JP4471118B2 - Goods transport equipment - Google Patents

Description

  The present invention provides an operation control means on the ground side that manages the operation of a plurality of article transport vehicles that travel on a track across a plurality of article transfer locations, and the article transport vehicle that is installed in each of the plurality of article transport vehicles. A vehicle body control means for controlling the operation of the vehicle, a travel position detection means for detecting a travel position of each of the plurality of article transport vehicles on the track, and a target for the goods transport vehicle based on detection information of the travel position detection means. In order to travel to a travel position, communication between the vehicle body control means equipped on the article transport vehicle and the operation control means on the ground side and communication between adjacent ones of the plurality of article transport vehicles are performed. The present invention relates to an article conveyance facility provided with communication means for operation management.

The article transport equipment as described above is applied to an automatic warehouse or the like. For example, a plurality of article transport vehicles are reciprocated on a track of a closed type with both end portions determined to transport a plurality of articles. An article is conveyed between a plurality of article transfer locations by car.
And in order to drive an article conveyance vehicle to an article transfer location, an article conveyance vehicle is made to run to a target run position corresponding to each of a plurality of article transfer locations. At this time, various kinds of information such as travel command information about the article transport vehicle and travel position information about the travel position of the adjacent article transport vehicle are set between the operation control means and the vehicle body control means and adjacent to the plurality of article transport vehicles. Communicating between each other, this communication is performed by communication means for operation management.

In such an article transport facility, conventionally, a plurality of article transport vehicles are provided so as to travel on a straight track, and communication between the operation control means and the article transport vehicle is used as a communication means for operation management. There is also provided an optical communication means for performing communication between adjacent ones of the plurality of article transport vehicles by a spatial light transmission method (for example, see Patent Document 1).
In this conventional article transport facility, for communication between the operation control means and the article transport vehicle, an optical transmitter is provided at the end of the track and the article transport vehicle, and between adjacent ones of the article transport vehicles. For the communication between them, an optical transmitter is provided in each of the adjacent article transport vehicles.

JP 2002-175117 A

For example, in an article transport facility in which the track is formed in a bent shape combining a straight portion and a bent portion, the direction of light projected and received by an optical transmitter provided in the article transport vehicle is linear in the article transport vehicle. It differs depending on whether it is located at the bent portion or the bent portion. Therefore, when the direction of the optical transmitter provided in the article transport vehicle is adjusted so that communication can be performed when the article transport vehicle is located at the straight portion, the light provided at the end of the track is located when the article transport vehicle is located at the bent portion. Light cannot be transmitted between the transmitter and the optical transmitter provided in the article transport vehicle and between the optical transmitters provided in the adjacent article transport vehicles, and communication cannot be performed by the optical communication means. .
In addition, in the article transport facility provided with an openable / closable door in the middle of the track, when the door is closed, between the optical transmitter provided at the end of the track and the optical transmitter provided in the article transport vehicle, Or a door will exist between adjacent goods conveyance vehicles. Therefore, the light projected from the optical transmitter is blocked by the door, and is provided between the optical transmitter provided at the end of the track and the optical transmitter provided in the article transport vehicle and in the adjacent article transport vehicle. Light cannot be transmitted between optical transmitters, and communication cannot be performed by optical communication means.

As described above, in the conventional article transport facility, communication cannot be performed by the optical communication means, communication between the operation control means and the article transport vehicle, and between adjacent ones of the plurality of article transport vehicles. Communication between them may not be possible.
Incidentally, if communication between the operation control means and the article transport vehicle and communication between adjacent ones of the plurality of article transport vehicles cannot be performed, a communication error occurs and the article transport vehicle is stopped. As a result, the article transport vehicle cannot travel to the target travel position.

  The present invention has been made paying attention to such points, and its purpose is communication between the operation control means and the article transport vehicle and communication between adjacent ones of the plurality of article transport vehicles. An object of the present invention is to provide an article conveyance facility that avoids being unable to perform the operation.

In order to achieve this object, the first characteristic configuration of the article transport facility according to the present invention is a ground-side operation control means for managing the operation of a plurality of article transport vehicles traveling on a track extending over a plurality of article transfer locations. Vehicle body control means that is installed in each of the plurality of article transport vehicles and controls the operation of the article transport vehicle; and travel position detection means that detects a travel position of each of the plurality of article transport vehicles on the track. In order to cause the article transport vehicle to travel to the target travel position based on the detection information of the travel position detection means, between the vehicle body control means equipped in the article transport vehicle and the ground-side operation control means. In the article transport facility provided with communication means for communication and operation management for performing communication between adjacent ones of the plurality of article transport vehicles,
Optical communication for performing communication between the operation control means and the article transport vehicle and communication between adjacent ones of the plurality of article transport vehicles by a spatial light transmission system as the communication means for operation management And a wireless communication means for performing communication between the operation control means and the article transport vehicle and communication between adjacent ones of the plurality of article transport vehicles by an electromagnetic wave transmission method. When the operation control means and the vehicle body control means preferentially use the communication information by the optical communication means and the communication information by the optical communication means cannot be obtained, the wireless communication is performed. configured to use the communication information means, said operation control means is configured to travel command information for said article transport vehicle to communicate with communication means for the operation management, before The vehicle body control means is configured to perform travel control based on the travel command information, and the article transport vehicle is provided with a distance detection sensor that detects a distance between adjacent product transport vehicles, and the operation control Means is configured to communicate travel position information about a travel position of the article transport vehicle and a travel position of an adjacent article transport vehicle by the communication means for operation management, and the vehicle body control means is configured to detect the distance. When the detection information of the sensor is preferentially used and the detection information of the distance detection sensor cannot be obtained, the traveling position information communicated by the driving management communication means is used to And controlling the relative running state of the vehicle to command its own running stop and a running stop command to an adjacent article transport vehicle via the operation management communication means. As the stage, an optical transmission device that performs communication between the operation control means and the article transport vehicle, and an inter-cart optical transmission device that performs communication between adjacent article transport vehicles are provided, and the operation When the control unit instructs the vehicle body control unit to transmit the travel command information, if the communication by the optical transmission device is possible, the operation control unit uses the optical transmission device to control the vehicle body control information. The vehicle control means performs travel control using the communication information of the optical transmission device, and the communication by the optical transmission device is impossible, the operation control means is the wireless communication means. The vehicle command control means communicates with the vehicle body control means, the vehicle body control means uses the communication information of the wireless communication means to perform the travel control, and the vehicle body control means communicates with the adjacent article transport vehicle. Traveling When instructing a stop command, the vehicle-mounted optical transmission device is preferentially used, and when the inter-truck optical transmission device cannot be used, the wireless communication means is used to mount the vehicle body mounted on an adjacent article transport vehicle. This is in that the travel stop command is commanded to the control means .

  When performing communication between the operation control means and the article transport vehicle and communication between adjacent ones of the plurality of article transport vehicles, the optical communication means and the wireless communication means perform communication operations in parallel. Thus, communication can be performed by either the spatial light transmission method using the optical communication means or the electromagnetic wave transmission method using the wireless communication means. Then, the operation control means and the vehicle body control means preferentially use the communication information by the optical communication means over the communication information by the wireless communication means when communication by the spatial light transmission method by the optical communication means is possible, and When communication in the spatial light transmission method by the optical communication means is impossible, communication between the operation control means and the article transport vehicle and a plurality of article transport vehicles using communication information by the wireless communication means Communication between adjacent ones is performed.

When the wireless communication means cannot transmit light between the optical transmitter provided at the end of the track and the optical transmitter provided in the article transport vehicle and between the optical transmitters provided in the adjacent article transport vehicles But you can communicate. Therefore, when the operation control means and the vehicle body control means cannot communicate with the optical communication means, the communication is performed with the wireless communication means, and the communication information by the wireless communication means is used to drive the vehicle. Communication between the control means and the article transport vehicle and communication between adjacent ones of the plurality of article transport vehicles can be continuously performed without interruption.
In addition, the spatial light transmission method using the optical communication means can communicate the communication information at a higher speed and more reliably than the electromagnetic wave transmission method using the wireless communication means. In a state where communication is possible using two transmission methods, ie, an electromagnetic wave transmission method by means, the communication information by the optical communication means is used in preference to the communication information by the wireless communication means. Communication with the transport vehicle and communication between adjacent ones of the plurality of article transport vehicles can be performed at high speed and reliably.

From the above, communication between the operation control means and the article transport vehicle and communication between adjacent ones of the plurality of article transport vehicles can be performed at high speed and reliably, but the communication cannot be performed. It has become possible to provide an article transport facility that can avoid this.
In addition, the driving control means communicates the driving command information such as the driving start command information, the driving speed command information, and the driving stop command information to the vehicle body control means by the driving management communication means, and the vehicle body control means performs the driving control. By performing the travel control based on the travel command information from the means, the article transport vehicle travels to the target travel position.
And since it becomes possible to avoid that communication between a driving control means and an article conveyance vehicle becomes impossible, communication of travel command information from a driving control means to a vehicle body control means can be performed accurately, and goods The transport vehicle can be accurately traveled to the target travel position.
Further, the vehicle body control means uses the detection information of the distance detection sensor or the travel position information communicated by the communication means for operation management to manage the relative travel state with the adjacent article transport vehicle. By stopping the traveling of the self and stopping the adjacent article transporting vehicle, it is possible to prevent a collision with the adjacent article transporting vehicle.
Then, in managing the relative running state with the adjacent article transport vehicle, the vehicle body control means uses the detection information of the distance detection sensor when the detection information of the distance detection sensor is obtained. The relative running state with the car can be quickly managed. In addition, when the detection information of the distance detection sensor cannot be obtained, the vehicle body control means uses the travel position information communicated by the communication means for operation management, so that the relative travel state with the adjacent article transport vehicle It will be possible to avoid becoming unable to manage.
Therefore, while quickly managing the relative running state with the adjacent article transport vehicle, it is possible to avoid the situation where the management cannot be performed and to accurately prevent the collision with the adjacent article transport vehicle.

  A second characteristic configuration of the article conveying facility according to the present invention is the optical distance measuring sensor that projects measurement light along the longitudinal direction of the track as the traveling position detecting means and the encoder equipped in the article conveying vehicle. When the driving control means and the vehicle body control means preferentially use the detection information of the optical distance measuring sensor and the detection information of the optical distance measuring sensor cannot be obtained, the detection information of the encoder In that it is configured to use.

  In other words, when detecting the travel position on the track of the article transport vehicle, a method using detection information of an optical distance measuring sensor that projects measurement light along the longitudinal direction of the track, and the article transport vehicle are equipped. It is possible to secure two methods, the method using the detection information of the encoder. When the operation control means and the vehicle body control means obtain the detection information of the optical distance sensor, the detection information of the optical distance sensor is used preferentially over the detection information of the encoder, and the optical distance sensor When the detection information is not obtained, the detection information of the encoder is used to detect the travel position on the track of the article transport vehicle.

The optical distance measuring sensor cannot obtain detection information due to light blocking or the like, and the traveling position on the track of the article transport vehicle may not be detected only by using the detection information of the optical distance measuring sensor. Therefore, even when the detection information of the optical distance measuring sensor cannot be obtained, an encoder that can obtain information for detecting the traveling position on the track of the article transport vehicle is provided, and the detection information of the encoder is used. Thus, it is possible to avoid the detection of the travel position on the track of the article transport vehicle by detecting the travel position on the track of the article transport vehicle.
Moreover, when the detection information of the optical distance measuring sensor and the detection information of the encoder are obtained, the detection information of the optical distance measuring sensor is used to detect the traveling position on the track of the article transport vehicle. The traveling position can be detected with high accuracy.
Therefore, it is possible to avoid the detection of the travel position while accurately detecting the travel position on the track of the article transport vehicle.

According to a third characteristic configuration of the article conveying facility according to the present invention, the track is formed in a bent shape combining a straight portion and a bent portion, and the optical transmission device is disposed at an end portion of the straight portion of the track. The point is that the optical transmitter is configured to project and receive communication light along the longitudinal direction of the track .

That is, when the article transport vehicle is located in a straight line portion, communication between the operation control means and the article transport vehicle and communication between adjacent ones of the plurality of article transport vehicles are performed by the optical communication means. Optical communication means can be provided so that it can be performed.
When the article transporting vehicle is positioned in the straight line portion, the article transporting vehicle can be driven at a higher speed by performing high-speed and reliable communication with the optical communication means. Further, when the article transport vehicle is located at the bent portion, communication between the operation control means and the article transport vehicle and communication between adjacent ones of the plurality of article transport vehicles are performed by the wireless communication means. And the communication will continue without interruption.
Therefore, even in an article transport facility with a track formed in a bent shape, communication between the operation control means and the article transport vehicle and communication between adjacent ones of the plurality of article transport vehicles cannot be performed. Thus, the article transport vehicle can be accurately traveled to the target travel position.

According to a fourth characteristic configuration of the article transport facility according to the present invention, when the operation control unit causes a plurality of the article transport vehicles to travel in the same direction on the track based on detection information of the travel position detection unit. Is configured to communicate the travel command information to the vehicle body control means so that the inter-vehicle distance between the article transport vehicles is equal to or greater than the set inter-vehicle distance.

That is, when traveling a plurality of article transport vehicles in the same direction on the track, by communicating the travel command information to the vehicle body control means so that the inter-vehicle distance between the article transport vehicles is equal to or greater than the set inter-vehicle distance, A plurality of article transport vehicles can be run simultaneously while maintaining the inter-vehicle distance between the article transport vehicles at or above the set inter-vehicle distance.
Therefore, while preventing a collision between the article transport vehicles, a plurality of article transport vehicles can be run simultaneously to perform the article transport, thereby improving the transport capability.

An embodiment of an article conveying facility according to the present invention will be described with reference to the drawings.
This article transport facility is applied to an automatic warehouse or the like provided with an article storage shelf. As shown in FIG. 1, a plurality of article transport vehicles 3 that run on a plurality of tracks 2 of a station 1 as an article transfer location are provided. The plurality of article transport vehicles 3 are configured to reciprocate on the track 2 and transport the article B between the plurality of stations 1.

The track 2 is configured by arranging a pair of traveling rails, and is an end type with both ends determined. And the track | orbit 2 is formed in the L shape which arrange | positioned the 1st linear part 2a and the 2nd linear part 2b orthogonally, and provided the bending part 2c which connects the 1st linear part 2a and the 2nd linear part 2b. Yes. A plurality of stations 1 are arranged on both the left and right sides of the track 2 at intervals in the longitudinal direction of the track 2.
And as the some station 1, the station for delivery which provided the delivery conveyor which conveys the goods B delivered from an article storage shelf, the storage conveyor provided with the receipt conveyor which conveys the goods B received to an article storage shelf A station, a loading station provided with a carry-in conveyor for carrying the article B carried in from the outside, and a loading station provided with a carry-out conveyor carrying the article B carried out to the outside are provided in combination.

As the article conveyance vehicle 3, two of the first article conveyance vehicle 3a and the second article conveyance vehicle 3b are provided. Each of the first article conveyance vehicle 3a and the second article conveyance vehicle 3b includes a self station and a station. 1, a transfer device 4 such as a roller conveyor that transfers the article B to / from 1, a plurality of traveling wheels 5 that travel on the track 2, and the like.
The traveling wheel 5 is composed of a driving traveling wheel 5a that is rotationally driven by an inverter-type traveling motor 6 and a driven traveling wheel 5b that is freely driven and rotated, and is driven when traveling on the bent portion 2c. The traveling wheel 5a for driving is arranged on the inner side and the traveling wheel 5b for driving is arranged on the outer side.

Although not described in detail, the driving traveling wheel 5a and the driven traveling wheel 5b are provided so as to be pivotable about the longitudinal axis with respect to the vehicle body of the article transport vehicle 3, and the driving traveling wheel 5a is provided. However, it is slidably provided in the approaching / separating direction with respect to the driven traveling wheel 5b.
Then, by the turning movement around the longitudinal axis of the driving traveling wheel 5a and the driven traveling wheel 5b and the sliding movement of the driving traveling wheel 5a in the approaching / separating direction with respect to the driven traveling wheel 5b, The article transport vehicle 3 is configured to be able to travel on the bent portion 2c.

As shown in FIG. 2, each of the first article transport vehicle 3a and the second article transport vehicle 3b includes a travel inverter 7 that operates the travel motor 6 to drive the article transport vehicle 3, and the adjacent article transport. A distance detection sensor 8 that detects the distance to the vehicle 3, a slave controller 10 that controls the operation of the distance detection sensor 8 and the inter-dolly optical transmission device 9, a transfer inverter 11 that operates the transfer device 4, and an encoder 16 And an input / output device 13 for outputting detection information of the sensors 12 such as the detection sensor 25 and the like.
The vehicle body control means H provided in the article transport vehicle 3 includes a traveling inverter 7, a slave controller 10, a transfer inverter 11, an input / output device 13, and the like.

  On the ground side, a ground-side operation control means 14 for managing the operation of the first article transport vehicle 3a and the second article transport vehicle 3b is provided. The ground-side operation control means 14 obtains information on the state of the article transport vehicle 3 from the vehicle body control means H equipped on the article transport vehicle 3 and issues various commands to the vehicle body control means H. Thus, the operation of the article transport vehicle 3 is managed.

  Travel position detection means for detecting the travel position on the track 2 of each of the plurality of article transport vehicles 3 is provided. As the traveling position detecting means, an optical distance measuring sensor 15 that projects measurement light along the longitudinal direction of the track 2 and an encoder 16 provided in the article transport vehicle 3 are provided.

As shown in FIG. 1, the optical distance measuring sensor 15 is installed on the ground side, such as an end of the track 2, and projects the measurement light in the longitudinal direction of the track 2, and then is applied to the article transport vehicle 3. The traveling position on the track of the article transport vehicle 2 is detected by measuring the time until the measurement light reflected by the equipped reflector is received.
Then, as the optical distance measuring sensor 15, there are four optical types, a first optical distance measuring sensor 15a, a second optical distance measuring sensor 15b, a third optical distance measuring sensor 15c, and a fourth optical distance measuring sensor 15d. A distance measuring sensor is provided.
The first optical ranging sensor 15a is disposed at one end of the first linear portion 2a so as to project measurement light along the longitudinal direction of the first linear portion 2a, and the second optical ranging sensor 15b is It arrange | positions corresponding to the corner | angular part of the bending part 2c so that the measurement light may be projected along the longitudinal direction of the 1st linear part 2a. The third optical range sensor 15c is arranged corresponding to the corner of the bent portion 2c so as to project the measurement light along the longitudinal direction of the second linear portion 2b, and the fourth optical range sensor 15d. Is arranged at one end of the second straight line portion 2b so as to project measurement light along the longitudinal direction of the second straight line portion 2b.

For example, a rotary encoder is provided as the encoder 16. The rotary encoder is provided such that a sprocket that meshes with a chain laid along the longitudinal direction of the track 2 is attached to the rotary shaft of the rotary encoder, and the sprocket is rotated by the traveling of the article transport vehicle 3. ing.
The encoder 16 is configured to detect the travel position of the article transport vehicle 3 on the track 2 by detecting the travel distance of the article transport vehicle 3 from a reference position set at one end of the track 2. .

In order to cause the article transport vehicle 3 to travel to the target travel position based on the detection information of the travel position detection means, between the vehicle body control means H equipped on the article transport vehicle 3 and the ground-side operation control means 14. And communication means T for operation management for performing communication between the adjacent article transporting vehicles 3 are provided.
As the communication means T for operation management, an optical system that performs communication between the ground-side operation control means 14 and the article transport vehicle 3 and communication between adjacent article transport vehicles 3 by a spatial light transmission system. Communication means 17 and wireless communication means 18 for performing communication between the ground-side operation control means 14 and the article transport vehicle 3 and communication between adjacent article transport vehicles 3 by an electromagnetic wave transmission method are provided. ing. The optical communication unit 17 and the wireless communication unit 18 are configured to perform communication operations in parallel.

The optical communication means 17 will be described.
The ground-side operation control means 14 and the vehicle inverter control means H such as the traveling inverter 7, slave controller 10, transfer inverter 11, and input / output device 13 are equipped with a spatial light transmission type communication controller. Yes. And the 1st optical transmission apparatus 19 which transfers communication information by the spatial light transmission system between the ground side operation control means 14 and the 1st goods conveyance vehicle 3a, the ground side operation control means 14, and the 2nd goods A second optical transmission device 20 is provided that exchanges communication information with the transport vehicle 3b by a spatial light transmission method.

The first optical transmission device 19 is composed of a pair of optical transmitters that project and receive communication light along the longitudinal direction of the track 2, and one of the pair of optical transmitters is installed on the ground side. And the other is installed in the goods conveyance vehicle 3 side. The optical transmitter installed on the ground side is disposed at a position adjacent to the first optical distance measuring sensor 15a and a position adjacent to the third optical distance measuring sensor 15c.
Similarly to the first optical transmission device 19, the second optical transmission device 20 also includes a pair of optical transmitters, that is, an optical transmitter installed on the ground side and an optical transmitter installed on the article transport vehicle 3 side. The optical transmitter configured on the ground side is disposed at a position adjacent to the second optical distance measuring sensor 15b and a position adjacent to the fourth optical distance measuring sensor 15d.

Then, the ground side operation control means 14 is the master, the driving inverter 7, the slave controller 10, the transfer inverter 11, the input / output device 13, etc. A communication network is configured by the communication controller provided on the 14 side, the communication controller provided on the article transport vehicle 3 side, the first optical transmission device 19, and the second optical transmission device 20.
In this way, the first optical transmission device 19 and the second optical transmission device 20 are provided as optical communication means 17 that performs communication between the ground-side operation control means 14 and the article transport vehicle 3. .

  The first article transport vehicle 3a and the second article transport vehicle 3b are provided with an inter-trolley light transmission device 9 that performs communication between adjacent article transport vehicles 3 by a spatial light transmission method. The inter-cart optical transmission device 9 is provided as an optical communication means 17 that performs communication between adjacent article transporting vehicles 3.

The wireless communication means 18 will be described.
On the ground side, a feeder line 21 used as an antenna is provided along the longitudinal direction of the track 2 over the entire length of the track 2, and the feeder line 21 is connected to a ground modem 22. The article transport vehicle 3 is provided with a wireless modem 23 so as to face and oppose the feeder line 21. Incidentally, the feeder line 21 is supported by a traveling rail installed as the track 2.
The ground modem 22 is connected to the ground-side operation control means 14, and the ground-side operation control means 14 is equipped with an electromagnetic wave transmission communication controller. The vehicle body control means H such as the traveling inverter 7, the slave controller 10, the transfer inverter 11, and the input / output device 13 are also equipped with an electromagnetic wave transmission type communication controller.
In this way, communication between the ground-side operation control means 14 and the vehicle body control means H is performed by the ground modem 22, the feeder line 21, and the wireless modem 23 by the electromagnetic wave transmission method.
The wireless communication means 18 that performs communication between the ground-side operation control means 14 and the vehicle body control means H includes a ground modem 22, a feeder line 21, and a wireless modem 23.

  As for communication between adjacent article transport vehicles 3, communication between one article transport vehicle 3 and the ground-side operation control means 14 using the ground modem 22, the feeder line 21, and the wireless modem 23. And the communication between the ground-side operation control means 14 and the other article transport vehicle 3 by the ground modem 22, the feeder line 21, and the wireless modem 23, so that the adjacent article transport vehicles 3 are connected to each other. Communication between the two.

  In this way, the optical communication means 17 and the wireless communication means 18 as the communication means T for operation management are used between the ground-side operation control means 14 and the vehicle body control means H and between the adjacent article transport vehicles 3. Various information can be communicated in parallel.

The detection information of the optical distance measuring sensor 15 is input to the ground-side operation control means 14, and the detection information of the encoder 16 provided in the article transport vehicle 3 is transmitted to the ground-side operation by the wireless communication means 18. It is communicated to the control means 14.
The ground-side operation control means 14 manages the operation of the first article transport vehicle 3a and the second article transport vehicle 3b while managing the travel positions of the first article transport vehicle 3a and the second article transport vehicle 3b. It is configured as follows.

The operation control means 14 on the ground side performs a selection process for selecting the article transport vehicle 3 for transport processing from the first article transport vehicle 3a and the second article transport vehicle 3b based on the transport request information, After carrying the article transport vehicle 3 for the transport process selected in the selection process to the station 1 to be transferred, the transfer process for transferring the article B to and from the station 1 to be transferred is performed. It is configured.
The ground-side operation control means 14 repeats the selection process and the transfer process sequentially each time the transfer request information is generated, and the articles B between the plurality of stations 1 in the two article transfer vehicles 3. It is comprised so that it may convey.

  Incidentally, with regard to the conveyance request information, the conveyance request information can be input to the operation control means 14 on the ground side by a human-operated input device such as a keyboard or a host controller. The transfer request information is used to instruct the transfer target station 1 and the transfer target station 1 for wholesale the article B.

  To explain the selection process, the operation control means 14 on the ground side determines whether or not the first article transport vehicle 3a and the second article transport vehicle 3b are currently being transported, the first article transport vehicle 3a and the second article transport vehicle 3b. Based on various conditions such as where the traveling position of the two article transport vehicle 3b is, the article transport vehicle 3 for transport processing is selected from the first article transport vehicle 3a and the second article transport vehicle 3b. It is configured.

For example, the operation control means 14 on the ground side transfers the transfer of the first article transport vehicle 3a and the second article transport vehicle 3b when both the two article transport vehicles 3 are in a standby state that is not currently being transported. The article conveyance vehicle 3 located near the target station 1 is selected as the article conveyance vehicle 3 for conveyance processing.
Further, the operation control means 14 on the ground side is configured so that when one article transport vehicle 3 is currently being transported and another article transport vehicle 3 is on standby, the standby article transport vehicle 3 is transported. If no interference occurs with the article transport vehicle 3 that is currently being transported even if the process is performed, the standby article transport vehicle 3 is selected as the article transport vehicle 3 for the transport process.

In this way, the ground-side operation control means 14 causes the article transport vehicle 3 for transport processing to be selected based on the transport request information to travel within a range that does not interfere with the article transport vehicle 3 that is currently transporting. As a condition, it is configured to select an article transport vehicle 3 for transport processing.
Then, the ground-side operation control means 14 waits at the current position without performing selection as the article transport vehicle 3 for the transport process when it interferes with the article transport vehicle 3 currently performing the transport process in the selection process. It is configured to execute a evacuation operation to move to a position that does not interfere with the article transport vehicle 3 that is currently in the transport process.

The operation of the operation control means 14 on the ground side will be described.
First, the ground-side operation control means 14 travels on the track 2 of each of the two article transport vehicles 3 in order to perform selection processing and to perform transport processing in the article transport vehicle 3 for transport processing. Since the position is managed, this point will be described.
The operation control means 14 on the ground side preferentially uses the detection information of the optical distance sensor 15 and uses the detection information of the encoder 16 when the detection information of the optical distance sensor 15 cannot be obtained. The traveling position on the track 2 of each of the two article transporting vehicles 3 is managed.

The operation when the ground-side operation control means 14 manages the travel position of the article transport vehicle 3 will be described based on the flowchart of FIG.
First, the optical distance measuring sensor 15 and the encoder 16 are operated in parallel so that the ground-side operation control means 14 can manage the travel position of the article transport vehicle 3 regardless of which detection information is used. (Step 1).
Then, when the detection information of the optical distance measuring sensor 15 is obtained, the operation control means 14 on the ground side uses the detection information of the optical distance measuring sensor 15 to travel on the track 2 of the article transport vehicle 3. The position is managed (steps 2 and 3).
Further, when the ground-side operation control means 14 cannot obtain the detection information of the optical distance measuring sensor 15 because the article transport vehicle 3 is positioned at the bent portion 2c, the ground-side operation control by the wireless communication means 18 is performed. The detection information of the encoder 16 is obtained by communication between the means 14 and the article transporting vehicle 3, and the traveling position on the track 2 of the article transporting vehicle 3 is managed using the detection information of the encoder 16 (step) 2, 4).

The management of the travel position of the first article transport vehicle 3a will be described.
When the first article transport vehicle 3a is located at the first straight line portion 2a, the travel position of the first article transport vehicle 3a is detected by the first optical distance measuring sensor 15a. And the driving control means 14 on the ground side uses the detection information of the first optical distance measuring sensor 15a by the input of the detection information of the first optical distance measuring sensor 15a, and travels the first article transport vehicle 3a. Manage location.
And when the 1st article conveyance vehicle 3a is located in the 2nd linear part 2b, the traveling position of the 1st article conveyance vehicle 3a is detected by the 3rd optical distance measuring sensor 15c. And the driving control means 14 on the ground side inputs the detection information of the third optical distance measuring sensor 15c and uses the detection information of the third optical distance measuring sensor 15c to travel the first article transport vehicle 3a. Manage location.

Further, when the first article transport vehicle 3a is positioned at the bent portion 2c, the measurement light projected by the distance measuring sensor 15 cannot be projected toward the reflector equipped on the article transport vehicle 3, etc. The traveling position of the first article transporting vehicle 3a cannot be detected by the one-light ranging sensor 15a and the third optical ranging sensor 15c.
Therefore, the ground-side operation control means 14 uses the detection information of the encoder 16 to manage the travel position of the first article transport vehicle 3a. In other words, the ground-side operation control means 14 acquires the detection information of the encoder 16 through communication between the ground-side operation control means 14 and the article transport vehicle 3 by the wireless communication means 18. And the to-be-detected body 24 is provided in the both ends of the bending part 2c on the ground side, and the article conveyance vehicle 3 is provided with the detection sensor 25 which detects the to-be-detected body 24, and the ground by the radio | wireless communication means 18 is provided. By the communication between the side operation control means 14 and the article transport vehicle 3, the ground side operation control means 14 detects the time point when the detection sensor 25 detects the detected object 24.
In this way, when the ground-side operation control means 14 acquires the detection information of the encoder 16 and detects the detected object 24 by the detection sensor 25, the first article transport vehicle 3a from that point of time is detected. The travel position of the first article transport vehicle 3a is managed by detecting the travel position of the first article transport vehicle 3a.

The management of the travel position of the second article transport vehicle 3b is the same as the management of the travel position of the first article transport vehicle 3a, and the second article transport vehicle 3b is located in the first straight portion 2a or the second straight portion 2b. Sometimes, only the optical distance measuring sensor 15 for detecting the traveling position of the second article transport vehicle 3b is different, and the detailed description is omitted.
That is, when the second article transport vehicle 3b is positioned on the first straight line portion 2a, the second optical distance measuring sensor 15b detects the traveling position of the second article transport vehicle 3b, and the second article transport vehicle 3b When located at the straight line portion 2b, the fourth optical distance measuring sensor 15d detects the travel position of the second article transport vehicle 3b.

  In this manner, the ground-side operation control means 14 causes the article transport vehicle 3 for transport processing to travel in a state where the travel position of the article transport vehicle 3 is managed. At this time, the article transport vehicle 3 It is comprised so that the driving | running | working command information about may be communicated by the communication means T for driving | operation management. And the vehicle body control means H is comprised so that traveling control may be performed based on traveling command information.

In other words, the driving control means 14 on the ground side first sends the travel start information for instructing the travel direction to the article transport vehicle 3 for the transport processing by the communication means T for driving management. The traveling inverter 7 that has transmitted to 7 and received the travel start information is configured to start travel of the article transport vehicle 3.
Thereafter, the driving control means 14 on the ground side is configured to transmit the traveling speed command information to the traveling inverter 7 by the communication means T for operation management every time the set time elapses. Based on the travel speed command information from the ground-side operation control means 14, the current value for the travel motor 6 is adjusted so that the article transport vehicle 3 travels at the travel speed commanded by the travel speed command information. It is configured.

  When the travel speed information is described, when the article transport vehicle 3 travels the first straight line portion 2a and the second straight line portion 2b, the travel speed determined in advance according to the elapsed time or travel distance from the start of travel. Based on the speed curve, travel speed command information is commanded. Further, when the article transport vehicle 3 travels the bent portion 2c, the vehicle decelerates before entering the bent portion 2c, and then travels for the bent portion at a lower speed than when traveling the first straight portion 2a and the second straight portion 2b. In order to travel at a speed, travel speed command information is commanded.

  The operation control means 14 on the ground side corresponds to the station 1 to be transferred when the article transport vehicle 3 travels while managing the travel position of the article transport vehicle 3 for transport processing. When the target travel position is reached, the travel stop command information is transmitted to the travel inverter 7 by the communication means T for operation management, and the travel inverter 7 that has received the travel stop command information stops the travel motor 6 from operating. Thus, the article transport vehicle 3 is configured to stop at the target travel position.

  Further, the ground-side operation control means 14 may use the article transport vehicle when traveling a plurality of the article transport vehicles 3 in the same direction on the track 2 based on the detection information of the optical distance measuring sensor 15 or the encoder 16. The travel command information is communicated to the travel inverter 7 so that the inter-vehicle distance between the three vehicles is equal to or greater than the set inter-vehicle distance.

For example, when the second article transport vehicle 3b is already traveling when the first article transport vehicle 3a is traveling, the ground-side operation control means 14 is connected to the first article transport vehicle 3a and the first article transport vehicle 3a. It is comprised so that it may be discriminate | determined whether the traveling direction with the two goods conveyance vehicle 3b is the same.
When the traveling direction of the first article transport vehicle 3a and the second article transport vehicle 3b is the same, the inter-vehicle distance between the article transport vehicles 3 is equal to or greater than the set inter-vehicle distance. In order to adjust the travel speed of the first article transport vehicle 3a, the travel speed command information is transmitted to the travel inverter 7 of the first article transport vehicle 3a.
By the way, for the set inter-vehicle distance, the stop distance required when the second article transport vehicle 3a is stopped by applying a brake from the stop distance required when the first article transport vehicle 3a is normally decelerated and stopped. It is defined as the distance drawn.

The ground-side operation control means 14 is configured to transmit transfer command information to the transfer inverter 11 by the operation management communication means T in a state where the article transport vehicle 3 is stopped at the target stop position. Has been.
Then, the transfer inverter 11 operates the transfer device 4 based on the transfer command information from the operation control means 14 on the ground side, and picks up the article B existing in the transfer target station 1 or The article B is wholesaled to the station 1 to be transferred.

In this way, the operation control means 14 on the ground side conveys the article conveyance vehicle 3 for conveyance processing while communicating various information with the vehicle body control means H by the communication means T for operation management. It is configured to let you.
The ground-side operation control means 14 preferentially uses the communication information from the optical communication means 17 and communicates with the vehicle body control means H by the communication means T for operation management. The communication information of the wireless communication means 18 is used when the communication information by the type communication means 17 cannot be obtained.

In other words, the optical communication means 17 and the wireless communication means 18 are operated in parallel, and the communication information of either communication means is used between the operation control means 14 on the ground side and the vehicle body control means H. Make sure you can communicate with
When the communication control by the optical communication means 17 is possible, the operation control means 14 on the ground side gives priority to the optical communication means 17 over the wireless communication means 18 and uses the travel command information and the transfer command. Information is communicated to the vehicle body control means H by the optical communication means 17. On the other hand, if the communication by the optical communication means 17 is possible, the vehicle body control means H gives priority to using the communication information of the optical communication means 17 over the communication information of the wireless communication means 18, and the article transport vehicle 3 Or the transfer device 4 is operated.
The ground-side operation control means 14 uses the wireless communication means 18 to indicate a travel command when communication by the optical communication means 17 is impossible because the article transport vehicle 3 is located at the bent portion 2c. Information and transfer command information are communicated to the vehicle body control means H by the optical communication means 17. On the other hand, if communication by the optical communication means 17 is impossible, the vehicle body control means H uses the communication information of the wireless communication means 18 to drive the article transport vehicle 3 or activate the transfer device 4. .

Communication between the ground-side operation control means 14 and the first article transport vehicle 3a will be described.
When the first article transport vehicle 3a is located at the first straight line portion 2a or the second straight line portion 2b, communication by the first optical transmission device 19 is possible. Therefore, the ground-side operation control means 14 communicates the travel command information and the transfer command information to the vehicle body control means H in the first optical transmission device 19. Then, the vehicle body control means H uses the communication information of the first optical transmission device 19 to drive the article transport vehicle 3 or operate the transfer device 4.

  Further, when the first article transport vehicle 3a is located at the bent portion 2c, communication by the first optical transmission device 19 is impossible. Therefore, the ground-side operation control means 14 communicates the travel command information and the transfer command information to the vehicle body control means H by the wireless communication means 18 including the ground modem 22, the feeder line 21 and the wireless modem 23. Then, the vehicle body control unit H uses the communication information of the wireless modem 23 to drive the article transport vehicle 3 or operate the transfer device 4.

  The communication between the ground-side operation control means 14 and the second article transport vehicle 3b is the same as the communication between the ground-side operation control means 14 and the first article transport vehicle 3a. Since only the second optical transmission device 20 is used in place of the one optical transmission device 19, detailed description thereof is omitted.

  In the first article transport vehicle 3a and the second article transport vehicle 3b, in order to prevent the article transport vehicles 3 from colliding with each other, the slave controller 10 as the vehicle body control means H is connected to the first article transport vehicle 3a and the second article transport vehicle 3a. It is comprised so that the relative running state with the conveyance vehicle 3b may be managed.

To explain, the operation control means 14 on the ground side manages the travel positions of the two article transport vehicles 3, but travels about the travel position of the article transport vehicle 3 and the travel positions of the adjacent article transport vehicles 3. The position information is communicated by the communication means T for operation management.
Then, the slave controller 10 uses the detection information of the distance detection sensor 8 or the travel position information communicated by the operation management communication means T from the operation control means 14 on the ground side to convey the first article. As the relative travel state between the vehicle 3a and the second article transport vehicle 3b, the relative inter-vehicle distance between the first article transport vehicle 3a and the second article transport vehicle 3b is managed.
That is, when the slave controller 10 uses the detection information of the distance detection sensor 8, the relative inter-vehicle distance between the first article transport vehicle 3a and the second article transport vehicle 3b based on the detection information of the distance detection sensor 8. Seeking and managing. When the slave controller 10 uses the travel position information communicated from the ground-side operation control means 14 by the communication means T for operation management, the slave controller 10 and the other article transport vehicle 3 By differentiating the traveling position, the own traveling speed and the traveling speed of the other article transporting vehicle 3 are obtained, and the own traveling position, the traveling position of the other article transporting vehicle 3, the own traveling speed, the other article transporting vehicle. 3, the relative inter-vehicle distance between the first article transport vehicle 3a and the second article transport vehicle 3b is obtained and managed.

  Then, the slave controller 10 preferentially uses the detection information of the distance detection sensor 8 and manages the distance detection sensor 8 of the distance detection sensor 8 when managing the relative traveling state of the first article conveyance vehicle 3a and the second article conveyance vehicle 3b. When the detection information cannot be obtained, the travel position information communicated by the communication means T for operation management is used.

When the relative inter-vehicle distance is less than the allowable inter-vehicle distance, the slave controller 10 activates the power stop unit 26 that stops the power supply to the travel motor 6 and stops the power supply to the travel motor 6, thereby The article transport vehicle 3 is configured to stop traveling.
The slave controller 10 is configured to instruct a travel stop command to the adjacent article transport vehicle 3 via the operation management communication means T, and the slave of the adjacent article transport vehicle 3 that has received the travel stop command. The controller 10 is configured to stop the traveling of the adjacent article transport vehicle 3 by operating the power stop means 26 and stopping the power supply to the travel motor 6.

Then, the slave controller 10 preferentially uses the inter-trolley light transmission device 9 and issues inter-trolley light transmission when instructing a travel stop command to the adjacent article transport vehicle 3 via the communication means T for operation management. When the apparatus 9 cannot be used, the wireless communication means 18 is used to instruct a travel stop command to the slave controller 10 installed in the adjacent article transport vehicle 3.
In this way, for communication between the first article transport vehicle 3a and the second article transport vehicle 3b, the vehicle body control means H preferentially uses the communication information from the optical communication means 17, and the optical type The communication information of the wireless communication means 18 is used when the communication information by the communication means 17 cannot be obtained.

  In other words, the vehicle body control means H uses the communication information of the inter-trolley optical transmission device 9 to communicate with the first article transport vehicle 3a and the second article if communication is possible with the inter-trolley optical transmission apparatus 9. Communication with the transport vehicle 3b is performed. Further, the vehicle body control means H uses the wireless communication means 18 to communicate with the first article transport vehicle 3a if the article transport vehicle 3 is located at the bent portion 2c and cannot communicate with the inter-dolly optical transmission device 9. Between the second article transport vehicle 3b and the ground-side operation control means 14 by the wireless communication means 18 and wireless communication. Communication between the first article transport vehicle 3a and the second article transport vehicle 3b is performed using the communication information of the means 18.

Based on the flowchart of FIG. 4, the communication between the ground-side operation control means 14 and the article transport vehicle 3 and the communication between the first article transport vehicle 3a and the second article transport vehicle 3b will be described.
First, the optical communication means 17 and the wireless communication means 18 are operated in parallel so that communication can be performed using the communication information of either communication means (step 11).
If communication is possible using the optical communication means 17, communication is performed using the optical communication means 17 (steps 12 and 13).
If communication using the optical communication means 17 is impossible, communication is performed using the wireless communication means 18 (steps 12 and 14).

  Depending on the travel positions of the first article transport vehicle 3a and the second article transport vehicle 3b, communication between the ground-side operation control means 14 and the article transport vehicle 3, and the first article transport vehicle 3a and the second article transport vehicle. How to communicate with 3b will be described with reference to the table of FIG.

  First, when the first article transport vehicle 3a and the second article transport vehicle 3b are located in the first straight portion 2a, the communication between the ground-side operation control means 14 and the first article transport vehicle 3a is as follows. The communication between the operation control means 14 on the ground side and the second article transport vehicle 3b is performed by the second optical transmission apparatus 20, and the first article transport vehicle 3a. The communication between the vehicle and the second article transport vehicle 3b is performed by the inter-dolly optical transmission device 9.

  Next, when the first article transport vehicle 3a is located at the first straight portion 2a and the second article transport vehicle 3b is located at the bent portion 2c, the ground-side operation control means 14 and the first article transport vehicle 3a The communication between the two is performed by the first optical transmission device 19, the communication between the ground-side operation control means 14 and the second article transport vehicle 3b is performed by the wireless communication means 18, Communication between the one article transport vehicle 3 a and the second article transport vehicle 3 b is performed by the wireless communication means 18.

  Next, when the first article transport vehicle 3a is located in the first straight portion 2a and the second article transport vehicle 3b is located in the second straight portion 2b, the ground-side operation control means 14 and the first article transport vehicle Communication with 3a is performed by the first optical transmission device 19, and communication between the ground-side operation control means 14 and the second article transport vehicle 3b is transmitted to the second optical transmission device 20. Communication between the first article transport vehicle 3a and the second article transport vehicle 3b is performed by the wireless communication means 18.

  Next, when the first article transport vehicle 3a is located at the bent portion 2c and the second article transport vehicle 3b is located at the second straight line portion 2b, the ground-side operation control means 14 and the first article transport vehicle 3a. The communication between the two is performed by the wireless communication unit 18, and the communication between the operation control unit 14 on the ground side and the second article transport vehicle 3b is performed by the second optical transmission device 20, Communication between the first article transport vehicle 3 a and the second article transport vehicle 3 b is performed by the wireless communication means 18.

  Next, when the first article transport vehicle 3a and the second article transport vehicle 3b are positioned in the second linear portion 2b, communication between the ground-side operation control means 14 and the first article transport vehicle 3a is performed. Is performed by the first optical transmission device 19, and communication between the ground-side operation control means 14 and the second article transport vehicle 3b is performed by the second optical transmission device 20, and the first article transport is performed. Communication between the vehicle 3a and the second article transport vehicle 3b is performed by the inter-dolly optical transmission device 9.

[Another embodiment]
(1) In the above embodiment, the ground-side operation control means 14 communicates the travel command information to the vehicle body control means H by the operation management communication means T even while the article transport vehicle 3 is traveling on the bent portion 2c. However, for example, before the communication article transport vehicle 3 enters the bent portion 2c, the driving control means 14 on the ground side drives the driving command information so as to drive at the traveling speed for the bent portion. The communication means T for management communicates with the vehicle body control means H, and while the article transport vehicle 3 is traveling on the bent portion 2c, the operation control means 14 on the ground side transmits the travel command information to the communication for operation management. It can also be configured and implemented so that the means T does not communicate with the vehicle body control means H.
The bending part 2c does not allow the two article transport vehicles 3 to be positioned, and the slave controller 10 manages the relative traveling state to stop its own traveling and communication means for operation management. By instructing a travel stop command to the adjacent article transport vehicle 3 via T, a collision between the article transport vehicles 3 can be prevented. In the bent portion 2c, since the article transport vehicle 3 travels at a traveling speed for a low-speed bent portion, communication is performed more than the optical communication means 17 in instructing the adjacent article transport vehicle 3 to stop traveling. Even if the wireless communication means 18 that takes a long time is used, the collision between the article transport vehicles 3 can be accurately prevented.

(2) In the above embodiment, when the ground-side operation control means 14 causes a plurality of article transport vehicles 3 to travel in the same direction on the track 2, the inter-vehicle distance between the article transport vehicles 3 is equal to or greater than the set inter-vehicle distance. As described above, the travel command information is transmitted to the travel inverter 7, but when the ground-side operation control means 14 travels a plurality of the article transport vehicles 3 in the same direction on the track 2, What kind of traveling command information is transmitted to the traveling inverter 7 can be appropriately changed.
For example, when the operation control means 14 on the ground side causes a plurality of article transport vehicles 3 to travel in the same direction on the track 2, the speed command information is used for traveling so that the travel speeds of the article transport vehicles 3 are the same. It can be transmitted to the inverter 7.

(3) In the above embodiment, the article transport vehicle 3 is not equipped with a vehicle body controller that controls the operation of various devices such as the traveling motor 6 and the transfer device 4, and the traveling inverter 7 as the vehicle body control means H is provided. The travel motor 6 is operated based on the travel command information communicated from the ground-side operation control means 14 by the operation management communication means T. The travel motor 6, the transfer device 4, etc. A vehicle controller for controlling the operation of the various devices is mounted on the article transport vehicle 3 as the vehicle body control means H, and the vehicle body controller is communicated from the operation control means 14 on the ground side by the communication means T for operation management. According to the travel start command, the operation of the travel motor 6 can be controlled so that the article transport vehicle 3 travels in a state where the travel speed is managed.
That is, the vehicle body controller that controls the travel control of the article transport vehicle 3 and the operation of the transfer device 4 is installed in the article transport vehicle 3 as the vehicle body control means H, and the ground-side operation control means 14 and the vehicle body controller include: The present invention can also be implemented by configuring various information to be communicated by the communication means for operation management.

(4) In the above-described embodiment, the ground-side operation control means 14 performs an article conveyance for the conveyance process from the first article conveyance vehicle 3a and the second article conveyance vehicle 3b based on various conditions in the selection process. Although the vehicle 3 is selected, it can be appropriately changed depending on what conditions the article transport vehicle 3 for the transport process is selected.

(5) In the above embodiment, an example in which a plurality of stations 1 are arranged on the left and right of the track 2 is shown, but the number of stations 1 and in which position the stations 1 are arranged can be changed as appropriate.

(6) In the above embodiment, the example in which the distance detection sensor 8 is provided in each of the two article transport vehicles 3 is shown. However, the distance detection sensor 8 and the slave controller 10 are provided only in one of the two article transport vehicles 3. It is also possible to implement by providing.
In this case, when the relative distance between the slave controllers 10 is less than the allowable inter-vehicle distance, the slave controller 10 communicates a travel stop command to the adjacent article transport vehicle 3 by the communication means T for operation management. The vehicle 3 can be stopped.

(7) In the above embodiment, an example in which the first optical transmission device 19, the second optical transmission device 20, and the inter-trolley optical transmission device 9 are provided as the optical communication unit 17 is shown. Any device capable of communicating by the spatial light transmission method may be used, and various kinds of spatial light transmission communication devices can be applied.
Moreover, although the example which provided the ground modem 22, the feeder line 21, and the wireless modem 23 was shown as the radio | wireless communication means 18, the radio | wireless communication means 18 should just communicate with an electromagnetic wave transmission system, and various electromagnetic waves. A transmission type communication device can be applied.

(8) In the above embodiment, the example in which the two article transport vehicles 3 are provided has been described. However, three or more article transport vehicles 3 may be provided, and the number of the article transport vehicles 3 can be appropriately changed.

(9) In the above embodiment, the track 2 is formed in an L-shape combining the straight portions 2a, 2b and the bent portion 2c. However, the shape of the track 2 can be appropriately changed. is there.

(10) In the above embodiment, an example is shown in which the article transport facility according to the present invention is applied to an article transport facility in which the track 2 is formed in a bent shape in which the straight portions 2a and 2b and the bent portion 2c are combined. For example, the present invention can be applied to an article conveyance facility in which an openable door is provided in the middle of the track.

(11) In the above embodiment, the article transporting vehicle that transports the article between the plurality of stations 1 is exemplified as the article transporting vehicle. However, for example, the article transporting is performed between the plurality of storage units of the article storage shelf. Various article transport vehicles such as a stacker crane can be applied.

Top view of the goods transport facility Control block diagram of goods transport equipment Flowchart when the ground side operation control means manages the travel position Flowchart when communicating with communication means for operation management Table showing the communication method to be performed according to the travel position of the article transport vehicle

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Article transfer location 2 Orbit 2a, 2b Straight part 2c Bending part 3 Goods conveyance vehicle 8 Distance detection sensor 14 Ground-side operation control means 15 Optical distance measuring sensor 16 as travel position detection means 16 Encoder as travel position detection means 17 optical communication means 18 wireless communication means H vehicle body control means T communication means for operation management

Claims (4)

Operation control means on the ground side that manages the operation of a plurality of article transport vehicles that run on a track across a plurality of article transfer locations, and the operation of the article transport vehicle that is installed in each of the plurality of article transport vehicles Vehicle body control means, traveling position detection means for detecting a traveling position of each of the plurality of article transport vehicles on the track, and traveling the article transport vehicle to a target travel position based on detection information of the travel position detecting means. For the purpose of operation management, the communication between the vehicle body control means equipped on the article transport vehicle and the operation control means on the ground side and the communication between adjacent ones of the plurality of article transport vehicles are performed. Goods communication equipment provided with the communication means,
As the communication means for operation management, an optical system that performs communication between the operation control means and the article transport vehicle and communication between adjacent ones of the plurality of article transport vehicles by a spatial light transmission method. Parallel communication means and wireless communication means for performing communication between the operation control means and the article transport vehicle and communication between adjacent ones of the plurality of article transport vehicles by an electromagnetic wave transmission method, Are provided to perform communication operations,
The driving control means and the vehicle body control means preferentially use communication information from the optical communication means, and use communication information from the wireless communication means when communication information from the optical communication means cannot be obtained. Composed of
The operation control means is configured to communicate travel command information about the article transport vehicle with the operation management communication means,
The vehicle body control means is configured to perform travel control based on the travel command information,
A distance detection sensor for detecting a distance between adjacent article transport vehicles is provided in the article transport vehicle,
The operation control means is configured to communicate travel position information about a travel position of the article transport vehicle and a travel position of an adjacent article transport vehicle with the communication means for operation management.
The vehicle body control means preferentially uses the detection information of the distance detection sensor, and when the detection information of the distance detection sensor cannot be obtained, the travel position information communicated by the operation management communication means is used. And managing the relative traveling state with the adjacent article transport vehicle, and instructing the travel stop command to the adjacent article transport vehicle via the own travel stop and the operation management communication means. And
As the optical communication means, there are provided an optical transmission device that performs communication between the operation control means and the article transport vehicle, and an inter-trolley optical transmission device that performs communication between adjacent article transport vehicles. And
When the operation control unit instructs the vehicle body control unit to transmit the travel command information, when the communication by the optical transmission device is possible, the operation control unit uses the optical transmission device to transmit the travel command information to the vehicle control unit. When the vehicle control unit performs traveling control using communication information of the optical transmission device and communication by the optical transmission device is impossible, the operation control unit transmits the wireless communication to the vehicle body control unit. Using the communication means to communicate the travel command information to the vehicle body control means, the vehicle body control means performs the travel control using the communication information of the wireless communication means,
When the vehicle body control means commands the travel stop command to the adjacent article transport vehicle, the inter-trolley optical transmission device is preferentially used, and the wireless communication means is used when the inter-trolley optical transmission device cannot be used. An article conveying facility for instructing the travel stop command to the vehicle body control means installed in an adjacent article conveying vehicle . As the travel position detection means, an optical distance measuring sensor that projects measurement light along the longitudinal direction of the track and an encoder equipped in the article transport vehicle are provided,
The driving control means and the vehicle body control means preferentially use the detection information of the optical distance sensor, and use the detection information of the encoder when the detection information of the optical distance sensor cannot be obtained. The article conveyance facility according to claim 1, which is configured as follows. The track is formed in a bent shape combining a straight portion and a bent portion ,
The said optical transmission apparatus is comprised at the edge part of the said linear part of the said track | orbit, and is comprised by the optical transmitter which light-transmits / receives the light for communication along the longitudinal direction of the said track | orbit. Goods transport equipment. When the operation control unit causes a plurality of the article transport vehicles to travel in the same direction on the track based on the detection information of the travel position detection unit, the inter-vehicle distance between the article transport vehicles is a set inter-vehicle distance. The article conveyance facility according to any one of claims 1 to 3, wherein the article commanding equipment is configured to communicate the travel command information to the vehicle body control means so as to achieve the above.

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