JP2007001752A - Article conveyance equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide article conveying equipment which eliminates unnecessary maintenance when operation abnormality occurs in any of a plurality of article transporting vehicles. <P>SOLUTION: Each of the plurality of article transporting vehicles 3 is provided with an operation data obtaining means for obtaining travelling operation data and transferring operation data as actual operation data. An operation control means H performs abnormality determining processing for determining whether an abnormal article transporting vehicle exists or not by evaluating the actual operation data in each of the plurality of article transporting vehicles, and performs abnormality diagnosing processing for diagnosing operation abnormality by evaluating the actual operation data, which is evaluated that operation abnormality occurred, and travelling operation or transferring operation in the same or similar condition of the abnormal article transporting vehicle and the actual operation data for comparison, which is obtained when other article transporting vehicle is operated, when the abnormality-evaluated actual operation data is obtained. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention is provided with a plurality of article transport vehicles capable of traveling over a plurality of article transfer locations and capable of transferring articles to the article transfer locations, and provided with operation control means for controlling the operation of the plurality of article transport vehicles. The present invention relates to an article transportation facility.

  As a conventional example in which the article transport equipment having the above configuration is applied to an automatic warehouse, for example, two article transport vehicles configured by a stacker crane are provided in a state of traveling on the same traveling rail, and a plurality of article transfer locations are provided. A plurality of article storage units in the storage shelves and a loading table for loading and unloading articles are provided, and the article transport vehicle is configured to transfer articles at each of a plurality of article transfer locations. There are two controllers for controlling the driving of the vehicle separately as the driving control means, and the driving control means is configured to control the driving of the article transport vehicle (see, for example, Patent Document 1). ).

  Although not described in the above-mentioned Patent Document 1, in such an article transport facility, when the operation control unit detects an operation abnormality when executing a travel operation or a transfer operation, the operation abnormality is detected. It has been a general configuration to stop the operation of the generated article transporting vehicle and operate the notification means such as a notification lamp. In addition, as a configuration for detecting the operation abnormality, for example, the actual operation speed is controlled in spite of controlling the drive electric motor or the like to operate at a predetermined speed when performing the travel operation or the transfer operation. There is a configuration in which it is determined that the operation is abnormal in a very slow state or in a case where the current value supplied to the drive electric motor becomes an abnormally large value.

JP 2002-175117 A

  In the above-described conventional configuration, when an operation abnormality occurs in any of the plurality of article transport vehicles, the user of the equipment can recognize that the operation abnormality has occurred, but cannot understand the content of the operation abnormality. Then, measures such as contacting the maintenance worker while stopping the operation of the article transport vehicle in which the operation abnormality has occurred are taken.

  By the way, various factors can be considered as the cause of occurrence of the above-described operation abnormality. For example, it is abnormal that the weight of the article to be transported is a large weight exceeding the allowable upper limit value by the article transport vehicle. If it is the cause of this, if an article with an appropriate weight that is lighter than the allowable upper limit value is conveyed, the normal state is restored.

  However, in the above-described conventional configuration, the maintenance worker cannot determine the cause even if the cause of the operation abnormality is an abnormality in the operation condition such as the condition of the loaded article. Replacing a non-failed drive electric motor by judging that the drive electric motor or the like that has been subject to malfunction in the vehicle is not broken, but that the drive electric motor is in failure Unnecessary maintenance work such as work is performed.

  An object of the present invention is to provide an article transport facility capable of preventing unnecessary maintenance work when an operation abnormality occurs in any of a plurality of article transport vehicles.

The article transport facility according to the present invention is provided with a plurality of article transport vehicles that can run over a plurality of article transfer locations and can transfer articles to the article transfer locations, and controls the operation of the plurality of article transport vehicles. An operation control means is provided,
The first characteristic configuration is an operation of acquiring, as actual operation data, travel operation data when executing a travel operation and transfer operation data when executing an article transfer operation for each of the plurality of article transport vehicles. Data acquisition means are provided,
The operation control means is
The actual operation data in each of the plurality of article conveyance vehicles acquired by the operation data acquisition means is evaluated to determine whether there is an abnormal article conveyance vehicle in which an operation abnormality has occurred in the traveling operation or transfer operation. Anomaly discrimination processing, and
Actual operation data that has been evaluated for occurrence of abnormality determined that an operation abnormality has occurred in the abnormality determination process and the actual operation data that has been evaluated for occurrence of abnormality have been performed by the abnormal article transport vehicle. By evaluating the actual operation data for comparison acquired by the operation data acquisition means when another article transport vehicle performs a traveling operation or a transfer operation under the same or similar conditions as the operating conditions, An abnormality diagnosis process for diagnosing an operational abnormality is executed.

  According to the first characteristic configuration, the plurality of article transport vehicles execute a traveling operation of traveling over the plurality of article transfer locations and a transfer operation of transferring the articles to the article transfer locations. Thus, travel operation data when executing the travel operation and transfer operation data when executing the transfer operation are acquired as actual operation data. As the travel operation data, it is possible to use various data such as a voltage value or a current value supplied to a drive means such as an operation speed or an electric motor for performing the travel operation when performing the travel operation, As the transfer operation data, various data such as an operation speed at the time of the transfer operation and a voltage value or a current value supplied to driving means such as an electric motor for performing the transfer operation are used. Can do.

  The operation control means evaluates actual operation data in each of the plurality of article transport vehicles acquired by the operation data acquisition means, and an abnormal article transport vehicle in which an operation abnormality has occurred in the travel operation or the transfer operation. An abnormality determination process is performed to determine whether or not there exists.

  In other words, when the article transport vehicle normally executes the traveling operation or the transfer operation, the actual operation data does not change greatly even if the operations are repeatedly performed a plurality of times. If any operation abnormality occurs in, actual operation data may change greatly even if the same operation is executed. For example, although the operation speed when performing the traveling operation or the transfer operation is not changed, the voltage value or the current value supplied to the driving means provided for performing the traveling operation or the transfer operation is greatly changed. Or the voltage or current value supplied to the drive means as described above has not changed, but the operating speed at the time of running operation or transfer operation has changed greatly. There is. Therefore, by evaluating such actual operation data, it is possible to determine whether or not there is an abnormal article transport vehicle in which an operation abnormality has occurred in the traveling operation or the transfer operation.

  The abnormal article transport vehicle performs when the abnormal operation evaluated actual operation data determined that an operation abnormality has occurred in the abnormality determination process and the actual operation data evaluated for the abnormality occurrence are acquired. Operation by evaluating the actual operation data for comparison acquired by the operation data acquisition means when another article transport vehicle performs a traveling operation or a transfer operation under the same or similar conditions as the above operating conditions. An abnormality diagnosis process for diagnosing an abnormality is executed.

  The operating condition is a condition for the abnormal article transport vehicle to perform the traveling operation or the transfer operation. For example, the condition for the article to be loaded, or the article when the traveling operation or the transfer operation is executed. There are various conditions such as conditions for the position of the transport vehicle. And the same condition as the operating condition is when the various conditions as described above are all the same, and the similar condition is the case when some of the various conditions are different. This is the case when the articles to be handled are the same, but the conditions for the position of the article transport vehicle are different.

  Then, the actual operation data that has been evaluated for occurrence of abnormality, and another article transport vehicle is running or operating under the same or similar condition as the operation condition that the abnormal article transport vehicle was performing at the time when the abnormal operation was assumed to have occurred. By using the actual operation data for comparison acquired when the transfer operation is performed, the actual operation data is evaluated to diagnose the operation abnormality.

  For example, if the actual operation data that has been evaluated for occurrence of abnormality is similar to the actual operation data for comparison, the drive means that is the target of the operation abnormality in the abnormal article transport vehicle is abnormal. It is possible to diagnose that there is an abnormality in the operating condition, and when the actual operation data that has been evaluated for occurrence of abnormality is not similar to the actual operation data for comparison, an abnormal article It is possible to diagnose that there is an abnormality in the transport vehicle.

  As a result, when it is diagnosed that there is an abnormality in the abnormal article transport vehicle, for example, maintenance work such as replacement of the driving means can be properly performed. When it is diagnosed that the operation condition is abnormal, replacement of the driving means or the like Thus, it is possible to take appropriate measures such as changing the operating conditions without performing unnecessary maintenance work.

  Therefore, when an operation abnormality occurs in any of the plurality of article transport vehicles, an article transport facility that can prevent unnecessary maintenance work can be provided.

  In the second feature configuration of the present invention, in addition to the first feature configuration, after the operation control means determines that there is the abnormal article transport vehicle in which the operation abnormality has occurred in the abnormality determination process, In order to carry out the traveling operation for inspection or the transfer operation for inspection under the same or similar conditions as the operating conditions that the abnormal article transport vehicle was performing when the actual operation data evaluated for occurrence of abnormality was acquired. It is configured to control the operation of the article transport vehicle and acquire the actual operation data for comparison by the operation data acquisition means.

  According to the second feature configuration, when the operation control means determines that there is an abnormal article transport vehicle in which an operation abnormality has occurred in the abnormality determination process, and when actual operation data that has been evaluated for occurrence of abnormality has been acquired. Acquired by the operation data acquisition means at the time when another article transport vehicle performs a traveling operation for inspection or a transfer operation for inspection under the same or similar condition as the operation condition that the abnormal article transport vehicle has performed. Actual operation data is acquired as comparison actual operation data.

  As described above, after determining that there is an abnormal article transport vehicle in which an operation abnormality has occurred in the abnormality determination process, another article transport vehicle is caused to perform a traveling operation for inspection or a transfer operation for inspection. For example, when the actual operation data that has been evaluated for occurrence of abnormality is acquired from the past actual operation data stored in advance, the abnormal article transport vehicle is performing, for example. Compared to the case where data corresponding to the same or similar conditions as the operating conditions are extracted, the actual operating data for comparison can be obtained as actual operating data suitable for diagnosing operating abnormalities. This makes it possible to appropriately diagnose the above.

  In addition to the second feature configuration, the third feature configuration of the present invention is the same as the article handled by the abnormal article transport vehicle when the operation control means acquires the actual operation data that has been evaluated for occurrence of the abnormality. It is the point which is comprised so that the goods may be handled and the running operation for the inspection or the transfer operation for the inspection may be performed.

  According to the third characteristic configuration, the another article transport vehicle handles the same article as the article handled by the abnormal article transport vehicle when the actual operation data that has been evaluated for occurrence of the abnormality is acquired, and is used for the inspection. Since the traveling operation or the transfer operation for inspection is performed, the weight of the article handled by the abnormal article transport vehicle when the actual operation data that has been evaluated for occurrence of the abnormality exceeds the allowable upper limit value by the article transport apparatus. Such a large weight can be considered to be the cause of abnormal operation. And, when the same article is handled, the traveling operation for inspection or the transfer operation for inspection is performed, and if an abnormal operation is determined even in another article transportation vehicle at that time, the weight of the article may be excessive. It is possible to estimate the cause of the operation abnormality, and it is possible to appropriately diagnose the operation abnormality.

  According to a fourth feature configuration of the present invention, in addition to the first feature configuration, the operation control unit corresponds to past actual operation data of each of the plurality of article transport vehicles acquired by the operation data acquisition unit with the operation condition. Among the past actual operation data stored, the same or similar condition as the operation condition performed by the abnormal article transport vehicle when the actual operation data that has been evaluated for occurrence of abnormality is acquired The actual operation data corresponding to the traveling operation or the transfer operation performed by another article transport vehicle is used as the actual operation data for comparison.

  According to the fourth characteristic configuration, the operation control means is configured to obtain the actual operation data acquired by the operation data acquisition means when each of the article transport vehicles executes a travel operation or a transfer operation in each of the plurality of article transport vehicles. It is stored in correspondence with the operating conditions at that time. Then, when it is determined in the abnormality determination process that there is an abnormal article transport vehicle in which an operation abnormality has occurred, the actual operation data that has been evaluated for occurrence of abnormality is acquired from the stored past actual operation data. The actual operation data obtained when another article transport vehicle performs a traveling operation or a transfer operation under the same or similar conditions as the operation conditions performed by the abnormal article transport vehicle is used as the actual operation data for comparison. .

  With this configuration, the past actual operation data stored in correspondence with the operation condition when the article transport vehicle executes the traveling operation or the transfer operation is used as the actual operation data for comparison. When it is determined in the abnormality determination process that there is an abnormal article transport vehicle in which an operation abnormality has occurred, the actual operation data for comparison can be quickly obtained, and the operation is performed using the actual operation data for comparison. An abnormality diagnosis process for diagnosing an abnormality can be quickly performed.

  Further, when there are a plurality of actual operation data corresponding to the same operation condition or similar operation conditions among the past actual operation data stored, the influence of noise is reduced by using the average value of the plurality of data. Thus, actual operation data for comparison can be obtained as appropriate data, and diagnosis processing for operation abnormality can be performed more appropriately.

  According to a fifth feature configuration of the present invention, in addition to any one of the first feature configuration to the fourth feature configuration, the operation control unit is configured to compare the actual operation data that has been evaluated for occurrence of the abnormality in the abnormality diagnosis process. Whether or not the actual operation data is similar to each other is evaluated. If they are similar, it is determined that the operation condition is abnormal.

  According to the fifth characteristic configuration, in the abnormality diagnosis process, the operation control means evaluates whether or not the actual operation data that has been evaluated for occurrence of abnormality is similar to the actual operation data for comparison. When the actual operation data that has been evaluated for occurrence of abnormality is similar to the actual operation data for comparison, it is determined that there is an abnormality in the operation conditions.

  In other words, the fact that the actual operation data that has been evaluated for occurrence of abnormality is similar to the actual operation data for comparison means that the actual operation data that has been evaluated for occurrence of abnormality has This means that actual operation data similar to the actual operation data that has been evaluated for occurrence of abnormality is acquired even if the same traveling operation or transfer operation as that performed by the abnormal article transporter when it was acquired is performed. . This is because it is considered that there was an abnormality in the operating conditions rather than an abnormality in the abnormal article transport vehicle itself, such as a failure occurring in any part of the abnormal article transport vehicle. When the actual operation data is similar to the actual operation data for comparison, it is determined that the operation condition is abnormal.

  Therefore, the user of the facility can know that the cause of the operation abnormality is the operation condition abnormality, and can take measures such as adjusting the operation condition to be in an appropriate state.

  According to a sixth feature configuration of the present invention, in addition to the fifth feature configuration, the operation control unit corresponds to past actual operation data of each of the plurality of article transport vehicles acquired by the operation data acquisition unit with the operation condition. In the abnormality diagnosis process, when the actual operation data that has been evaluated for occurrence of abnormality is dissimilar to the actual operation data for comparison, among the stored past actual operation data, The past corresponding to the travel operation or transfer operation performed by the abnormal article transport vehicle under the same or similar condition as the operation condition performed by the abnormal article transport vehicle when the abnormal operation evaluated actual operation data is acquired The actual operation data is extracted as past actual operation data for diagnosis, the extracted past actual operation data and the actual operation data that has been evaluated for occurrence of abnormality are evaluated, and the operation abnormality is evaluated. In that it is configured to perform disconnection.

  According to the sixth characteristic configuration, the operation control means includes the actual operation data acquired by the operation data acquisition means when each article transport vehicle executes a travel operation or a transfer operation in each of the plurality of article transport vehicles. It is stored in correspondence with the operating conditions at that time.

  When it is determined that there is an abnormal article transport vehicle in which an operation abnormality has occurred in the abnormality determination process and the abnormality diagnosis process is performed, the actual operation data that has been evaluated for occurrence of abnormality and the actual operation data for comparison Is an operation that the abnormal article transport vehicle has performed when the actual operation data that has been evaluated for occurrence of abnormality is acquired from the past actual operation data stored as described above. The past actual operation data corresponding to the traveling operation or transfer operation performed by the abnormal article transport vehicle under the same or similar condition as the condition is extracted as past actual operation data for diagnosis, and the extracted past actual operation is performed. The diagnosis of the operation abnormality is performed by evaluating the data and the actual operation data that has been evaluated for occurrence of the abnormality.

  That is, when the actual operation data evaluated for occurrence of abnormality and the actual operation data for comparison are dissimilar, the abnormal article transport vehicle performs when the actual operation data evaluated for occurrence of abnormality is acquired. Possible causes other than the operating conditions. Therefore, by examining the relationship between the past actual operation data for past diagnosis in the abnormal article transport vehicle as described above and the actual operation data that has been evaluated for occurrence of the abnormality, the cause of the occurrence of the operation abnormality can be attributed to any factor. Therefore, it is possible to more appropriately diagnose the abnormal operation.

  According to a seventh feature configuration of the present invention, in addition to the sixth feature configuration, the operation control means extracts actual operation data at the initial stage of installation and recent actual operation data as the past actual operation data for diagnosis. Whether the actual operation data at the initial stage of installation of the facility is similar to the actual operation data that has been evaluated for occurrence of abnormality, and the recent actual operation data and the actual operation data that has been evaluated for occurrence of abnormality are similar. It is in the point which is comprised so that the diagnosis about the said abnormal operation may be performed.

  According to the seventh characteristic configuration, when the actual operation data that has been evaluated for occurrence of abnormality and the actual operation data for comparison are dissimilar and it is determined that there is no abnormality in the operation condition, If the actual operation data is similar to the actual operation data that has been evaluated for occurrence of abnormalities, it is considered that the goods transport vehicle is operating normally in the initial stage of equipment installation. It can be presumed that an abnormality has occurred in the region or that the operating condition is abnormal. Further, if the actual operation data at the initial stage of installation of the equipment is not similar to the actual operation data that has been evaluated for occurrence of abnormality, it can be estimated that an abnormality has occurred at a site related to the actual operation data.

  On the other hand, when the actual operation data that has been evaluated for occurrence of abnormality and the actual operation data for comparison are dissimilar and it is determined that there is no abnormality in the operation conditions, the latest actual operation data and the occurrence of abnormality have been evaluated. If the actual operation data are similar to each other, it can be estimated that an abnormality or a state close thereto is continuously generated, not an abnormality that occurred suddenly. If recent actual operation data is not similar to the actual operation data that has been evaluated for occurrence of abnormality, it can be estimated that an abnormality has occurred at a site related to the actual operation data.

Hereinafter, an embodiment of an article conveyance facility according to the present invention will be described with reference to the drawings.
FIG. 1 shows the article transport facility. The article transporting equipment is an article transporting vehicle that automatically travels between two storage shelves 1 that are installed at an interval so that the article loading / unloading direction is opposed to each other and a traveling passage 2 that is formed between the storage shelves 1. The stacker crane 3 is provided, and each storage shelf 1 is configured by arranging a large number of article storage units 4 in the vertical and horizontal directions. In the traveling passage 2, a traveling rail 5 is installed on the lower side along the longitudinal direction of the storage shelf 1, and a guide rail 6 is installed on the upper side along the longitudinal direction of the storage shelf 1. A pair of loading platforms 8 are provided on one end side of the traveling rail 5 with the traveling rail 5 interposed therebetween. Each of the pair of loading platforms 8 and the large number of article storage units 4 is configured as an article transfer location K.

  In addition, two stacker cranes 3, 3 are provided in one traveling passage 2, and one ground-side controller 7 that manages the operation of the two stacker cranes 3, 3 is provided.

  Since each said stacker crane 3 is the same structure, respectively, a structure is demonstrated below on behalf of one of them. That is, as shown in FIG. 2, the stacker crane 3 includes a traveling carriage 10 as a traveling body that can travel along the traveling rail 5, and a lifting platform 12 that can be raised and lowered relative to the traveling carriage 10. And a fork device 11 serving as an electric article transfer device capable of transferring the pallet P with the article 9 placed on the lifting platform 12 is provided, and traveling of the traveling carriage 10, raising and lowering of the lifting platform 12, and The pallet P placed on the loading table 8 is transferred to the article storage unit 4 or the pallet P stored in the article storage unit 4 is transferred to the loading table 8 by the withdrawal operation of the fork device 11. It is configured as follows.

  The lifting platform 12 is erected on a traveling carriage 10 and supported by a pair of front and rear lifting masts 13 whose upper ends are connected by an upper frame 15 so as to be movable up and down, and a lifting chain 14 connected to both right and left sides thereof. Is supported by hanging. The elevating chain 14 is wound around an upper driven pulley 16, a traveling cart side driven pulley 17, an elevating table side driven pulley 18, and a drive pulley 19. Also, an elevating electric motor with a reduction gear (hereinafter referred to as an elevating motor) 20 for driving and rotating the driving pulley 19 is provided, and the elevating chain 14 is moved forward and backward by driving the driving pulley 19 with the elevating motor 20. It is configured to move the lifting platform 12 up and down by moving in the longitudinal direction. A lifting current detector 21 for detecting the current value supplied to the lifting motor 20 is also provided.

  As shown in FIG. 3, the elevator table 12 is provided with an elevator table-side rotary encoder 22 that detects an elevator position on the elevator path. The elevator base-side rotary encoder 22 has a rotating shaft on which a sprocket 22a meshing with a chain 13a laid in the vertical direction of the elevator mast 13 is attached. The lifting position is detected by detecting the lifting distance of the lifting platform 12 from the reference position for detecting the lifting distance of the lifting platform 12 from the reference position set in the section.

  The fork device 11 is configured to be freely retractable so as to project to a projecting position or retract to a retracted position by driving an article transfer electric motor 23 with a speed reducer (hereinafter referred to as a transfer motor). . Further, the lifting platform 12 includes a protrusion detection limit switch 24 that detects that the fork device 11 has protruded to the protrusion position, a retreat detection limit switch 25 that detects that the fork device 11 has retreated to the retreat position, and A transfer current detector 26 for detecting a current value supplied to the transfer motor 23 is provided.

  As shown in FIG. 3, the vehicle body side rotary encoder 27 that detects the travel position on the travel route 2 is provided in the travel cart 10. The vehicle-side rotary encoder 27 has a rotating shaft on which a sprocket 27 a that meshes with a chain 5 a laid along the traveling rail 5 is attached. The sprocket 27 a is rotated by traveling of the traveling carriage 10, and one end of the traveling path 2 The traveling position is detected by detecting the traveling distance of the traveling carriage 10 from the reference position set to “1”.

  The traveling carriage 10 is provided with two front and rear wheels 28 that are capable of traveling on the traveling rail 5, and one of the two wheels 28 on one end side in the longitudinal direction of the vehicle body is a traveling electric motor with a speed reducer (hereinafter, referred to as a traveling motor). A driving wheel 28a for propulsion driven by a travel motor 29) is configured, and a wheel on the other end side in the longitudinal direction of the vehicle body is configured as a freely driven wheel 28b. That is, the traveling cart 10 is configured to travel along the traveling rail 5 by the operation of the traveling motor 29. A traveling current detector 30 for detecting a current value supplied to the traveling motor 29 is provided.

  As shown in FIG. 4, each stacker crane 3 receives a storage command or a storage command from the ground-side controller 7 and controls the operation of the stacker crane 3. A lift inverter 32 that changes and adjusts a value, a transfer inverter 33 that changes and adjusts a drive current value supplied to the transfer motor 23, and a travel inverter 34 that changes and adjusts a drive current value supplied to the travel motor 29. The vehicle body control unit 31 is configured to change and adjust the drive current value based on the detection information of the elevator base side rotary encoder 22, the vehicle body side rotary encoder 27, etc., and the elevator motor 20, the traveling motor 29, and the transfer motor. It is comprised so that the action | operation of 23 may be controlled.

  Also, a ground side optical transmission device 35 is provided on the ground side controller 7 side, a movement side optical transmission device 36 is provided on the traveling carriage 10 side, and the vehicle body control unit 31 includes the ground side light transmission device 35 and the movement side light. Information is exchanged with the ground-side controller 7 by communication with the transmission device 36.

  The ground-side controller 7 includes a loading instruction for transporting the pallet P on which the article 9 is loaded from the loading table 8 to one of the plurality of article storage sections 4 and a plurality of article storage sections. 4, the vehicle body control unit 31 is instructed to issue a delivery command for conveying the pallet P on which the item 9 is placed on the loading table 8 from one of the article storage units 4.

  When a warehousing command is instructed from the ground-side controller 7, the vehicle body control unit 31 performs the following series of operations. That is, after executing the traveling operation of moving the traveling carriage 10 to the target stop position for traveling corresponding to the loading table 8 as the target article transfer location K, the lifting table 12 is transferred to the loading table 8. A transfer operation is performed in which the pallet P is transferred from the loading table 8 by being moved up and down to the transfer lifting position. Thereafter, after the traveling operation of moving the traveling carriage 10 to the traveling target stop position corresponding to the article storage section 4 as the target article transfer location K is performed, the lifting platform 12 is moved to the article storage section 4. The transfer operation for moving the pallet P to the article storage unit 4 by moving it up and down to the transfer lifting position corresponding to is executed, and a series of operations in response to the warehousing command is completed.

  The vehicle body control unit 31 executes the following series of operations when an exit command is instructed from the ground-side controller 7. That is, after executing the traveling operation of moving the traveling carriage 10 to the traveling target stop position corresponding to the article storage section 4 in which the articles to be delivered are stored, the lifting platform 12 is transferred to the article storage section 4. A transfer operation is performed in which the pallet P is transferred from the article storage unit 4 by being raised and lowered to the lifting position. Thereafter, after executing a traveling operation for moving the traveling carriage 10 to the traveling target stop position corresponding to the loading platform 8, the lifting platform 12 is moved up and down to the loading lifting position corresponding to the loading platform 8, and the pallet P is moved. A transfer operation for transferring to the loading table 8 is executed, and a series of operations in response to the delivery command is completed.

  When the travel operation is described, the vehicle body control unit 31 first travels the travel distance between the current position of the travel carriage 10 and the target stop position for travel before traveling the travel carriage 10 to the target article transfer location K. As shown in FIG. 5, the travel speed curve is set based on the above. The travel speed curve will be described. First, a speed increasing operation is performed to increase the travel speed of the stopped traveling cart 10 to the set travel speed, and then the travel speed is maintained at the set travel speed. A constant speed operation is performed, and then a deceleration operation is performed to decelerate from the set travel speed to a low travel speed (creep speed) for stopping. When the traveling position of the traveling carriage 10 reaches the traveling target stop position during traveling at a low traveling speed (creep speed), the supply of driving current to the traveling motor 29 is stopped and the brake is applied. The traveling carriage 10 is stopped at the traveling target stop position.

  The travel speed curve in the speed increasing operation is a target transition speed for speed increase in which the target travel speed is determined in accordance with the elapsed time after the start of travel or the travel distance after the start of travel. The transition speed is set in advance. In addition, the traveling speed curve in deceleration operation is a target transition speed for deceleration in which the target traveling speed is determined in accordance with the elapsed time after the start of deceleration or the travel distance after the start of deceleration, and the target transition speed for deceleration is also It is set in advance. The set travel speed and the low travel speed for stopping are also set in advance, and the timing for switching from the speed increasing operation to the constant speed operation, the timing for switching from the constant speed operation to the deceleration operation, and the like are obtained according to the travel distance, as shown in FIG. Such a traveling speed curve is set.

  When the control of the drive current value supplied to the travel motor 29 is described, it is obtained from the current actual travel speed of the travel carriage 10 and the set target transition speed every time a unit time elapses after the travel is started. The deviation from the current target travel speed is obtained, and the actual travel speed becomes the target travel speed based on the deviation and the next target travel speed obtained from the travel pattern when the next unit time elapses. The drive current value is feedback controlled.

  Information about the traveling position and traveling speed of the traveling carriage 10 as traveling operation data is obtained based on the detection information of the vehicle body side rotary encoder 27 and is actually supplied to the traveling motor 29 as traveling operation data. The current value is detected by the traveling current detector 30.

  Next, the transfer operation will be described. When the pallet P is lowered on the loading table 8 or the article storage unit 4, as shown in FIG. Raise and lower to the lifting position for transfer. When this lifting operation is described, the lifting motor 12 is operated to move the lifting table 12 up and down while managing the lifting position of the lifting table 12 based on the detection information of the lifting table-side rotary encoder 22. When the elevating position reaches the elevating target stop position, the operation of the elevating motor 20 is stopped. In this lift control, as in the case of the travel control, the travel speed curve is set to execute each of the speed increasing operation, the constant speed operation, and the speed reducing operation, and the lifting / lowering control is performed based on the actual lifting speed and the position information. It is configured to feedback control the current value supplied to the motor 20. The operation of the lifting motor 20 is configured to control the current value supplied to the lifting motor 20 by adjusting the output of the lifting inverter 32.

  The raising / lowering position and raising / lowering speed of the raising / lowering stand 12 as transfer operation | movement data are calculated | required based on the detected value of the raising / lowering stage side rotary encoder 22. FIG. In addition, the current value actually supplied to the lifting motor 20 is detected by the lifting current detector 21 as transfer operation data.

  When the lifting platform is moved up and down to the transfer lifting position, the fork device 11 is operated with the pallet P mounted by operating the transfer motor 23 until it is detected by the protrusion detection limit switch 24 that it has protruded to the protruding position. To protrude. Thereafter, the lifting motor 20 is operated so as to lower the lifting platform 12 by the set amount for transfer, and the pallet P is lowered onto the loading platform 8 and the article storage unit 4. Then, the fork device 11 is retreated until the retreat detection limit switch 25 detects that the retreat position has been retreated.

  The control for the transfer motor 23 will be described. The output value of the transfer inverter 33 is adjusted so that the current value supplied to the transfer motor 23 is set to a preset value. Further, when the lifting platform 12 is lowered by the set amount for transfer, the current value supplied to the lifting motor 20 is adjusted to a preset lowering set value by adjusting the output of the lifting inverter 32. Has been.

  Then, the end timing of the protrusion operation and the end timing of the retreat operation of the fork device 11 as the transfer operation data are detected by the protrusion detection limit switch 24 and the retreat detection limit switch 25, respectively. A supply current value actually supplied to the lift motor 20 is detected by a lift current detector 21.

  When the pallet P is picked up from the loading table 8 or the article storage unit 4 as the transfer operation, as shown in FIG. Is moved up and down to the lifting position for transfer. Then, the fork device 11 is caused to protrude in an empty state where the pallet P is not placed by operating the transfer motor 23 until the protrusion detection limit switch 24 detects that the protrusion has been protruded. Thereafter, the lifting motor 20 is operated so as to raise the lifting platform 12 by the set amount for transfer, and the pallet P on which the article is placed is scooped up from the loading table 8 or the article storage unit 4. Then, the fork device 11 is retreated until the retreat detection limit switch 25 detects that the retreat position has been retreated.

  The operation of the transfer motor 23 is the same as when the pallet P is lowered. The operation of the lifting / lowering motor 20 when the lifting / lowering platform 12 is raised by the set amount for transfer is controlled by adjusting the output of the lifting / lowering inverter 32 and the current value supplied to the lifting / lowering motor 20 to a preset setting value for rising. Is configured to do. At this time, the current value actually supplied to the transfer motor 23 is detected by the transfer current detector 26 as transfer operation data.

  In the case of picking up the pallet P, as in the case of lowering the pallet P, the end timing of the fork device 11 and the end timing of the retreat operation as transfer operation data are the same as those of the protrusion detection limit switch 24. The current limit value detected by the detection limit switch 25 and actually supplied to the lifting motor 20 as the transfer operation data is detected by the lifting current detector 21.

  Accordingly, the stacker crane 3 includes the vehicle body side rotary encoder 27, the lifting platform as the operation data acquisition means SD for acquiring the travel operation data when executing the travel operation and the transfer operation data when executing the article transfer operation. A side rotary encoder 22, a protrusion detection limit switch 24, a retreat detection limit switch 25, a lifting current detector 21, a transfer current detector 26, and a traveling current detector 30 are provided.

  In this article transport facility, as described above, the operation of each of the stacker cranes 3 is controlled based on the warehousing command and the warehousing command from the ground controller 7, and the ground controller 7 controls the plurality of stacker cranes. Operation control means H for controlling the operation of 3 is configured.

  The ground-side controller 7 evaluates actual operation data in each of the two stacker cranes 3 acquired by the operation data acquisition means SD, and abnormal article conveyance in which an operation abnormality has occurred in the traveling operation or the transfer operation. An abnormality determination process for determining whether or not there is an abnormal stacker crane 3 as a vehicle, an actual operation data that has been evaluated for occurrence of an abnormality determined in the abnormality determination process, and an abnormality thereof Operation data when another stacker crane 3 performs a traveling operation or a transfer operation under the same or similar operating conditions as those performed by the abnormal stacker crane 3 when actual operation data whose occurrence has been evaluated is acquired. An abnormality diagnosis process for diagnosing the operation abnormality is executed by evaluating the actual operation data for comparison acquired by the acquisition unit SD. It is configured to.

  In addition, the ground side controller 7 determines that the abnormal stacker crane 3 in which the operation abnormality has occurred is present in the abnormality determination process, and then the abnormality is detected when the actual operation data that has been evaluated for occurrence of abnormality is acquired. The operation data acquisition means SD controls the operation of another stacker crane 3 so as to perform a traveling operation for inspection or a transfer operation for inspection under the same or similar operating conditions as those performed by the stacker crane 3. The actual operation data for comparison is acquired.

  Further, the ground-side controller 7 has a plurality of stacker cranes 3 acquired by the operation data acquisition means SD when performing a loading / unloading process for controlling the operation of each stacker crane 3 based on a loading command or a loading command. In the abnormality diagnosis process, the actual operation data that has been evaluated for occurrence of abnormality and the actual operation data for comparison are dissimilar to each other. Of the stored past actual operation data, the abnormal stacker crane is operated under the same or similar condition as the operation condition performed by the abnormal stacker crane 3 when the actual operation data evaluated for occurrence of abnormality is acquired. 3 is past actual operation data corresponding to the traveling operation or transfer operation performed by FIG. And recent actual operation data are extracted as past actual operation data for diagnosis, and whether the extracted past actual operation data is similar to the actual operation data that has been evaluated for occurrence of abnormality is evaluated. The system is configured to perform a diagnosis on the operation abnormality.

Hereinafter, a specific control operation of the ground controller 7 will be described.
That is, as shown in FIG. 7, the ground-side controller 7 issues a loading / unloading process for controlling the operation of the stacker crane 3 by instructing each stacker crane 3 with a loading command or a loading command (step 1). In the loading / unloading process, when the vehicle body control unit 31 in each stacker crane 3 executes various controls as described above, the actual operation acquired by the operation data acquisition means SD in correspondence with the operation conditions at that time. Data is configured to be stored in a memory M as a storage means.

The actual operation data when the traveling operation is being executed will be described.
When the travel operation is executed, as described above, when traveling from the current stop position to the target stop position for travel corresponding to the loading table 8 that is the movement target or the target article storage unit 4, as shown in FIG. Such a traveling speed curve is set, and the speed increasing operation, the constant speed operation, and the speed reducing operation are executed. The actual operation data is obtained based on the detection information of the vehicle body side rotary encoder 27. Traveling operation data such as the actual traveling position and traveling speed of the traveling carriage 10 during driving and the current value actually supplied to the traveling motor 29 during each driving are detected every unit time. And stored in the memory M.

  Further, as the operating condition when executing the traveling operation, the position on the traveling rail 5 such as the position at which the stacker crane 3 starts traveling and the position at which the traveling is completed is set, and the article is placed when the traveling operation is performed. There is a condition as to whether or not the elevator platform 12 is in a lifting position when performing a traveling operation, and the like.

Next, actual operation data when the transfer operation is executed will be described.
In the transfer operation, as described above, when the pallet P is lowered to the loading table 8 or the article storage unit 4, as shown in FIG. When picking up the pallet P from the loading table 8 or the article storage unit 4, ascending / descending, protruding, rising, and retracting are sequentially executed as shown in FIG. The detection timing detected by the protrusion detection limit switch 24 at the time of protrusion and the detection timing detected by the retraction detection limit switch 25 at the time of retraction are from the start to the end of the transfer operation. Are detected and stored in the memory M. Further, the actual lifting / lowering of the lifting platform 12 obtained based on the current value actually supplied to the transfer motor 23 and the detection information detected by the lifting / lowering rotary encoder 22 when performing the lifting / lowering processing. The position and the actual lifting speed are detected every unit time and stored in the memory M.

  In addition, as the operation condition when performing the transfer operation, the condition as to whether or not an article is placed when performing the transfer operation, the lifting position of the lifting platform 12 when starting the transfer operation There are conditions about.

  And the ground side controller 7 is based on the actual operation data acquired by the operation data acquisition means SD as described above, is there an abnormal stacker crane 3 in which an operation abnormality has occurred in the travel operation or transfer operation? An abnormality determination process is performed to determine whether or not (step 2).

  The determination as to whether or not an operation abnormality has occurred at this time includes, for example, an allowable upper limit that is set in advance for the supply current value supplied to the traveling motor 29 when the speed increasing operation is being performed in the traveling operation. When it is detected that a large value exceeding the value is detected, the target stop position for traveling is reached even if the set time has elapsed even though the traveling motor 29 is controlled to perform traveling operation. In the transfer operation, when the lifting motor 12 is moved up and down during the transfer operation, the target lifting position for lifting is not reached even after the set allowable time has elapsed. In some cases, the supply current value supplied to the lifting motor 20 is an abnormally large value that exceeds the set upper limit value.

  And when it determines with the abnormal stacker crane 3 which the operation abnormality has generate | occur | produced in the above-mentioned abnormality determination process, the operation process for a check is performed after that (steps 3 and 4). In this inspection operation process, the traveling operation for inspection or the transfer for inspection under the same or similar condition as the operation condition performed by the abnormal stacker crane 3 when the actual operation data evaluated for occurrence of abnormality is acquired. The operation of another stacker crane 3 is controlled so as to perform the operation, and the actual operation data for comparison is acquired by the operation data acquisition means SD.

  The traveling operation for inspection is performed in an operation state corresponding to any one of the above-described operation states of the speed increasing operation, the constant speed operation, and the deceleration operation.

For example, when the abnormal stacker crane 3 performs a traveling operation in which the article is loaded and travels from a predetermined traveling start position on the traveling rail 5 to a target traveling target stop position, the speed increasing operation is performed. If the actual operation data that has been evaluated for occurrence of abnormality is acquired, the other operation of the stacker crane 3 is the same as that performed by the abnormal stacker crane 3 as the traveling operation for inspection. Actual operation when the speed increasing operation is performed under the condition that the lifting platform 12 is in the same lifting position and the traveling operation is performed from the predetermined traveling start position to the traveling target stop position with the article loaded. Data is measured. As actual operation data at this time, the actual value of the supply current value actually supplied to the traveling motor 29 is detected per unit time, and the actual traveling vehicle 10 is obtained per unit time determined based on the detection information of the vehicle body side rotary encoder 27. There is traveling operation data such as traveling speed.
In addition, as a traveling operation for inspection, a traveling operation is performed such as loading other items instead of the same item, different positions of the lifting platform 12, or different traveling start positions even if the traveling distance is the same. You may make it perform by the similar conditions in which conditions differ partially.

  As the transfer operation for inspection, as described above, when the pallet P is lowered, it is performed by an operation corresponding to any of the operations of raising, lowering, protruding, descending, and retracting, and the pallet P is picked up. In this case, the operation is performed by a driving operation corresponding to any one of the operations of raising / lowering, protruding, rising, and retracting.

  For example, when the abnormal stacker crane 3 raises the lifting platform 12 in the transfer operation, if actual operation data that has been evaluated for occurrence of abnormality is acquired, another stacker may be used as the transfer operation for inspection. The actual operation data when the elevator 12 is raised in the transfer operation is measured for the same condition that the abnormal stacker crane 3 executes, that is, the same article. As actual operation data at this time, the actual current of the elevator 12 obtained based on the detection value of the supply current value actually supplied to the elevator motor 20 per unit time and the detection information of the elevator rotary encoder 22 is obtained. There are transfer operation data such as lifting position and traveling speed.

FIG. 8 shows an operation process for inspection when an abnormal operation occurs in the ascending operation as described above.
In this inspection operation process, the article 9 loaded on the pallet P in the fork device 11 when it is determined that an abnormal operation has occurred for the abnormal stacker crane 3 for each pallet P. A command is given to lower the predetermined article storage unit 4 (step 41). Thereafter, the abnormal stacker crane 3 executes the abnormal stacker crane 3 when it is determined that an operation abnormality has occurred with respect to the article 9 in the predetermined article storage unit 4 that has been lowered by the abnormal stacker crane 3. The same transfer operation for inspection as that which has been performed, specifically, after the empty fork device 11 on which the article 9 is not loaded is protruded to the protruding position, the elevator 12 is instructed to be raised by a set amount. (Step 42). Then, when the transfer operation for inspection is executed, processing for measuring and reading the actual operation data for comparison is executed (step 43). Specifically, as actual operation data, the actual lifting platform 12 obtained based on the detection value of the supplied current value actually supplied to the lifting motor 20 per unit time and the detection information of the lifting platform-side rotary encoder 22. The transfer operation data such as the raising / lowering position and traveling speed are measured and read.

  Therefore, in this case, when the actual operation data evaluated for occurrence of abnormality is acquired, the same article 9 as the article 9 handled by the abnormal stacker crane 3 is handled and the transfer operation for inspection is performed.

  Next, the actual operation data that has been evaluated for occurrence of abnormality detected in the abnormal stacker crane 3 and the actual operation data for comparison detected in another stacker crane 3 in the traveling operation for inspection or the transfer operation for inspection are used. By performing the evaluation, an abnormality diagnosis process for diagnosing the operation abnormality is executed (step 5).

  In this abnormality diagnosis process, it is evaluated whether or not the actual operation data that has been evaluated for occurrence of abnormality and the actual operation data for comparison are similar. to decide. In addition, when the actual operation data that has been evaluated for occurrence of abnormality and the actual operation data for comparison are dissimilar, the past actual operation that is sequentially detected and stored as the loading / unloading process is executed as described above. Among the data, the travel operation or transition performed by the abnormal stacker crane 3 under the same or similar condition as the operational condition performed by the abnormal stacker crane 3 when the actual operation data that has been evaluated for occurrence of the abnormality is acquired. The past actual operation data corresponding to the loading operation, and the actual operation data at the initial stage of installation and the latest actual operation data are extracted as past actual operation data for diagnosis, and the extracted past actual operation data And the actual operation data that has been evaluated for occurrence of abnormality are evaluated to make a diagnosis of the operation abnormality.

  This abnormality diagnosis processing will be specifically described with reference to the flowchart of FIG. 9 by taking as an example a case where an operation abnormality occurs when the elevator 12 is raised in the transfer operation as described above. In this embodiment, it is assumed that No. 1 of the two stacker cranes 3 is abnormal in operation and No. 2 is not abnormal, and is actual operation data for the corresponding stacker cranes 3. The code | symbol (1) and (2) showing are attached | subjected. That is, (1) represents actual operation data acquired in the first stacker crane 3 and (2) represents actual operation data acquired in the second stacker crane 3.

  First, the average of the detected value of the supply current value of the lifting motor 20 detected when the abnormal stacker crane 3 lifts the lifting platform 12 as the actual operation data that has been evaluated for occurrence of abnormality within the set time. The value Ia (1) and the average value Ib (2) within the set time of the supply current value acquired when another stacker crane 3 performs the transfer operation for inspection as the actual operation data for comparison Is evaluated to determine whether or not they are similar to each other (step 51).

  When the average value Ia (1) of the supply current value as the actual operation data that has been evaluated for occurrence of abnormality is not similar to the average value Ib (2) of the supply current value as the actual operation data for comparison When the abnormal stacker crane 3 executes various operations, the actual operation data that has been evaluated for occurrence of abnormality is acquired from the various actual operation data stored in the memory M as described above. The past actual operation data detected when the abnormal stacker crane 3 lifts the lifting platform 12 under the same operating conditions as those performed by the abnormal stacker crane 3. And the latest actual operation data are extracted as past actual operation data for diagnosis (step 52).

  In other words, the abnormal stacker crane 3 is loaded with the same article as when the actual operation data evaluated for occurrence of abnormality is acquired recently, that is, within the set period before the occurrence of abnormality. The detected value of the supply current value of the lifting motor 20, that is, the latest supply current value acquired when the lifting platform 12 is raised in the state of being in the state, and the abnormal stacker crane 3 are evaluated for occurrence of the abnormality at the initial stage of installation of the equipment. The detection value of the supply current value of the lifting motor 20 obtained when the lifting platform 12 is raised while the same article is loaded as when the actual operation data was acquired, that is, the initial installation supply current value is extracted. To do.

  Then, whether or not they are similar is evaluated based on whether or not the average value Ia (1) of the supply current values and the average value Ic (1) for the set number of the latest supply current values are substantially equal. (Step 53). Further, when the average value Ia (1) of the supply current value and the average value Ic (1) for the set number of the latest supply current values are not similar, the average value Ia (1) of the supply current value ) And the average value Id (1) within the set time of the initial installation supply current value are evaluated to determine whether or not they are similar (step 54).

  When it is determined in step 61 that the average value Ia (1) of the supply current value is similar to the average value Ib (2) of the supply current value based on the above evaluations, Even if another stacker crane 3 loads the same article as the abnormal stacker crane 3 and raises and lowers the lifting platform 12, the same actual operation data can be obtained. Therefore, not the failure of the stacker crane 3 but the loaded article 9 It is estimated that the cause of the operation abnormality is that the load is overloading in which the weight of the article 9 exceeds the allowable upper limit that can be loaded (step 55). This cause of abnormality corresponds to an abnormality in operating conditions.

  When it is determined in step 63 that the average value Ia (1) of the supply current value is similar to the average value Ic (1) for the set number of the latest supply current values, the average value Ia (1) is mounted on the lifting platform 12. There is a possibility that the adjustment in the mounted state of the fork device 11 is shifted, and it is estimated that the movement resistance of the raising / lowering operation is increased due to the abnormal operation (step 56).

  When it is determined in step 64 that the average value Ia (1) of the supply current value is similar to the average value Id (1) of the initial installation supply current value, for example, the lifting chain 14 is caused by secular change. It is estimated that the cause of the abnormal operation is that the elevator 12 is extended due to wear and is not properly supported (step 57).

  In step 64, if the average value Ia (1) of the supply current value and the average value Id (1) of the initial installation supply current value are not similar, for example, the speed reducer in the lifting motor 20 is damaged. For example, it is presumed that the sudden failure of the part causes the abnormal operation (step 58).

  And the result estimated as mentioned above is displayed on the display part with which the ground side controller 7 was equipped (step 59). In this way, the user of the equipment can confirm the estimated result of the cause of the abnormal operation, and can perform appropriate post-processing thereafter, and can quickly return to the state of carrying the article. It becomes.

  In the above-described example, a specific example of the abnormality diagnosis process is shown by taking as an example a case where an operation abnormality occurs when the lifting platform 12 is raised in the transfer operation, but it seems that an operation abnormality has occurred in the traveling operation. Even in such a case, it is possible to estimate the cause of the operation abnormality by evaluating the actual operation data that has been evaluated for occurrence of abnormality and the actual operation data for comparison. For example, when the actual operation data that has been evaluated for occurrence of abnormality is similar to the actual operation data for comparison, there is an abnormality that causes a running resistance in the middle of the running rail 5 as an operating condition, or It can be determined that the operating condition is abnormal such as the weight of the loaded article is overweight. If the actual operation data that has been evaluated for occurrence of abnormality is not similar to the actual operation data for comparison, it can be estimated that there is an abnormality in the drive mechanism of the travel motor 29, such as a speed reducer.

[Another embodiment]
Hereinafter, another embodiment will be described.

(1) In the above embodiment, the operation control means handles the same article as the article handled by the previous abnormal article transport vehicle when the actual operation data that has been evaluated for occurrence of abnormality is acquired. Although it was configured to perform the traveling operation or the transfer operation for inspection, it is known that instead of such a configuration, all the articles handled by the abnormal article transport vehicle have the same or substantially the same weight. Sometimes, the traveling operation for inspection or the transfer operation for inspection may be performed using an article different from the article handled by the abnormal article transport vehicle.

(2) In the above embodiment, after the operation control means determines that there is the abnormal article transport vehicle in which the operation abnormality has occurred in the abnormality determination process, the actual operation data that has been evaluated for occurrence of the abnormality is obtained. Operation control of another article transport vehicle so as to perform a traveling operation for inspection or a transfer operation for inspection under the same or similar conditions as the operating conditions that the abnormal article transport vehicle was performing when acquired, The operation data acquisition means is configured to acquire the actual operation data for comparison, but instead of such a configuration, the following configuration may be used.

  That is, the operation control means stores the past actual operation data in correspondence with the operation condition by sequentially executing the storage process as the article transport vehicle executes various operations, and stores the stored data. Of the past actual operation data, another article transport vehicle was performed under the same or similar condition as the operation condition that the abnormal article transport vehicle had performed when the actual operation data evaluated for occurrence of abnormality was acquired. The actual operation data corresponding to the travel operation or the transfer operation may be used as the actual operation data for comparison.

  In other words, when it is determined that there is an abnormal article transport vehicle in which an operation abnormality has occurred, another article transport vehicle is controlled to perform a traveling operation for inspection or a transfer operation for inspection. Rather, it is a configuration that performs diagnosis of operation abnormality using actual operation data that has already been stored in the past.

(3) In the above embodiment, when evaluating the actual operation data that has been evaluated for occurrence of abnormality in the abnormality diagnosis process and the actual operation data for comparison, the supply current value of the lifting motor is used as the actual operation data. However, the actual operation data is not limited to the supply current value, but the supply voltage value for the travel motor, the lifting motor, the transfer motor, etc., or the operation speed when the travel operation or the transfer operation is executed, etc. Diagnosis can be made using various actual operation data.

  Further, in this case, the configuration is not limited to simply comparing the magnitudes of the supply current values as described above, but how to change the actual operation data that changes over time, for example, the difference or change in the amount of change per unit time It can be implemented in various forms such as evaluating and diagnosing pattern differences.

(4) In the above embodiment, the operation control means stores past actual operation data in each of the plurality of article conveyance vehicles acquired by the operation data acquisition means in association with the operation conditions, and abnormal article conveyance. The past actual operation data for diagnosis is extracted from the past actual operation data acquired and stored by the vehicle, and the extracted past actual operation data and the actual operation data that has been evaluated for occurrence of abnormality are obtained. Although it was configured to evaluate and diagnose an abnormality in operation, another article transport vehicle does not use the past actual operation data acquired by such an abnormal article transport vehicle, Alternatively, it may be configured such that only the actual operation data acquired when performing the transfer operation for inspection is used as the comparison actual operation data to diagnose the operation abnormality.

(5) In the above embodiment, the rotary encoder is provided as the detecting means for detecting the traveling position and traveling speed of the traveling carriage on the traveling route. However, for example, a laser beam rangefinder can be used. Yes, various sensors can be applied. In addition, a rotary encoder is provided as a detecting means for detecting the raising / lowering position and raising / lowering speed of the elevator relative to the traveling carriage. For example, a laser beam rangefinder can be used, and various sensors can be applied. can do.

(6) In the above-described embodiment, the two stacker cranes as the plurality of article transporting vehicles are illustrated in a state of traveling along the same traveling route. However, a plurality of different traveling routes are provided, It is good also as a structure by which a stacker crane is provided in each of several driving paths.

(7) In the above embodiment, the stacker crane is exemplified as the article transporting vehicle according to the present invention. However, the present invention can be applied to an article transporting vehicle provided with, for example, a roller conveyor type article transfer device.

Perspective view of goods transport equipment Side view of stacker crane An enlarged side view of the main part of a stacker crane Control block diagram of goods transport equipment The figure which shows the traveling speed curve in traveling operation Diagram for explaining transfer operation Flow chart of control operation Flow chart of control operation Flow chart of control operation

Explanation of symbols

3 article transport vehicle K article transfer location H operation control means SD operation data acquisition means

Claims (7)

Articles that are provided with a plurality of article transport vehicles that can travel over a plurality of article transfer locations and that can transfer articles to the article transfer locations, and that are provided with operation control means for controlling the operation of the plurality of article transport vehicles. A transport facility,
Each of the plurality of article transport vehicles is provided with operation data acquisition means for acquiring travel operation data when executing the travel operation and transfer operation data when executing the article transfer operation as actual operation data,
The operation control means is
The actual operation data in each of the plurality of article conveyance vehicles acquired by the operation data acquisition means is evaluated to determine whether there is an abnormal article conveyance vehicle in which an operation abnormality has occurred in the traveling operation or transfer operation. Anomaly discrimination processing, and
Actual operation data that has been evaluated for occurrence of abnormality determined that an operation abnormality has occurred in the abnormality determination process and the actual operation data that has been evaluated for occurrence of abnormality have been performed by the abnormal article transport vehicle. By evaluating the actual operation data for comparison acquired by the operation data acquisition means when another article transport vehicle performs a traveling operation or a transfer operation under the same or similar conditions as the operating conditions, An article conveyance facility configured to execute an abnormality diagnosis process for diagnosing an operation abnormality.   After the operation control means determines that there is the abnormal article transport vehicle in which an operation abnormality has occurred in the abnormality determination process, the abnormal article is obtained when the actual operation data that has been evaluated for occurrence of the abnormality is acquired. The operation data acquisition means controls the operation of another article conveyance vehicle so as to perform a traveling operation for inspection or a transfer operation for inspection under the same or similar condition as the operation condition performed by the conveyance vehicle. The article conveyance facility according to claim 1, which is configured to acquire actual operation data for comparison.   The operation control means handles the same article as that handled by the abnormal article transport vehicle when the actual operation data that has been evaluated for occurrence of the abnormality is acquired, and the traveling operation for inspection or the transfer for inspection is handled. The article conveyance facility according to claim 2, which is configured to perform a loading operation.   The operation control means stores past actual operation data in each of the plurality of article transport vehicles acquired by the operation data acquisition means in association with the operation conditions, and among the stored past actual operation data Corresponding to a traveling operation or a transfer operation performed by another article transport vehicle under the same or similar condition as the operation condition performed by the abnormal article transport vehicle when the abnormal operation evaluated actual operation data is acquired The article conveyance facility according to claim 1, wherein the actual operation data is used as the actual operation data for comparison.   In the abnormality diagnosis process, the operation control means evaluates whether or not the actual operation data that has been evaluated for occurrence of abnormality is similar to the actual operation data for comparison. The article conveying facility according to claim 1, wherein the article conveying facility is configured to determine that there is an abnormality.   The operation control means stores past actual operation data in each of the plurality of article transport vehicles acquired by the operation data acquisition means in association with the operation conditions, and the abnormality occurrence has been evaluated in the abnormality diagnosis process. When the actual operation data for the comparison is dissimilar to the actual operation data for comparison, the abnormal article is obtained when the actual operation data evaluated for occurrence of abnormality is acquired from the stored past actual operation data. Extract past actual operation data corresponding to the traveling operation or transfer operation performed by the abnormal article transport vehicle under the same or similar condition as the operation condition performed by the transport vehicle as past actual operation data for diagnosis, 6. The apparatus according to claim 5, wherein the extracted past actual operation data and the actual operation data that has been evaluated for occurrence of the abnormality are evaluated to diagnose the operation abnormality. Goods transport equipment.   The operation control means extracts the actual operation data at the initial stage of equipment installation and the latest actual operation data as the past actual operation data for diagnosis, and the actual operation data at the initial stage of equipment installation and the occurrence of the abnormality have been evaluated. Evaluate whether or not the actual operation data is similar, and whether or not the recent actual operation data is similar to the actual operation data that has been evaluated for occurrence of abnormality, and diagnose the operation abnormality The article transport facility according to claim 6, which is configured to perform.

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