JP2001180806A - Control device for automated storage and retrieval warehouse and its control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a rated value reducible for a power equipment of an automated storage and retrieval warehouse. SOLUTION: When an assigned data or the like for a target cargo taking position is set by switch operation or the like of an operating part (S21), a deviation ΔT between peak timing (=Tupdown) maximizing power consumption in a lift drive part and peak timing (=Trun) maximizing power consumption in a running drive part is calculated (S22, S23), whether this deviation ΔT exceeds a preset time T or not is decided (S24), when a decision result is NO, a lift delay timer is set (S25), lift starting of a fork by a lift motor in the lift drive part is delayed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vertically movable pair of masts which are driven by a traveling drive unit and move on a traveling rail. Automatic warehouse control that moves up and down forks on both masts and moves the forks to designated target loading positions among the multiple loading locations installed in the direction of the traveling rail and in the vertical direction. The present invention relates to an apparatus and a control method thereof.

[0002]

2. Description of the Related Art Generally, automatic warehouses are introduced for the purpose of advanced logistics management, for example, by moving a fork to a plurality of loading positions installed two-dimensionally or three-dimensionally in a horizontal direction and a vertical direction, Delivery of the desired luggage is performed.

[0003] This kind of automatic warehouse is, for example, shown in Figs.
A pair of masts 2 are vertically provided on both sides of a lower rail 1 as a base, and a fork 3 which moves up and down along the masts 2 is provided on both masts 2 together with a carriage 3a. ing. At this time, the traveling motor is driven by the traveling drive unit 4, and the lower rail 1 travels on the traveling rail 6 together with both the mast 2 and the fork 3. The lifting drive unit 5 drives the lifting motor to move the fork 3 to the carriage. Together with both masts 2.

In order to carry out unloading at a desired unloading position in such an automatic warehouse, an operation unit 7a including a plurality of operation switches of a controller 7 shown in FIG.
Is operated by an operator, whereby designation data for specifying a target loading position among a plurality of loading positions installed in the direction of the traveling rail 6 and in the vertical direction are set and designated. A traveling drive unit 4 that determines the speed, time, and the like when moving the fork 3 with respect to the target loading position.
And the control data of the elevation drive unit 5 are set. Further, based on the designated data and the control data, a control device (not shown) such as a microcomputer constituting the controller 7 simultaneously starts driving the traveling motor of the traveling drive unit 4 and the elevation motor of the elevation drive unit 5, The movement of the lower rail 1 to the designated target pickup position and the ascent of the fork 3 are started simultaneously.

The time transition of the power consumption when the traveling drive unit 4 and the elevation drive unit 5 are controlled will be described with reference to FIGS. 6 and 7. FIG. However, each figure (a) shows the elevation drive unit 5, each figure (b) shows the travel drive unit 4, and each figure (c) shows the time transition of the power consumption in the entire automatic warehouse. FIG. 6 shows the peak timing (= Trun) at which the power consumption of the traveling drive unit 4 is maximum (= Trun) at which the power consumption of the elevation drive unit 5 is maximum.
FIG. 7 shows an example in which the power consumption of the traveling drive unit 4 is maximized.
(Trun) is later than the peak timing (= Tupdown) at which the power consumption of the elevation drive unit 5 is maximum.

Now, as shown by the solid lines in FIGS. 6A and 7A, when the lifting drive of the lifting motor is started by the lifting drive unit 5 and the lifting of the fork 3 is started (origin 0). ), The ascending speed of the fork 3 gradually increases at a predetermined acceleration, and accordingly, the power consumption of the lifting drive unit 5 gradually increases.

Then, the time when the speed of the fork 3 reaches the set speed based on the control data from the start of the increase (= Tupd)
In (own), the power consumption of the lifting drive unit 5 becomes maximum, and thereafter, the fork 3 keeps rising while maintaining the set speed. When approaching the target loading position, the lifting motor starts to be decelerated and the fork rising speed decreases. The power gradually decreases, and accordingly, the power consumption of the elevation drive unit 5 also decreases gradually.

As shown in FIGS. 6 (b) and 7 (b), when the drive of the traveling motor is started by the traveling drive unit 4 and the traveling of the lower rail 1 along the traveling rail 6 is started. (Origin 0), the moving speed of the lower rail 1 gradually increases at a predetermined acceleration, and accordingly, the power consumption of the traveling drive unit 4 gradually increases.

The time when the moving speed of the lower rail 1 reaches the set speed based on the control data from the start of traveling (= T
(run), the power consumption of the traveling drive unit 4 becomes maximum, and thereafter the lower rail 1 continues to travel at a set speed at a constant speed. Therefore, the power consumption of the traveling drive unit 4 gradually decreases and maintains a substantially constant value. When the vehicle approaches the target unloading position, the traveling motor starts to be decelerated, and the moving speed of the lower rail 1 gradually decreases, and accordingly, the power consumption of the traveling drive unit 4 also gradually decreases.

However, at the beginning of the deceleration of the lower rail 1, the power consumption of the traveling motor temporarily increases slightly due to the braking load, and the power consumption of the traveling drive unit 4 temporarily increases. The power consumption of the traveling drive unit 4 decreases at a substantially constant rate.

Therefore, when the traveling drive unit 4 and the lifting drive unit 5 are simultaneously controlled to move the fork 3 to the designated target, the power consumed by the entire automatic warehouse is as shown in FIG. The result is as shown by the solid line in FIG.

[0012]

However, in the conventional case described above, since the driving of the traveling motor and the lifting / lowering motor by the traveling driving unit 4 and the lifting / lowering driving unit 5 are started simultaneously, the power consumption of the lifting / lowering driving unit 5 is maximized. Peak timing (=
Tupdown) and the peak timing (= Trun) at which the power consumption of the traveling drive unit 4 is maximized may substantially overlap. In particular, as shown in FIG. 7, the peak timing of the power consumption of the traveling drive unit 4 (= Trun). Is the peak timing of the power consumption of the elevation drive unit 5 (= Tupdown)
When the speed is slightly slower than that, the maximum value of the power consumption in the entire automatic warehouse becomes a very large value, and there is a problem that an extremely large rated power is required as the power supply equipment of the automatic warehouse.

On the other hand, as shown in FIG. 6, the peak timing of the power consumption of the traveling drive unit 4 (= Trun) is the peak timing of the power consumption of the elevation drive unit 5 (= Tupdow).
In the case slightly earlier than n), the maximum value of the power consumption in the entire automatic warehouse is smaller than in the case of FIG.
When the difference between run and Tpdown is smaller than a predetermined value, the maximum value of the power consumption in the entire automatic warehouse reaches almost the same value as in the case of FIG. 7. Is still necessary.

[0014] An object of the present invention is to reduce the rated value of the power equipment of an automatic warehouse.

[0015]

In order to solve the above-mentioned problems, a control device for an automatic warehouse according to the present invention comprises a base which is driven by a traveling drive unit and moves on a traveling rail.
A pair of vertical masts are erected, and forks that are driven by a lifting drive and move up and down along the masts are provided on the masts, and a plurality of forks are provided in the traveling rail direction and in the up-down direction. In a control device of an automatic warehouse that moves the fork to a designated target loading position among the loading positions and performs loading, control data of the traveling drive unit and the elevation drive unit and designation of the target loading position An operation unit for setting data, and from the control data and the designation data set by operation of the operation unit, the traveling drive unit and the travel unit until the fork moves to the designated target loading position. A deriving unit that derives a peak timing at which the power consumption of the lifting and lowering drive unit is maximized, and the deriving unit deviates the two peak timings derived by the deriving unit. It is characterized by comprising a control unit for controlling the line driver and the lifting drive unit.

According to such a configuration, when the control data for controlling the traveling drive unit and the elevation drive unit and the designation data of the target unloading position are set by an operator's switch operation of the operation unit, etc. Based on the data, the peak timing at which the power consumption of the traveling drive unit and the elevation drive unit is maximized can be derived by calculation.

[0017] Therefore, by shifting the peak timing of the power consumption of the traveling drive unit and the peak timing of the power consumption of the elevation drive unit from the calculation result, the maximum value of the power consumption of the entire automatic warehouse is significantly reduced as compared with the conventional case. Can reduce the rated value of the power equipment of the automatic warehouse.

In the automatic warehouse control device according to the present invention, the control unit calculates a difference between the peak timing of the traveling drive unit and the peak timing of the elevation drive unit, and the difference is set in advance. When the time is shorter than the set time, the ascending and descending of the fork by the ascending and descending drive unit is started so that the peak timing of the ascending and descending drive unit is delayed from the peak timing of the traveling drive unit by a correction time longer than the set time. It is characterized by delaying.

According to such a configuration, the difference between the peak timing of the power consumption of the lifting drive unit and the peak timing of the power consumption of the traveling drive unit can be calculated, and when the difference is smaller than a preset time, Therefore, it can be predicted that the peak timings of the respective warehouses substantially overlap each other and the maximum value of the power consumption of the entire automatic warehouse increases.

Therefore, by delaying the start of driving of the motor of the vertical drive unit by a correction time longer than the set time, the peak timing of the power consumption of the vertical drive unit is shifted to reduce the maximum value of the power consumption of the entire automatic warehouse. It can be surely reduced.

Further, in the control device for an automatic warehouse according to the present invention, the control unit calculates a difference between the peak timing of the traveling drive unit and the peak timing of the lifting drive unit, and the difference is set in advance. The traveling time of the fork by the traveling drive unit to delay the peak timing of the traveling drive unit from the peak timing of the elevation drive unit by a correction time longer than the set time. It is characterized by delaying.

According to such a configuration, the start of driving of the motor of the traveling drive unit is delayed by the correction time longer than the set time, so that the peak timing of the power consumption of the traveling drive unit is shifted and the entire automatic warehouse is shifted. The maximum value of the power consumption can be reliably reduced.

In the control apparatus for an automatic warehouse according to the present invention, the control unit determines whether there is a load on the fork, and performs the delay control of the peak timing only when there is a load. And

According to such a configuration, when there is no load on the fork, the load is light and the power consumption of the lifting / lowering drive unit is small. Therefore, there is no need to shift the peak timings of the traveling drive unit and the lift drive unit. No control is performed to shift the peak timing of the drive units, and both drive units are driven simultaneously, giving priority to the reduction of the control cycle time.Only when there is a load on the fork, the control unit controls the travel drive unit and the elevation drive unit. Control to shift the peak timing is performed, and the maximum value of the power consumption of the entire automatic warehouse can be reduced.

Further, in the control method of the automatic warehouse according to the present invention, an operation unit for setting control data of the traveling drive unit and the elevation drive unit and designation data of the target unloading position is provided. From the control data and the designated data set by the operation, the peak timing at which the power consumption of each of the traveling drive unit and the elevation drive unit is maximum before the fork moves to the designated target loading position is set. The traveling drive unit and the lifting / lowering drive unit are derived so as to shift the derived peak timings.

According to such a configuration, the peak timing of the power consumption of the traveling drive unit and the elevation drive unit is derived by calculation based on the data set by operating the operation unit, and the travel drive unit is derived from the calculation result. And the peak timing of the power consumption of the lifting drive unit can be shifted,
The maximum value of the power consumption of the entire automatic warehouse can be significantly reduced as compared with the conventional one, and the rated value of the power equipment of the automatic warehouse can be reduced.

In the automatic warehouse control method according to the present invention, a difference between the peak timing of the traveling drive unit and the peak timing of the lifting drive unit is derived, and the difference is smaller than a preset time. In some cases, the start of lifting of the fork by the lifting / lowering drive unit is delayed so that the peak timing of the lifting / lowering drive unit is delayed from the peak timing of the traveling drive unit by a correction time longer than the set time. And

According to such a configuration, if the difference between the peak timing of the power consumption of the elevation drive unit and the peak timing of the power consumption of the traveling drive unit is smaller than a preset time, the elevation drive unit is activated. By delaying the start of driving of the motor by a correction time longer than the set time, the peak timing of the power consumption of the elevation drive unit can be shifted to reliably reduce the maximum value of the power consumption of the entire automatic warehouse.

Further, the automatic warehouse control method according to the present invention derives a difference between the peak timing of the traveling drive unit and the peak timing of the lifting drive unit, and the difference is smaller than a preset time. In some cases, the start of travel of the fork by the travel drive unit is delayed so that the peak timing of the travel drive unit is delayed from the peak timing of the elevation drive unit by a correction time longer than the set time. And

According to such a configuration, if the difference between the peak timing of the power consumption of the elevation drive unit and the peak timing of the power consumption of the traveling drive unit is smaller than a preset time, the travel drive unit is activated. By delaying the start of driving of the motor by a correction time longer than the set time, the peak timing of the power consumption of the traveling drive unit can be shifted to reliably reduce the maximum value of the power consumption of the entire automatic warehouse.

The automatic warehouse control method according to the present invention is characterized in that it is determined whether or not there is a load on a fork, and the peak timing delay control is performed only when there is a load.

According to such a configuration, when there is no load on the fork, the load is light and the power consumption of the elevation drive unit is small, so it is not necessary to shift the peak timing of the traveling drive unit and the elevation drive unit. Priority is given to shortening the cycle time of control by simultaneous driving of the traveling drive unit and the lifting drive unit, and only when there is a load on the fork, the control unit performs control to shift the peak timing of the travel drive unit and the elevation drive unit, The maximum power consumption of the entire automated warehouse can be reduced.

[0033]

(First Embodiment) A first embodiment of the present invention will be described.
An embodiment will be described with reference to FIGS. However, since the basic configuration of the automatic warehouse in the present embodiment is the same as that of the related art, differences from the related art will be described below with reference to FIGS. 4 and 5.

FIG. 1 shows the configuration of a control device including the controller 7 shown in FIG. 4. As shown in FIG. 1, a target unloading position is specified by operating an operation section 7a including a plurality of operation switches and the like. And the control data of the traveling drive unit 4 and the elevation drive unit 5 are set, the power consumption of the traveling drive unit 4 is reduced by the calculation unit 11 as the derivation unit based on the designated data and the control data. The deviation ΔT between the peak timing (= Trun), which is the maximum time, and the peak timing (= Tupdown), which is the time when the power consumption of the elevation drive unit 5 is maximum, is calculated.

Then, based on the operation result of the operation unit 11,
Peak timing of power consumption of the traveling drive unit 4 (= Tru
n) and the peak timing of the power consumption of the elevation drive unit 5 (=
The control unit 12 determines whether the deviation ΔT from the Tupdown) is smaller than a preset set time T (for example, T = 2 seconds), and when the ΔT is smaller than T, the control unit 12 controls the vertical drive. In order to delay the peak timing of the power consumption of the section 5 (= Tupdown) from the peak timing of the power consumption of the traveling drive section 4 (= Trun), the lifting of the fork 3 by the lifting motor of the lifting drive section 5 is delayed. . At this time, the start of lifting of the fork 3 by the lifting motor is delayed by the correction time t (> T) longer than the set time T.

Next, an operation from data input by operation of the operation unit 7a to driving of the traveling drive unit 4 and the elevation drive unit 5 will be described with reference to the flowchart of FIG.

As shown in FIG. 2, by operating the operation unit 7a, the designation data of the target loading position among the plurality of loading positions and the control data of the traveling drive unit 4 and the elevation drive unit 5 are set. Then (S21), the arithmetic unit 11 uses the peak timing (= Tupdown), which is the time when the power consumption of the lifting drive unit 5 is maximum, and the peak timing, which is the time when the power consumption of the traveling drive unit 4 is maximum ( = Tru
n) is calculated (S22), and the peak timing (= Tupdown) of the power consumption of the elevation drive unit 5 and the traveling drive unit 4 are calculated.
A deviation ΔT from the peak timing (= Trun) of the power consumption is calculated (S23).

Then, the calculated deviation ΔT is stored in the operation unit 7.
A determination is made as to whether or not the time is equal to or longer than the preset time T set by the operation of a (S24). Because it can be determined that they are almost overlapping,
An up / down delay timer is set to delay the start of the ascent of the fork 3, and the counting of the correction time t (> T) is started (S25). In the next step S26, after the driving of the traveling motor of the traveling drive unit 5 is started, The drive of the lift motor of the lift drive unit 5 is started with a delay of the correction time t (> T) (S26).

On the other hand, if the result of the determination in step S24 is YES, it can be determined that the peak timings of the power consumption of the elevation drive unit 5 and the traveling drive unit 4 are sufficiently shifted, and therefore the elevation motor of the elevation drive unit 5 Are driven almost simultaneously without delay from the start of driving of the traveling motor of the traveling drive unit 4 (S26), and the operation is thereafter terminated.

By doing so, in a case where the peak timing of the power consumption of the traveling drive unit 4 (= Trun) is earlier than the peak timing of the power consumption of the lift drive unit 5 (= Towndown), for example, .DELTA.T between the peak timing of the power consumption 5 (= Updown) and the peak timing of the power consumption of the traveling drive unit 4 (= Trun).
Is smaller than the set time T, 1 in FIG.
As indicated by the dashed line, the start of driving of the lifting / lowering motor of the lifting / lowering drive unit 5 is delayed by the correction time t (> T), and the peak timing of power consumption (= Tupdown) is also delayed by the correction time t. The maximum value of the entire power consumption changes as shown by a dashed line in FIG.
The maximum value is greatly reduced as compared with the conventional case shown by the solid line in the middle. At this time, even if the start of driving of the traveling motor of the traveling drive unit 4 is delayed by the correction time t (> T), the maximum value of the power consumption of the entire automatic warehouse is greatly reduced.

Also, in the case where the peak timing of the power consumption of the traveling drive unit 4 (= Trun) is later than the peak timing of the power consumption of the elevation drive unit 5 (= Towndown), the peak timing of the elevation drive unit 5 is also taken as an example. (= Tupd
own) and the peak timing of the traveling drive unit 4 (= Tru
If the deviation ΔT from n) is smaller than the set time T, FIG.
As shown by the one-dot chain line in (a), the correction time t (> T)
Only the start of driving of the lift motor of the lift drive unit 5 is delayed, and the peak timing of power consumption (= Tupdown) is also delayed by the correction time t. Therefore, the maximum value of the power consumption of the entire automatic warehouse is shown in FIG. As shown by the one-dot chain line,
The maximum value is greatly reduced as compared with the conventional case shown by the solid line in FIG. At this time, the correction time t (>
The same result can be obtained even if the drive start of the travel motor of the travel drive unit 4 is delayed by T).

Therefore, according to the first embodiment, the peak timing of the power consumption of the elevation drive unit 5 (= Tupdow)
If the deviation ΔT between n) and the peak timing of power consumption of the traveling drive unit 4 (= Trun) is smaller than the set time T, the correction start time of the lift motor of the lift drive unit 5 is longer than the set time T. Since the delay is delayed by t, the maximum value of the power consumption of the entire automatic warehouse can be significantly reduced as compared with the related art, and the rated value of the power equipment of the automatic warehouse can be reduced.

(Second Embodiment) A second embodiment of the present invention will be described with reference to FIG. However, since the basic configuration of the automatic warehouse in the present embodiment is the same as that of the related art, the differences from the above-described first embodiment will be described below with reference to FIGS. 4 and 5.

The present embodiment differs from the first embodiment in that the control unit 1 determines whether or not there is a load on the fork 3 by a detection sensor provided on the fork 3.
2 and if there is no load on the fork 3, the load is light and the power consumption of the elevation drive unit 5 is small.
Control for shifting the peak timings of the traveling drive unit 4 and the elevation drive unit 5 is not performed, and the drive units 4 and 5 are simultaneously driven as in the related art to reduce the control cycle time.

Next, the operation from data input by operating the operation unit 7a to driving of the traveling drive unit 4 and the elevation drive unit 5 will be described with reference to the flowchart of FIG.
As shown in FIG. 3, when the operation unit 7a operates to set designation data of a target loading position among a plurality of loading positions and control data of the traveling drive unit 4 and the elevation drive unit 5 (S31). It is determined whether there is a load on the fork 3 (S32), and if the determination result is NO, the process proceeds to step S37 described later.

On the other hand, if the decision result in the step S32 is YES.
Then, the peak timing (= Tupd), which is the time when the power consumption of the elevation drive unit 5 becomes maximum, is calculated by the arithmetic unit 11.
own) and a peak timing (= Trun) at which the power consumption of the traveling drive unit 4 becomes maximum (S3).
3), the peak timing of the power consumption of the elevation drive unit 5 (=
The difference ΔT between the “Tupdown” and the peak timing of the power consumption of the traveling drive unit 4 (= Trun) is calculated (S).
34).

The calculated deviation ΔT is stored in the operation unit 7.
A determination is made as to whether or not the time is equal to or longer than the preset time T set by the operation a (S35). If the determination result is NO, the peak timing of the power consumption of the lifting drive unit 5 and the traveling drive unit 4 becomes Because it can be determined that they are almost overlapping,
An ascending / descending delay timer is set to delay the start of ascending of the fork 3, and the counting of the correction time t (> T) is started (S36). In the next step S37, after the driving of the traveling motor of the traveling drive unit 5 is started, The drive of the lift motor of the lift drive unit 5 is started with a delay of the correction time t (> T) (S37). In step S37, the drive start of the travel motor of the travel drive unit 4 may be delayed with a delay of the correction time t (> T).

On the other hand, if the result of the determination in step S35 is YES, it can be determined that the peak timings of the power consumption of the elevation drive unit 5 and the traveling drive unit 4 are sufficiently shifted, and therefore the elevation motor of the elevation drive unit 5 Are driven almost simultaneously with no delay from the start of driving of the traveling motor of the traveling drive unit 4 (S37), and the operation is thereafter terminated.

On the other hand, if the result of the determination in step S32 is NO, there is no load on the fork 3 and the load is light, so that the peak value of the power consumption of the elevation drive unit 5 is reduced, and the cycle time is reduced. Since it can be determined that shortening may be prioritized, the lift motor of the lift drive unit 5 is driven by the travel drive unit 4.
Are driven almost simultaneously without delay from the start of driving of the traveling motor (S37), and the operation is thereafter terminated.

Therefore, according to the second embodiment, the same effect as that of the first embodiment can be obtained, and the reduction of the cycle time can be prioritized especially in the case of an empty load. Thus, the working time can be reduced and the working efficiency can be improved.

In each of the embodiments described above, the set time is set to, for example, 2 seconds. However, it is needless to say that the set time is not limited to this value.

It is needless to say that the configuration of the automatic warehouse is not limited to the examples shown in FIGS. 4 and 5, but in short, any configuration in which a plurality of loading positions are installed in each of the horizontal direction and the vertical direction. The present invention can be applied, and the same effect as the above-described embodiment can be obtained.

The present invention is not limited to the above-described embodiment, and various changes other than those described above can be made without departing from the gist of the present invention.

[0054]

As described above, according to the first and fifth aspects of the present invention, the power consumption of the traveling drive unit and the elevation drive unit is maximized based on the designation data and the control data by operating the operation unit. Since the peak timing is derived and the peak timing of the power consumption of the traveling drive unit and the elevation drive unit is shifted, the maximum power consumption of the entire automatic warehouse can be significantly reduced compared to the conventional system, and the power equipment of the automatic warehouse Can be reduced to reduce equipment costs.

Further, according to the second and sixth aspects of the present invention, the difference between the peak timing at which the power consumption of the elevation drive unit becomes maximum and the peak timing at which the power consumption of the traveling drive unit becomes maximum is determined in advance. When the set time is shorter than the set time, the start of driving of the motor of the elevation drive unit is delayed by a correction time longer than the set time, so that the maximum value of the power consumption of the entire automatic warehouse can be reliably reduced, It is possible to realize an inexpensive automatic warehouse configuration.

According to the third and seventh aspects of the present invention, the difference between the peak timing at which the power consumption of the elevation drive unit is maximum and the peak timing at which the power consumption of the traveling drive unit is maximum is determined in advance. When the driving time of the motor of the traveling drive unit is delayed by a correction time longer than the set time when the time is smaller than the set time, the maximum value of the power consumption of the entire automatic warehouse can be reliably reduced. It is possible to realize an inexpensive automatic warehouse configuration.

According to the fourth and eighth aspects of the present invention, when there is no load on the fork, the load is light and the power consumption of the lifting drive unit is small. There is no need to shift the timing, and it is possible to reduce the cycle time of control by simultaneous driving of both drive units, and to perform control to shift the peak timing of the traveling drive unit and the vertical drive unit only when there is a load on the fork. Thus, the maximum value of the power consumption of the entire automatic warehouse can be reduced.

[Brief description of the drawings]

FIG. 1 is a block diagram of a first embodiment of the present invention.

FIG. 2 is a flowchart for explaining the operation of the first embodiment of the present invention.

FIG. 3 is a flowchart for explaining the operation of the second embodiment of the present invention.

FIG. 4 is a schematic diagram of an entire configuration of an automatic warehouse as a background of the present invention.

FIG. 5 is a schematic view of a part of an automatic warehouse as a background of the present invention.

FIG. 6 is an operation explanatory diagram of a conventional example.

FIG. 7 is an operation explanatory diagram of a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Lower rail (base) 2 Mast 3 Fork 4 Travel drive part 5 Elevation drive part 6 Travel rail 7a Operation part 11 Calculation part 12 Control part

Claims (8)

[Claims] A pair of vertical masts are erected on a base that is driven by a travel drive unit and moves on a travel rail, and a fork that is driven by an elevation drive unit and moves up and down along the masts is provided. In the control device of an automatic warehouse, which is provided on the both masts and moves the fork to a designated target loading position among a plurality of loading positions installed in the traveling rail direction and a plurality of vertical positions respectively to perform the loading. An operation unit for setting control data of the traveling drive unit and the elevation drive unit and designation data of the target unloading position; and the control data and the designation data set by operating the operation unit, Derivation for deriving a peak timing at which the power consumption of each of the traveling drive unit and the elevation drive unit becomes maximum until the fork moves to the designated target unloading position. When the control device of the automatic warehouse, characterized in that a control unit for controlling the travel drive unit and the lift drive unit to displace the two peak timing derived by the deriving unit. 2. The control unit calculates a difference between the peak timing of the traveling drive unit and the peak timing of the lift drive unit, and when the difference is smaller than a preset time, the control unit calculates the shift of the lift. 2. The fork raising / lowering start by the elevation drive unit is delayed so that the peak timing of the drive unit is delayed from the peak timing of the traveling drive unit by a correction time longer than the set time. 2. The control device for an automatic warehouse according to 1. 3. The control unit calculates a difference between the peak timing of the traveling drive unit and the peak timing of the lifting drive unit, and when the difference is smaller than a preset time, the traveling unit calculates 2. The fork driving start of the traveling drive unit is delayed to delay the peak timing of the drive unit by a correction time longer than the set time than the peak timing of the elevation drive unit. 2. The control device for an automatic warehouse according to 1. 4. The control unit according to claim 2, wherein the control unit determines whether there is a load on the fork, and performs the delay control of the peak timing only when there is a load. Automatic warehouse control device. 5. A pair of vertical masts is erected on a base that is driven by a travel drive unit and moves on a travel rail, and a fork that is driven by an elevation drive unit and moves up and down along the masts is provided. A method of controlling an automatic warehouse, which is provided on both masts and moves the fork to a designated target loading position among a plurality of loading positions installed in the traveling rail direction and a plurality of loading positions in the vertical direction to perform loading. An operation unit for setting control data of the traveling drive unit and the elevation drive unit and designation data of the target unloading position is provided.From the control data and the designation data set by operation of the operation unit, Deriving a peak timing at which the power consumption of each of the traveling drive unit and the elevation drive unit is maximized until the fork moves to the specified target loading position, Control method of an automatic warehouse and controls the travel drive unit and the lift drive unit to displace the two peak timing out. 6. A deviation between the peak timing of the traveling drive unit and the peak timing of the elevation drive unit, and when the deviation is smaller than a preset time, the peak of the elevation drive unit is derived. 6. The automatic warehouse according to claim 5, wherein a start of raising and lowering of the fork by the lifting drive unit is delayed so as to delay a timing by a correction time longer than the set time than the peak timing of the traveling drive unit. Control method. 7. A deviation between the peak timing of the traveling drive unit and the peak timing of the elevation drive unit is derived, and when the deviation is smaller than a preset time, the peak of the travel drive unit is derived. The automatic warehouse according to claim 5, wherein a start of traveling of the fork by the traveling drive unit is delayed so as to delay a timing by a correction time longer than the set time than the peak timing of the elevation drive unit. Control method. 8. The control method for an automatic warehouse according to claim 6, wherein it is determined whether there is a load on the fork, and the delay control of the peak timing is performed only when there is a load. .