| CPC B61B 1/005 (2013.01) [G06T 7/593 (2017.01); G06T 7/74 (2017.01); H04N 7/188 (2013.01); H04N 13/204 (2018.05); G06T 2207/10012 (2013.01); G06T 2207/30252 (2013.01)] | 7 Claims |
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1. An article transport facility comprising:
a travel rail attached to a ceiling;
a plurality of loading pedestals arranged along the travel rail;
an overhead transport vehicle configured to travel along the travel rail and transport an article from, among the plurality of loading pedestals, the loading pedestal of a transport origin to the loading pedestal of a transport destination;
a shooting device that is mounted on the overhead transport vehicle and is configured to shoot a shooting subject located below the overhead transport vehicle to obtain a shot image; and
a control device configured to control the overhead transport vehicle and the shooting device;
wherein the overhead transport vehicle includes a holding portion for holding the article, the overhead transport vehicle configured to perform a first transfer operation of holding, using the holding portion, the article placed on the loading pedestal of the transport origin, and a second transfer operation of placing the article held by the holding portion onto the loading pedestal of the transport destination, and
wherein image data based on the shot image in which an upper face of the article serves as the shooting subject, and that is obtained when a positional relationship between the overhead transport vehicle and the upper face of the article is in a reference state is first reference image data, and wherein image data based on the shot image in which an upper face of the loading pedestal serves as the shooting subject, and that is obtained when a positional relationship between the overhead transport vehicle and the upper face of the loading pedestal is in a reference state is second reference image data,
wherein when the overhead transport vehicle performs the first transfer operation, the control device executes, before the first transfer operation, first adjustment control of causing the shooting device to obtain a first shot image, which is the shot image in which the upper face of the article placed on the loading pedestal of the transport origin serves as the shooting subject, and adjusting a relative positional relationship between the holding portion and the article placed on the loading pedestal of the transport origin, based on the first shot image and the first reference image data; and
wherein when the overhead transport vehicle performs the second transfer operation, the control device executes, before the second transfer operation, second adjustment control of causing the shooting device to obtain a second shot image, which is the shot image in which the upper face of the loading pedestal of the transport destination serves as the shooting subject, and adjusting a relative positional relationship between the holding portion and the loading pedestal of the transport destination, based on the second shot image and the second reference image data.
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