JP2004002006A - Mobile facility and automated storage and retrieval warehouse facility - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To lighten and simplify a mobile facility and promote the trend toward its high speed. <P>SOLUTION: This mobile facility is provided with a travelling range finding device 51 for measuring the distance to a stacker crane 3 optically by means of a travelling range finding sensor 51a arranged in the reference measuring point P between the stacker crane 3, which can move on the fixed path along a travelling rail 4 and a ceiling rail 5 and a reference measurement position P, which is set on the ground side, a lift table 26, which can move on the stacker crane 3, a lifting range finding device 52 for measuring the distance from a lifting range finding sensor 52a, which is arranged in a reference measurement position P, which is set on a fixed side, to the lift table 26 through reflectors 52b and 52c on the lift table 26 between the reflectors 52b and 52c and the reference point P, and a ground side controller 11 for calculating the positions of the stacker crane 3 and the lift table 26 from the distance data obtained from the travelling range finding device 51 and the lifting range finding device 52. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a mobile equipment and an automatic warehouse equipment having distance measuring means for measuring the position of a mobile such as a stacker crane (article transport means) for taking articles in and out of a shelf having an article storage part.
[0002]
[Prior art]
For example, in a conventional automatic warehouse facility, as shown in FIGS. 8 and 9, a work passage 81 facing a shelf having an article storage section is reciprocated on a fixed path guided by a floor rail 82 and a ceiling rail 83. The free stacker crane (article conveying means) 84 includes a ground controller 85 installed at one end of a fixed path, and a crane controller 85 mounted on the stacker crane 84. The command signal is sent to the crane-side controller 85 by the optical communication device 87 including the ground-side optical transceiver 87a and the crane optical transceiver 87b.
[0003]
The traveling electric motor 88A is driven by the traveling controller 86a by the crane controller 86 to move the stacker crane 84, and the traveling position is detected via a pulse generator (hereinafter referred to as PG) 88B of the traveling motor 88A. Then, the stacker crane 84 is moved to a predetermined position. The lifting controller 86b of the crane-side controller 86 drives the lifting motor 90A to raise and lower the lifting table 90. The height position of the lifting table 90 is detected via the PG 89B of the lifting motor 89A. 90 is raised and lowered to a predetermined height. Further, the transfer control unit 86c of the ground-side controller 85 drives the transfer electric motor to move the transfer member of the transfer device 91 back and forth, and sets the transfer position of the transfer member to the transfer motor PG. And the article is transferred to the article storage unit.
[0004]
[Problems to be solved by the invention]
However, in the above-mentioned conventional configuration, since the crane-side controller 86 and its supporting device are mounted on the stacker crane 84, the weight and simplification of the stacker crane 84 are hindered, and the speeding up of the stacker crane 84 is limited. There was a problem.
[0005]
SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems, to reduce the weight and simplify the moving body, and to provide a moving body facility and an automatic warehouse facility that can operate at a high speed.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, the mobile equipment according to claim 1 is provided at the mobile measurement position between a mobile that is movable on a fixed path and a mobile measurement position set on a fixed side. An optical moving object distance measuring means for optically measuring the distance to the moving object by the moving object measuring device is provided, a movable portion movably provided on the moving object, and a reflecting member provided on the moving object. An optical movable that optically measures a distance from a movable body measuring device provided at the movable body measurement position to a movable part via the reflecting member between the movable body measurement position set on the fixed side; Body distance measuring means is provided, and control means for calculating the position of the moving body and the position of the movable part from the distance data obtained from the optical moving body measuring instrument and the optical moving body measuring instrument is provided on the fixed side. It is a thing.
[0007]
According to the above configuration, the distance from the fixed side to the moving body is directly detected by the moving body distance measuring means, and the distance to the movable portion is directly measured by the movable body distance measuring means. The position data of the moving body and the position data of the movable part can be obtained. Therefore, it is not necessary to send the detection signal detected by the moving body to the fixed control means by the transmission means as in the related art, and the fixed control means can easily control the position of the moving body and the detected member of the moving body. Can be implemented. As a result, it is possible to eliminate the need for the control means on the moving body side, and it is possible to reduce the weight and simplification of the moving body and to promote high-speed operation.
[0008]
3. The automatic warehouse facility according to claim 2, wherein the article storage section for storing the articles, an article transport means movable on a fixed path along the article storage section, and the article transport means being provided on the article transport means so as to be movable up and down. In an automatic warehouse facility comprising a lifting unit having a transfer unit for transferring articles to and from a storage unit, the mobile unit measurement is performed between a mobile unit measurement position set on a fixed side and the article transport unit. Optical moving object distance measuring means for optically measuring the distance from the moving object measuring device provided at the position to the article conveying means is provided, and the article conveyance is performed based on the measurement data obtained by the optical moving object distance measuring means. The control means for calculating the position of the means is provided on the fixed side.
[0009]
According to the above configuration, at the fixed-side moving body measurement position, the distance to the article conveying means can be measured by the moving body distance measuring means, and the measurement data can be directly output to the fixed-side control means. It is possible to control the movement of the article transporting means only by the control means on the side, eliminating the need for the control means on the article transporting means side, reducing the weight and simplification of the article transporting means, and accelerating the speeding up. .
[0010]
4. The automatic warehouse facility according to claim 3, wherein the article storage section for storing the articles, an article transport means movable on a fixed path along the article storage section, and the article transport means being provided on the article transport means so as to be movable up and down. In an automatic warehouse facility equipped with a lifting unit having a transfer unit for transferring articles between the storage unit and a lower side of a fixed-side moving body lower measurement position arranged in a fixed path direction and a lower part of the article transport unit. In the meantime, there is provided an optical moving body lower distance measuring means for optically measuring a distance from the moving body lower measuring instrument provided at the moving body lower measuring position to the article conveying means, and fixedly arranged in a fixed path direction Optical movement for optically measuring a distance from a moving body upper measuring instrument provided at the moving body upper measuring position to an article conveying means between the upper moving body upper measurement position and the upper part of the article conveying means. Provision of lower body distance measuring means The article conveying means is provided with a lower traveling drive means guided by the floor guide means along the fixed path and driven to travel, and an upper traveling drive means guided by the ceiling guide means along the fixed path and driven to travel. A control means for controlling the lower traveling driving means and the upper traveling driving means based on the measurement data obtained by the moving body lower distance measuring means and the moving body lower distance measuring means is provided on a fixed side.
[0011]
According to the above configuration, the distance to the article transporting means is detected at both the movable body upper detection position and the movable body lower detection position installed on the fixed side, and the position data and the attitude data of the article transporting means are obtained. be able to. Therefore, by controlling the lower traveling drive means and the upper traveling drive means by the fixed-side control means based on these measurement data, it is possible to travel at high speed while maintaining the article transport means in the upright posture. Therefore, since the article conveying means can be controlled by the measurement data measured from the fixed side, the article conveying means can be controlled by the controller installed only on the ground side, and the controller on the article conveying means side can be eliminated. . As a result, the weight and simplification of the article conveying means can be achieved, and the speeding up can be promoted.
[0012]
According to a fourth aspect of the present invention, in the automatic warehouse facility according to the second or third aspect, the movable body measuring position set on the fixed side, a reflecting member provided on the article conveying means, and the elevating body, Optical movable body distance measuring means for optically measuring the distance from the movable body measuring device provided at the movable body measuring position to the lifting / lowering body via the reflecting member is provided, and the optical movable body distance measuring means is controlled by the control means. The ascending / descending position of the elevating body is calculated from the measurement data obtained by the means.
[0013]
According to the above configuration, the position of the article transporting means can be directly detected by the moving body distance measuring means, and at the same time, the position of the measured member provided on the article conveying means can be directly detected by the movable body distance measuring means. There is no need to send a detection signal detected by a moving body to a fixed-side control means by a transmission means as in the related art, and the position control of the moving body and the movable portion can be easily performed by the control means provided on the fixed side. Can be. As a result, it is possible to eliminate the need for the control means on the moving body side, and it is possible to reduce the weight and simplification of the moving body and to promote high-speed operation.
[0014]
According to a fifth aspect of the present invention, in the automatic warehouse facility according to the fourth aspect, the movable body measuring position is set at a position along a fixed path, and the optical axis of the movable body distance measuring means is provided along the floor guide means. In addition, a reflecting member is arranged on the bottom side of the article conveying means, and the distance to the elevating body is measured from below.
[0015]
According to the above configuration, the distance (height position) to the elevating body can be stably measured from below by providing the optical axis of the movable body distance measuring means along the floor guide means.
[0016]
According to a sixth aspect of the present invention, in the automatic warehouse facility according to the fourth aspect, the movable body measuring position is set at a position along a fixed path, and the optical axis of the movable body distance measuring means is provided along the ceiling guide means. In addition, a reflecting member is arranged on the ceiling side of the article transporting means, and the distance to the elevating body is measured from above.
[0017]
According to the above configuration, even if there is an obstacle or the like on the floor guide means side, by providing the optical axis along the ceiling guide means, the distance (height position) to the elevating body can be stabilized from above. Measurement, and the range of application can be expanded.
[0018]
BEST MODE FOR CARRYING OUT THE INVENTION
Here, a first embodiment of the automatic warehouse equipment according to the present invention will be described with reference to FIGS.
[0019]
As shown in FIG. 2, the automatic warehouse equipment includes a pair of left and right frame-shaped storage shelves 1 arranged with a work passage 2 therebetween so that the directions of articles in and out of the article storage section 1a are opposed to each other. A stacker crane (moving body / article conveying means) 3 that automatically travels on a fixed path along the work path 2 is provided.
[0020]
The storage shelf 1 includes a support 1b erected from the work passage 2 on the front side and the back side and at a constant pitch in a constant path direction, and a crosspiece connected between the front and the back side support 1b in a plurality of upper and lower stages. An article storage section 1a including a member 1c and being surrounded by four columns 1b and arm members 1c is formed. In these article storage sections 1a, articles are stored directly on the arm members 1c on both sides or via pallets, and "articles" to be described later are articles themselves or containers that can be transferred by the transfer device, or articles. Refers to the goods in pallets and storage containers.
[0021]
A traveling rail (floor guide means) 4 is laid along the fixed path on the floor of the work passage 2, and a ceiling rail (top guide means) 5 is erected on the ceiling. On the fixed side of one end of the work passage B, an article unloading section 6 is installed. The article unloading section 6 includes a ground-side controller (control means) 11 for issuing a command to the stacker crane 3 for loading and unloading, and an article mounting table. 12 are installed.
[0022]
As shown in FIG. 3, the stacker crane 3 includes a traveling body 22 that can travel on a traveling rail 4 via a plurality of traveling wheels 21 and an upper frame 24 that can travel on a ceiling rail 5 via guide wheels 23. A pair of front and rear elevating masts 25, 25 is erected between the elevating masts 25, 25, and an elevating table (movable part / elevating body) 26 is arranged between the elevating masts 25, 25 so as to be able to move up and down. In addition, a transfer device (transfer means) 27 capable of moving a fork member in and out of the article storage section 1a and taking in and out of the article is disposed on the elevating table 26.
[0023]
The traveling drive device 28 provided on the traveling vehicle body 22 is configured as driving traveling wheels 21 that are driven to rotate by a traveling electric motor 29 via a speed reducer, among the front and rear traveling wheels 21, and a stacker crane. 3 is driven to travel along the traveling rail 4.
[0024]
An elevating drive device 31 that drives the elevating platform 26 up and down includes a hoisting platform 26 that is suspended via an elevating chain 32 and a sprocket 33 along the elevating mast 25 side. The elevating chain 32 is wound on a winding drum 35 that is rotationally driven through the shaft, and the elevating table 26 is driven up and down.
[0025]
Further, the transfer device 27 is configured to move the fork member back and forth by a transfer mechanism by a transfer electric motor (not shown).
Therefore, based on the loading / unloading instruction output from the ground-side controller 11 to the stacker crane 3, the traveling electric motor 29 is driven to travel along the traveling rail 4, and further to a height corresponding to the target article storage unit 1a. The elevator 26 is moved up and down. Then, the article in the article storage section 1a is received by the transfer device 27. Next, the stacker crane 3 is moved to the article unloading section 6, and the articles are transferred to the article loading table 12 with the lifting table 26 corresponding to the article loading table 12. In this manner, articles are taken in and out between the article storage section 1a of the storage shelf 1 and the article mounting table 12.
[0026]
As shown in FIG. 4, the ground-side controller 11 receives a setting signal from the setting unit 41 and a loading / unloading signal from the operation panel 42, and controls the elevation control unit 43, the transfer control unit 44, and the travel control unit. 45 are provided. Then, a traveling measurement signal of the stacker crane 3 is input from the traveling distance measuring device (optical moving object distance measuring means) 51 to the traveling control unit 45, and the elevating distance measuring device (optical moving object distance measuring means) 52 is provided. The lift measurement signal of the lift 26 is input to the lift controller 43 from the above. An optical transmission device 53 composed of a ground-side optical transceiver 53a of the ground-side controller 11 and a crane-side optical transceiver 53b provided on the stacker crane 3 provides a ground-side controller between the ground-side controller 11 and the stacker crane 3. A control signal from the controller 11 is transmitted / received to / from the stacker crane 3 to control the electric motor 29 for traveling, the electric motor 34 for lifting and lowering, and the electric motor for transfer.
[0027]
As shown in FIG. 1, the travel distance measuring device 51 is provided at a measurement reference position (moving body measurement position / movable body measurement position) P set in the vicinity of the ground-side controller 11, for example, a laser type traveling measurement device. A distance sensor (moving body measuring device) 51a is disposed, a traveling reflection plate 51b is disposed on the traveling vehicle body 22 of the stacker crane 3, and a laser beam (ranging medium) R1 is transmitted from the traveling distance measuring sensor 51a to a traveling rail. 4 and reflected in parallel by the traveling reflector 51b, which is received by the traveling distance measuring sensor 51a and input to the ground-side controller 11, so that the distance from the measurement reference position P to the stacker crane 3 is increased. By measuring the distance, the position of the stacker crane 3 can be detected.
[0028]
In the distance measuring device 52 for elevation, for example, a laser type distance measuring sensor (movable object measuring device) 52a for elevation is disposed at the measurement reference position (movable body measurement position) P, and is mounted on the traveling body 22 of the stacker crane 3. A first reflecting plate 52b for raising and lowering is arranged, and a second reflecting plate 52c for raising and lowering is arranged on the elevating body. The laser beam (distance measuring medium) R2 is transmitted from the distance measuring sensor 52a for raising and lowering near the traveling rail 4. The laser beam R2 is projected in parallel and reflected by the first reflecting plate 52b for raising and lowering, and further reflected along the mast 25 by the second reflecting plate 52b for raising and lowering of the lifting table 26, so that the reflected laser beam R2 is reflected by the first reflecting plate 52b for raising and lowering. The distance from the measurement position P to the elevator 26 is measured by receiving the light with the travel distance measuring sensor 51a through the controller and inputting the light to the ground-side controller 11. Therefore, by subtracting the distance to the stacker crane 3 from the measurement data, the height position of the elevator 26 is obtained.
[0029]
In the above configuration, for example, when a retrieval command is input from the operation panel 2, a traveling command signal is first sent from the traveling control unit 45 of the ground-side controller 11 to the stacker crane 3 via the optical transmission device 53, and the traveling electric signal is transmitted. The motor 29 is driven to move the stacker crane 3 along the traveling rail 5 to a position corresponding to the target article storage unit 1a. At this time, in the travel distance measuring device 51, the measurement laser light R1 is projected from the travel distance measurement sensor 51a at the measurement reference position P, and the reflected laser light reflected by the travel reflection plate 51b is used for travel. The stacker crane 3 is controlled by receiving light received by the distance measurement sensor 51a and input to the travel control unit 45. Here, the movement limit position of the stacker crane 3 on the traveling rail 4 is obtained from the measurement data by the traveling distance measuring device 51.
[0030]
When the stacker crane 3 stops at the target position, an elevating command signal is sent from the elevating controller 43 of the ground controller 11 to the stacker crane 3 via the optical transmission device 53, and the elevating electric motor 34 is driven. The elevator 26 is moved up and down and stopped at a position corresponding to the article storage section 1a of the target storage shelf 1. At this time, in the elevating distance measuring device 52, the measuring laser beam R2 is projected from the traveling distance measuring sensor 52a and reflected by the first elevating reflector 52b and the second elevating reflector 52b. The distance measurement sensor 52a receives light, and distance data of the elevator 26 is input to the elevator controller 43 to control the position of the elevator 26. Here, the ascending / descending limit position of the elevating table 26 is obtained from measurement data of the elevating distance measuring device 52.
[0031]
Further, a transfer command signal is sent from the transfer control unit 44 of the ground-side controller 11 to the stacker crane 3 via the optical transmission device 53, and the transfer electric motor is driven to drive the transfer device 27. The target article in the article storage section 1a is taken out by the stacker crane 3.
[0032]
Similarly, the stacker crane 3 is driven to take out the taken-out articles to the article unloading section 6 and unload them to the article transfer table 2.
The loading operation of the article is also performed in the reverse procedure.
[0033]
According to the above embodiment, the distance to the stacker crane 3 can be detected by the traveling distance measuring device 51 at the measurement reference position P, and the measurement data can be directly input to the ground-side controller 11. The drive control of the stacker crane 3 can be performed only by using the stacker crane 3. Accordingly, the controller on the side of the stacker crane 3 is not required, and the weight and simplification of the stacker crane 3 can be achieved, and the speeding up can be promoted.
[0034]
In the moving object distance measuring device 51, the laser beam R1 is projected from the traveling distance measuring sensor 51a installed at the fixed-side measurement reference position P to the traveling reflecting plate 51b of the stacker crane 3, so that the conventional stacker The area of the traveling reflector 51b can be greatly reduced as compared with the case where the laser beam is projected from the distance sensor provided on the crane side toward the fixed reflector. Conventionally, this is because the optical axis of the laser beam fluctuates greatly in proportion to the rocking of the stacker crane with a tilt, rather than the parallel rocking, and the distance from the distance sensor to the reflector. In order to make a large change, a wide reflecting surface is required. On the other hand, the optical axis of the laser beam R1 projected from the fixed distance measuring reference position P on the fixed side traveling distance measuring sensor 51a as in the present invention is This is because the size of the reflecting surface of the traveling reflecting plate 51b can be set within a range in which the stacker crane 3 swings in the width direction or the vertical direction without shaking. This has the same effect for the first reflecting plate 52b for lifting in the distance measuring device 52 for lifting.
[0035]
Further, since the position of the stacker crane 3 can be directly detected by the traveling distance measuring device 51, and the position of the elevator 26 provided on the stacker crane 3 can be directly detected by the elevating distance measuring device 52. As described above, there is no need to send the detection signal detected by the stacker crane to the ground controller by the transmission means, and the ground controller 11 can easily control the stacker crane 3 and the elevator 26. This makes it possible to eliminate the need for the controller on the side of the stacker crane 3, thereby reducing the weight and simplification of the stacker crane 3 and promoting high-speed operation.
[0036]
Next, a second embodiment of the automatic warehouse equipment according to the present invention will be described with reference to FIGS. The same members as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.
[0037]
The stacker crane 3 has a traveling vehicle body 22 having a floor traveling drive device 28 for rotating one traveling wheel 21 by a floor traveling electric motor 29, and an upper frame 24 having a ceiling traveling electric motor 62 provided on the upper frame 24. A ceiling traveling drive device 61 that rotationally drives the guide wheels 23 is provided.
[0038]
Also, a floor traveling distance measuring sensor (moving body lower measuring device) 51a arranged at the measurement reference position (moving body lower detection position) P measures the lower position of the floor stacker crane 3 for floor traveling. In addition to the distance measuring device (lower traveling driving means) 51, a ceiling traveling distance measuring device (upper traveling driving means) 63 for measuring the position of the upper portion of the stacker crane 3 is provided. The ceiling traveling distance measuring device 63 is disposed at a position above the measurement reference position P (the detection position at the upper part of the moving body), projects a laser beam (ranging medium) R3 along the ceiling rail 5, and transmits the upper frame 24. Is configured to receive the reflected laser beam R3 by the ceiling traveling distance measuring sensor 63a reflected by the ceiling reflector 63b provided in the camera.
[0039]
Further, the elevating distance measuring device 52 projects the laser beam R2 from the elevating distance measuring sensor 52a disposed above the measurement reference position P so that its optical axis is along the ceiling rail 5, and the upper frame 24 Is reflected from the first reflecting plate 51b for raising and lowering provided to the second reflecting plate 51c for raising and lowering of the elevator 26, and the reflected laser beam R2 is received by the distance measuring sensor 52a for raising and lowering via the first reflecting plate 52b. Is configured.
[0040]
In the above configuration, the travel control of the ground controller 11 based on the measurement data from the measurement reference position P to the reflectors 51b and 63b obtained from the floor traveling distance measuring device 51 and the ceiling traveling distance measuring device 63. In the section 45, the position data and the attitude data of the stacker crane 3 are obtained, and the ground-side controller 11 controls the floor traveling drive device 28 and the ceiling traveling drive device 61 so that the distance from the measurement reference position P to the reflection plates 51b and 63b is constant. By controlling the driving so as to make the stacker crane 3 run at high speed while maintaining the stacker crane 3 in the upright posture.
[0041]
In addition, since the elevation distance measuring device 52 forms the optical axis of the laser beam R2 along the vicinity of the ceiling rail 5 and forms a reflection optical axis downward from the upper frame 24 to measure the height of the elevator 26. Even if there is an obstacle in the space near the traveling rail 4, the floor, or the space below the elevating platform 26, it can be installed and the arrangement position can be set widely.
[0042]
According to the above embodiment, the measurement data measured from the measurement reference position P is directly input to the ground-side controller 11, and the ground-side controller 11 controls the floor traveling drive device 28 and the ceiling traveling drive device 61 of the stacker crane 3. Since the control can be performed, it is not necessary to mount a controller on the stacker crane 3, and the stacker crane 3 can be reduced in weight and simplification, and the speed can be increased. Also, the area of the ceiling reflector 63b of the ceiling traveling distance measuring device 63 can be reduced in the same manner as described above.
[0043]
FIG. 7 shows a third embodiment of the automatic warehouse equipment according to the present invention, and the same members as those in the above embodiment are denoted by the same reference numerals and description thereof will be omitted.
In this embodiment, a lifting PG 71 is provided in a lifting electric motor in place of the lifting distance measuring device, and data of the PG 71 is transmitted to the ground controller 11 at high speed by the optical transmission device 53 via the high-speed converter 72. Things.
[0044]
According to the above embodiment, the distance to the stacker crane 3 can be detected by the traveling distance measuring device 51 at the measurement reference position P, and the measurement data can be directly output to the ground controller 11. Thus, the driving of the stacker crane 3 can be controlled. Accordingly, the controller on the side of the stacker crane 3 is not required, and the weight and simplification of the stacker crane 3 can be achieved, and the speeding up can be promoted.
[0045]
In each of the above embodiments, the reference measurement position P where the distance measuring sensor is installed is set to the same position (excluding the height position). However, if the installed position data is input, different positions are set. May be installed.
[0046]
In each of the above embodiments, the automatic warehouse equipment has been described. However, in the transfer equipment in which a transport vehicle that is automatically driven by the ground-side controller is provided, and the transport vehicle is provided with a work member (movable part), the transport vehicle and the work member are provided. When the position of the work robot is directly measured by the ground-side controller, or when a work robot that automatically runs by the ground-side controller is provided, and the work robot is provided with an operation member (movable part), the positions of the work robot and the operation member are determined. The present invention can also be applied to a case where a direct measurement is performed by a ground controller.
[0047]
Further, in the above-described embodiment, the elevator 26 is arranged on the stacker crane 3 via the elevator mast 25 so as to be movable up and down. However, the elevator 26 is directly supported on the traveling vehicle body 22 via the elevator. Is also good.
[0048]
Still further, the stacker crane 3 has been described to transfer the load between the article storage section 1a of the storage shelf 1 and the article placement table 12 of the article discharge section 6, but the articles are transferred between the plurality of article storage sections 1a. It can also be delivered. Further, the article unloading section 6 can be configured such that a plurality of article unloading sections are formed, for example, at the lowermost stage by using the article storage section 1a of the storage shelf 1, and articles are taken in and out from the rear side. An article can be transferred between the section and the article storage section 1a.
[0049]
【The invention's effect】
As described above, according to the moving object facility of the first aspect, the distance to the moving object is directly detected from the fixed side by the moving object distance measuring means, and the distance to the movable portion is simultaneously detected by the moving object distance measuring means. By directly measuring, the position data of the moving body and the position data of the movable part can be obtained by the control means on the fixed side. Therefore, it is not necessary to send the detection signal detected by the moving body to the fixed control means by the transmission means as in the related art, and the fixed control means can easily control the position of the moving body and the detected member of the moving body. Can be implemented. As a result, it is possible to eliminate the need for the control means on the moving body side, and it is possible to reduce the weight and simplification of the moving body and to promote high-speed operation.
[0050]
According to the automatic warehouse equipment according to the second aspect, the distance to the article conveying means is measured by the moving object distance measuring means at the fixed side moving object measuring position, and the measurement data is directly output to the fixed side control means. Therefore, it is possible to control the movement of the article conveying means only by the control means on the fixed side, eliminating the need for the control means on the article conveying means side, reducing the weight and simplifying the article conveying means, and increasing the speed. Can be promoted.
[0051]
According to the automatic warehouse equipment according to the third aspect, the distance to the article transporting means is detected at both the upper detection position of the movable body and the lower detection position of the movable body installed on the fixed side, and the position of the article transporting means is detected. Data and attitude data can be obtained. Therefore, by controlling the lower traveling drive means and the upper traveling drive means by the fixed-side control means based on these measurement data, it is possible to travel at high speed while maintaining the article transport means in the upright posture. Therefore, since the article conveying means can be controlled by the measurement data measured from the fixed side, the article conveying means can be controlled by the controller installed only on the ground side, and the controller on the article conveying means side can be eliminated. . As a result, the weight and simplification of the article conveying means can be achieved, and the speeding up can be promoted.
[0052]
According to the automatic warehouse facility of the fourth aspect, the position of the article conveying means is directly detected by the moving object distance measuring means, and the position of the measured member provided in the article conveying means is directly detected by the movable object distance measuring means. This eliminates the need for transmitting a detection signal detected by the moving body to the control means on the fixed side by the transmission means as in the related art, and the position control of the moving body and the movable part can be performed by the control means provided on the fixed side. It can be easily implemented. As a result, it is possible to eliminate the need for the control means on the moving body side, and it is possible to reduce the weight and simplification of the moving body and to promote high-speed operation.
[0053]
According to the automatic warehouse equipment of the fifth aspect, by providing the optical axis of the movable body distance measuring means along the floor guide means, the distance (height position) to the elevating body can be stably measured from below. be able to.
[0054]
According to the automatic warehouse equipment of claim 6, even if there is an obstacle or the like on the floor guide means side, by providing the optical axis along the ceiling guide means, the distance to the elevating body (height position). Can be measured stably from above, and the applicable range can be expanded.
[Brief description of the drawings]
FIG. 1 is a configuration diagram showing a first embodiment of an automatic warehouse facility according to the present invention.
FIG. 2 is a perspective view showing the automatic warehouse equipment.
FIG. 3 is a side view showing a stacker crane of the automatic warehouse facility.
FIG. 4 is a control configuration diagram showing the automatic warehouse equipment.
FIG. 5 is a configuration diagram showing a second embodiment of the automatic warehouse equipment according to the present invention.
FIG. 6 is a control configuration diagram showing the automatic warehouse equipment.
FIG. 7 is a configuration diagram showing a third embodiment of the automatic warehouse equipment according to the present invention.
FIG. 8 is a configuration diagram showing a conventional automatic warehouse facility.
FIG. 9 is a control configuration diagram showing a conventional automatic warehouse facility.
[Explanation of symbols]
P Measurement reference position
1 storage shelf
1a Article storage section
2 Work passage
3 Stacker crane
4 running rail
5 ceiling rail
11 Ground side controller
21 Running wheels
22 Running body
23 Guide wheels
24 Upper frame
26 elevator
27 Transfer equipment
28 Traveling drive
29 Traveling electric motor
31 lifting drive
34 Electric motor for lifting
36 Electric motor for transfer
43 Elevation control unit
44 Transfer control unit
45 Travel control unit
51 Traveling distance measuring device
51a Traveling distance measuring sensor
51b Reflector for traveling
52 Elevating distance measuring device
52a Distance measuring sensor for elevating
52b First Reflector for Lifting
52c Second reflector for lifting and lowering
61 Ceiling drive unit
62 Electric motor for ceiling traveling
63 Ceiling travel distance measuring device
63a Distance measuring sensor for ceiling traveling
63b Ceiling reflector

Claims (6)

The distance to the moving object is optically measured by a moving object measuring device provided at the moving object measuring position between the moving object movable on a fixed route and the moving object measuring position set on the fixed side. Optical moving object ranging means is provided,
A movable part provided at the movable body measurement position between a movable part movably provided on the movable body, a reflecting member provided on the movable body, and a movable body measurement position set on a fixed side; Providing an optical movable distance measuring means for optically measuring the distance from the measuring device to the movable portion via the reflective member,
Control means for calculating a position of a moving object and a position of a movable portion from a distance data obtained from the optical moving object measuring device and the optical moving object measuring device is provided on a fixed side. Body equipment. An article storage unit for storing articles;
An article conveying means movable on a fixed path along the article storage section,
In an automatic warehouse facility comprising: an elevating body having a transfer unit that is provided so as to be able to move up and down in the article transporting unit and that transfers articles between the article storage unit.
An optical moving body that optically measures a distance from a moving body measuring instrument provided at the moving body measuring position to an article conveying means between a moving body measuring position set on a fixed side and the article conveying means; Provide distance measuring means,
An automatic warehouse facility, wherein a control means for calculating the position of the article conveying means based on the measurement data obtained by the optical moving object distance measuring means is installed on a fixed side. An article storage section for storing articles, an article conveying means movable on a fixed path along the article storage section, and an article storage means provided movably up and down to transfer articles to and from the article storage section. In an automatic warehouse facility equipped with a lifting body having a transfer means,
Between the fixed-side moving body lower measurement position arranged in the fixed path direction and the lower part of the article conveying means, the distance from the moving body lower measuring instrument provided at the moving body lower measuring position to the article conveying means is set. An optical moving body lower distance measuring means for optically measuring is provided,
Between the fixed-side moving body upper measurement position arranged in the fixed path direction and the upper part of the article conveying means, the distance from the moving body upper measuring instrument provided at the moving body upper measuring position to the article conveying means is changed. An optical moving body lower distance measuring means for optically measuring is provided,
The article conveying means is provided with a lower traveling drive means guided by the floor guide means along the fixed path and driven to travel, and an upper traveling drive means guided by the ceiling guide means along the fixed path and driven to travel. ,
An automatic control means for controlling the lower traveling drive means and the upper traveling drive means on a fixed side based on measurement data obtained by the lower moving distance measuring means and the lower moving distance measuring means; Warehouse equipment. A movable body measuring position provided at the movable body measuring position provided at the movable body measuring position is moved up and down between the movable body measuring position set at the fixed side, the reflecting member provided at the article conveying means, and the elevating body. Optical movable body distance measuring means for optically measuring the distance to the body is provided,
4. The automatic warehouse equipment according to claim 2, wherein the control means calculates the elevation position of the elevating body from the measurement data obtained by the optical movable body distance measuring means. Along with setting the movable body measurement position at a position along a fixed path, the optical axis of the movable body distance measuring means is provided along the floor guide means,
5. The automatic warehouse equipment according to claim 4, wherein a reflecting member is arranged on a bottom side of the article conveying means, and a distance to the elevating body is measured from below. Along with setting the movable body measurement position at a position along a fixed path, the optical axis of the movable body distance measuring means is provided along the ceiling guide means,
5. The automatic warehouse equipment according to claim 4, wherein a reflecting member is arranged on the ceiling side of the article transport means, and the distance to the elevating body is measured from above.

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