# US 12,119,252 B2 · Ceiling traveling vehicle system and method for detecting obstacle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,119,252 B2 - Document ID: US12119252B2 - Status: Granted - Kind: B2 - Application number: 17/289,310 - Filed: 2019-09-13 - Published: 2022-01-13 - Granted: 2024-10-15 - Earliest claimed: 2018-10-29 - Assignees: Murata Machinery, Ltd. - Applicants: Murata Machinery, Ltd. - Inventors: Haruki Ogo; Yasuhisa Ito - Web page: https://patentgrep.com/patent/US12119252B2 ## CPC - B61B 3/02: with self-propelled vehicles - H10P 72/3221: {Overhead conveying} - B61B 3/00: Elevated railway systems with suspended vehicles (with suspended flexible tracks B61B7/00; saddle or like balanced type with monorail B61B13/06; with propelling cables and for transporting materials B65G; tracks therefor E01B25/00) - B65G 1/0457: {with suspended load carriers} - G05D 1/0238: {using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93)} - G05D 1/024: {in combination with a laser (lasers per se H01S)} - G05D 1/0289: {with means for avoiding collisions between vehicles (vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93)} - G05D 1/628: following the obstacle profile, e.g. a wall or undulated terrain - G05D 1/693: for avoiding collisions between vehicles - H10P 72/0606: {Position monitoring, e.g. misposition detection or presence detection} - H10P 72/3202: {Mechanical details, e.g. rollers or belts} - H10P 72/3208: {Changing the direction of the conveying path} - B65G 2201/0297: Wafer cassette - B61B: RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR (lifts or hoists, elevators, escalators, moving walkways B66B) - H10P: GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10 - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A ceiling traveling vehicle includes a traveler to travel along a grid-shaped track, a main body coupled to the traveler and below the track, and a detector on a rear side of a center of the main body in a traveling direction of the traveler and below the main body to apply detection light forward in the traveling direction and downward and receive reflected light of the detection light to detect an obstacle. ## Claims ### Claim 1 A ceiling traveling vehicle system comprising: a track; and a plurality of ceiling traveling vehicles to travel along the track; wherein each of the plurality of ceiling traveling vehicles includes: a traveler to travel along the track; a main body coupled to the traveler and below the track; and a detector on a rear side of a center of the main body in a traveling direction of the traveler and below the main body to apply detection light forward in the traveling direction and downward and detect an obstacle by receiving reflected light of the detection light; wherein the track is a grid-shaped track including a plurality of first tracks provided along a first direction and a plurality of second tracks provided along a second direction perpendicular or substantially perpendicular to the first direction, the plurality of first tracks and the plurality of second tracks form a plurality of cells continuous and adjacent to each other in the first direction and the second direction; the plurality of cells continuous and adjacent to each other in the first direction form a plurality of rows of cells that each extends in the first direction; the plurality of rows of cells are continuous and adjacent to each other in the second direction to form the grid-shaped track; the ceiling traveling vehicles are each capable of traveling and shifting from one of the first tracks to one of the second tracks or shifting from one of the second tracks to one of the first tracks; and the detector is capable of switching a detection range of the detector based on the traveling direction of the traveler in the grid-shaped track. ### Claim 2 (depends on 1) The ceiling traveling vehicle system according to claim 1, wherein the main body includes an upper portion fixed to the traveler and a transfer apparatus below the upper portion to be rotatable about a rotation axis in a vertical direction; and the detector is mounted on a support in the upper portion so as to be outside a rotational range of the transfer apparatus in a plan view. ### Claim 3 (depends on 2) The ceiling traveling vehicle system according to claim 2, wherein the detector includes two detectors at respective positions across the transfer apparatus on an imaginary line inclined by 45 degrees or substantially 45 degrees with respect to the traveling direction in a plan view; and the ceiling traveling vehicle comprises a switch to switch to the detector on the rear side in the traveling direction among the two detectors. ### Claim 4 (depends on 3) The ceiling traveling vehicle system according to claim 3, wherein each of the two detectors scans the detection light in a range of 90 degrees or substantially 90 degrees clockwise or counterclockwise in a plan view from front in the traveling direction. ### Claim 5 (depends on 1) The ceiling traveling vehicle system according to claim 1, wherein the detector includes two detectors; and the detection range of one of the two detectors is one range in both directions of the first direction and one range in both directions of the second direction, whereas the detection range of another of the two detectors is another range in both directions of the first direction and another range in both directions of the second direction. ### Claim 6 (depends on 1) The ceiling traveling vehicle system according to claim 1, wherein the detector scans the detection light to apply the detection light to the detection range. ### Claim 7 (depends on 1) The ceiling traveling vehicle system according to claim 1, wherein when the traveling direction is toward a first side in the first direction or toward a second side in the second direction, the detection range is defined by a straight line extending from the ceiling traveling vehicle toward the first side and the straight line extending from the ceiling traveling vehicle toward the second side in a plan view; and when the traveling direction is toward a third side in the first direction or toward a fourth side in the second direction, the detection range is defined by a straight line extending from the ceiling traveling vehicle toward the third side and a straight line extending from the ceiling traveling vehicle toward the fourth side in a plan view. ### Claim 8 A method for detecting an obstacle for a ceiling traveling vehicle system including a track and a plurality of ceiling traveling vehicles to travel along the track, each of the plurality of ceiling traveling vehicles including a traveler to travel along the track, a main body coupled to the traveler and below the track, and a detector on a rear side of a center of the main body in a traveling direction of the traveler and below the main body to apply detection light forward in the traveling direction and downward and detect an obstacle by receiving reflected light of the detection light, the track being a grid-shaped track including a plurality of first tracks provided along a first direction and a plurality of second tracks provided along a second direction perpendicular or substantially perpendicular to the first direction, the plurality of first tracks and the plurality of second tracks forming a plurality of cells are continuous and adjacent to each other in the first direction and the second direction, the plurality of cells continuous and adjacent to each other in the first direction form a plurality of rows of cells that each extends in the first direction, and the plurality of rows of cells are continuous and adjacent to each other in the second direction to form the grid-shaped track, the method comprising: applying the detection light from the rear side of the center of the main body in the traveling direction of the traveler and below the main body forward in the traveling direction and downward; and detecting the obstacle by receiving the reflected light of the detection light; wherein the ceiling traveling vehicles are each capable of traveling and shifting from one of the first tracks to one of the second tracks or shifting from one of the second tracks to one of the first tracks; and the detector is capable of switching a detection range of the detector based on the traveling direction of the traveler in the grid-shaped track. ### Claim 9 (depends on 8) The method according to claim 8, wherein when the traveling direction is toward a first side in the first direction or toward a second side in the second direction, the detection range is defined by a straight line extending from the ceiling traveling vehicle toward the first side and the straight line extending from the ceiling traveling vehicle toward the second side in a plan view; and when the traveling direction is toward a third side in the first direction or toward a fourth side in the second direction, the detection range is defined by a straight line extending from the ceiling traveling vehicle toward the third side and a straight line extending from the ceiling traveling vehicle toward the fourth side in a plan view.