JP2007062941A - Article transporting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article transporting device capable of precisely judging an abnormal state of a mobile body. <P>SOLUTION: A control means for controlling an actuation of a drive means driving a mobile body for transporting an article controls the actuation of the drive means in order to move the mobile body at a target speed defined for moving the mobile body in a form of an acceleration operation for accelerating the mobile body at a set acceleration, a constant moving operation for moving the mobile body while maintaining the moving speed, and a deceleration operation for decelerating the mobile body at a set deceleration speed. A moving data detection means detecting a moving condition of the mobile body or an actuation condition of the drive means while the mobile body is moving is provided. The control means compares division data of moving data found for a plurality of divided sections A1-A4, V1-V3 formed by dividing a moving period from the start to the end for moving the mobile body with comparison data, so as to execute an abnormal state judgiing process for judging the abnormal state of the mobile body. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention is provided with a driving means for driving a moving body for conveying articles and a control means for controlling the operation of the driving means, and the control means accelerates the moving body at a set acceleration. The operation of the driving means to move the moving body at a target speed determined to move in a mode of performing a steady movement operation in which the movement speed is maintained and a deceleration operation in which the movement is decelerated at a set deceleration. The present invention relates to an article conveying apparatus configured to control the above.

  The article transport apparatus as described above is a stacker crane used in an automatic warehouse or an article transport vehicle used in an article transport facility, and the control means controls the operation of the drive means to increase speed operation, steady movement operation, deceleration. The article is transported by moving the article-conveying moving body to the target article transfer location in the form of driving.

Such an article conveying apparatus has conventionally been provided with a traveling electric motor and an inverter for controlling the speed of the traveling electric motor as driving means for driving the moving body, and this inverter is driven while the moving body is moving. The operating state of the means is detected as moving data, and the control means is configured to compare the moving data detected by the inverter with a set value to determine the abnormal state of the moving body (for example, , See Patent Document 1).
In this conventional article conveying apparatus, the inverter detects and controls the current value output to the traveling electric motor, the regenerative voltage value output from the inverter, and the power supply voltage value supplied to the inverter as moving data. Means that the current value output to the electric motor for traveling is greater than the set value, the regenerative voltage value output from the inverter is greater than the set value, the power supply voltage value supplied to the inverter is smaller than the set value When any one of the three conditions is satisfied, it is determined that the moving body is in an abnormal state.

JP 2002-217710 A

In the above-described conventional article transport apparatus, the control means determines the abnormal state of the moving body by capturing the operating state of the driving means while the moving body is moving by comparing the moving data and the set value. .
However, during the movement of the moving body, the operating state of the drive means changes due to various factors such as switching from the speed increasing operation to the steady movement operation. There is a possibility that the change in the operating state of the means cannot be accurately grasped and the abnormal state of the moving body cannot be accurately identified.

  The present invention has been made paying attention to this point, and an object of the present invention is to provide an article transporting apparatus that can accurately determine an abnormal state of a moving body.

In order to achieve this object, the first characteristic configuration of the article transporting apparatus according to the present invention is provided with a driving means for driving a moving body for article transport, and a control means for controlling the operation of the driving means. The control means is determined to move the moving body in such a manner as to perform a speed increasing operation for increasing the moving body at a set acceleration, a steady moving operation for moving while maintaining the moving speed, and a decelerating operation for decelerating at a set deceleration. In the article conveying apparatus configured to control the operation of the driving means to move the moving body at a target speed to be obtained,
A moving data detecting means for detecting the moving state of the moving body or the operating state of the driving means during the movement of the moving body as moving data is provided, and the control means detects detection information of the moving data detecting means. Based on the above, the divided data of the moving data obtained for each of the plurality of divided sections into which the moving period from the movement start to the movement stop of the moving object is compared with the comparison data, and the abnormality of the moving object An abnormal state determination process for determining a state is configured to be executed.

That is, the movement period from the start of movement of the moving body to the stop of movement is divided into a plurality of divided sections, and the control means moves for each of the divided sections by executing an abnormal state determination process while the moving body is moving. The division data of the middle data is obtained, and the division data and the comparison data are compared, so that the abnormal state of the moving body can be determined.
As described above, when the divided data and the comparison data are compared for each of the plurality of divided sections, a change in the moving state of the moving body or the operating state of the driving means can be captured for each divided section. The change in the operating state of the means can be accurately grasped.
As for the divided sections, for example, when switching from the speed increasing operation to the steady movement operation, the moving period can be divided into a plurality of divided sections in a state corresponding to the switching of the operation so as to be another divided section. . When the moving period is divided into divided sections in this manner, the moving state of the moving body or the change in the operating state of the driving means is distinguished from the change in the moving state of the moving body or the operating state of the driving means due to switching of operation. Can be captured.

  Therefore, the change of the moving state of the moving body or the change of the operating state of the driving means can be caught for each divided section, and the change can be accurately picked up, so that the abnormal state of the moving body can be accurately determined. We have been able to provide equipment.

  According to a second characteristic configuration of the article transporting apparatus according to the present invention, the control unit uses the division data for normal use for the moving body in a normal state as the comparison data in the abnormal state determination process, and the division The configuration is such that the abnormal state of the moving body is determined by comparing the data with the divided data for normal use.

  That is, the control means captures how the moving state of the moving body or the operating state of the driving means has changed with respect to the moving body in the normal state by comparing the divided data with the normal divided data. Will be able to. Therefore, the abnormal state of the moving body can be accurately determined.

  According to a third characteristic configuration of the article transporting apparatus according to the present invention, the control unit sets the normal divided data and the plurality of types of abnormal states for the normal moving body in the abnormal state determination process. Using the plurality of abnormal division data for the moving body in the abnormal state sequentially generated one by one as the comparison data, the division data and the normal division data are compared for each of the plurality of division sections. An actual pattern that determines whether or not there is a difference between the two divided data is obtained, and there is a difference between the plurality of abnormal divided data and the normal divided data for each of the plurality of divided sections. It is configured to determine the abnormal state of the moving body by comparing the abnormal pattern in each of a plurality of types of abnormal states that have been determined whether or not they exist and the actual pattern.

  That is, as the comparison data, not only the normal divided data but also a plurality of abnormal divided data for the abnormal state mobile body in which multiple types of abnormal states are sequentially generated one by one, the normal state It is possible to determine how the moving state of the moving body or the operating state of the driving means has changed with respect to the moving body, and which abnormal state corresponds to the change among the plural types of abnormal states become.

In executing the abnormal state determination process, there is a difference between a plurality of abnormal divided data and a normal divided data for a moving body in an abnormal state in which a plurality of types of abnormal states are sequentially generated one by one. Whether or not there is an abnormal pattern in each of a plurality of types of abnormal states.
Then, the control means executes the abnormal state determination process to compare the divided data with the normal divided data to determine whether there is a difference between the two divided data for each of the plurality of divided sections. Find the actual pattern, compare the actual pattern with the abnormal pattern in each of the multiple types of abnormal states, and determine which abnormal state the mobile unit has from multiple types of abnormal states depending on whether there is an abnormal pattern that matches the actual pattern. It can be determined whether it is in a state.

In this way, it is possible to determine not only whether or not the moving body is in an abnormal state, but also which abnormal state among a plurality of types of abnormal states. It can be determined.
In addition, when obtaining an abnormal pattern, since it is obtained using the abnormal division data for the abnormal moving body that actually generated each abnormal state, the moving state for the mobile body that actually generated each abnormal state is obtained. Or it becomes comparable with the operation state of a drive means, and it can discriminate | determine accurately which abnormal state a moving body is among several types of abnormal states.

  According to a fourth characteristic configuration of the article transporting apparatus according to the present invention, the control means can control the operation of the driving means to move the moving body in a plurality of movement cycles, and the plurality of movements. The abnormal state determination process is executed for each cycle.

That is, the control unit can execute the abnormal state determination process in a state corresponding to the movement cycle by executing the abnormal state determination process for each of the plurality of movement cycles.
If the moving cycle is different, the moving state of the moving body or the way of changing the operating state of the driving means is also different, but by executing the abnormal state determination process in a state corresponding to the moving cycle, the moving according to the moving cycle is performed. The abnormal state of the body can be determined, and the abnormal state of the moving body can be accurately determined.

  A fifth characteristic configuration of the article transporting apparatus according to the present invention is that the control means is configured to obtain an average value of the moving data in the divided section as the divided data.

  That is, the control means obtains the average value of the moving data in the divided section as the divided data, compares the divided data with the comparison data, and determines the abnormal state of the moving body. Therefore, when comparing the divided data and the comparison data, it is only necessary to compare the average value of the moving data in the divided section with the comparison data. The state can be determined.

  According to a sixth characteristic configuration of the article transporting apparatus according to the present invention, the control unit statistically analyzes the divided data when comparing the divided data with the comparison data in the abnormal state determination process. The difference is that it is determined whether or not there is a difference between the data and the comparison data.

  That is, the control means determines whether or not there is a difference between the divided data and the comparison data by statistical analysis, and determines the abnormal state of the moving body. Therefore, it is possible to accurately determine whether there is a difference between the divided data and the comparison data, and it is possible to accurately determine the abnormal state of the moving body.

  According to a seventh characteristic configuration of the article transporting apparatus according to the present invention, the control means includes an average value of the moving data in the divided section, a standard deviation of the moving data in the divided section, and the moving in the divided section. Based on the number of data, it is configured to determine whether or not there is a difference between the divided data and the comparison data by statistical analysis.

  That is, the control means determines whether or not there is a difference between the divided data and the comparison data, the average value of the moving data in the divided section, the standard deviation of the moving data in the divided section, the movement in the divided section Based on the number of medium data, statistical analysis is performed. Therefore, statistical analysis can be accurately performed, and it is possible to more accurately determine whether there is a difference between the divided data and the comparison data, and it is possible to accurately determine the abnormal state of the moving object. become.

An embodiment in which an article conveying device according to the present invention is applied to an automatic warehouse will be described with reference to the drawings.
As shown in FIG. 1, the automatic warehouse automatically has two storage shelves 1 that are installed at an interval so that the direction of putting in and out the goods is opposed to each other, and a work passage 2 that is formed between the storage shelves 1. A stacker crane 3 as a traveling article transporting device is provided, and each storage shelf 1 has a large number of article storage portions 4 arranged in parallel in the vertical direction and the horizontal direction.

  A traveling rail 5 is installed in the work path 2 along the longitudinal direction of the storage shelf 1. One end of the work path 2 has a ground side controller 7 as a control means for managing the operation of the stacker crane 3, and A pair of loading platforms 8 are provided with the traveling rail 5 interposed therebetween.

As shown in FIG. 2, the stacker crane 3 includes a traveling carriage 10 as a moving body for conveying articles 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; The electric fork device 11 is provided on the lift 12 and can be transferred together with the pallet P on which the article 9 is placed.
Then, the stacker crane 3 moves the traveling carriage 10, raises and lowers the lifting platform 12, and operates the fork device 11 to store the article 9 placed on the loading platform 8 into the article storage unit 4, The article 9 stored in the storage unit 4 is configured to be delivered to the loading table 8.

The elevator 12 is guided and supported by a pair of front and rear elevating masts 13 erected on the traveling carriage 10 and is supported by being suspended by elevating chains 14 connected to the left and right sides thereof.
The upper and lower ends of the pair of front and rear masts 13 are connected by the upper frame 15, and the pair of left and right guide rollers 15a provided on the upper frame 15 sandwich the guide rail 6 from the left and right. Will be guided along.

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, and an end thereof is on the lower surface side of the elevating table 12. It is connected.
In the traveling direction of the traveling carriage 10, the upper driven pulley 16 is provided at both ends of the upper frame 15, and the traveling carriage side driven pulley 17 is provided at one end and the center of the traveling carriage 10. A lift-side driven pulley 18 is provided on the lower center surface of the lift 12, and a drive pulley 19 is provided on one end of the traveling carriage 10.
An inverter type lift electric motor 24 for driving the drive pulley 19 is provided, and the drive pulley 19 is rotated forward and backward by the lift electric motor 24 to move the lift chain 14 in the longitudinal direction. The elevator 12 is moved up and down.

The traveling carriage 10 has a lifting laser range finder 20 that projects beam light for ranging in the traveling direction, and a path of the beam light projected by the lifting laser range finder 20 vertically upward. A mirror 22 is provided for bending and irradiating the reflecting plate 21 installed on the lower surface of the lifting platform 12.
The lifting laser range finder 20 detects the distance between the reference position and the lifting platform 12 in the lifting direction of the lifting platform 12 with the position of the mirror 22 provided on the traveling carriage 10 as the reference position. By this, it is comprised so that the raising / lowering position of the raising / lowering stand 12 may be detected.

Further, the traveling carriage 10 is provided with two front and rear traveling wheels 23 that can travel on the traveling rail 5. One of the two traveling wheels 23 in the longitudinal direction of the vehicle body is configured as a driving traveling wheel 23a for propulsion driven by a traveling electric motor 25 that is an inverter type motor. The wheel on the end side is configured as a freely driven driven wheel 23b.
The driving traveling wheel 23 a is driven by the operation of the traveling electric motor 25 so that the traveling carriage 10 travels along the traveling rail 5.

Further, the traveling carriage 10 is provided with a traveling laser rangefinder 26 that projects a ranging beam light in the traveling direction.
The traveling laser range finder 26 projects the reference position and the traveling carriage in the work path 2 with the end portion of the traveling rail 5 as a reference position and projected toward the reflector 30 installed at the reference position. By detecting the distance from the vehicle 10, the traveling position of the traveling vehicle 10 is detected.

As shown in FIG. 3, the ground controller 7 includes a communication controller 7 a for communicating various information for operating the stacker crane 3, traveling of the traveling carriage 10, raising and lowering of the elevator platform 12, and The operation of the fork device 11 is controlled.
The stacker crane 3 includes a traveling inverter 27 that operates the traveling electric motor 25 or the fork device 11, a lifting inverter 28 that operates the lifting electric motor 24, a lifting laser range finder 20, and a traveling laser distance measurement. An input / output device 29 capable of inputting and outputting a total of 26 pieces of detection information is provided.

The traveling inverter 27 outputs a current to the traveling electric motor 25 to operate the traveling electric motor 25, and outputs a current to the electric fork device 11 to cause the fork device 11 to operate. It is configured to be switchable to a transfer state to be operated.
As a driving means for driving the traveling carriage 10, a traveling inverter 27 and a traveling electric motor 25 are provided.
The lift inverter 28 is configured to output a current to the lift electric motor 24 to operate the lift electric motor 24.

The travel inverter 27 is provided with a communication controller 27 a, the elevator inverter 28 is also provided with a communication controller 28 a, and the input / output device 29 is also provided with a communication controller 29 a.
A communication network is configured by the communication controllers 27a, 28a, and 29a on the stacker crane 3 side, the communication controller 7a on the ground side controller 7 side, and the optical transmission device 31. The communication network is configured to be able to communicate various information in a state where the ground controller 7 is a master and the travel inverter 27, the lift inverter 28, and the input / output device 29 are slaves.
The ground-side controller 7 is configured to control the operation of the stacker crane 3 while managing various information about the stacker crane 3 by communicating various information through this communication network.

  The operation of the stacker crane 3 will be described. When the article B placed on the loading table 8 is stored in the article storage unit 4, the article B stored in the article storage unit 4 is stored in the loading table 8. There is a case to go out.

The case of warehousing will be described. When a warehousing command is instructed by human input or a command from a host controller, the ground-side controller 7 first sets the target stop position corresponding to the loading table 8 as the transfer stop position. After setting and communicating various information through the communication network, the traveling carriage 10 is run and the elevator 12 is moved up and down to stop the elevator 12 at the transfer stop position, and then the fork device 11 is operated. Thus, the scooping operation is performed to scoop up the article 9 placed on the loading table 8 together with the pallet P.
When the article 9 placed on the loading table 8 is picked up, the ground-side controller 7 then moves the transfer from the plurality of article storage units 4 to one article storage unit 4 as a transfer destination. The target stop position corresponding to the article storage unit 4 at the loading destination is set as the transfer stop position, and the traveling carriage 10 is moved and the lifting platform 12 is moved up and down while communicating various information via the communication network. After the platform 12 is stopped at the transfer stop position, the fork device 11 is operated to perform a wholesale operation of the article 9 together with the pallet P in the transfer destination article storage unit 4.

  Incidentally, the target stop position is a position at which the lifting platform 12 should be stopped in order to transfer the article 9 together with the pallet P by the fork device 11, and with respect to each of the loading table 8 and the plurality of article storage units 4. Is set.

  In the case of exiting, when an exit command is instructed by an artificial input or a command from the host controller, the article storage unit 4 that stores the article 9 to be exited is contrary to the case of entering. The target stop position corresponding to is set as the transfer stop position and the scooping operation is performed, and then the target stop position corresponding to the loading table 8 is set as the transfer stop position and the wholesale operation is performed.

Hereinafter, the operation of the stacker crane 3 will be described.
First, the traveling of the traveling cart 10 will be described. The ground-side controller 7 accelerates the traveling cart 10 at a set acceleration, performs a steady movement operation while maintaining the traveling speed, and decelerates at a set deceleration. The operation of the traveling inverter 27 and the traveling electric motor 25 is controlled so that the traveling carriage 10 can travel at a target speed determined in order to travel in the form of performing the deceleration operation.
Then, the ground-side controller 7 communicates the travel command information to the travel inverter 27 via a communication network, and calculates the amount of current that the travel inverter 27 supplies to the travel electric motor 35 based on the travel command information. The travel cart 10 is adjusted to travel.

First, the ground-side controller 7 communicates the travel start command information that also instructs the travel direction to the travel inverter 27 via the communication network. The traveling inverter 27 supplies a current to the traveling electric motor 25 in order to start traveling of the traveling carriage 10 when the traveling start command information is commanded.
Thereafter, the ground-side controller 7 sends the traveling speed command information to the communication network every time the set time elapses or the set distance travels so that the traveling speed of the traveling carriage 10 changes according to the traveling speed curve shown in FIG. To the inverter 27 for traveling. The traveling inverter 27 adjusts the amount of current supplied to the traveling electric motor 25 so that the traveling carriage 10 travels at the traveling speed commanded by the traveling speed command information.

Based on FIG. 4, the travel speed curve will be described.
First, the ground-side controller 7 acquires the detection information of the traveling laser range finder 26 through communication with the input / output device 29 via a communication network, manages the traveling position of the traveling carriage 10, In traveling, a traveling speed curve is set based on the distance between the current position of the traveling carriage 10 and the transfer stop position.
Then, the ground-side controller 7 performs a speed increasing operation for increasing the traveling speed at the set acceleration α to the set traveling speed for the stopped traveling cart 10, and performs a steady movement operation for traveling while maintaining the traveling speed. Thereafter, the ground-side controller 7 performs a deceleration operation in which the vehicle is decelerated at the set deceleration β from the set travel speed to the low travel speed for stopping (creep speed).

The set acceleration α, the set travel speed, the set deceleration β, and the low travel speed for stop are set in advance.
Then, the ground-side controller 7 determines the timing for switching from the speed increasing operation to the steady driving operation, the timing for switching from the steady driving operation to the deceleration driving, and the like according to the travel distance, and sets the traveling speed curve as shown in FIG.

  When the traveling position of the traveling carriage 10 reaches the stop position for transfer in a state where the traveling carriage 10 is traveling at the low traveling speed (creep speed) for stopping, the ground side controller 7 outputs traveling stop command information. It communicates with the inverter 27 for driving | running | working. Then, the traveling inverter 27 stops the supply of current to the traveling electric motor 25 and applies the brake to stop the traveling carriage 10 at the transfer stop position.

In this way, the ground-side controller 7 travels the traveling carriage 10 so that the traveling speed of the traveling carriage 10 changes according to the traveling speed curve, but the traveling controller 10 travels in a plurality of movement cycles. Therefore, the operation of the traveling inverter 27 and the traveling electric motor 25 can be controlled.
As the plurality of movement cycles, a short-distance travel cycle in which the travel distance of the traveling carriage 10 to the transfer stop position is short, and a travel distance of the travel carriage 10 to the transfer stop position is a medium distance. There are a distance travel cycle, a long distance travel cycle in which the travel distance of the travel carriage 10 to the transfer stop position becomes a long distance, and other travel circles for traveling the travel carriage 10 for purposes other than conveying the article 9. .

  The ground-side controller 7 moves on the basis of the distance between the current position of the traveling carriage 10 and the transfer stop position when traveling the carriage 10 first. A cycle is determined, a traveling speed curve in the movement cycle is set, and the traveling carriage 10 is caused to travel so that the traveling speed of the traveling carriage 10 changes according to the traveling speed curve.

Next, although the raising / lowering of the raising / lowering stand 12 is demonstrated, since it is the same as the driving | running | working of the driving | running | working trolley | bogie 10 only in communication objects etc., it demonstrates simply.
The ground-side controller 7 communicates command information such as lifting start command information and lifting speed command information to the lifting inverter 28 via a communication network in order to stop the lifting platform 12 at the transfer stop position. The lift inverter 28 adjusts the amount of current supplied to the lift electric motor 24 based on the command information from the ground controller 7.
The ground-side controller 7 acquires the detection information of the lift laser range finder 20 through communication with the input / output device 29 via a communication network, and manages the lift position of the lift platform 12.

  Next, the operation of the fork device 11 will be described. The ground-side controller 7 sends transfer command information to the communication network in order to transfer the article 9 in a state where the lifting platform 12 is stopped at the transfer stop position. To the inverter 27 for traveling. Then, based on the transfer command information from the ground-side controller 7, the traveling inverter 27 operates the fork device 11 to transfer the article 9 to or from the article storage unit 4 or the loading table 8. Let

  The ground controller 7 controls the operation of the traveling inverter 27 and the traveling electric motor 25 so that the traveling speed of the traveling carriage 10 changes according to the traveling speed curve. During the traveling, the abnormal state of the traveling carriage 10 is determined.

The traveling inverter 27 detects the current value and the voltage value output to the traveling electric motor 24 during the traveling period from the traveling start to the traveling stop of the traveling carriage 10 as moving data. As shown in FIGS. 5 and 6, the ground controller 7 receives the moving data from the traveling inverter 27 via the communication network. 5 and 6, (a) shows the current value and the traveling speed of the traveling carriage 10 during the movement period, and (b) shows the voltage value and the traveling speed of the traveling carriage 10 during the movement period.
In this way, the traveling data detection means for detecting the traveling state of the traveling carriage 10 during the traveling of the traveling carriage 10 or the operating states of the traveling inverter 17 and the traveling electric motor 25 as the traveling data is the traveling inverter 27. It is composed of.

  And the ground side controller 7 is based on the detection information of the inverter 27 for driving | running | working, The division | segmentation data of the data in movement calculated | required for every some division | segmentation area which divided | segmented the driving | running | working period from the driving | running | working start of the driving | running | working trolley | bogie 10 An abnormal state determination process is performed to compare the comparison data with each other and determine an abnormal state of the traveling carriage 10.

In the abnormal state determination process, the ground-side controller 7 obtains an average value of moving data in the divided section as divided data, and obtains normal divided data and a plurality of types of abnormal states for the traveling vehicle 10 in a normal state. A plurality of abnormal division data for the traveling carts 10 in the abnormal state that are sequentially generated one by one are used as comparison data.
Then, the ground side controller 7 statistically analyzes the divided data based on the average value of the moving data in the divided section, the standard deviation of the moving data in the divided section, and the number of data of the moving data in the divided section. It is configured to determine whether there is a difference between the data and the comparison data and to determine the abnormal state of the traveling carriage 10.
Specifically, the ground controller 7 compares the divided data with the normal divided data for each of the plurality of divided sections to determine whether or not there is a difference between the two divided data (FIG. 8). (See FIG. 7) and determining whether there is a difference between the plurality of divided data for abnormal use and the divided data for normal use for each of the plurality of divided sections. And the actual pattern are compared to determine the abnormal state of the traveling carriage 10.
As shown in FIG. 7, the abnormal states of the plurality of types include abnormalities in the traveling inverter 27 due to sudden deceleration and overloading, abnormalities in the traveling inverter 27 due to insufficient voltage, and abnormalities in the regenerative unit not connected in the traveling inverter 27. 4 types of abnormalities of sudden deceleration, overloading, mast swing, and brake gap, abnormal fixing of the front guide roller 15a provided on the upper frame 15, rear guide provided on the upper frame 15 For example, the roller 15a is not properly fixed.
In this way, the ground-side controller 7 executes the abnormal state determination process, but is configured to execute the abnormal state determination process for each of a plurality of movement cycles.

Hereinafter, the abnormal state determination process will be described.
First, the divided data will be described.
The ground side controller 7 receives the current value and the voltage value output to the traveling electric motor 24 as the moving data from the traveling inverter 27 as shown in FIGS. 5 and 6.
Then, as the divided sections, a current divided section for the current value and a voltage divided section for the voltage value are determined.
Incidentally, FIG. 5 shows a case where the traveling cart 10 in the normal state is caused to travel, and FIG. 6 shows a case where the traveling cart 10 in the abnormal state is caused to travel.

The current divided section is obtained by dividing the traveling period from the start of travel of the traveling carriage 10 to the stop of travel into four divided sections. First, in the speed increasing operation, a section in which the acceleration of the traveling carriage 10 is constant is defined as a first current divided section A1, and a section in which the acceleration of the traveling carriage 10 is decreased is defined as a second current divided section A2. The section in which the steady running operation is performed is the third current divided section A3, and the section in which the deceleration of the traveling carriage 10 is constant in the deceleration operation is the fourth current divided section A4.
The voltage divided section is obtained by dividing the traveling period from the start of traveling of the traveling vehicle 10 to the stop of traveling into three divided sections. First, in the speed increasing operation, a section in which the acceleration of the traveling carriage 10 is decreased is set as a first voltage divided section V1. The section in which the steady running operation is performed is the second voltage divided section V2, and the section in which the deceleration of the traveling carriage 10 is constant in the deceleration operation is the third voltage divided section V3.

  In this way, when switching from the speed increasing operation to the steady movement operation, the movement period is divided into a plurality of divided sections in a state corresponding to the switching of the operation of the traveling carriage 10 so as to become another divided section. Yes.

The ground-side controller 7 uses the average value of the moving data in the first current divided section A1 as the divided data for the first current divided section, and similarly, the average value of the moving data in each divided section is As the divided data for the divided section, divided data for each of the plurality of divided sections for the current value is obtained and stored.
Further, the ground controller 7 also uses the average value of the moving data in each divided section as the divided data for the divided section in the plurality of divided sections for the voltage value, similarly to the current value. The divided data for each divided section is obtained and stored.
Incidentally, the ground-side controller 7 calculates and stores not only the divided data but also the standard deviation of the moving data in the divided section and the number of moving data in the divided section for each divided section.

Next, based on FIG. 9 showing the operation of the ground-side controller 7, the calculation of the abnormal pattern in each of a plurality of types of abnormal states will be described.
The calculation of the abnormality pattern in each of the plurality of types of abnormal states is performed when the stacker crane 2 is designed or before it is operated, and the abnormality in each of the plurality of types of abnormal states is premised on executing the abnormal state determination process. The pattern is obtained in advance.

First, the ground-side controller 7 obtains and stores normal division data (see FIG. 5) by causing the traveling carriage 10 in a normal state to travel. Next, the ground-side controller 7 obtains and stores a plurality of division data for abnormalities (see FIG. 6) by causing the traveling cart 10 in an abnormal state in which a plurality of types of abnormal states are sequentially generated to travel. To do. Then, the ground-side controller 7 determines whether or not there is a difference between the normal divided data and the plurality of abnormal divided data, and an abnormal pattern in each of a plurality of types of abnormal states (see FIG. 7). To memorize.
In this way, the ground-side controller 7 obtains and stores the abnormal patterns in each of the normal division data, the plurality of abnormality division data, and the plurality of types of abnormal states. For all, the abnormal pattern in each of the normal divided data, the plurality of abnormal divided data, and the plurality of types of abnormal states is obtained and stored.

Next, the operation in the abnormal state determination process will be described based on FIG. 10 showing the operation of the ground side controller 7.
This abnormal state determination process is performed when the traveling carriage 10 is traveled so as to operate the stacker crane 2 for article conveyance.

The ground-side controller 7 first obtains and stores the divided data obtained by the traveling of the traveling carriage 10 as the divided data for operation, and between the divided data for operation and the stored divided data for normal use. It is determined whether or not there is a difference and an actual pattern (see FIG. 8). Next, the ground-side controller 7 determines whether or not the traveling carriage 10 is in an abnormal state based on the actual pattern (see FIG. 8) and the stored abnormal patterns (see FIG. 7) of the plurality of types of abnormal states. If an abnormal state is detected, an abnormal state is determined for determining which of the plural types of abnormal states is the abnormal state.
The ground-side controller 7 executes an abnormal state determination process for each of a plurality of movement cycles. Therefore, when obtaining an actual pattern from the divided data for operation and the divided data for normal use, and the actual pattern and the abnormal pattern When the abnormal state is discriminated from, the divided data in the same movement cycle is used. That is, if the movement cycle when acquiring the division data for operation is a short-distance movement cycle, an actual pattern is obtained from the division data for operation and the division data for normal use in the short-distance movement cycle, and The abnormal state is determined from the actual pattern and the abnormal pattern in the short-distance movement cycle.

  And if the ground side controller 7 discriminate | determines that the driving | running | working trolley 10 is an abnormal state, it will alert | report by an audio | voice or a display in the state which can identify which abnormal state is among several types of abnormal states.

The operation of the ground controller 7 will be described with reference to the flowcharts of FIGS.
As shown in FIG. 11, when the stacker crane 2 is designed or before it is operated, the ground-side controller 7 obtains an abnormal pattern in each of a plurality of types of abnormal states.
First, the ground-side controller 7 acquires normal division data for the normal traveling vehicle 10 in the short-distance movement cycle by causing the normal traveling vehicle 10 to travel in the short-distance movement cycle ( Step 1). Next, the ground-side controller 7 causes the traveling cart 10 in the abnormal state in which a plurality of types of abnormal states are generated one by one to travel in the short-distance travel cycle. A plurality of abnormal division data for the traveling carriage 10 is acquired (step 2).
The ground-side controller 7 determines whether or not there is a difference between the plurality of abnormal division data and the normal division data in each of a plurality of types of abnormal states. An abnormal pattern in each of a plurality of types of abnormal states is obtained (step 3).

The ground-side controller 7 obtains the normal division data and the abnormal division data in the medium-distance movement cycle in the same manner as the short-distance movement cycle, and obtains the abnormal pattern in the medium-distance movement cycle ( Steps 4-6).
The ground-side controller 7 acquires normal division data and abnormal division data for both the long-distance movement cycle and the other-distance movement cycle in the same manner as the short-distance movement cycle. An abnormal pattern in the movement cycle for use is obtained (steps 7 to 10).

And the ground side controller 7 performs an abnormal condition discrimination | determination process, when making the traveling trolley 10 drive | work in the state which is operating the stacker crane 2 and conveying the articles | goods 9. FIG.
As shown in FIG. 12, the ground-side controller 7 moves the traveling cart 10 based on the distance between the current position of the traveling cart 10 and the transfer stop position. It is determined in which travel cycle the traveling carriage 10 is to travel (step 21).
Then, the ground-side controller 7 obtains the divided data for operation by causing the traveling carriage 10 to travel, and causes the traveling carriage 10 to travel among the divided data for normal use in each of the plurality of stored movement cycles. It is determined whether or not there is a difference between the divided data for normal use and the divided data for operation in the moving cycle corresponding to the moving cycle (steps 22 and 23).
Thereafter, the ground-side controller 7 compares the abnormal pattern and the actual pattern in the movement cycle corresponding to the movement cycle in which the traveling carriage 10 is traveled among the stored abnormal patterns in the plurality of movement cycles (steps). 24).
Then, when any of the abnormal patterns in each of the plurality of types of abnormal states matches the actual pattern, the ground-side controller 7 performs an abnormal state notification that notifies the user of the abnormal state corresponding to the abnormal pattern by voice or display. (Steps 25 and 26).

Hereinafter, each operation in the ground side controller 7 will be described.
First, the calculation of normal divided data will be described.
The ground-side controller 7 controls the operation of the traveling inverter 27 and the traveling electric motor 25 so that the traveling speed of the traveling carriage 10 changes according to the traveling speed curve of the traveling carriage 10 in the normal state. The traveling cart 10 is run. At this time, as shown in FIG. 5, the ground-side controller 7 obtains the moving data of the moving period from the traveling inverter 27, so that the average value of the moving data in each divided section is obtained as the normal divided data. Remember.

Next, calculation of abnormal divided data will be described.
The ground controller 7 causes the traveling inverter 27 and the traveling so that the traveling speed of the traveling vehicle 10 changes according to the traveling speed curve of the traveling vehicle 10 in the abnormal state in which a plurality of abnormal states are sequentially generated one by one. The operation of the electric motor 25 is controlled so that the traveling carriage 10 in an abnormal state is caused to travel. At this time, as shown in FIG. 6, the ground-side controller 7 obtains the moving data of the moving period from the traveling inverter 27, so the average value of the moving data in each divided section is obtained as the abnormal divided data. Remember.

When the explanation is added, first, the abnormality of the traveling inverter 27 due to sudden deceleration and overloading is forcibly generated with respect to the traveling carriage 10 in the normal state, and the traveling carriage 10 in the abnormal state is caused to travel. Then, the ground side controller 7 acquires the division data for abnormality about the abnormality of the traveling inverter 27 due to sudden deceleration and overloading.
In this way, by causing the traveling vehicle 10 in the abnormal state in which the plurality of types of abnormal states are forcibly generated one by one to travel, the ground-side controller 7 can perform a plurality of operations for each of the plurality of types of abnormal states. Acquire abnormal division data.
Incidentally, FIG. 6 shows data during movement when the traveling carriage 10 is traveled in a state where an abnormality in mast shake is generated.

Next, calculation of an abnormal pattern in each of a plurality of types of abnormal states will be described.
The ground side controller 7 uses the following [Equation 1] to calculate the statistical value based on the average value of the moving data in the divided section, the standard deviation of the moving data in the divided section, and the number of data of the moving data in the divided section. It is determined whether or not there is a difference between the divided data for normal use and the divided data for abnormal use for each of a plurality of divided sections. By the way, the following [Formula 1] is used with the division data for normal use as the population 1 and the division data for abnormality as the population 2.
Then, if | Z |> 1.96 obtained by the following [Equation 1], the ground controller 7 determines that there is a difference between the two divided data, and | Z | ≦ 1.96. If so, it is determined that there is no difference between the two divided data.

The ground controller 7 determines, for example, whether or not there is a difference between the divided data for abnormality and the divided data for normal use for abnormalities in the traveling inverter 27 due to rapid deceleration and overloading. An abnormality pattern for the abnormality of the traveling inverter 27 due to sudden deceleration and overloading is obtained.
In this manner, the ground-side controller 7 determines whether or not there is a difference between the divided data for abnormality and the divided data for normal use for each of a plurality of types of abnormal states. As shown, an abnormal pattern in each of a plurality of types of abnormal states is obtained and stored.

Next, the calculation of divided data for operation will be described.
At this time, the ground controller 7 causes the traveling inverter 27 and the traveling electric motor 25 to move so that the traveling speed of the traveling carriage 10 changes according to the traveling speed curve in order to stop the traveling carriage 10 at the transfer stop position. The operation will be controlled. And since the ground side controller 7 receives the moving data of the moving period from the driving inverter 27, the average value of the moving data in each divided section is obtained and stored as the divided data for operation.

Next, the actual pattern calculation will be described.
The ground-side controller 7 first selects normal division data in a movement cycle corresponding to the movement cycle in which the traveling carriage 10 has traveled among the stored division data for normal use in a plurality of movement cycles. For example, when the traveling carriage 10 is caused to travel in the short-distance movement cycle, the normal division data in the short-distance movement cycle is selected.
And the ground side controller 7 uses the above [Equation 1], based on the average value of the moving data in the divided section, the standard deviation of the moving data in the divided section, the number of data of the moving data in the divided section, By analyzing statistically, it is determined whether or not there is a difference between the divided data for normal use and the divided data for operation for each of a plurality of divided sections. By the way, the above-mentioned [Equation 1] is used with the divided data for normal use as the population 1 and the divided data for operation as the population 2.
The ground side controller 7 determines that there is a difference between the two divided data if | Z |> 1.96 obtained in the above [Expression 1], and | Z | ≦ 1.96 If there is, it is determined that there is no difference between the two divided data, and an actual pattern is obtained as shown in FIG.

Next, comparison between the abnormal pattern and the actual pattern will be described.
The ground-side controller 7 first selects an abnormal pattern in a movement cycle corresponding to a movement cycle in which the traveling carriage 10 has traveled from among the stored abnormal patterns in a plurality of movement cycles. For example, when the traveling carriage 10 is traveled in a short distance travel cycle, an abnormal pattern in the short distance travel cycle is selected.
Then, the ground-side controller 7 determines whether or not there is an abnormal pattern that matches the actual pattern (see FIG. 8) among the abnormal patterns (see FIG. 7) in each of the plurality of selected abnormal states. When there is an abnormal pattern that matches the actual pattern, the ground-side controller 7 determines that the abnormal state corresponds to the abnormal pattern, notifies the abnormal state by voice or display, When there is no matching abnormal pattern, it is determined that the state is normal.
Incidentally, since the actual pattern shown in FIG. 8 matches the abnormal pattern corresponding to the unconnected regenerative unit, the traveling carriage 10 is notified that the regenerative unit is not connected.

[Another embodiment]
(1) In the above embodiment, the ground-side controller 7 uses the normal divided data and the plurality of abnormal divided data as comparison data in the abnormal state determination process, but only the normal divided data is used. It may be used to determine the abnormal state of the traveling carriage 10.
In this case, it is possible to grasp for each divided section how much the divided data has changed with respect to the divided data for normal use. Depending on the amount of change in each divided section, whether the traveling vehicle 10 is in an abnormal state and It is possible to determine which abnormal state is among a plurality of types of abnormal states.

(2) In the above embodiment, the ground-side controller 7 executes the abnormal state determination process for each of a plurality of movement cycles. However, the abnormal state determination process can also be executed regardless of the movement cycle.

(3) In the above embodiment, the ground controller 7 obtains the average value of the moving data in the divided section as the divided data in the abnormal state determination process, but the moving data itself in the divided section is divided into the divided data. For example, how to obtain the divided data can be changed as appropriate.

(4) In the above embodiment, the ground-side controller 7 determines whether or not there is a difference between the divided data and the comparison data by statistical analysis in the abnormal state determination processing. For example, it is possible to determine whether or not there is a difference between the divided data and the comparison data by simply comparing the reference value of the divided data and the reference value of the comparison data. It is possible to appropriately change whether or not the comparison data is compared.

(5) In the above embodiment, the ground-side controller 7 statistically calculates the average value of the moving data in the divided section, the standard deviation of the moving data in the divided section, and the number of moving data in the divided section. It is determined whether or not there is a difference between the divided data and the comparative data by analysis. However, based on what value of moving data in the divided section, it is appropriate to statistically analyze It can be changed.

(6) In the above embodiment, the above [Equation 1] is used for statistical analysis, but what mathematical formula is used can be appropriately changed. For example, the following [Equation 2] can be changed. It can also be used. In this case, if | t |> t1 obtained by the following [Equation 2], it is determined that there is a difference between the two divided data, and if | t | ≦ t1, It is determined that there is no difference. Incidentally, t1 is the value of a point of 2.5% on one side of the t distribution with the degree of freedom (n ₁ + n ₂ −2).

(7) In the above embodiment, the ground-side controller 7 executes the abnormal state determination process. For example, an abnormal state determination computer for executing the abnormal state determination process is provided separately from the ground-side controller 7. It is also possible to connect the abnormal state determination computer to the ground-side controller 7 and perform the abnormal state determination process.

(8) In the above embodiment, the ground-side controller 7 that controls the operation of the traveling inverter 27 and the lifting inverter 28 is provided on the ground side, and the ground-side controller 7 is connected to the traveling inverter 27, the lifting inverter 28, and the like. By directly communicating various information, the operation of the stacker crane 3 is controlled. On the stacker crane 3 side, a crane-side controller that controls the operation of the traveling inverter 27 and the lifting inverter 28 as a control means. The ground side controller 7 can also carry out by instructing the warehousing instruction and the leaving instruction to the crane side controller.

(9) In the above-described embodiment, the example in which the article transport device according to the present invention is applied to an automatic warehouse as the stacker crane 3 has been described. It can also be applied, and can be applied to various article conveying apparatuses.

(10) In the above embodiment, the current value and the voltage value output to the traveling electric motor 24 are detected as the moving data. For example, the traveling speed of the traveling carriage 10 is detected as the moving data. The waveform may be detected, and what data is detected as the moving data can be changed as appropriate.

Perspective view of automated warehouse Side view of stacker crane Automatic warehouse control block diagram Diagram showing travel speed curve Graph showing current value as moving data Graph showing voltage value as moving data Table showing abnormal patterns in multiple abnormal states Table showing actual patterns Diagram showing the operation of the ground controller Diagram showing the operation of the ground controller Flow chart of the operation of the ground controller Flow chart of the operation of the ground controller

Explanation of symbols

7 Control means 25, 27 Drive means 27 Moving data detection means

Claims (7)

Drive means for driving the moving body for article conveyance, and control means for controlling the operation of the drive means are provided,
The control means is determined to move the moving body in such a manner as to perform a speed increasing operation for increasing the moving body at a set acceleration, a steady moving operation for moving while maintaining the moving speed, and a decelerating operation for decelerating at a set deceleration. An article conveying device configured to control the operation of the driving means to move the moving body at a target speed to be obtained,
In-moving data detection means for detecting the moving state of the moving body or the operating state of the driving means during movement of the moving body as moving data is provided,
The control means, based on the detection information of the moving data detection means, the divided data of the moving data obtained for each of a plurality of divided sections dividing the moving period from the start of movement of the moving body to the stop of movement, and An article conveying apparatus configured to execute an abnormal state determination process for comparing the comparison data with an abnormal state of the moving body.   In the abnormal state determination process, the control unit uses the normal divided data for the moving body in a normal state as the comparison data, and compares the divided data with the normal divided data. The article transport apparatus according to claim 1, configured to determine an abnormal state of the moving body.   In the abnormal state determination process, the control means includes the normal divided data for the moving body in a normal state and the moving body in an abnormal state in which a plurality of types of abnormal states are sequentially generated one by one. Whether or not there is a difference between the two divided data by comparing the divided data and the normal divided data for each of the plurality of divided sections using the plurality of abnormal divided data as the comparison data Each of the plurality of abnormal states is determined by determining whether there is a difference between the plurality of abnormal divided data and the normal divided data for each of the plurality of divided sections. The article conveying apparatus according to claim 1 or 2, wherein the abnormal pattern is compared with the actual pattern to determine an abnormal state of the moving body.   The control means is capable of controlling the operation of the driving means to move the moving body in a plurality of movement cycles, and performs the abnormal state determination process for each of the plurality of movement cycles. The article conveyance device according to any one of claims 1 to 3, which is configured.   The article transport apparatus according to claim 1, wherein the control unit is configured to obtain an average value of the moving data in the divided section as the divided data.   Whether the control means statistically analyzes the divided data and the comparison data when comparing the divided data and the comparison data in the abnormal state determination process. The article conveying apparatus according to claim 1, wherein the article conveying apparatus is configured to determine whether or not.   The control means performs statistical analysis based on an average value of the moving data in the divided section, a standard deviation of the moving data in the divided section, and a number of data of the moving data in the divided section. The article conveying apparatus according to claim 6, wherein the article conveying device is configured to determine whether or not there is a difference between the divided data and the comparison data.

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