area depending on a travel speed of the article transport vehicle such that the detection distance ahead of the article transport vehicle is increased in a stepwise or continuous manner as the travel speed is increased.

6. The article transport facility as defined in claim 4 , wherein the one or more rails further includes one or more portions in which the travel path is linear,
wherein the setting portion is configured to set a different shape for the detection area for each of: when the detection-area-rail shape is linear; when the detection-area-rail shape is curved; and when the detection-area-rail shape is a combination of a linear shape and a curved shape.

7. The article transport facility as defined in claim 6 , wherein the setting portion is further configured to set the detection area depending on a travel speed of the article transport vehicle such that the detection distance ahead of the article transport vehicle is increased in a stepwise or continuous manner as the travel speed is increased.

8. The article transport facility as defined in claim 6 , wherein the setting portion is configured to set mutually different shapes for the detection area for two or more of: when the in-contact-rail shape and the detection-area-rail shape are linear; when the in-contact-rail shape is linear and the detection-area-rail shape is a combination of a linear shape and a curved shape; when the in-contact-rail shape is linear and the detection-area-rail shape is curved; when the in-contact-rail shape is a combination of a linear shape and a curved shape and the detection-area-rail shape is curved; when the in-contact-rail shape and the detection-area-rail shape are curved; when the in-contact-rail shape is curved and the detection-area-rail shape is a combination of a linear shape and a curved shape; when the in-contact-rail shape is curved and the detection-area-rail shape is linear; and when the in-contact-rail shape is a combination of a linear shape and a curved shape and the detection-area-rail shape is linear.

9. The article transport facility as defined in claim 8 , wherein the setting portion is further configured to set the detection area depending on a travel speed of the article transport vehicle such that the detection distance ahead of the article transport vehicle is increased in a stepwise or continuous manner as the travel speed is increased.

10. The article transport facility as defined in claim 1 , wherein the setting portion is configured to change the detection area depending also on a detection-area-rail shape which is a shape of the one or more travel rails in the detectable area of the obstacle detection sensor.

11. The article transport facility as defined in claim 10 , wherein the one or more rails further includes one or more portions in which the travel path is linear,
wherein the setting portion is configured to set a different shape for the detection area for each of: when the detection-area-rail shape is linear; when the detection-area-rail shape is curved; and when the detection-area-rail shape is a combination of a linear shape and a curved shape.

12. The article transport facility as defined in claim 11 , wherein the setting portion is further configured to set the detection area depending on a travel speed of the article transport vehicle such that the detection distance ahead of the article transport vehicle is increased in a stepwise or continuous manner as the travel speed is increased.

13. The article transport facility as defined in claim 11 , wherein the setting portion is configured to set mutually different shapes for the detection area for two or more of: when the in-contact-rail shape and the detection-area-rail shape are linear; when the in-contact-rail shape is linear and the detection-area-rail shape is a combination of a linear shape and a curved shape; when the in-contact-rail shape is linear and the detection-area-rail shape is curved; when the in-contact-rail shape is a combination of a linear shape and a curved shape and the detection-area-rail shape is curved; when the in-contact-rail shape and the detection-area-rail shape are curved; when the in-contact-rail shape is curved and the detection-area-rail shape is a combination of a linear shape and a curved shape; when the in-contact-rail shape is curved and the detection-area-rail shape is linear; and when the in-contact-rail shape is a combination of a linear shape and a curved shape and the detection-area-rail shape is linear.

14. The article transport facility as defined in claim 13 , wherein the setting portion is further configured to set the detection area depending on a travel speed of the article transport vehicle such that the detection distance ahead of the article transport vehicle is increased in a stepwise or continuous manner as the travel speed is increased.

15. The article transport facility as defined in claim 10 , wherein the setting portion is further configured to set the detection area depending on a travel speed of the article transport vehicle such that the detection distance ahead of the article transport vehicle is increased in a stepwise or continuous manner as the travel speed is increased.

16. The article transport facility as define

Assignees

• Daifuku Kk

Inventors

• Murakami Ryuya

Classifications

• B65G49/07 Primary

  for semiconductor wafers {Not used, see H10P72/00}(specially adapted for conveying of semiconductor wafers during manufacture or treatment of semiconductor or electric solid state devices or components H10P72/00) · CPC title

• B65G35/00

  Mechanical conveyors not otherwise provided for · CPC title

• B61B10/02

  with suspended vehicles · CPC title

• B65G35/06

  comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path (effecting drive at two or more points spaced along the length of an endless conveyor B65G23/32) · CPC title

• B61B3/02

  with self-propelled vehicles · CPC title