JP2020142906A - Communication method, communication system, transmitter and receiver - Google Patents

Abstract

To enable one of the transmitter and the receiver to confirm a status of the other after operating the emergency stop input operation unit.SOLUTION: A communication method is performed in a communication system including a transmitter having a portable remote controller 6 and a receiver having a second receiving unit 22. This transmitter can wirelessly transmit a predetermined instruction signal. This receiver can receive the instruction signal and operate a stacker crane 12 according to the instruction signal. Before and after an emergency stop switch included in the transmitter is pressed, the transmitter and the receiver perform wireless communication.SELECTED DRAWING: Figure 8

Description

The present invention relates to communication methods, communication systems, transmitters and receivers.

Conventionally, a communication system capable of operating an industrial machine by using wireless communication has been known. Patent Document 1 discloses this type of autonomous driving equipment system.

The automatic driving equipment system of Patent Document 1 includes a control device and an operation terminal. The control device and the operation terminal can send and receive information via wireless communication. The control device is a device that controls the operation of the stacker crane. A mobile device used for remote control of the stacker crane is communicably connected to the operation terminal. In addition, the operation terminal is provided with an emergency stop button for making an emergency stop of the stacker crane.

In this automatic driving equipment system, when the emergency stop button is pressed by the operator, the wireless communication between the control device and the operation terminal is stopped. Then, the control device stops the operation of the stacker crane.

JP-A-2018-39625

In the configuration of Patent Document 1, when the emergency stop button is pressed by an operator, the control device and the operation terminal are not wirelessly connected. Therefore, after the emergency stop button is pressed, the control device and the operating terminal cannot confirm each other's state. Therefore, at this time, it is difficult for the operator to check the state of the control device and the operation terminal.

The present invention has been made in view of the above circumstances, and an object of the present invention is to allow one of the transmitter and the receiver to confirm the state of the other after the emergency stop input operation unit is operated.

Means and effects to solve problems

The problem to be solved by the present invention is as described above, and next, the means for solving this problem and its effect will be described.

According to the first aspect of the present invention, the following communication methods are provided. That is, this communication method is performed between the transmitter and the receiver. The transmitter can wirelessly transmit a predetermined instruction signal. The receiver can receive the instruction signal and operate the industrial machine according to the instruction signal. Wireless communication between the transmitter and the receiver is repeatedly performed before and after the emergency stop input operation unit included in the transmitter is operated.

As a result, the wireless connection between the transmitter and the receiver is maintained even after the emergency stop input operation unit is operated. Therefore, even after the operation of the emergency stop input operation unit, wireless communication can be performed between the transmitter and the receiver, and at least one of them can confirm the state of the other party. Further, when it is desired to cancel the operation of the emergency stop input operation unit and then operate the industrial machine again after operating the emergency stop input operation unit, it is not necessary to reconnect the transmitter and the receiver.

In the above communication method, it is preferable to do as follows. That is, this communication method includes a confirmation signal transmission step, an emergency stop non-operation transmission step, and an emergency stop operation transmission step. In the confirmation signal transmission step, the receiver repeatedly wirelessly transmits a confirmation signal to the transmitter for confirming whether or not the emergency stop input operation unit included in the transmitter has been operated. In the emergency stop non-operation transmission step, when the emergency stop input operation unit is not operated, every time the transmitter receives the confirmation signal, the emergency stop input operation unit is not operated. The indicated signal is wirelessly transmitted to the receiver. In the emergency stop operation transmission step, when the emergency stop input operation unit is operated, each time the transmitter receives the confirmation signal, a signal indicating that the emergency stop input operation unit has been operated is transmitted. Wirelessly transmit to the receiver.

As a result, wireless communication between the transmitter and the receiver can be appropriately performed.

In the above communication method, it is preferable to do as follows. That is, this communication method includes a transmitter state change transmission step. In this transmitter state change transmission step, when the transmitter changes state from a normal state to an abnormal state after the emergency stop input operation unit is operated, the transmitter notifies the receiver of the state change. Wirelessly transmit to.

As a result, the receiver can grasp that the state of the transmitter has changed to an abnormal state.

In the above communication method, it is preferable that the receiver shifts to a prohibited state in which the operation of the industrial machine is prohibited after receiving the notification.

As a result, even if the transmitter in the abnormal state returns to the normal state, the industrial machine can be prevented from operating. Therefore, it is possible to avoid unexpected operation of the industrial machine.

In the above communication method, it is preferable to do as follows. That is, this communication method includes a receiver state change transmission step. In this receiver state change transmission step, when the receiver changes state from a normal state to an abnormal state after the emergency stop input operation unit is operated, the receiver notifies the transmitter of the state change. Wirelessly transmit to.

As a result, the transmitter can grasp that the state of the receiver has changed to an abnormal state.

In the communication method, it is preferable that the receiver shifts to a prohibited state in which the operation of the industrial machine is prohibited in response to a change in the state of the receiver.

As a result, even if the receiver in the abnormal state returns to the normal state, the industrial machine can be prevented from operating. Therefore, it is possible to avoid unexpected operation of the industrial machine.

In the above communication method, it is preferable to do as follows. That is, the prohibited state is not released when the state in which the emergency stop input operation unit is operated is released.

As a result, it is possible to avoid unexpected operation of the industrial machine.

In the above communication method, it is preferable to do as follows. That is, the prohibited state is released by restarting the communication system including the transmitter and the receiver.

As a result, it is possible to reliably avoid the unexpected operation of the industrial machine.

In the above communication method, it is preferable to do as follows. That is, when the transmitter is in a normal state and the receiver receives a signal indicating that the emergency stop input operation unit has been operated, the receiver prohibits the operation of the industrial machine. Move to a safe state.

As a result, it is possible to prevent the industrial machine from operating when the emergency stop input operation unit is operated. Therefore, in this case, the unexpected operation of the industrial machine can be avoided.

In the above communication method, it is preferable to do as follows. That is, the safety state is obtained by releasing the state in which the emergency stop input operation unit included in the transmitter is operated and inputting a signal to the receiver to release the safety state of the industrial machine. It will be released.

As a result, it is possible to reliably avoid the unexpected operation of the industrial machine.

According to the second aspect of the present invention, the following communication systems are provided. That is, this communication system includes a transmitter and a receiver. The transmitter can wirelessly transmit a predetermined instruction signal. The receiver can receive the instruction signal and operate the industrial machine according to the instruction signal. The communication system includes an emergency stop input operation unit. This emergency stop input operation unit can operate the industrial machine to make an emergency stop. Wireless communication between the transmitter and the receiver is repeatedly performed before and after the emergency stop input operation unit is operated.

As a result, the wireless connection between the transmitter and the receiver is maintained even after the emergency stop input operation unit is operated. Therefore, even after the operation of the emergency stop input operation unit, wireless communication can be performed between the transmitter and the receiver, and at least one of them can confirm the state of the other party. Further, when it is desired to cancel the operation of the emergency stop input operation unit and then operate the industrial machine again after operating the emergency stop input operation unit, it is not necessary to reconnect the transmitter and the receiver.

The communication system preferably has the following configuration. That is, in this communication system, the receiver repeatedly wirelessly transmits a confirmation signal to the transmitter for confirming whether or not the emergency stop input operation unit included in the transmitter has been operated. When the emergency stop input operation unit is not operated, each time the transmitter receives the confirmation signal, a signal indicating that the emergency stop input operation unit is not operated is wirelessly transmitted to the receiver. To do. When the emergency stop input operation unit is operated, each time the transmitter receives the confirmation signal, a signal indicating that the emergency stop input operation unit has been operated is wirelessly transmitted to the receiver.

As a result, wireless communication between the transmitter and the receiver can be appropriately performed.

The communication system preferably has the following configuration. That is, when the transmitter changes state from a normal state to an abnormal state after the emergency stop input operation unit is operated, the transmitter wirelessly transmits a notification regarding the state change to the receiver.

As a result, the receiver can grasp that the state of the transmitter has changed to an abnormal state.

The communication system preferably has the following configuration. That is, after receiving the notification, the receiver shifts to a prohibited state in which the operation of the industrial machine is prohibited.

This makes it possible to prevent the industrial machine from operating even if the transmitter in the abnormal state returns to the normal state. Therefore, it is possible to avoid unexpected operation of the industrial machine.

The communication system preferably has the following configuration. That is, when the receiver changes state from a normal state to an abnormal state after the emergency stop input operation unit is operated, the receiver wirelessly transmits a notification regarding the state change to the transmitter.

As a result, the transmitter can grasp that the state of the receiver has changed to an abnormal state.

The communication system preferably has the following configuration. That is, in response to the change of state of the receiver, the receiver shifts to a prohibited state in which the operation of the industrial machine is prohibited.

This makes it possible to prevent the industrial machine from operating even if the receiver in the abnormal state returns to the normal state. Therefore, it is possible to avoid unexpected operation of the industrial machine.

The communication system preferably has the following configuration. That is, the prohibited state is not released when the state in which the emergency stop input operation unit is operated is released.

As a result, it is possible to avoid unexpected operation of the industrial machine.

The communication system preferably has the following configuration. That is, the prohibited state is released by restarting the communication system.

As a result, it is possible to reliably avoid the unexpected operation of the industrial machine.

In the above communication system, it is preferable to do as follows. That is, when the transmitter is in a normal state and the receiver receives a signal indicating that the emergency stop input operation unit has been operated, the receiver prohibits the operation of the industrial machine. Move to a safe state.

As a result, it is possible to prevent the industrial machine from operating when the emergency stop input operation unit is operated. Therefore, in this case, the unexpected operation of the industrial machine can be avoided.

In the above communication system, it is preferable to do as follows. That is, the safety state is obtained by releasing the state in which the emergency stop input operation unit included in the transmitter is operated and inputting a signal to the receiver to release the safety state of the industrial machine. It will be released.

As a result, it is possible to reliably avoid the unexpected operation of the industrial machine.

According to a third aspect of the present invention, the following transmitters are provided. That is, the transmitter can wirelessly transmit the instruction signal to a receiver capable of operating the industrial machine according to a predetermined instruction signal. The transmitter includes an emergency stop input operation unit. This emergency stop input operation unit can perform an operation to make the industrial machine emergency stop. The transmitter repeatedly performs wireless communication with the receiver before and after the emergency stop input operation unit is operated.

As a result, the wireless connection between the transmitter and the receiver is maintained even after the emergency stop input operation unit is operated. Therefore, even after the operation of the emergency stop input operation unit, wireless communication can be performed between the transmitter and the receiver, and at least one of them can confirm the state of the other party. Further, when it is desired to cancel the operation of the emergency stop input operation unit and then operate the industrial machine again after operating the emergency stop input operation unit, it is not necessary to reconnect the transmitter and the receiver.

According to the fourth aspect of the present invention, the following receivers are provided. That is, the receiver can receive a predetermined instruction signal wirelessly transmitted by the transmitter and operate the industrial machine according to the instruction signal. The receiver repeatedly performs wireless communication with the transmitter before and after the emergency stop input operation unit included in the transmitter is operated.

As a result, the wireless connection between the transmitter and the receiver is maintained even after the emergency stop input operation unit is operated. Therefore, even after the operation of the emergency stop input operation unit, wireless communication can be performed between the transmitter and the receiver, and at least one of them can confirm the state of the other party. Further, when it is desired to cancel the operation of the emergency stop input operation unit and then operate the industrial machine again after operating the emergency stop input operation unit, it is not necessary to reconnect the transmitter and the receiver.

The plan view which shows typically the structure of the automated warehouse where the communication method which concerns on one Embodiment of this invention is performed. The figure explaining the structure of one stacker crane which constitutes the automated warehouse. A block diagram showing the configuration of a stacker crane control system. A block diagram showing the configuration of a safety signal system. The perspective view which shows the structure of the 2nd receiver. Front view showing an instruction transmitter configured by attaching a tablet to a portable remote controller. Side view of the instruction transmitter. FIG. 5 is a sequence diagram illustrating communication performed between the portable remote controller and the second receiver regarding permission and disapproval of operation of the stacker crane in the manual operation mode by operating the emergency stop button. FIG. 6 is a sequence diagram illustrating communication performed between the portable remote controller and the second receiver regarding the release of permission for operation of the stacker crane in the manual operation mode by operating the emergency stop button. When the operation of the stacker crane in the manual operation mode is not permitted by the operation of the emergency stop button and an abnormal state of the portable remote controller occurs, the communication performed between the portable remote controller and the second receiver is performed. A sequence diagram to be described.

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a plan view schematically showing a configuration of an automated warehouse 1 in which a communication method according to an embodiment of the present invention is performed. FIG. 2 is a diagram illustrating a configuration of one stacker crane 12 constituting the automated warehouse 1. FIG. 3 is a block diagram showing the configuration of the control system 10 of the stacker crane 12. FIG. 4 is a block diagram showing the configuration of the safety signal system 70.

The communication method of the present embodiment is performed in the communication system provided in the automated warehouse 1 shown in FIG. The automated warehouse 1 has a plurality of stacker racks 11 and a plurality of stacker cranes (industrial machines) 12. The stacker rack 11 is formed with a large number of storage spaces capable of storing luggage such as parts and materials. The stacker crane 12 automatically carries in / out the luggage into the storage space of the stacker rack 11. When the communication system of the present embodiment is activated, the automated warehouse 1 automatically stores the luggage in the stacker rack 11 and automatically carries out the luggage stored in the stacker rack 11 by using the stacker crane 12. Can be done.

As shown in FIG. 2, each stacker crane 12 has a traveling carriage 13 that travels along a track, a lifting platform 14 that can move up and down, and a crane controller 2 that controls the operations of the traveling carriage 13 and the lifting platform 14. And.

The stacker crane 12 can be operated by selecting any operation mode from the automatic operation mode and the manual operation mode. In the automatic operation mode, the stacker crane 12 automatically operates according to pre-programmed rules. In the manual operation mode, the stacker crane 12 operates according to the operation instruction of the operator.

The crane controller 2 shown in FIGS. 2, 3 and 4 is composed of, for example, a known control unit including a CPU, a ROM, a RAM, an input / output unit, and the like. Data (rules) related to various programs and automatic driving are stored in the ROM. The CPU can read various programs and the like from the ROM and execute them.

When the automatic operation mode is selected as the operation mode of the stacker crane 12, the crane controller 2 controls the operations of the traveling carriage 13 and the elevating table 14 based on the stored data related to the automatic operation and the like.

When the manual operation mode is selected as the operation mode of the stacker crane 12, the crane controller 2 receives the operation instruction signal from the operator received via the first receiving unit 21 and the operation instruction signal received via the second receiving unit 22. The operation of the traveling carriage 13 and the lifting platform 14 is controlled according to the status signal of each switch or the like.

In order to prevent contact with luggage, the area including the operating area of the stacker crane 12 in the automated warehouse 1 is divided by a fence 9 or the like as shown in FIG. 2, and the area is defined as an exclusion zone. In order to detect that the operator enters the operating area for maintenance or the like, for example, a sensor is provided on the door provided in the fence 9. The door and the sensor are omitted in FIG. When the stacker crane 12 is operating in the automatic operation mode and the sensor detects that the door has been opened, the operation of the stacker crane 12 is automatically stopped.

An instruction receiver (receiver) 20 is provided in the automated warehouse 1. The instruction receiver 20 receives a predetermined instruction signal from the instruction transmitter (transmitter) 30 described later, and can operate the stacker crane 12 according to the instruction signal. In the present embodiment, the instruction receiver 20 has a first receiving unit 21 and a second receiving unit 22. The first receiving unit 21 and the second receiving unit 22 are respectively configured as communication devices and are installed in the vicinity of the crane controller 2 in the stacker crane 12. The first receiving unit 21 and the second receiving unit 22 are electrically connected to the crane controller 2.

The first receiving unit 21 wirelessly communicates with the tablet 5 of the instruction transmitter 30 via the wireless LAN. A wireless LAN has a plurality of wireless communication channels and transmits data using radio waves or the like. In this embodiment, Wi-Fi (Wi-Fi is a registered trademark) is used as the wireless LAN. Through this wireless communication, the first receiving unit 21 receives an operation instruction signal indicating an operation instruction input to the tablet 5 by the operator operating the tablet 5. Examples of the operation instruction include an instruction for traveling the traveling carriage 13 and an instruction for raising and lowering the lifting platform 14. The first receiving unit 21 outputs a signal indicating an operation instruction to the crane controller 2 as a control signal for controlling the operation of the stacker crane 12.

The second receiving unit 22 wirelessly communicates with the portable remote controller 6 of the instruction transmitter 30 via the wireless LAN. Through this wireless communication, the second receiving unit 22 receives various status signals. Examples of the status signal include the status signal of the instruction transmitter 30, the status signal of the stop switch for emergency stopping the stacker crane 12, the status signal of the enable switch for validating the operation instruction from the tablet 5, and the like. Can be mentioned. The second receiving unit 22 outputs the received status signal to the crane controller 2 as a control signal for controlling the operation of the stacker crane 12. The first receiving unit 21 and the second receiving unit 22 perform wireless communication using different frequency bands or channels, respectively.

Subsequently, the second receiving unit 22 will be described in detail with reference to FIGS. 4 and 5. FIG. 5 is a perspective view showing the configuration of the second receiving unit 22.

As shown in FIG. 5, the second receiving unit 22 includes a second receiving unit status display unit 23 and a second receiving unit power connector 24.

The second receiver status display unit 23 includes three lamps including a power lamp, a status lamp, and a WLAN lamp. Each lamp is configured as an LED. The second receiving unit status display unit 23 represents various operating states of the second receiving unit 22 depending on the combination of the lighting color and the lighting state (lighting / blinking) of each LED.

A power cable 91 is connected to the second receiver power connector 24. The electric power required for the operation of the second receiving unit 22 is supplied through the power cable 91. The power cable 91 includes a plurality of electric wires, and the power cable 91 functions not only as a power supply but also as a signal cable for input / output of signals.

In addition to the second receiver power connector 24, the second receiver 22 is provided with a connector (not shown) for electrically connecting the antenna cable 93. A wireless antenna (not shown) for transmitting and receiving radio waves is connected to the antenna cable 93.

As shown in FIG. 4, the second receiving unit 22 is provided with a second receiving unit wireless unit 28, a second receiving unit safety unit 29, and a second receiving unit abnormality detecting unit 35. The second receiving unit wireless unit 28 and the second receiving unit safety unit 29 are connected by, for example, a UART, and perform serial communication. UART is an abbreviation for Universal Asynchronous Receiver / Transmitter.

The second receiving unit wireless unit 28 is configured as a computer (specifically, a wireless communication module) and includes a CPU, ROM, RAM, and the like. As described above, the second receiving unit wireless unit 28 wirelessly communicates with the portable remote controller 6 of the instruction transmitter 30.

The second receiving unit safety unit 29 is configured as a computer and includes a CPU, ROM, RAM, and the like. The second receiving unit safety unit 29 is used as a functional safety unit. Specifically, the second receiving unit safety unit 29 is in a safe state in which the stacker crane 12 does not operate, or the stacker crane 12 operates, based on the result of the second receiving unit wireless unit 28 communicating with the portable remote controller 6. It is determined whether or not the prohibition state should be set, and a safety state request signal is output to the crane controller 2 as necessary.

The details will be described later, but the prohibited state can be said to be a special case of the safe state. In both the safe state and the prohibited state, the stacker crane 12 does not operate because the safety state request signal is output from the second receiver safety unit 29 to the crane controller 2.

The second receiver abnormality detection unit 35 can detect that an abnormality has occurred in the instruction receiver 20. Examples of this abnormality include a hardware failure of the instruction receiver 20, a communication timeout, and an error in the safety protocol. The second receiver abnormality detection unit 35 sends a signal indicating which of the normal state in which no abnormality has occurred in the instruction receiver 20 and the abnormal state in which the abnormality has occurred, in the second receiver safety unit. Output to 29.

As shown in FIG. 3, the automated warehouse 1 includes a control system 10 for controlling the stacker crane 12. The control system 10 includes an instruction transmitter (transmitter) 30 for the operator to instruct the stacker crane 12. The instruction transmitter 30 is provided with one or more. Each instruction transmitter 30 communicates with the crane controller 2 by wireless LAN via the first receiving unit 21 and the second receiving unit 22 in order to give an instruction to the crane controller 2.

The instruction transmitter 30 will be described in detail with reference to FIGS. 3, 6 and 7. FIG. 6 is a front view showing an instruction transmitter 30 in which the tablet 5 is attached to the portable remote controller 6. FIG. 7 is a side view of the instruction transmitter 30.

As shown in FIGS. 3, 6 and 7, the instruction transmitter 30 includes a tablet 5 as a mobile terminal and a portable remote controller 6. Remote control is an abbreviation for remote controller.

The tablet 5 is a known tablet-type computer composed of a CPU, a ROM, a RAM, an input / output unit, and the like. The tablet 5 is provided with a touch panel display 51. The touch panel display 51 has a configuration in which an operation unit (touch panel) operated by the operator touching with a finger and a display unit (display) for displaying various information are integrated.

The tablet 5 has a built-in wireless antenna (not shown), and as shown in FIG. 3, the tablet 5 can wirelessly communicate with the first receiving unit 21. The tablet 5 sends signals indicating various instructions such as an instruction to switch the operation mode of the stacker crane 12 and an instruction to operate the stacker crane 12 in the manual operation mode of the stacker crane 12 according to the operation of the operator. 1 Wireless transmission to the receiving unit 21.

The portable remote controller 6 is used in combination with the tablet 5 to control the operation of the stacker crane 12 in the manual operation mode of the stacker crane 12. The portable remote controller 6 has a built-in wireless antenna (not shown), and as shown in FIG. 3 and the like, the portable remote controller 6 can wirelessly communicate with the second receiving unit 22.

As shown in FIGS. 6 and 7, the portable remote controller 6 includes a portable remote controller status display unit 60, a power button 61, a remote controller power connector 62, a USB cable 64, an enable switch 65, and an emergency stop switch (emergency stop switch 6). It is provided with an emergency stop input operation unit) 66.

The portable remote controller status display unit 60 includes three lamps including a power lamp, a charging lamp, and a status lamp. Each lamp is configured as an LED. The portable remote controller status display unit 60 represents various operating states of the portable remote controller 6 depending on the combination of the lighting color and the lighting state (lighting / blinking) of each LED.

The power button 61 is configured as a push button switch. By pressing the power button 61, it is possible to switch whether or not power is supplied from the illustrated rechargeable battery included in the portable remote controller 6. As a result, the power ON / OFF of the portable remote controller 6 is realized.

A cable (not shown) for charging the above-mentioned rechargeable battery can be connected to the remote control power connector 62.

The USB cable 64 is pulled out from the housing of the portable remote controller 6. The USB cable 64 is configured as a wired cable for data communication and can be connected to the tablet 5. By attaching the tablet 5 to the holder provided in the portable remote controller 6 and connecting the USB cable 64 to the tablet 5, the tablet 5 and the portable remote controller 6 can be linked to function as the instruction transmitter 30.

The enable switch 65 is composed of, for example, a push button switch. The enable switch 65 is provided on the side surface of the portable remote controller 6 so that the operator can hold and press the portable remote controller 6 with one hand. The enable switch 65 is pressed with some operating force to indicate that the stacker crane 12 is permitted to operate when the stacker crane 12 is in the manual operation mode. Even after the enable switch 65 is pressed once, if the operating force is released, the enable switch 65 returns from the pressed state. Therefore, in the event of an unexpected situation such as a fall of the operator, the operation of the stacker crane 12 can be immediately disallowed.

In the present embodiment, the enable switch 65 is configured as a three-position type switch. When the operator pushes the enable switch 65 with a strong force, it is treated as if the enable switch 65 is not pushed. As a result, the operation of the stacker crane 12 can be appropriately stopped even when the operator does not release the finger from the enable switch 65 in an emergency and conversely pushes it strongly reflexively.

In the following, the term “enabled state” means a state in which the enable switch 65 is pressed with an appropriate operating force. The disabled state means a state in which the enable switch 65 is not pressed or is strongly pressed.

The emergency stop switch 66 is configured as a switch that can be pushed, for example, a push button switch. The emergency stop switch 66 is provided on the front surface of the portable remote controller 6. The emergency stop switch 66 is pressed when it is desired to make the stacker crane 12 emergency stop in the manual operation mode of the stacker crane 12. Once pressed, the emergency stop switch 66 remains pressed even when the operating force is released. The pressed state is released by turning or pulling the emergency stop switch 66 to the right.

Hereinafter, the state in which the emergency stop switch 66 is pushed may be referred to as a state with an emergency stop operation. The state in which the emergency stop switch is not pressed may be referred to as a state in which no emergency stop operation is performed.

As shown in FIG. 4, the portable remote controller 6 is provided with a portable remote controller wireless unit 67, a portable remote controller safety unit 68, and a portable remote controller abnormality detection unit 69. The portable remote controller wireless unit 67 and the portable remote controller safety unit 68 are connected by, for example, a UART, and perform serial communication.

The portable remote controller wireless unit 67 is configured as a computer (specifically, a wireless communication module) and includes a CPU, a ROM, a RAM, and the like. The portable remote control wireless unit 67 wirelessly communicates with the second receiving unit wireless unit 28 included in the second receiving unit 22.

The portable remote controller safety unit 68 is configured as a computer and includes a CPU, ROM, RAM, and the like. The portable remote controller safety unit 68 is used as a functional safety unit. Specifically, the portable remote controller safety unit 68 is electrically connected to the enable switch 65, the emergency stop switch 66, and the like.

Then, the portable remote controller safety unit 68 receives a safety state release signal, a safety status request signal, or a safety status request signal according to the state of the enable switch 65, the state of the emergency stop switch 66, and the detection result of the portable remote controller abnormality detection unit 69. The prohibition state request signal can be output to the portable remote controller radio unit 67.

The safe state means a state in which the operation of the stacker crane 12 is stopped, and is a state required in an emergency. The release of the safe state means a state in which the operation of the stacker crane 12 is permitted. The prohibited state is a special case of the safe state. The prohibited state and the safe state are the same in that the stacker crane 12 does not operate, but the operation for returning the stacker crane 12 to the operable state differs between the prohibited state and the safe state.

The portable remote controller abnormality detection unit 69 can detect that an abnormality has occurred in the instruction transmitter 30. Examples of this abnormality include a hardware failure of the instruction transmitter 30, a communication timeout, and an error in the safety protocol. The portable remote controller abnormality detection unit 69 sends a signal to the portable remote controller safety unit 68 indicating which of the normal state in which the instruction transmitter 30 has not occurred and the abnormal state in which the abnormality has occurred. Output.

When the enable switch 65 is pressed with an appropriate operating force and the emergency stop switch 66 is not pressed, the portable remote controller safety unit 68 sends a safety state release signal to the portable remote controller wireless unit. Output to 67. In response to this, the portable remote controller wireless unit 67 transmits the safety state release signal to the second receiving unit wireless unit 28 of the second receiving unit 22.

The portable remote controller safety unit 68 outputs a safety status request signal to the portable remote controller wireless unit 67 when the enable switch 65 is not pressed or is strongly pressed. Further, when the emergency stop switch 66 is pressed, the portable remote controller safety unit 68 outputs a safety status request signal (a signal indicating that the emergency stop switch 66 has been pressed) to the portable remote controller wireless unit 67. To do. In response to this, the portable remote control radio unit 67 transmits the safety state request signal to the second reception unit radio unit 28 of the second reception unit 22.

When an abnormal state occurs in the instruction transmitter 30 regardless of whether the emergency stop switch 66 is pressed, the portable remote controller safety unit 68 causes an abnormality based on the detection result of the portable remote controller abnormality detection unit 69. The state is grasped, and the prohibition state request signal is output to the portable remote controller radio unit 67. In response to this, the portable remote controller wireless unit 67 transmits the prohibition state request signal to the second receiving unit wireless unit 28 of the second receiving unit 22. The prohibition state request signal transmitted by the portable remote controller radio unit 67 can be said to be a signal from the instruction transmitter 30 to notify the instruction receiver 20 that the instruction transmitter 30 has changed from a normal state to an abnormal state. The second receiving unit wireless unit 28 outputs the prohibition state request signal to the second receiving unit safety unit 29. As a result, the second receiver safety unit 29 (in other words, the instruction receiver 20) is in a prohibited state. The second receiving unit safety unit 29 outputs a safety status request signal to the crane controller 2.

Further, when the second receiving unit wireless unit 28 outputs the prohibition state request signal, the second receiver unit safety unit 29 notifies that the instruction transmitter 30 is in an abnormal state in response to the prohibition state request signal. .. This notification can be performed, for example, by operating a notification unit (lamp or the like) of the drawing provided in the instruction receiver 20.

In the present embodiment, when an abnormal state occurs in the instruction receiver 20 after the emergency stop switch 66 is pressed, the second receiver safety unit 29 is based on the detection result of the second receiver abnormality detection unit 35. The abnormal state is grasped and it becomes a prohibited state. The second receiving unit safety unit 29 subsequently outputs a safety status request signal to the crane controller 2.

At this time, the second receiving unit safety unit 29 outputs a notification to the second receiving unit wireless unit 28 that the instruction receiver 20 has changed from the normal state to the abnormal state. The second receiving unit wireless unit 28 transmits a signal corresponding to this notification to the portable remote control wireless unit 67. The portable remote controller radio unit 67 outputs this signal to the portable remote controller safety unit 68. Upon receiving the signal, the portable remote controller safety unit 68 notifies that the instruction receiver 20 is in an abnormal state. This notification can be performed, for example, by operating a notification unit (touch panel display 51 of the tablet 5 or the like) provided in the instruction transmitter 30.

As described above, the communication system of the present embodiment enables the operation instruction to the stacker crane 12 separately from the operation instruction signal transmission / reception system (first receiving unit 21 and the tablet 5) for operating the stacker crane 12. The safety signal system 70 is provided for transmitting and receiving a signal, a signal for emergency stopping the stacker crane 12 in an emergency, and a signal for prohibiting the operation of the stacker crane 12. As shown in FIG. 4, the safety signal system 70 includes a second receiving unit 22 and a portable remote controller 6.

Focusing on the wireless communication path, when the stacker crane 12 is operated in the manual operation mode, a signal is exchanged between the crane controller 2 and the instruction transmitter 30 operated by the operator through two wireless communication paths. It will be. The first wireless communication path is established between the first receiving unit 21 and the tablet 5. The second wireless communication path is established between the second receiving unit 22 and the portable remote controller 6.

In this way, since the wireless communication paths of the operation instruction signal for controlling the operation of the stacker crane 12 and the signal for realizing the safety state of the stacker crane 12 are separated, these signals can be simultaneously transmitted. It will be possible. Therefore, the signal for realizing the safety state of the stacker crane 12 can be transmitted regardless of the transmission status of the operation instruction signal. Therefore, in an emergency, the safety status request signal can be transmitted to the second receiving unit 22 without delay, and the stacker crane 12 can be reliably and immediately stopped.

Next, the communication flow related to the safety state release signal, the safety state request signal, or the prohibition state request signal will be described with reference to FIGS. 8, 9, and 10. FIG. 8 is a sequence diagram illustrating communication performed between the portable remote controller 6 and the second receiver 22 regarding permission and disapproval of operation of the stacker crane 12 in the manual operation mode by operating the emergency stop switch. is there. FIG. 9 is a sequence diagram illustrating communication performed between the portable remote controller 6 and the second receiver 22 regarding the release of permission for the operation of the stacker crane 12 in the manual operation mode by operating the emergency stop switch. is there. FIG. 10 shows the portable remote controller 6 and the second receiver 22 when an abnormality occurs in the portable remote controller 6 when the stacker crane 12 is not permitted to operate in the manual operation mode by operating the emergency stop switch. It is a sequence diagram explaining the communication performed between.

After the wireless connection is established between the portable remote controller 6 of the instruction transmitter 30 and the second receiver 22 of the instruction receiver 20, as shown in FIG. 8, the second receiver 22 included in the second receiver 22 is provided. The safety unit 29 outputs a request for status confirmation to the second receiver radio unit 28 (sequence number 1). The status confirmation means confirming the status of the enable switch 65 and the emergency stop switch 66 in the portable remote controller 6 and the status of the instruction transmitter 30. In response to this, the second receiving unit wireless unit 28 wirelessly transmits a status confirmation signal (confirmation signal) to the portable remote controller wireless unit 67 (sequence number 2).

Upon receiving the status confirmation signal, the portable remote controller wireless unit 67 outputs a status confirmation request to the portable remote controller safety unit 68 (sequence number 3).

The portable remote controller safety unit 68 examines the states of the enable switch 65 and the emergency stop switch 66, and the state of the instruction transmitter 30 accordingly. At this time, the instruction transmitter 30 is in a normal state, the enable switch 65 is pressed with an appropriate operating force (enabled state), and the emergency stop switch 66 is not pressed (no emergency stop operation). State).

In this case, the portable remote controller safety unit 68 outputs a request for releasing the safety state to the portable remote controller wireless unit 67 (sequence number 4). In response to this, the portable remote controller wireless unit 67 wirelessly transmits the safety state release signal to the second receiving unit wireless unit 28 (sequence number 5).

When the second receiving unit wireless unit 28 receives the safety state release signal, it outputs a request for releasing the safety state to the second receiving unit safety unit 29 (sequence number 6). In response to this, the second receiving unit safety unit 29 outputs a signal to the crane controller 2 to the effect that the safety state of the stacker crane 12 is released and the operation of the stacker crane 12 is permitted (sequence number 7).

The second receiving unit safety unit 29 repeatedly requests the second receiving unit wireless unit 28 for status confirmation at a predetermined time interval (sufficiently short time interval). Therefore, the same processing as sequence numbers 1 to 7 is repeated (sequence numbers 8 to 14, ...).

When the second receiving unit safety unit 29 requests the status confirmation with the sequence number 51, the status confirmation signal is transmitted from the second receiving unit radio unit 28 in the same manner as described above (sequence number 52). Upon receiving the status confirmation signal, the portable remote controller wireless unit 67 requests the portable remote controller safety unit 68 to confirm the status (sequence number 53).

The portable remote controller safety unit 68 checks the status of the enable switch 65 and the emergency stop switch 66, and the status of the instruction transmitter 30. At this time, it is assumed that the instruction transmitter 30 is in a normal state, but the emergency stop switch 66 is pressed (a state in which an emergency stop operation is performed). Note that FIG. 8 describes an example in which the emergency stop switch 66 is pressed, but instead, the enable switch 65 is not pressed or is strongly pressed (disenabled state). But the same is true.

In this case, the portable remote controller safety unit 68 requests the portable remote controller wireless unit 67 to request a safety state (sequence number 54). In response to the request for the safety status request, the portable remote controller radio unit 67 wirelessly transmits the safety status request signal (emergency stop signal) to the second reception unit radio unit 28 (sequence number 55).

When the second receiving unit wireless unit 28 receives the safety state request signal, the second receiving unit wireless unit 28 outputs the request for the safety state request to the second receiving unit safety unit 29 (sequence number 56). In response to this, the second receiving unit safety unit 29 outputs a signal to the crane controller 2 to the effect that the operation of the stacker crane 12 is stopped to bring it into a safe state (sequence number 57).

The meaning of the signal output to the stacker crane 12 by the second receiver safety unit 29 in the sequence number 57 includes not only immediately stopping the operation of the stacker crane 12 but also prohibiting the operation of the stacker crane 12 thereafter. .. The stacker crane 12 shifts to the safe state when a signal requesting the safe state is input. Once the stacker crane 12 is in a safe state, the stacker crane 12 will not operate as long as this safe state continues.

After that, while the wireless connection between the portable remote controller 6 and the second receiving unit 22 is maintained, the second receiving unit safety unit 29 requests the second receiving unit wireless unit 28 to check the state for a predetermined time. Repeat at intervals (short enough time intervals). Therefore, the same processing as that of sequence numbers 51 to 57 is repeated (sequence numbers 58 to 64, ...).

After the emergency stop switch 66 is pressed, as shown in FIG. 9, when the second receiver safety unit 29 requests the status confirmation with the sequence number 101, the second receiver radio unit 28 similarly performs the above. A status confirmation signal is transmitted (sequence number 102). Upon receiving the status confirmation signal, the portable remote controller wireless unit 67 requests the portable remote controller safety unit 68 to confirm the status (sequence number 103).

The portable remote controller safety unit 68 checks the status of the enable switch 65 and the emergency stop switch 66, and the status of the instruction transmitter 30. At this time, it is assumed that the instruction transmitter 30 is in the normal state and the state in which the emergency stop switch 66 is pressed is released.

In this case, the portable remote controller safety unit 68 outputs a request for releasing the safety state to the portable remote controller wireless unit 67 (sequence number 104). In response to this, the portable remote controller wireless unit 67 wirelessly transmits a safety state release signal (emergency stop release signal) to the second receiving unit wireless unit 28 (sequence number 105).

When the second receiving unit wireless unit 28 receives the safety state release signal, it outputs a request for releasing the safety state to the second receiving unit safety unit 29 (sequence number 106). Regardless of this request, the second receiving unit safety unit 29 outputs a signal to the crane controller 2 to the effect that the operation of the stacker crane 12 is stopped to put it in a safe state (sequence number 107). That is, the second receiver safety unit 29 stops the operation of the stacker crane 12 to be in a safe state even if the portable remote controller 6 side receives a request to release the safety state after the emergency stop switch 66 is pressed once. A signal is output to the crane controller 2 to that effect.

In the present embodiment, the safety state is not released only by releasing the state in which the emergency stop switch 66 is pressed. When the same processing as sequence numbers 101 to 106 is performed (sequence numbers 131 to 136), an operator or the like performs an operation for releasing the safety state of the stacker crane 12 on the stacker crane 12 side, and the crane controller 2 Is released from the safety state by outputting a signal to the second receiver safety unit 29 to the effect that the safety state is released (sequence number 137).

Further, after the emergency stop switch 66 is pressed and before the safety state is released, when the second receiver safety unit 29 requests the status confirmation with the sequence number 161 as shown in FIG. A status confirmation signal is transmitted from the second receiving unit wireless unit 28 (sequence number 162). When the portable remote controller radio unit 67 receives the status confirmation signal, it requests the portable remote controller safety unit 68 to confirm the status in the same manner as described above (sequence number 163).

The portable remote controller safety unit 68 checks the status of the enable switch 65 and the emergency stop switch 66, and the status of the instruction transmitter 30. At this time, it is assumed that the emergency stop switch 66 is pressed and the portable remote controller abnormality detecting unit 69 has detected the abnormal state of the instruction transmitter 30.

In this case, the portable remote controller safety unit 68 outputs the request for the prohibited state request to the portable remote controller wireless unit 67 (sequence number 164). In response to this, the portable remote controller wireless unit 67 wirelessly transmits the prohibition state request signal to the second receiving unit wireless unit 28 (sequence number 165).

When the second receiving unit wireless unit 28 receives the prohibited state request signal, it outputs a request for the prohibited state request to the second receiving unit safety unit 29 (sequence number 166). In response to this, the second receiving unit safety unit 29 is in a prohibited state in which the operation of the stacker crane 12 is prohibited. The second receiving unit safety unit 29 outputs a safety status request signal to the crane controller 2 (sequence number 167). At this time, the instruction receiver 20 is notified by the above-mentioned notification unit about the abnormal state of the instruction transmitter 30.

In the present embodiment, the prohibited state of the second receiving unit safety unit 29 is released only when the state in which the emergency stop switch 66 is pressed is released and the stacker crane 12 side is operated to release the safety state. Not done. In order to release the prohibited state of the second receiver safety unit 29, the above is not enough, and the communication system needs to be restarted. That is, by temporarily turning off and turning on the power of both the instruction receiver 20 and the instruction transmitter 30, the prohibited state of the second receiver safety unit 29 is released.

After the emergency stop switch 66 is pressed, if an abnormality of the instruction receiver 20 is detected by the second receiver abnormality detection unit 35 in the instruction receiver 20 before the safety state is released, the second In response to this, the receiving unit safety unit 29 is in a prohibited state in which the operation of the stacker crane 12 is prohibited. The safety status request signal is continuously output from the second receiving unit safety unit 29 to the crane controller 2. At this time, the instruction transmitter 30 notifies the abnormal state of the instruction receiver 20 using the touch panel display 51 of the tablet 5 or the like.

As described above, in the present embodiment, even after the emergency stop switch 66 of the instruction transmitter 30 is pressed, wireless communication between the instruction transmitter 30 and the instruction receiver 20 is repeated as before. Will be. Therefore, even after the emergency stop switch 66 is pressed, both the instruction transmitter 30 and the instruction receiver 20 can confirm the state of the other party. Therefore, in addition to the emergency stop of the stacker crane 12, even if a communication system failure occurs, for example, it can be noticed and dealt with at an early stage.

Further, when the safety of the surroundings is confirmed after the emergency stop switch 66 is pressed and the stacker crane 12 is desired to be operated again, the communication between the instruction transmitter 30 and the instruction receiver 20 is performed from the beginning. Since it is maintained, a predetermined operation of wirelessly connecting the instruction transmitter 30 and the instruction receiver 20 becomes unnecessary. Therefore, it is possible to improve the convenience when recovering from the emergency stop state.

As described above, in the present embodiment, communication is performed between the instruction transmitter 30 and the instruction receiver 20 by the following method. The instruction transmitter 30 can wirelessly transmit a predetermined instruction signal. The instruction receiver 20 can receive the instruction signal and operate the stacker crane 12 according to the instruction signal. Before and after the emergency stop switch included in the instruction transmitter 30 is pressed, wireless communication between the instruction transmitter 30 and the instruction receiver 20 is repeatedly performed.

As a result, the wireless connection between the instruction transmitter 30 and the instruction receiver 20 is maintained even after the emergency stop switch 66 is operated. Therefore, even after the operation of the emergency stop switch 66, wireless communication can be performed between the instruction transmitter 30 and the instruction receiver 20, and at least one of them can confirm the state of the other party. Further, when the stacker crane 12 is to be operated again by canceling the operation of the emergency stop switch 66 after the operation of the emergency stop switch 66, it is not necessary to reconnect the instruction transmitter 30 and the instruction receiver 20. .. Therefore, convenience can be enhanced.

The communication method of the present embodiment includes a confirmation signal transmission step, an emergency stop non-operation transmission step, and an emergency stop operation transmission step. In the confirmation signal transmission step, the instruction receiver 20 repeatedly wirelessly transmits a confirmation signal to the instruction transmitter 30 for confirming whether or not the emergency stop switch 66 included in the instruction transmitter 30 has been pressed. In the emergency stop non-operation transmission step, a safety state indicating that the emergency stop switch 66 is not pressed each time the instruction transmitter 30 receives the confirmation signal when the emergency stop switch 66 is not pressed. The release signal is wirelessly transmitted to the instruction receiver 20. In the emergency stop operation transmission step, when the emergency stop switch 66 is pressed, each time the instruction transmitter 30 receives the confirmation signal, a safety state request signal indicating that the emergency stop switch 66 is pressed is output. Wirelessly transmit to the instruction receiver 20.

As a result, wireless communication between the instruction transmitter 30 and the instruction receiver 20 can be appropriately performed.

The communication method of the present embodiment includes a transmitter state change transmission step. In this transmitter state change transmission step, when the instruction transmitter 30 changes its state from the normal state to the abnormal state after the emergency stop switch 66 is pressed, the instruction transmitter 30 notifies the instruction receiver about the state change. Wirelessly transmit to 20.

As a result, the instruction receiver 20 can grasp that the state of the instruction transmitter 30 has changed to an abnormal state.

In the communication method of the present embodiment, after the instruction receiver 20 receives the notification regarding the state change of the instruction transmitter 30, it shifts to the prohibited state in which the operation of the stacker crane 12 is prohibited.

As a result, even if the instruction transmitter 30 in the abnormal state returns to the normal state, the stacker crane 12 can be prevented from operating. Therefore, it is possible to avoid an unexpected operation of the stacker crane 12.

The communication method of the present embodiment includes a receiver state change transmission step. In this receiver state change transmission step, when the instruction receiver 20 changes state from the normal state to the abnormal state after the emergency stop switch 66 is pressed, the instruction receiver 20 notifies the instruction transmitter about the state change. Wirelessly transmit to 30.

As a result, the instruction transmitter 30 can grasp that the state of the instruction receiver 20 has changed to an abnormal state.

In the communication method of the present embodiment, the instruction receiver 20 shifts to the prohibited state in which the operation of the stacker crane 12 is prohibited according to the state change of the instruction receiver 20 from the normal state to the abnormal state.

As a result, even if the instruction receiver 20 in the abnormal state returns to the normal state, the stacker crane 12 can be prevented from operating. Therefore, it is possible to avoid an unexpected operation of the stacker crane 12.

In the communication method of the present embodiment, the prohibited state is not released when the state in which the emergency stop switch 66 is pressed is released.

As a result, it is possible to avoid an unexpected operation of the stacker crane 12.

In the communication method of the present embodiment, the prohibited state is released by restarting the communication system including the instruction transmitter 30 and the instruction receiver 20.

As a result, once an abnormal state occurs, the work of restarting the communication system becomes a condition for substantially restarting the operation of the stacker crane 12. Therefore, it is possible to reliably avoid the unexpected operation of the stacker crane 12.

In the communication method of the present embodiment, when the instruction transmitter 30 is in a normal state and the instruction receiver 20 receives a signal indicating that the emergency stop switch 66 has been operated, the instruction receiver 20 is a stacker. It shifts to a safe state in which the operation of the crane 12 is prohibited.

Thereby, when the emergency stop switch 66 is operated, the stacker crane 12 can be prevented from operating. Therefore, in this case, the unexpected operation of the stacker crane 12 can be avoided.

In the communication method of the present embodiment, in the safety state, the state in which the emergency stop switch 66 is operated in the instruction transmitter 30 is released, and a signal for releasing the safety state of the stacker crane 12 is input to the instruction receiver 20. By doing so, it is released.

As a result, the unexpected operation of the stacker crane 12 can be reliably avoided.

Further, the communication system of the present embodiment includes an instruction transmitter 30 and an instruction receiver 20. The instruction transmitter 30 can wirelessly transmit a predetermined instruction signal. The instruction receiver 20 can receive the instruction signal and operate the stacker crane 12 according to the instruction signal. The instruction transmitter 30 includes an emergency stop switch 66. The emergency stop switch 66 can be operated to make the stacker crane 12 emergency stop. Before and after the emergency stop switch 66 is pressed, wireless communication between the instruction transmitter 30 and the instruction receiver 20 is repeatedly performed.

As a result, the wireless connection between the instruction transmitter 30 and the instruction receiver 20 is maintained even after the emergency stop switch 66 is pressed. Therefore, even after the emergency stop switch 66 is pressed, wireless communication is performed between the instruction transmitter 30 and the instruction receiver 20, and one of the instruction transmitter 30 and the instruction receiver 20 is in the other state. Can be confirmed. Further, after the emergency stop switch 66 is pressed, the instruction transmitter 30 and the instruction receiver 20 are reconnected when the safety state is released by canceling the operation of the emergency stop switch 66 or the like and the communication system is used. You don't have to.

In the communication system of the present embodiment, the instruction receiver 20 repeatedly wirelessly transmits a confirmation signal for confirming whether or not the emergency stop switch 66 included in the instruction transmitter 30 has been pressed to the instruction transmitter 30. When the emergency stop switch 66 is not pressed, every time the instruction transmitter 30 receives the confirmation signal, a safety state release signal indicating that the emergency stop switch 66 is not pressed is wirelessly transmitted to the instruction receiver 20. Send. When the emergency stop switch 66 is pressed, the instruction transmitter 30 wirelessly transmits a safety status request signal indicating that the emergency stop switch 66 has been pressed to the instruction receiver 20 each time the confirmation signal is received. ..

As a result, wireless communication between the instruction transmitter 30 and the instruction receiver 20 can be appropriately performed.

In the communication system of the present embodiment, when the instruction transmitter 30 changes its state from the normal state to the abnormal state after the emergency stop switch 66 is pressed, the instruction transmitter 30 notifies the instruction receiver 20 about the state change. Wirelessly transmit to.

As a result, the instruction receiver 20 can grasp that the state of the instruction transmitter 30 has changed to an abnormal state.

In the communication system of the present embodiment, after receiving the notification, the instruction receiver 20 shifts to a prohibited state in which the operation of the stacker crane 12 is prohibited.

As a result, even if the instruction transmitter 30 in the abnormal state returns to the normal state, the stacker crane 12 can be prevented from operating. Therefore, it is possible to avoid an unexpected operation of the stacker crane 12.

In the communication system of the present embodiment, when the instruction receiver 20 changes its state from the normal state to the abnormal state after the emergency stop switch 66 is pressed, the instruction receiver 20 notifies the instruction transmitter 30 about the state change. Wirelessly transmit to.

As a result, the instruction transmitter 30 can grasp that the state of the instruction receiver 20 has changed to an abnormal state.

In the communication system of the present embodiment, the instruction receiver 20 shifts to a prohibited state in which the operation of the stacker crane 12 is prohibited according to the state change of the instruction receiver 20 from the normal state to the abnormal state.

As a result, even if the instruction receiver 20 in the abnormal state returns to the normal state, the stacker crane 12 can be prevented from operating. Therefore, it is possible to avoid an unexpected operation of the stacker crane 12.

In the communication system of the present embodiment, the prohibited state is not released when the state in which the emergency stop switch 66 is pressed is released.

As a result, it is possible to avoid an unexpected operation of the stacker crane 12.

In the communication system of the present embodiment, the prohibited state is released by restarting the communication system.

As a result, the unexpected operation of the stacker crane 12 can be reliably avoided.

In the communication system of the present embodiment, when the instruction transmitter 30 is in a normal state and the instruction receiver 20 receives a signal indicating that the emergency stop switch 66 has been operated, the instruction receiver 20 is a stacker. It shifts to a safe state in which the operation of the crane 12 is prohibited.

Thereby, when the emergency stop switch 66 is operated, the stacker crane 12 can be prevented from operating. Therefore, in this case, the unexpected operation of the stacker crane 12 can be avoided.

In the communication system of the present embodiment, in the safety state, the state in which the emergency stop switch 66 is operated in the instruction transmitter 30 is released, and a signal for releasing the safety state of the stacker crane 12 is input to the instruction receiver 20. By doing so, it is released.

As a result, the unexpected operation of the stacker crane 12 can be reliably avoided.

Although the preferred embodiment of the present invention has been described above, the above configuration can be changed as follows, for example.

The wireless communication system may also include a plurality of instruction transmitters 30. When the portable remote controller abnormality detection unit 69 detects an abnormality in the instruction transmitter 30, the instruction transmitter 30 notifies only the instruction receiver 20 regarding the state change of the instruction transmitter 30 from the normal state to the abnormal state. Instead, wireless transmission may be made to another instruction transmitter 30. This notification is wirelessly transmitted from, for example, the instruction transmitter 30 to another instruction transmitter 30 via the instruction receiver 20. The control for notifying the other instruction transmitter 30 of the abnormality detection can be performed either before or after the emergency stop switch 66 is pressed, or can be performed in both.

Both before and after the emergency stop switch 66 is pressed, the instruction transmitter 30 voluntarily causes a safety state release signal, a safety state request signal, or a prohibited state, not in the form of a response to the status confirmation signal. The request signal can also be repeatedly transmitted to the instruction receiver 20.

The abnormality detected by the portable remote controller abnormality detection unit 69 is not limited to the above. The portable remote controller abnormality detection unit 69 can also detect, for example, an abnormality in which the remaining amount of the rechargeable battery included in the portable remote controller 6 is equal to or less than a predetermined value. When the normal state changes to the abnormal state due to the occurrence of this abnormality, the instruction transmitter 30 wirelessly transmits to that effect to the instruction receiver 20.

When the second receiver abnormality detection unit 35 detects an abnormality in the instruction receiver 20, the instruction receiver 20 currently communicates a notification regarding a state change from the normal state to the abnormal state of the instruction receiver 20. It may be possible to wirelessly transmit not only to the existing instruction transmitter 30 but also to another instruction transmitter 30. This control can be performed either before or after the emergency stop switch 66 is pressed, or both.

When the second receiver abnormality detection unit 35 detects an abnormality in the instruction receiver 20, the instruction receiver 20 notifies at a predetermined timing of a state change from the normal state to the abnormal state of the instruction receiver 20. It can be wirelessly transmitted to the instruction transmitter 30. This control can be performed either before or after the emergency stop switch 66 is pressed, or both.

Only one of the instruction transmitter 30 and the instruction receiver 20 may be configured to be able to confirm the state of the other party.

As the industrial machine, a machine other than the stacker crane 12 of the automated warehouse 1 (for example, an automatic guided vehicle with or without a track) can be used.

In consideration of the above teaching, it is clear that the present invention can take many modified and modified forms. Therefore, it should be understood that the present invention may be practiced in a manner other than that described herein, within the scope of the appended claims.

3 Instruction transmitter (transmitter)
12 Stacker Crane (Industrial Machinery)
20 Instruction receiver (receiver)
66 Emergency stop switch (emergency stop input operation unit)

Claims (22)

A communication method performed between a transmitter capable of wirelessly transmitting a predetermined instruction signal and a receiver capable of receiving the instruction signal and operating an industrial machine according to the instruction signal.
A communication method characterized in that wireless communication between the transmitter and the receiver is repeatedly performed before and after the emergency stop input operation unit included in the transmitter is operated. The communication method according to claim 1.
A confirmation signal transmission step in which the receiver repeatedly wirelessly transmits a confirmation signal for confirming whether or not the emergency stop input operation unit has been operated to the transmitter.
When the emergency stop input operation unit is not operated, every time the transmitter receives the confirmation signal, a signal indicating that the emergency stop input operation unit is not operated is wirelessly transmitted to the receiver. Emergency stop non-operation transmission step and
When the emergency stop input operation unit is operated, every time the transmitter receives the confirmation signal, an emergency signal indicating that the emergency stop input operation unit has been operated is wirelessly transmitted to the receiver. Stop operation send step and
A communication method characterized by including. The communication method according to claim 2.
When the transmitter changes state from a normal state to an abnormal state after the emergency stop input operation unit is operated, the transmitter wirelessly transmits a notification regarding the state change of the transmitter to the receiver. A communication method comprising a state change transmission step. The communication method according to claim 3.
A communication method, characterized in that, after receiving the notification, the receiver shifts to a prohibited state in which the operation of the industrial machine is prohibited. The communication method according to any one of claims 1 to 4.
When the receiver changes state from a normal state to an abnormal state after the emergency stop input operation unit is operated, the receiver wirelessly transmits a notification regarding the state change of the receiver to the transmitter. A communication method comprising a state change transmission step. The communication method according to claim 5.
A communication method characterized in that, in response to a change in the state of the receiver, the receiver shifts to a prohibited state in which the operation of the industrial machine is prohibited. The communication method according to claim 4 or 6.
A communication method characterized in that the prohibited state is not released when the state in which the emergency stop input operation unit is operated is released. The communication method according to claim 7.
A communication method characterized in that the prohibited state is released by restarting a communication system including the transmitter and the receiver. The communication method according to any one of claims 2 to 8.
A safety state in which the receiver prohibits the operation of the industrial machine when the transmitter is in a normal state and the receiver receives a signal indicating that the emergency stop input operation unit has been operated. A communication method characterized by migrating to. The communication method according to claim 9.
The safety state is released when the state in which the emergency stop input operation unit included in the transmitter is operated is released and a signal for releasing the safety state of the industrial machine is input to the receiver. A communication method characterized by the fact that. A communication system including a transmitter capable of wirelessly transmitting a predetermined instruction signal and a receiver capable of receiving the instruction signal and operating an industrial machine according to the instruction signal.
The transmitter includes an emergency stop input operation unit capable of performing an emergency stop operation of the industrial machine.
A communication system characterized in that wireless communication between the transmitter and the receiver is repeatedly performed before and after the emergency stop input operation unit is operated. The communication system according to claim 11.
The receiver repeatedly wirelessly transmits a confirmation signal to the transmitter to confirm whether or not the emergency stop input operation unit included in the transmitter has been operated.
When the emergency stop input operation unit is not operated, every time the transmitter receives the confirmation signal, a signal indicating that the emergency stop input operation unit is not operated is wirelessly transmitted to the receiver. And
When the emergency stop input operation unit is operated, each time the transmitter receives the confirmation signal, a signal indicating that the emergency stop input operation unit has been operated is wirelessly transmitted to the receiver. A communication system characterized by. The communication system according to claim 12.
When the transmitter changes state from a normal state to an abnormal state after the emergency stop input operation unit is operated, the transmitter wirelessly transmits a notification regarding the state change of the transmitter to the receiver. Characterized communication system. The communication system according to claim 13.
A communication system characterized in that, after receiving the notification, the receiver shifts to a prohibited state in which the operation of the industrial machine is prohibited. The communication system according to any one of claims 11 to 14.
When the receiver changes state from a normal state to an abnormal state after the emergency stop input operation unit is operated, the receiver wirelessly transmits a notification regarding the state change of the receiver to the transmitter. Characterized communication system. The communication system according to claim 15.
A communication system characterized in that, in response to a change in the state of the receiver, the receiver shifts to a prohibited state in which the operation of the industrial machine is prohibited. The communication system according to claim 14 or 16.
A communication system characterized in that the prohibited state is not released when the state in which the emergency stop input operation unit is operated is released. The communication system according to claim 17.
A communication system characterized in that the prohibited state is released by restarting the communication system. The communication system according to any one of claims 12 to 18.
A safety state in which the receiver prohibits the operation of the industrial machine when the transmitter is in a normal state and the receiver receives a signal indicating that the emergency stop input operation unit has been operated. A communication system characterized by the transition to. The communication system according to claim 19.
The safety state is released when the state in which the emergency stop input operation unit included in the transmitter is operated is released and a signal for releasing the safety state of the industrial machine is input to the receiver. A communication system characterized by the fact that. A transmitter capable of wirelessly transmitting the instruction signal to a receiver capable of operating an industrial machine according to a predetermined instruction signal.
Equipped with an emergency stop input operation unit capable of operating the industrial machine in an emergency
A transmitter characterized in that wireless communication with the receiver is repeatedly performed before and after the emergency stop input operation unit is operated. A receiver capable of receiving a predetermined instruction signal wirelessly transmitted by a transmitter and operating an industrial machine according to the instruction signal.
A receiver characterized in that wireless communication with the transmitter is repeatedly performed before and after the emergency stop input operation unit included in the transmitter is operated.

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