JP2002002904A - Cargo conveyance facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide cargo conveyance facility capable of improving conveyance efficiency. SOLUTION: This cargo conveyance facility is provided with a plurality of self-running carriers 3 guided by a running rail 1 to run by themselves and convey a cargo and a controller 71 which is arranged along the running rail 1, is provided with a plurality of carrying-out conveyor devices carrying out a cargo to the self-running carriers 3, sets the carrying-out conveyor devices at a passing informing position where the self-running carriers 3 inform of passing when one group of cargoes are continuously carried out for a delivery conveyor device for one purpose, allocates the self-running carriers 3 in a condition in which cargoes can be put on them for the carrying-out conveyor devices carrying out the cargoes of the group, respectively, outputs conveyance data, and judges that conveyance of the cargoes of the group is completed, if there is no self-running carrier conveying the cargoes of the group between a final passing informing position and the self-running carrier when the self-running carrier carries the cargoes in or passes the passing informing position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plurality of self-propelled trolleys, which are guided by a traveling route, run on their own, and convey loads, respectively.
The present invention relates to a load transfer facility provided with a plurality of load transfer positions (stations and the like) that are arranged along a traveling route and transfer loads with the self-propelled carriage.

[0002]

2. Description of the Related Art Conventionally, the load of a specific group from a shipping area,
For example, when loading a truck by store or by region into a truck and shipping it, the cargo of the group is to be continuously delivered to a shipping place. That is, the loads forming a group are continuously transferred from a load storage facility such as an automatic warehouse by a self-propelled truck of a load transfer facility, and are discharged to a conveyor device for each group that transfers the load to a shipping place. ing.

At this time, a delivery that does not care about the delivery order of the loads forming the group is called a "group delivery", and the delivery order of the loads forming the group is determined, for example, when the order of loading the trucks is determined. Dispatch is referred to as “sequence retrieval”. The order delivery is applied to loading a load of a plurality of stores on one truck and carrying the load around the plurality of stores.

[0004] An example of a cargo transfer facility that executes the above-mentioned group delivery or sequential delivery will be described with reference to FIG. FIG.
In the figure, reference numeral 1 denotes a pair of traveling rails (an example of a traveling route) installed in a loop on the floor 2, and 3 is guided by the traveling rails 1 and self-propelled in one direction indicated by an arrow to convey a load. It is a four-wheeled self-propelled trolley. A plurality of self-propelled vehicles 3 are provided. The traveling rail 1 is laid along a plurality of incoming conveyor devices 4 and outgoing conveyor devices 5 of the load storage facility J, and a plurality of unloading conveyor devices 7 for transporting the load to the shipping place K. In addition, the self-propelled trolley 3 reports the position where the self-propelled trolley 3 passes through the unloading conveyor device 5 at the most downstream of the load storage facility J along the traveling rail 1 to the ground controller (not shown) (final). It is the passing report position.

[0005] The ground controller is a controller that controls the transport of loads by controlling the self-propelled carriages 3 in total, and sends a “scooping (receiving) load” conveyor device (conveyance source) to each self-propelled carriage 3. )) And data of a conveyor device (transport destination) for unloading (unloading) the load at the destination. The self-propelled trolley 3, upon inputting the transport data, first self-propelled to a "conveyor device for picking up the load", and upon arrival, scoops the load on this conveyor device, and then self-propelled to a "conveyor device for unloading the load", When it arrives, it has a function to unload the conveyor device. In addition, the self-propelled trolley 3 is located on the HP
It has a function of measuring the traveling distance from the (origin), and stores the distance from the origin of each of the conveyor devices 4, 5, and 7 and the distance of the passing report position from the origin. The distance from the origin of the conveyor devices 4, 5, 7 is set as the target value, the traveling control is performed while feeding back the measured traveling distance, and a function is provided to output a passage signal to the ground controller when passing the passage report position. ing.

The operation at the time of group release and at the time of sequential release by this configuration will be described. "Group release" The unloading conveyor device 7 shown in FIG.
It is assumed that the group “1” is unloaded to (D).

[0007] The ground controller is first group "
1 "is assigned, and the self-propelled carriage 3 located closest and upstream is assigned to each of the conveyors. The delivery conveyor device 5 (conveyance source) is assigned to the assigned self-propelled carriage 3. ) And the target carry-out conveyor device 7 (D) (conveyance destination), and command each of the self-propelled trolleys 3 to which the command of these transfer data is input conveys the load. When the self-propelled trolley 3 passes through the passage report position and receives a passage signal at the passage report position, it is determined that the transportation of the load forming the group “1” is completed, and the transportation of the load forming the next group “2” is completed. "Order delivery" It is assumed that the load of the group "1" is delivered to the unloading conveyor device 7 (D) shown in FIG.

[0008] The ground controller is first group "
Check the outgoing conveyor 5 for unloading the loads ₁ to ₄ (subscripts indicate the order of transport) forming 1 ", and check the self-propelled carriage 3 upstream of the outgoing conveyor device 5 for unloading the first order load. Te commands the transport data the consisting unloading conveyor 5 out conveyor of (transfer origin) intended device 7 (D) (transport destination). self-propelled carriage 3 that inputs an instruction of the conveyance data conveying a load ₁ When the self-propelled carriage 3 carrying the load ₁ passes through the passing report position and inputs a passing signal at the passing reporting position, the self-propelled vehicle near the exit conveyor device 5 that discharges the next load is driven. The delivery conveyor device 5 (conveyance source) and the target unloading conveyor device 7
(D) Command the transfer data consisting of (destination). The self-propelled trolley 3 which has received the command of the transfer data transfers the load ₂ . This is repeated, and when a pass signal of the pass report position is input from the self-propelled truck 3 on which the load _{4 in the} last order is loaded, it is determined that the conveyance of the load forming the group “1” is completed, and the next group “2” is transferred. The conveyance of the load to be formed is started.

[0009]

However, as described above,
When carrying out group delivery or order delivery, all the self-propelled trolleys 3 carrying the load of the group end the transfer of the load forming the group when they pass through the passage report position. The self-propelled trolley 3 cannot be allocated even in the state of being delivered to the conveyor device 5 and waiting for transportation, and there is a problem that the transportation efficiency is poor.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a cargo transfer facility capable of improving the transfer efficiency when carrying out group delivery or sequential delivery.

[0011]

In order to achieve the above-mentioned object, according to the first aspect of the present invention, a plurality of self-propelled vehicles which are guided by a traveling route and self-propelled, and each of which conveys a load. A truck and a load transporting facility provided along the traveling route and including a plurality of load transfer positions for transferring loads to and from the self-propelled truck, wherein the load transfer equipment is provided for one target load transfer position. When continuously transporting the load of one group from the load transfer position of, the self-propelled vehicle sets a passage report position along the travel route at a position upstream of the target load transfer position, and A self-propelled truck capable of loading a load is assigned to each of the load transfer positions for unloading the load of the group, a transfer source is set as the load transfer position for unloading the load, and a transfer destination is set for the purpose. Information on the load transfer position is output to each self-propelled bogie, and each self-propelled bogie that inputs the information. When all the loads are loaded at the load transfer position of the transfer source, a self-propelled vehicle located upstream of the target load transfer position is obtained, and between the obtained self-propelled vehicle and the passage report position, When there is no other self-propelled trolley carrying the load of the group, a controller is provided which determines that the transfer of the load of the group has been completed.

According to the above configuration, when all the self-propelled vehicles carry in the load at the load transfer position of the transport source, the self-propelled vehicle located upstream of the target load transfer position is determined. When there is no other self-propelled carriage that conveys the load of the group between the passing report position and the carriage, the conveyance of the load of the group is determined to be completed. Therefore, the timing for determining that the transfer is completed is earlier than the timing when all the self-propelled vehicles pass through the passage report receiving tray as in the related art, and the transfer efficiency is improved.

According to a second aspect of the present invention, in the first aspect of the present invention, a load transfer position at which a load is unloaded to the self-propelled vehicle is set as a passing report position, and the passing report position is set. Among the positions, the load transfer position closest to and upstream of the target load transfer position is set as the final passage report position, and the controller sets the self-propelled vehicle located at the most upstream position from the target load transfer position. When there is another self-propelled vehicle that conveys the load of the group between the self-propelled vehicle and the final passage report position, each time the self-propelled vehicle located at the most upstream passes the pass report position, the self-propelled vehicle It is checked whether there is another self-propelled truck carrying the load of the group between the and the final passage report position, and when it is confirmed that there is no other self-propelled carriage, it is determined that the transfer of the load of this group has been completed. It is a feature.

According to the above configuration, when there is another self-propelled vehicle that conveys the load of the group between the self-propelled vehicle located upstream of the target load transfer position and the final passage report position,
Each time the most upstream self-propelled vehicle passes the passage report position, it is determined whether there is another self-propelled vehicle carrying the load of the group between the self-propelled vehicle and the final pass report position. When it is confirmed and confirmed that it is not present, it is determined that the transport of the load of this group has been completed.

According to a third aspect of the present invention, there are provided a plurality of self-propelled trucks which are guided by a traveling route and which are self-propelled and each carry a load, and a plurality of self-propelled vehicles arranged along the traveling route and the self-propelled truck. Transporting equipment provided with a plurality of load transfer positions for transferring a group of loads in a predetermined order from one target load transfer position to another load transfer position from another load transfer position The load transfer position where the load of the group is unloaded in order from the top load of the group, and a state in which the load can be placed closest to and upstream of the previous load transfer position. The self-propelled trolley is assigned, and information is output to the self-propelled trolley, where the transfer source is the destination load transfer position and the transfer destination is the target load transfer position. When a load is loaded at the original load transfer position, the load transfer position for unloading the next load of the same group is To determine whether more is in the downstream,
When the load transfer position for unloading the next load is not located downstream, the self-propelled bogie that is closest to and upstream of the load transfer position for unloading the next load and is ready for loading And a controller for allocating and outputting the information.

According to the above configuration, when the self-propelled vehicle carries a load at the load transfer position of the information transfer source, it is determined whether the load transfer position for unloading the next load of the same group is downstream, When the load transfer position for unloading the next load is not downstream,
A self-propelled vehicle in a state where a load can be loaded, which is located closest and upstream to the load transfer position where the next load is unloaded, is assigned, and transport information is output. Therefore, the timing for allocating the self-propelled vehicle to the load transfer position for unloading the next load is earlier than the timing when the self-propelled vehicle passes the passage report receiving cradle as in the related art, and the transport efficiency is improved. .

According to a fourth aspect of the present invention, in the third aspect of the present invention, when there is a load transfer position for unloading the next load, the controller moves the self-propelled vehicle to the next load. When passing through the load transfer position for unloading the next load, a self-propelled vehicle in a state in which a load can be loaded is assigned to the nearest load upstream position, and Is output.

With the above configuration, when there is a load transfer position for unloading the next load, when the self-propelled vehicle passes the load transfer position for unloading the next load, the load transfer for unloading the next load. A self-propelled trolley located closest to and upstream of the position and in which a load can be loaded is assigned, and transport information is output.

[0019]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a layout diagram of a load transport facility in an embodiment of the present invention, and FIG. 2 is a configuration diagram of a main part of the load transport facility. The same components as those of the conventional example shown in FIG. 12 are denoted by the same reference numerals, and description thereof is omitted.

In FIG. 1, each delivery conveyor device 5 (an example of a load transfer position for unloading a load) of the load storage facility J is set as a passing report position Z (four locations), and these four passing reporting positions are set. Among the Z, the delivery conveyor device 5 (an example of the load transfer position closest to and upstream of the target load transfer position) located at the upstream of the shipping place K is the final passage report position Z.
X is set.

The unloading conveyor device 5 of the load storage facility J and the unloading conveyor device 7 for transporting the load to the shipping place K constitute a load transfer position of the present invention. As shown in FIGS. 2 to 5, the self-propelled carriage 3 includes a vehicle body 11, a load transfer / loading device (for example, a roller conveyor or a chain conveyor) 12 installed on the vehicle body 11, and a vehicle body 11. The two turn-type driven wheel devices 13 for supporting the vehicle body 11 on one of the traveling rails 1 mounted on the lower portion of the vehicle, and the curved shape of the traveling rail 1 for supporting the vehicle body 11 on the other traveling rail 1 And two turning / sliding type driving wheel devices 14 which can follow (i.e., slide) with respect to the turning type driven wheel device 13.

As shown in FIG. 5, the vehicle body 11 comprises a right frame 21 for supporting two revolving driven wheel devices 13 so as to be revolvable about a vertical axis, and two revolving and sliding driving wheel devices 14.
The left frame 22 which is rotatable about the vertical axis and movably in the left-right direction (the direction toward and away from the turning driven wheel device 13), and the right and left ends of the right frame 21 and the left frame 22 are fixed. Front and rear frames 23 and 24 and these two frames
Box 2 fixed on frame formed by 1, 22, 23, 24
5, the load transfer / loading device 12 is installed in the box 25.

Each of the revolving driven wheel devices 13 includes a revolving structure 31 that can revolve around the vertical axis with respect to the right frame 21;
A bracket 32 connected to the lower surface side of the revolving structure 31 and having a pair of legs corresponding to the side surfaces of the traveling rail 1, an axle 33 provided at the center of both legs of the bracket 32, and an axle 33 And four guide rollers (guides) that are provided at the front, rear, left and right ends of both legs of the bracket 32 and that come into contact with both side surfaces of the traveling rail 1. Example of device) 35
With the four guide rollers 35, the revolving unit 31 is rotated around the vertical axis via the bracket 32 in accordance with the bending of the traveling rail 1, so that the idle wheel 34 is connected to the traveling rail 1. The idler wheels 34 can be moved on the traveling rail 1 without falling off.

Each turning / sliding type driving wheel device 14 is also provided.
Is a revolving body 41 that is rotatable about the vertical axis with respect to the left frame 22 and is movable in the left-right direction.
A bracket 42 connected to the lower surface of the bracket 41 and having a pair of legs corresponding to the side surfaces of the traveling rail 1;
Axle 43 provided at the center of both legs of
A drive wheel 44 supported by the axle 43, a motor 45 having a drive shaft connected to a rotation shaft of the drive wheel 44, and a lower and front and left and right ends of both legs of the bracket 42 are provided on the traveling rail 1 respectively. 4 which can contact freely on both sides of
And a revolving unit around the center of the vertical axis via the bracket 42 corresponding to the bending of the traveling rail 1 by the four guide rollers 46.
When the swivel body 41 moves left and right via the bracket 42 corresponding to the width between the pair of traveling rails 1, the drive wheels 44 travel on the traveling rail 1 without derailing. In addition, the self-propelled carriage 3 can be guided by the traveling rail 1 and run when the driving wheels 44 are rotated by the driving of the motor 45.

As described above, the two drive wheels 44 are structured so as to be capable of turning and sliding (movable in a distance to and from the idle wheel 34), and the positioning is performed by the two idle wheels 34 so that a curve is obtained. The traveling of the self-propelled carriage 3 in the section is smoothly performed without any trouble, and the main body 11 is prevented from swinging in the left and right direction. Further, the load on the motor 45 of the drive wheel 44 is reduced, and the configuration of the idle wheel 34 and the drive wheel 44 can be simplified as compared with the case where positioning is performed by the drive wheel 44.

A current collecting rail 51 is laid along the running direction on the outer side surface of one of the running rails 1 along the running direction, and a current collector 52 is installed outside the bracket 32 of the one of the revolving driven wheel devices 13. The power is supplied to the self-propelled trolley 3 from the current collecting rail 51 via the current collector 52.

A feeder line 54 is laid on the outer side surface of the other running rail 1 along the running direction along the running direction, and approaches the feeder line 54 outside the bracket 42 of the turning / sliding type drive wheel device 14. Wireless modem 55 is installed.

A frame 2 is provided below the box 25 of the body 11.
A control box 57 and a power box 58 are fixed in a frame formed by 1, 22, 23, and 24 and in an empty space of the two motors 45.

Further, as a sensor, a transfer portion detector 61 comprising a photoelectric switch for detecting the presence or absence of a load on the load transfer / loading device 12 and a fixed position of the load on the box 25, and a bumper for detecting a rear-end collision A switch 62 is provided, and an encoder 63 for detecting the number of rotations of the motor 45 is provided on a drive shaft of one motor 45.

Further, an optical sensor transmitter 65 and a receiver 66 are provided as data transmission / reception means for transmitting / receiving data between the front and rear self-propelled vehicles 3. For the optical sensor transmitter 65 and the receiver 66, a flat plate 67 also serving as a blocking member for blocking light from leaking downward is provided below the box 25 of the vehicle body 11 and at the front and rear center positions. The optical sensor transmitter 65 and the receiver 66 are flat
Mounted on 67. The mounting position of the optical sensor transmitter 65 and the receiver 66 is set between the upper surface level and the lower surface level of the traveling rail 1.

As shown in FIGS. 1, 2 and 4,
An HP (origin) 70A formed of a magnet is provided at one point on the side surface of the running rail 1 in the straight section, and the origin 32 is provided on the bracket 32 of the other revolving driven wheel device 13 of the self-propelled carriage 3.
An origin detector 70 including a magnetic sensor for detecting 70A is provided.

FIG. 6 shows a control block of the self-propelled carriage 3.
In FIG. 6, reference numeral 71 denotes a ground controller (ground control means;
A load transfer command signal from an upper-level computer (not shown) for controlling delivery at the shipping site K, a load transfer request signal from each delivery conveyor device 5, and a description below. A feedback signal, such as a current position (traveling distance or address) signal or a signal such as the presence or absence of a load, is input from the ground modem 72 to determine whether or not there is a load. The transfer of a load between the conveyor device 5 and the unloading conveyor device 7 (between each load transfer position) is controlled. Note that the description of the control regarding the storage conveyor device 4 is omitted.

The ground controller 71 transmits a signal to and from the self-propelled trolley 3 to the ground modem 72 corresponding to a transmitter / receiver and to the running rail 1 as an antenna along the traveling direction of the self-propelled trolley 3 as an antenna over the entire length. Via the feeder line 54.

The main body controller 73 of the self-propelled carriage 3 transmits signals to and from the ground controller 71 via the wireless modem 55 provided so as to approach and face the feeder line 54. Further, the above-mentioned sensors and communication devices, that is, the transfer unit detector 61, the bumper switch 62, the encoder 63, the optical sensor transmitter 65, the receiver 66, and the origin detector 70 are connected to the main body controller 73. And a signal from a communication device and a control signal from the ground controller 71 input from the wireless modem 55, and is switched by the traveling motor 45 or the changeover switch 77 via the inverter 76 and the changeover switch 77 to transfer and load the cargo. Transfer motor 78 of the loading device 12
To control the traveling of the self-propelled truck 3 and the transfer control of the load by the self-propelled truck 3.

FIG. 7 shows a control block diagram of the main body controller 73. The main body controller 73 is a general control unit 81
And the inverter based on the command (driving destination) of the general control unit 81
The traveling control unit 82 drives the traveling motor 45 via 76 to execute traveling of the self-propelled trolley 3, and forwards / reverses the transfer motor 78 of the load transfer / loading device 12 based on a command from the general control unit 81. It is configured by a transfer control unit 83 that drives and executes load transfer (scooping / unloading of loads).

The overall control unit 81 sets the transfer data (the delivery conveyor device 5 that has issued the load transfer request) input from the ground controller 71 via the wireless modem 55 to the transfer source “load picking-up conveyor device”. Based on the data set for the unloading conveyor device 7 of the transfer destination of the transfer request as the "conveyor device for unloading" of the transfer destination, and outputs a command to the traveling control unit 82 and the transfer control unit 83 to output the self-propelled carriage. 3. Control the whole. Command the travel destination to the travel control unit 82, input an arrival signal to the travel destination from the travel control unit 82, and instruct the transfer control unit 83 to scoop or unload the load, and perform transfer control. A transfer end signal is input from the unit 83.

When the overall control unit 81 receives the above-mentioned transport data, it first outputs the "conveyor device for picking up loads" to the travel control unit 82 as a travel destination, and inputs an arrival signal to the travel destination. When a command to scoop the load is issued to the control unit 83 and a transfer end signal is input, the end of the scooping of the load is transmitted to the ground controller 71 via the wireless modem 55. Subsequently, the “conveyor device for unloading cargo” is output to the travel control unit 82 as a travel destination,
When the arrival signal at the destination is input, the transfer control unit 83 is instructed to unload the load. When the transfer end signal is input, the transfer end is transmitted to the ground controller 71 via the wireless modem 55.

The running control unit 82 will be described in detail. In FIG. 7, reference numeral 91 denotes a counter which is reset by an origin detection signal of an origin detector 70 and counts pulses output from the encoder 63. The count value of the counter 91 is input to a traveling distance calculation unit 92, and In the distance calculation unit 92, the driving shaft of the motor 45, that is, the cumulative rotation speed of the driving wheel 44 is obtained, and the running distance Mf from the origin 70A is measured based on the cumulative rotation speed of the driving wheel 44. The travel distance Mf is output to the travel control unit 93 (details will be described later) and the passage report position setting unit 96 (details will be described later), and is output to the subsequent self-propelled trolley 3 via the optical sensor transmitter 65. Is transmitted to the ground controller 71 via the wireless modem 55, the feeder line 54, and the ground modem 72, and the current running position is fed back to the ground controller 71.

Reference numeral 94 denotes a memory in which distances M1 to Mn from the origin 70A of each of the unloading conveyor devices 5 and the unloading conveyor device 7 are stored in advance.
When the travel destination including the data (number) of the unloading conveyor device 5 or the unloading conveyor device 7 is input, the memory 94 is searched by the data (number) of the unloading conveyor device 5 or the unloading conveyor device 7, and the unloading conveyor device 5 or Distance M1 from the origin 70A of the unloading conveyor device 7
ＭｎMn is set as the traveling target value Ms. The travel target value Ms is output to the travel control unit 93.

The passing report position setting section 96 previously stores the distances L1, L2, L3, L3, L3 from the origin 70A of the passing report positions Z, ZX.
L4 is stored, and based on the traveling distance Mf measured by the traveling distance calculation unit 92, each passing report position Z or ZX to pass next is determined, and the distance L from the origin 70A is output as the set value Md. . That is, Md = L1 (L1 ≧ Mf> 0) = L2 (L2 ≧ Mf> L1) = L3 (L3 ≧ Mf> L2) = L4 (L4 ≧ Mf> L3) = Infinity (Mf> L4) Are output to the comparator 97.

Comparator 97 compares this distance Md with its own traveling distance Mf, and when Mf becomes larger than Md, that is, when passing through passing report position Z or ZX, wireless modem 55 transmits a passing report signal to wireless modem 55. To the ground controller 71 via

The traveling control unit 93 has a moving speed v
And the distance traveled by the self-propelled trolley 3 from the moving speed v to the speed 0, that is, the distance Q required to stop, is set, and the own travel distance Mf is fed back using the travel target value Ms as the target value. While outputting the rotation speed command value to the inverter 76. That is, when the difference between the travel target value Ms and the travel distance Mf is equal to or greater than the distance Q, a rotation speed command value corresponding to the moving speed v is output, and the difference between the travel target value Ms and the travel distance Mf is smaller than the distance Q. Then, the rotation speed command value 0 is output. Further, the traveling distance of the self-propelled trolley 3 ahead inputted through the optical sensor receiver 66 is compared with the traveling distance Mf of the vehicle, and
When the distance from the self-propelled vehicle 3 in front is shorter than a predetermined distance, the rotation speed command value is reduced to reduce the speed. When the travel target value Ms and the travel distance Mf match, that is, when the vehicle arrives at the destination conveyor device 5, an arrival signal is output to the overall control unit 81. The distance Q required for the stop is given by equation (1)
Required by “a” is a preset acceleration / deceleration of the self-propelled carriage 3.

Q = v ² / (2a) (1) When controlling the traveling motor 45, the inverter 76 controls the rotation speed of the traveling motor 45 based on the rotation speed command value input from the main controller 73. Is executed, and when the rotation speed command value is changed, the rotation speed is changed by the preset acceleration / deceleration a of the self-propelled vehicle 3.

The control box 57 has a main body controller
The power box 58 accommodates an inverter 76, a changeover switch 77, and a power supply device (not shown) connected to the current collector 52 and supplying power to the devices in the self-propelled trolley 1.

FIG. 8 is a control block diagram of the ground controller 71. The ground controller 71 is provided corresponding to the overall control unit 101 (details will be described later) and each self-propelled trolley 3,
Self-propelled trolley control units 102-1 to 102-n that control the self-propelled trolley 3 based on the transport data set by the overall control unit 101
(N is the number of self-propelled trolleys), a host computer connection unit 103, a group release / sequence release judgment unit 104 (details will be described later), and a check of the passage of the self-propelled trolleys 3 at the passing report positions Z and ZX. Self-propelled bogie confirmation units 105-1 to 105-n,
The origin of each outgoing conveyor device 5 and unloading conveyor device 7 in advance
Memory storing data of distances M1 to Mn from 70A
106.

The host computer connection unit 103 sequentially stores the data of the transfer command signal input from the host computer, deletes the data by a transfer end signal described later, and outputs the end of the data transfer to the host computer. . When a group is dispatched from the host computer, a “group exit transport command signal” including data of the exit conveyor device 5 from which the load forming the group is output and the output conveyor device 7 for transporting the load of the group is output. In the case of sequential delivery, a "sequence delivery transport command signal" including the delivery conveyor device 5 from which the cargo forming the group is delivered, the delivery sequence thereof, and the data of the delivery conveyor device 7 for transporting the load of the group, It is input to the host computer connection unit 103.

Further, the data of the current traveling distance (current position) from the origin 70A and the presence / absence of a load from the corresponding self-propelled truck 3 are input to the respective self-propelled truck control units 102-1 to 102-n. Each of the self-propelled trolley control units 102-1 to 102-n outputs the transfer data to the corresponding self-propelled trolley 3, and outputs a transfer end signal from the corresponding self-propelled trolley 3 to the overall control unit 101. .

Each of the self-propelled trolley confirmation units 105-1 to 105-n receives a signal from the corresponding self-propelled trolley 3 for ending the scooping of the load and passing signals of the passing report positions Z and ZX of the self-propelled trolley 3. When the execution signal from the group dispatch / sequence dispatch judgment unit 104 described later is input, the signal is held when the load scooping end signal is input, and the held load scooping end signal is transmitted to the group dispatch. Output to the / order issue determination unit 104 and transfer the passing signal. In addition, it resets the held cargo scooping end signal by the reset signal input from the group delivery / sequence delivery determination unit 104.

The operation of the general control unit 101 at the time of "group delivery" and "sequential delivery" will be described with reference to the flowchart of FIG. First, the transfer command data from the high-order computer stored in the high-order computer connection unit 103 is input (step-1), and it is confirmed whether or not this data is data of group leaving (step-2). "Group Dispatch" In the case of group dispatch, the data of this group dispatch, that is, the data of the unloading conveyor device 5 for unloading the loads forming the group and the unloading conveyor device 7 for transporting the load of this group, are stored (step-
3), and outputs the same group dispatch data to the group dispatch / order dispatch judgment unit 104 (step-4).

Subsequently, a search is made for the delivery conveyor device 5 that has output the load transport request (step-5), and it is confirmed whether the retrieved delivery conveyor device 5 is a conveyor device for unloading the group delivery load. (Step-6) When confirmed, the memory 106 is searched to find the distance M from the origin 70A of the delivery conveyor device 5, and this distance M and the distance M are stored in the self-propelled bogie control units 102-1 to 102-n. Based on the current traveling distance of each self-propelled trolley 3 and data on the presence or absence of a load, a self-propelled trolley 3 capable of transporting loads upstream of the discharge conveyer device 5 is obtained, and the discharge conveyer device 5 is allocated (step-7).
From the transfer request of the delivery conveyor device 5, the transfer data (the delivery conveyor device 5 that issued the load transfer request is set to the “conveyor device for picking up loads” of the transfer source, and the transfer conveyor device 7 of the transfer destination of the transfer request is set. The data set in the "conveyor device for unloading" of the transfer destination is formed, and set in the control unit 102 of the self-propelled trolley to which the transfer data is assigned (step-8).
The transfer data and the assigned data of the self-propelled trolley 3 are output to the group release / order release determination unit 104 (step-
9). The self-propelled trolley 3 which has received the transport data from the control unit 102 of the self-propelled trolley transports the load according to the transport data.

Subsequently, it is confirmed whether or not the self-propelled trolley 3 has been assigned to all of the stored conveyors 5 for group dispatch (step-10).
It is confirmed whether or not a “group delivery conveyance end signal” to be described later has been input from the order delivery determination unit 104 (step-1).
1) When confirmed, the end of transport is output to the host computer connection unit 103 (step-12), and the process ends.

If it is confirmed in the above step-2 that the data is not data of group delivery, it is confirmed whether the data is data of ordered delivery (step-13). In the case of “sequence delivery”, in the case of sequence delivery, data of the sequence delivery, that is, the delivery conveyor device 5 to which the cargo forming the group is delivered and the delivery order (the total number is X), and the unloading for the purpose of transporting the load of this group. The data of the conveyor device 7 is stored in the order of transporting the load (step-14), and the data of the same order delivery is grouped / ordered outgoing determination unit 104.
(Step-15).

Subsequently, the transfer order x of the load is set to 1 (x = 1) (step-16), and it is confirmed whether or not a transfer request has been input from the delivery conveyor device 5 in the order x (step-17). When it is confirmed, the memory 106 is searched to find the distance M from the origin 70A of the delivery conveyor device 5 in this order x, and the distance M and each self-propelled vehicle stored in each of the self-propelled bogie control units 102-1 to 102-n. Based on the data on the current traveling distance of the truck 3 and the presence / absence of a load, the self-propelled truck 3 which is closest to and upstream of the delivery conveyor device 5 in this order x and is capable of transporting the load is determined, and the delivery conveyor device 5 is assigned ( Step-1
8) Based on the transfer request from the delivery conveyor device 5, the transfer data (the delivery conveyor device 5 in the order x is set as the “conveyor device for picking up loads” of the transfer source, and the transfer conveyor device 7 of the transfer destination of the transfer request is transferred. The above-mentioned "data set in the conveyor apparatus for unloading" is formed, and set to the control unit 102 of the self-propelled trolley to which the transfer data is allocated (step-19). The data is output to the group issue / order issue determination unit 104 (step-2).
0).

Thus, the self-propelled carriage 3 to which the transfer data is assigned travels to the delivery conveyor device 5 in the order x to scoop up the load, and travels to the transfer destination "unloading conveyor device" to unload the load.

Then, the group delivery / order delivery determination section 10
When a delivery end signal described later is input from step 4 (step-
21), 1 is added to the order x (x = x + 1), and the next order is set (step-22), and it is confirmed whether or not this order x exceeds the total number X of the outgoing conveyor devices 5 of the outgoing order (step 22). -23) If not confirmed, return to step -17 and convey the load from next delivery conveyor device 5 in the next order.
When the confirmation is made, the end of transport is output to the host computer connection unit 103 in Step-12.

The operation of the group dispatch / order dispatch decision section 104 will be described with reference to the flowchart of FIG.
It is assumed that the group delivery / order delivery determination unit 104 stores in advance the delivery conveyor device 5 and the distances from the origin 70A of the passing report positions Z and ZX.

First, when data of group dispatch or sequential dispatch is input from the general control unit 101 (step-1),
This data is stored (step-2), and the overall control unit 101
The input number y of the “transportation data and the data of the self-propelled trolley 3 assigned” is set to 0 (y = 0) (step-3), and reset to each of the self-propelled trolley confirmation units 105-1 to 105-n. A signal is output (step-4). As a result, the signal for ending the scooping of the cargo held in each of the self-propelled trolley confirmation units 105-1 to 105-n is reset.

Next, it is confirmed whether or not the data is data of group leaving (step-5). "Group delivery" When it is confirmed that the vehicle is a group delivery, "transfer data and data of the assigned self-propelled trolley 3" are input from the general control unit 101 (step-6), and are stored (step-7). Count y (y = y +
1) (Step-8), an execution signal is output to the self-propelled trolley confirmation unit 105 of the allocated self-propelled trolley 3 (Step-8).
9) It is checked whether the number y of inputs matches the number Y of the outgoing conveyors 5 that unload the data in the group out of the data (step-10), and if it cannot be checked, the process returns to step-6.

When the confirmation can be made, that is, when the self-propelled trolleys 3 are assigned to all the outgoing conveyor devices 5, the self-propelled trolley confirmation units 105-1 to 105 of all the allocated self-propelled trolleys 3 can be checked.
-N, it is confirmed whether or not the end signal of the held cargo has been input (step-11). If confirmed, the self-propelled bogie control units 102-1 to 102- of all the allocated self-propelled bogies 3 are checked.
The traveling distance is inputted from n, and the self-propelled carriage 3 traveling the most upstream is obtained (step-12).

Another self-propelled truck 3 carrying a load of the same group exists between the position (traveling distance) of the most upstream self-propelled truck 3 and the final passage report position ZX of the self-propelled truck 3. Is confirmed by the traveling distance of the self-propelled carriage control units 102-1 to 102-n (step-13). When the other self-propelled trolley 3 exists, the self-propelled trolley confirmation unit 105 of the most upstream self-propelled trolley 3
Each time a pass report signal is input, the final pass report position ZX
It is confirmed whether the other self-propelled trolley 3 exists or not by the travel distance of the self-propelled trolley control units 102-1 to 102-n (step-14). If it can be confirmed, it is determined that the group exit is completed, and the "group exit transport end signal" is output to the overall control unit 101 (step-15), and the process ends. If it is confirmed in the “order issue” step-5 that the order is not a group issue but an order issue, the general control unit 101
When "transportation data and data of the self-propelled trolley 3 assigned" are input (step-16), the delivery conveyor device 5 for unloading the load is obtained based on the transport data (step-1).
7) At the same time, a delivery conveyor device 5 for unloading the next load is determined from the data of the sequential delivery (step-18).

Next, an execution signal is output to the self-propelled trolley confirmation unit 105 of the allocated self-propelled trolley 3 (step 19), and it is confirmed whether or not the load scooping signal is input from the self-propelled trolley confirmation unit 105. Then, when it is confirmed (Step-20), the position of the unloading conveyor device 5 from which the self-propelled trolley 3 scoops the load is compared with the position of the unloading conveyor device 5 for unloading the next load by the distance M from the origin 70A. , Conveyor conveyor device 5 for picking up loads
Is checked downstream (step 21).

When it cannot be confirmed, that is, when the position of the unloading conveyor device 5 that has scooped the load is located upstream of the position of the unloading conveyor device 5 that unloads the load next, the self-propelled carriage 3 that has scooped the load has It is confirmed whether or not a passage report signal has been input from the bogie confirmation unit 105 (step-22). If confirmed, whether or not this passage is a passage of the position of the delivery conveyor device 5 for unloading the next load according to the current traveling distance. Is confirmed (step-23). If it cannot be confirmed, it returns to step -22 and waits for the next passage report signal. If it confirms, or if it confirms that it is downstream in step -21, it outputs a “shipping end signal” to the overall control unit 101 (step-2).
4), end.

The operation of group delivery and sequential delivery with the above configuration will be described below. When the main body controller 73 of each self-propelled trolley 3 passes through the passing report position Z or ZX set at the position of the retrieval conveyor device 5, a passing report signal is transmitted to the ground controller 71 via the wireless modem 55. The “group release” ground controller 71 confirms, at the time of group release, the release conveyor devices 5 that release the loads of these groups, and confirms and confirms whether or not a transfer request signal is input from these release conveyor devices 5. Each time, a self-propelled vehicle 3 capable of carrying a load and being transported is allocated near the upstream of the delivery conveyor device 5 and the transport data is output. The self-propelled trolley 3 to which the transport data has been input transports the load according to the transport data.

When all of the load of the group is scooped by the self-propelled carriage 3, the ground controller 71 finds the most upstream self-propelled carriage 3 while transporting the load of the group "1" shown in FIG. It is checked whether there is a self-propelled truck 3 carrying the same group of loads and being transported between the traveling truck 3 and the final passage report position ZX. As shown in FIG. 1, the self-propelled vehicle carrying the same group of loads between the self-propelled vehicle 3 and the final pass report position ZX every time the vehicle passes through the downstream pass report position Z if present. Check if 3 exists. And
If it cannot be confirmed, it is determined that the group dispatch has ended.

As a result, it is possible to determine that the group exit has been completed before passing through the final passage report position ZX, and it is possible to allocate the transport data of the next exit to another self-propelled carriage 3, thereby improving the transport efficiency. be able to. The “order issue” ground controller 71, when the order issue,
The delivery conveyor device 5 for unloading the load of these groups is checked, and it is checked whether or not the transfer request signal is input from the delivery conveyor device 5 in the order x. Is assigned to the self-propelled carriage 3 which can be transported, and transport data is output. The self-propelled trolley 3 to which the transport data has been input transports the load according to the transport data.

Next, as shown in FIG. 11, the self-propelled carriage 3 is loaded with the load x (FIG.
Then, when scooping x = 4), the next order (x + 1) of loads x + 1 (in FIG. 11, x + 1)
= 5) is confirmed, and as shown in FIG. 11, when there is a delivery conveyor device 5 in the next order (x + 1), as shown in FIG. 11, the passing report position of the delivery conveyor device 5 When passing through Z, it is determined that the retrieval is completed.

Thus, before passing through the final passage report position ZX, the delivery conveyor device 5 in the next order (x + 1)
It is possible to allocate the self-propelled carriage 3 to, and the transport efficiency can be improved.

In the present embodiment, the passage report position is set in the delivery conveyor device 5; however, the present invention is not limited to the delivery conveyor device 5 and the traveling route (traveling rail 1).
May be provided in the middle of the process.

In the present embodiment, the self-propelled carriage 3 has only one load mounted thereon and can be transferred. However, a plurality of loads can be mounted and transferred. At this time, the self-propelled vehicle in a state where a load can be loaded is a self-propelled vehicle in a state where at least one load can be mounted.

[0070]

As described above, according to the present invention, the timing for determining that the transfer has been completed is made earlier than the timing when all self-propelled vehicles have passed through the passing report receiving tray as in the prior art. And the transfer efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of an arrangement of load transport equipment and group release in an embodiment of the present invention.

FIG. 2 is a configuration diagram of a main part of the same load transport equipment.

FIG. 3 is a side view of a traveling rail and a self-propelled trolley of the same load transport equipment.

FIG. 4 is a cross-sectional view of a traveling rail of the load transport equipment and a front view of a main part of the self-propelled carriage.

FIG. 5 is a partial plan view of the self-propelled carriage of the load transport facility.

FIG. 6 is a control block diagram of a self-propelled carriage of the load transport facility.

FIG. 7 is a block diagram of traveling control of a main body controller of the same load transport facility.

FIG. 8 is a block diagram of traveling control of a ground controller of the load transport facility.

FIG. 9 is a flowchart illustrating an operation of an overall control unit of a ground controller of the same load transport facility.

FIG. 10 is a flowchart illustrating an operation of a group delivery / order delivery determination unit of the ground controller of the same load transport facility.

FIG. 11 is an explanatory view of sequential delivery in the same load transport facility.

FIG. 12 is an explanatory diagram of group delivery and sequential delivery of a conventional load transport facility.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling rail 3 Self-propelled trolley 5 Unloading conveyor device (load transfer position) 7 Unloading conveyor device (load transfer position) 13 Revolving driven wheel device 14 Revolving and sliding driving wheel device 45 Traveling motor 55 Wireless modem 63 Encoder 65 Optical sensor transmitter 66 Optical sensor receiver 70 Origin detector 70A Origin 71 Ground controller 73 Main controller 76 Inverter

Claims (4)

[Claims] 1. A plurality of self-propelled vehicles which are guided by a traveling route and run on their own, each of which conveys a load, and a plurality of loads which are arranged along the traveling route and transfer the load to the self-propelled vehicles. A load transport equipment having a transfer position, wherein one target load transfer position is one position away from another load transfer position.
When successively transporting the load of one group, the passing report position where the self-propelled vehicle reports the passage along the traveling route at an upstream position from the target load transfer position is set, and the load for unloading the load of the group is For each transfer position,
Allocate a self-propelled vehicle in a state capable of loading a load, set a transfer source as a load transfer position for unloading the load, and output information to each self-propelled vehicle with a transfer destination as the target load transfer position, When all of the self-propelled vehicles inputting the information carry in the load at the load transfer position of the transfer source, a self-propelled vehicle located upstream from the target load transfer position is obtained. When there is no other self-propelled vehicle that conveys the load of the group between the passing report position and the self-propelled vehicle, a controller that determines that the transfer of the load of the group has been completed is provided. 2. A load transfer position at which a load is unloaded to a self-propelled vehicle is set as a passage report position, and a load transfer closest to and upstream of a target load transfer position among these pass report positions. The loading position is set as the final passage report position, and the controller is configured to control the other vehicles that convey the load of the group between the self-propelled vehicle located upstream of the target load transfer position and the final passage report position. When there is a traveling vehicle, every time the most upstream self-propelled vehicle passes through the passing report position, between the self-propelled vehicle and the final passing reporting position, another transporting the group load. The load transport equipment according to claim 1, wherein it is determined whether or not there is a self-propelled vehicle, and when it is determined that the transport vehicle is not present, the transport of the load of the group is completed. 3. A plurality of self-propelled trucks, each of which is self-propelled guided by a traveling route and conveys a load, and a plurality of loads which are arranged along the traveling route and transfer the load with the self-propelled truck. A load transport equipment having a transfer position, wherein one target load transfer position is one position away from another load transfer position.
When transporting the load of one group in a predetermined order, confirm the load transfer position where the load of the group is carried out in order from the first load of the group, and position the nearest load upstream from the previous load transfer position. Allocate a self-propelled vehicle in a state in which a load can be loaded, and output information to the self-propelled vehicle with the transfer source set to the preceding load transfer position and the transfer destination set to the target load transfer position. Then, when the self-propelled trolley carries in the load at the load transfer position of the source of the information, it is determined whether the load transfer position for unloading the next load of the same group is downstream of the self-propelled trolley. When there is no load transfer position for unloading the next load downstream, the self-propelled bogie that is closest to and upstream of the load transfer position for unloading the next load and is ready for loading And a controller that outputs the information. 4. When the self-propelled vehicle passes through the load transfer position for unloading the next load, if there is a load transfer position for unloading the next load, the controller transfers the load for unloading the next load. 4. The load transport equipment according to claim 3, wherein a self-propelled trolley, which is closest to and upstream of the load position and in which a load can be loaded, is assigned to output the information. 5.