JP2010058957A - Article storage facility - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article storage facility, in which the moving path widths of a pair of stacker cranes are reduced as narrow as possible to make the facility compact, complication in structure is suppressed as far as possible, and article processing capacity is effectively improved. <P>SOLUTION: In the article storage facility, a control means performs a mutual avoidance elevating process, in which both of a pair of elevating bodies is elevated by elevating operation for avoiding interference other than elevating operation by article conveyance operation so that the pair of elevating bodies (UD) are elevated to elevating positions for passing each other separated in an elevating direction by not less than a necessary spacing distance set as a spacing distance in which the pair of stacker cranes 3a, 3b can move to pass each other without interfering with each other. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an article storage shelf provided with a plurality of storage units for storing articles in the vertical direction and the horizontal direction, and a stacker that is movable along a movement path provided along the lateral width direction on the front side of the article storage shelf. A pair of cranes are provided, and each of the pair of stacker cranes is guided by a traveling guide rail along the movement path so as to be able to travel freely, and a lifting guide mast provided in a state standing from the traveling carriage. And a lifting body that is provided on the lifting platform and is composed of an article transfer device that is capable of transferring an article to the article storage unit. A pair of traveling position detection means for detecting the traveling position of each traveling carriage; and a pair of lifting position detection means for detecting the lifting position of each lifting body of the pair of stacker cranes; Based on the detection information of the pair of travel position detection means and the pair of vertical position detection means, an article storage facility and a control means for controlling the operation of the pair of stacker cranes is provided.

  In the article storage facility as described above, by moving the stacker crane to carry the article, the goods are stored in the storage section by picking up the article to be transported from the article loading / unloading section such as a load receiving stand and the article stored in the storage section. An unloading operation for unloading an article to an article loading / unloading section, an exchange operation for unloading an article from one storage section to another storage section, and the like.

  The article conveying operation of the stacker crane here means the operation of the stacker crane accompanied by the traveling operation of the traveling carriage or the raising / lowering operation of the elevating body, and the article transfer device that supports the article to be conveyed is conveyed from the conveying source. In addition to the actual transport operation to move the front side of the shelf to the front, for example, in order to pick up the goods to be transported at the transport source, the article transfer device in a state that does not support the articles is moved to the transport source by the travel operation and the lift operation After completing the empty transfer operation to move and the warehousing work, the article transfer device is set to the home position (end position in the path direction of the moving path and the lower end in the vertical direction, etc.) in preparation for the next warehousing work. In order to make it stand by at the origin, the origin return operation | movement which moves the article transfer apparatus of the state which does not support an article to a home position is included.

  Then, when an operation command for instructing a goods-in-unit operation or an out-of-item operation is instructed from a command input means or the like operated by a host management computer or an operator, the control means performs an inbound operation based on the operation instruction. Or to control the operation of the stacker crane in order to perform the unloading work, the goods transport operation of the actual transport operation or the empty transport operation, and the operation of picking up the goods at the transport source (the scooping article transfer operation) or the transport destination The article transfer operation of the article wholesale operation (wholesale article transfer operation) is performed.

  The travel operation and the lift operation in the article transport operation are operations according to the travel speed pattern and the lift speed pattern determined by the positional relationship with the operation start position and the operation end position of the actual transport operation and the idle transport operation based on the operation command. By performing appropriate traveling operation and elevating operation, it is possible to move from the operation start position to the operation end position as efficiently as possible in a short time.

  In the above-mentioned article storage facility, in order to satisfy the request for shortening the entry / exit work time in the recent mass logistics era, the quantity of articles that can be entered and exited per unit time, that is, the number of operation instructions that can be processed is indicated. What has a high article processing capability is desired. Various techniques have been proposed as techniques for increasing the article processing capacity in the article storage facility. As an example, a stacker that can move along a movement path provided along the width direction of the shelf on the front side of the article storage shelf. It has been proposed to provide a pair of cranes.

  It is assumed that a pair of stacker cranes are provided for one movement route. In Patent Document 1, a single travel guide rail is laid along the movement route, and a pair of stacker cranes that are movable along the travel guide rail is provided. Those arranged side by side in the direction of the movement path have been proposed.

  In addition, as another one in which a pair of stacker cranes is provided for one moving path, in Patent Document 2, two traveling guide rails along the moving path are laid at intervals in the longitudinal direction of the shelf. It has been proposed that a stacker crane is provided for each of the travel guide rails, and that each stacker crane is provided so as to be movable along each of two travel paths adjacent in the longitudinal direction of the shelf.

JP 2007-015780 A Japanese Patent Laid-Open No. 07-125810

  In order to transfer the article between the storage unit located on the other side in the direction of the crane than the counterpart stacker crane, the counterpart stacker crane is placed in the storage unit. There is a restriction that it is necessary to perform an avoidance operation to be positioned on the other side in the crane alignment direction, which is inconvenient. Moreover, the wider the range in the width direction of the shelf in which each stacker crane is operated to convey the articles, the higher the frequency of occurrence of the avoidance operation described above, and the other stacker crane caused by the article conveyance operation of one stacker crane. Therefore, a large amount of operation and operation time due to wasteful operations that are not the original article conveyance occur, and thus the article processing capacity is not greatly improved for a pair of stacker cranes.

  In the case of the one proposed in Patent Document 2 above, each stacker crane has no relation to the position of the other stacker crane in terms of traveling movement, and without avoiding the other stacker crane. Since it is movable over the entire area, it can be expected that the article processing capacity is greatly improved. However, since the travel paths of the stacker cranes are adjacent to each other, the horizontal width of the travel path of the pair of stacker cranes is different for each stacker crane. The width is the sum of the crane travel path width. Therefore, there is a disadvantage that the movement path space is increased and the installation space of the facility is increased.

  Furthermore, in the stacker crane that travels on the travel guide rail on the side far from the shelf in the longitudinal direction of the shelf, the distance to each storage unit in the article storage shelf becomes longer. The article transfer device for transferring articles between the section and the stacker crane must be capable of transferring articles to a distant storage section. For example, as shown in FIG. In addition, when the article transfer device is configured by using a slide fork mechanism in which the article support table for placing and supporting the article is movable in the longitudinal direction of the shelf, the slide stroke must be configured with a long one, The structure of the article transfer device is complicated.

  As described above, in a conventional article storage facility, when a pair of stacker cranes are provided, the movement path width becomes wide and the installation space of the facility becomes large, the problem of poor usability, and a pair of stacker cranes are provided. However, there is a problem that the article processing capacity is not effectively improved and a problem that the structure of the article transfer device is complicated, and an article storage facility that drastically solves these problems is not yet provided. .

  The present invention has been made paying attention to such a point, the purpose of which is to narrow down the movement path width of the pair of stacker cranes as much as possible to make the equipment compact, to suppress the complication of the configuration as much as possible, and The object is to provide an article storage facility capable of effectively improving the article processing capability.

In order to achieve this object, the first characteristic configuration of the article storage facility according to the present invention is:
An article storage shelf provided with a plurality of storage units for storing articles in the vertical direction and the horizontal direction;
A pair of stacker cranes are provided that are movable along a movement path provided along the width direction of the shelf on the front side of the article storage shelf,
Each of the pair of stacker cranes is guided by a traveling carriage guided by a traveling guide rail along the movement path, and a lifting guide mast provided in a standing state from the traveling carriage. And a lifting body composed of an article transfer device provided on the elevator base and capable of transferring an article to the article storage unit,
A pair of traveling position detecting means for detecting the traveling position of each traveling carriage of the pair of stacker cranes;
A pair of lifting position detecting means for detecting the lifting position of each lifting body of the pair of stacker cranes;
Control means for controlling the operation of the pair of stacker cranes based on the detection information of the pair of travel position detection means and the pair of lift position detection means,
As the travel guide rail, a pair of guide rails installed in parallel with each other at an interval in the longitudinal direction of the shelf is provided,
As the pair of stacker cranes, the traveling carriage is guided by one of the pair of traveling guide rails, and the stacker crane in which the lifting guide mast is provided on the traveling carriage, and the traveling carriage is the pair of traveling trucks. Guided by the other of the guide rails, and a stacker crane provided with the lifting guide mast provided in the traveling carriage,
The pair of elevating bodies includes a portion overlapping with the elevating body of the mating stacker crane in the longitudinal direction of the shelf so that each of the pair of stacker cranes can pass each other, and the elevating guide of the mating stacker crane It is provided in a state extending in the longitudinal direction of the shelf from the lifting guide mast so as not to reach the mast,
The control means is
When an operation command for conveying an article for entering and leaving the storage unit is instructed, an article conveying operation is controlled for a charge stacker crane in charge of conveying an article according to the operation command based on the operation command. And
When controlling the article conveying operation of the pair of stacker cranes, based on the detection information of the pair of travel position detection means and the pair of lift position detection means, each of the pair of travel carts of the pair of stacker cranes The traveling position and the lifting position of the pair of lifting bodies of the pair of stacker cranes are managed, and the pair of lifting bodies need to be set as a separation distance that can be moved without passing by the pair of stacker cranes. Mutual avoidance lifting process in which both the pair of lifting bodies are lifted and lowered by an interference avoiding lifting action different from the lifting action by the article transporting action in order to raise and lower to the passing lifting position separated in the lifting direction by a separation distance or more. It is in the point comprised so that it may perform.

  Since the lifting body of these pair of stacker cranes has a portion overlapping with the lifting body of the other stacker crane in the longitudinal direction of the shelf, the travel path of each stacker crane will partially overlap in the longitudinal direction of the shelf, As a movement path of two stacker cranes, the width can be made narrower than that obtained by simply doubling the travel path width of one truck. Therefore, when the pair of stacker cranes are arranged side by side in the longitudinal direction of the shelf, the movement path width of the pair of stacker cranes can be narrowed and the equipment can be made compact.

  Moreover, since the lifting body has a portion overlapping the lifting and lowering body of the mating stacker crane in the longitudinal direction of the shelf, the lifting body of the stacker crane on the far side in the longitudinal direction of the shelf from the article storage shelf Compared to the case where the elevator body is configured not to have a portion overlapping in the longitudinal direction of the shelf, the article transfer device provided in the elevation body is positioned closer to the shelf side in the longitudinal direction of the shelf. The article may be transferred between the storage section and the stacker crane from a position relatively close to the storage shelf in the longitudinal direction of the shelf. Accordingly, since it is not necessary to provide a long stroke slide fork mechanism or the like in the article transfer device, the complexity of the structure of the article transfer device can be suppressed.

  Furthermore, each traveling carriage of the pair of stacker cranes travels on a pair of traveling guide rails installed in parallel with each other at an interval in the longitudinal direction of the shelf, and each of the lifting bodies passes between each of the pair of stacker cranes. Since it is provided in a state extending from the lifting guide mast in the longitudinal direction of the shelf so as not to reach the lifting guide mast of the other stacker crane, each stacker crane can be moved according to the travel position of the other stacker crane. First, on the shelf front side of the article storage shelf, it can travel and move across the entire width of the shelf in the shelf width direction.

  Therefore, with respect to traveling movement, each stacker crane can be operated without avoiding the other stacker crane as long as the pair of lifters are positioned so as not to interfere with each other regardless of the position of the other stacker crane. Is movable across the entire width of the shelf. Accordingly, since the two stacker cranes can be individually conveyed and operated, the article processing capability is greatly improved.

  And if the operation command about the article conveyance which carries in / out with respect to a storage part is commanded, a control means will control the article conveyance operation about the charge stacker crane in charge of article conveyance by the said operation command. Based on the detection information of the pair of travel position detection means and the pair of lift position detection means, the travel positions of the pair of travel carts of the pair of stacker cranes and the lift positions of the pair of lift bodies of the pair of stacker cranes Will manage.

  The control means performs a mutual avoiding lifting process in which both the pair of lifting bodies are lifted and lowered by an interference avoiding lifting action different from the lifting action by the article conveying operation, and both the pair of lifting bodies are moved to the pair of stacker cranes. Is lifted up and down to a passing lifting position separated in the lifting direction more than the required separation distance set as a separation distance that can be moved without interfering with each other, so that both of the pair of lifting bodies are moved up and down by mutual avoiding lifting processing, The pair of stacker cranes can move without interfering with each other.

  Thereby, it is possible to carry out the article conveying operation by running and moving over the entire shelf width in the shelf width direction without causing the pair of stacker cranes to interfere. In addition, when raising and lowering to the passing lifting position, both lifting and lowering bodies are moved up and down, so both lifting and lowering bodies of the pair of stacker cranes bear the amount of lifting operation required to move up and down to the passing and lowering lifting position. As a result, the pair of lifting bodies can be quickly moved up and down to the passing lifting position, and the lifting operation of each lifting body is suppressed from being greatly deviated from the article transporting operation. It can suppress that efficiency falls.

  As described above, according to this characteristic configuration, the moving path width of the pair of stacker cranes is made as narrow as possible to reduce the size of the equipment, to suppress the complication of the configuration as much as possible, and to effectively improve the article processing capacity. It came to obtain the article storage equipment which can do.

  In a second characteristic configuration of the article storage facility according to the present invention, the control means is configured such that each traveling position of the pair of traveling carts is a mutual approach position where the pair of stacker cranes are predicted to interfere with each other. No is determined for each set cycle, and the mutual avoidance raising / lowering process is performed when the traveling positions of the pair of traveling carriages are the mutual approach positions.

  According to this characteristic configuration, the control unit manages the traveling positions of the pair of traveling carriages while the article transporting operation of the assigned stacker crane is controlled, so that the traveling positions of the pair of traveling carriages are close to each other. If the position is a position, a mutual avoidance lifting process is performed to control the operation of both the pair of lifting bodies so that the pair of stacker cranes can move up and down more than the necessary separation distance that can be moved without interference. It will be located in the raising / lowering position for passing which was separated in the direction.

  In other words, until the respective traveling positions of the pair of traveling carriages are close to each other, even if the other stacker crane is located in the planned movement range of the article conveying operation, the operation for avoiding the interference is performed. The article conveying operation is advanced without any change. While the article conveying operation is in progress, it is monitored whether or not the respective traveling positions of the pair of traveling carriages are mutually approaching positions where the pair of stacker cranes are expected to interfere with each other. When the respective travel positions become the mutual approach positions, the mutual avoidance raising / lowering process is started, so that the interference of the pair of stacker cranes can be avoided.

  And then. After the article conveyance operation is started, until the mutual avoidance raising / lowering process is started, the raising / lowering operation for avoiding the interference is not performed, so if the other stacker crane is in the standby state, The stacker crane can be quickly moved up and down as an avoidance operation so that it does not go out of standby. Therefore, another operation command is generated before the mutual avoidance raising / lowering process is started, and it can be expected that the other stacker crane moves to a position where the other stacker crane does not interfere by the article conveying operation for the operation command. Therefore, mutual interference between the pair of stacker cranes can be avoided without performing as much as possible the lifting operation for avoidance which is inefficient as a result.

  A third characteristic configuration of the article storage facility according to the present invention is that each of the travelings that move from the current position before stopping when the control unit assumes that each of the pair of traveling carriages is stopped at a set deceleration. When there is an overlapping portion in the moving path direction in the virtual braking range of the carriage, the traveling position of the pair of traveling carriages is determined to be the mutual approach position.

  According to this characteristic configuration, when it is assumed that the vehicle has been stopped at the set deceleration, the mutual approach position when there is an overlapping portion in the moving path direction in the virtual braking range of each traveling vehicle that moves from the current position until the vehicle stops. Therefore, when the traveling carriage is traveling in the article transport operation, it is determined whether or not the position is the mutual approach position for each set period, thereby determining whether the article is transported after the determination timing. No matter how the trend of driving operation (acceleration operation / constant speed operation / deceleration operation) changes, it is determined whether a pair of traveling carts is surely overlapped in the moving path direction after the determination timing. Can do.

  If the virtual braking ranges do not overlap, there is a possibility that the pair of stacker cranes may not interfere with each other depending on the trend due to the subsequent article transport operation. For example, if both traveling trolleys that are running in opposite directions are separated from each other by longer than the sum of the widths of the virtual braking ranges for the respective traveling trolleys, these traveling trolleys are actually set at the set deceleration. When the vehicle decelerates, both traveling carriages stop without overlapping in the movement path direction, and therefore there is no possibility that the pair of stacker cranes interfere with each other regardless of the trend of the lifting operation by the article conveying operation. Then, as described above, when both of the traveling carts are separated from each other by longer than the sum of the widths of the virtual braking ranges for the respective traveling vehicles, it is not determined that they are in the mutual approach position, and interference avoidance processing is performed. Is not performed, the lifting / lowering operation by the article conveying operation can be advanced.

  As described above, when there is an overlapping portion in the virtual braking range, it is determined that the position is the mutual approaching position, so that the overlapping portion is surely generated in the moving path direction in the virtual braking range of the pair of traveling carriages. Interference avoidance processing can be performed as there is a possibility of interference depending on the movement of the lifting operation due to the transport operation, so it is possible to determine an appropriate time to start the interference avoidance processing and perform the article transport operation Interference avoidance processing can be started at an appropriate time.

  Note that the virtual braking range is also applied when the traveling speed of the traveling carriage is zero, in which case the virtual braking range is a position with a width of zero, and the position is located within the opponent's virtual braking range. What is necessary is just to discriminate | determine that there exists an overlap part.

The fourth characteristic configuration of the article storage facility according to the present invention is:
In the mutual avoidance raising / lowering process, the control means travels in a manner that decelerates the traveling cart that is running after the respective traveling positions of the pair of traveling carts have reached the mutual approach position at a set deceleration. The assigned stacker has a maximum lifting range that is a lifting range in which the lifting body can be lifted by the article transport operation within a grace period until the pair of lifting bodies are assumed to interfere with each other. When the lifting and lowering bodies of the cranes are obtained and both the pair of stacker cranes are operated as the stacker cranes in charge, the maximum lifting range of each of the pair of lifting bodies is the necessary separation from each other. If the two stacker cranes do not overlap with each other by separating longer than the distance, interference between the pair of stacker cranes will not occur. When it is determined that it is in a raw state and only one of the pair of stacker cranes is used as the assigned stacker crane to carry the article, the required separation is centered on the lifting position of the lifting body of the other stacker crane. If the interference target range having a spread in the ascending / descending direction by a distance does not overlap with the maximum ascending / descending range of the lifting / lowering body of the assigned stacker crane, it is configured to determine that the interference does not occur, and ,
If it is determined that the interference is not generated in the mutual avoidance raising / lowering process, the mutual avoidance raising / lowering process may perform the article conveying operation in a form that does not control the lifting / lowering operation of the pair of lifting bodies, and If it is determined that the interference avoidance raising / lowering process is not in the mutual avoidance raising / lowering process, both of the pair of raising / lowering bodies are performed so that the pair of lifting bodies are controlled by the mutual avoidance raising / lowering process. It is in the point comprised so that a raising / lowering operation | movement may be controlled.

  According to this characteristic configuration, when the traveling operation of the pair of traveling carts is decelerated at the set deceleration after the traveling positions of the pair of traveling carts are in the mutually approaching positions, interference occurs. The maximum lifting range, which is the lifting range in which the lifting body can be raised and lowered by the article transport operation within the grace period until reaching the assumed travel position, is determined for each lifting body, and both the pair of stacker cranes are in charge of the article transport operation. When the maximum lifting range for each lifting body is not overlapped by separating from each other longer than the required separation distance, it is an interference-free state where interference between the pair of stacker cranes does not occur Determine.

  In other words, even if the article transport operation proceeds and the traveling carriages are in proximity to each other, the maximum lifting ranges of the lifting bodies are not overlapped with each other by being separated from each other by longer than the necessary separation distance. The upper limit of the maximum lifting range for the lifting body and the lower limit of the maximum lifting range for the other lifting body are separated from each other by longer than the required separation distance, and the pair of lifting bodies are closest to each other in the lifting direction. However, since interference between the pair of stacker cranes does not occur, in such a case, it is determined that the interference does not occur.

  Similarly, when only one of the pair of stacker cranes is in charge of transporting goods as the assigned stacker crane, it is raised and lowered by the required separation distance around the raising / lowering position of the lifting / lowering body of the other stacker crane (non-assigned stacker crane). If the interference target range having a spread in the direction does not overlap with the maximum lifting range for the lifting body of the assigned stacker crane, it is determined that the interference does not occur.

  In other words, even if the article transport operation progresses and the traveling carriages come close to each other, the interference target range that extends in the ascending / descending direction around the ascending / descending distance around the ascending / descending position of the lifting / lowering body of the unassigned stacker crane is assigned. If it does not overlap with the maximum lifting range for the stacker crane lifting body, the lifting position of the non-charged stacker crane lifting body is longer than the required separation distance from the upper limit position or the lower limit position of the maximum lifting range, Even if the lifting body approaches as much as possible in the lifting direction, no interference occurs between the pair of stacker cranes. In such a case, it is determined that no interference occurs.

  When the control means determines that interference is not occurring in the mutual avoidance raising / lowering process, the mutual avoidance raising / lowering process causes the article conveying operation to be performed without controlling the lifting operation of the pair of lifting bodies. The raising / lowering operation of the raising / lowering body is based on the article conveying operation. In addition, when it is determined that the interference avoidance raising / lowering process is not in the mutual avoidance raising / lowering process, the pair of lifting bodies are controlled by the mutual avoiding raising / lowering process. Both lifting / lowering operations are controlled, and a lifting / lowering operation different from the article conveying operation is performed so that the pair of lifting / lowering bodies are positioned at the lifting / lowering position for passing.

  In this way, when there is no possibility of interference between the pair of stacker cranes, the lifting operation of the pair of lifting bodies is not controlled by the mutual avoiding lifting process, and the article conveying operation can be advanced, When there is a possibility of interference with the stacker crane, the mutual avoidance raising / lowering process is performed, and both the pair of lifting bodies are lifted / lowered differently from the article transporting action.

  Therefore, it is possible to prevent as much as possible that the mutual avoidance raising / lowering process is performed more than necessary and the article conveyance operation is changed, and it is possible to prevent the article conveyance capability of the facility from being lowered as much as possible.

The fifth characteristic configuration of the article storage facility according to the present invention is:
The control means is
A target travel position for the travel carriage and a target for the lift body that are updated and generated for each set control cycle based on the travel pattern for the article transport operation and the lift pattern for the article transport operation generated in response to the operation command. It is configured to control the article conveying operation for the assigned stacker crane by instructing a lifting position for each setting control cycle, and
As the mutual avoidance raising / lowering process, for the assigned stacker crane, instead of the target lifting position for the lifting body defined based on the lifting pattern for the article transport operation, the lifting / lowering body of the pair of stacker cranes is lifted / lowered By commanding the target lifting position for avoiding interference, which is updated and generated based on the position, the lifting speed, and the necessary separation distance, for each set control cycle, the pair of lifting bodies are raised and lowered to the passing lifting position. In order to make it possible, the lifting and lowering operations of both the pair of lifting bodies are controlled.

  According to this characteristic configuration, the control means controls the article transport operation for the assigned stacker crane by commanding the target travel position and the target lift position for each set control cycle. The target travel position and the target lift position are updated and generated for each set control cycle based on the article transport operation travel pattern and the article transport operation lift pattern generated in response to the operation command, respectively. That is, if the traveling position and traveling speed of the traveling carriage at the control timing are deviated from the article transport operation traveling pattern, the target traveling position is updated and generated so as to correct the deviation. Similarly, if the raising / lowering position and raising / lowering speed of the raising / lowering body in control timing have shifted | deviated from the raising / lowering pattern for goods conveyance operation | movement, the target raising / lowering position will be updated and generated so that the deviation may be corrected. Therefore, in the article transport operation, the travel operation and the lift operation are performed so as to match the travel pattern for the article transport operation and the lift pattern for the article transport operation as much as possible.

  In addition, as a mutual avoidance raising / lowering process, the control means commands a target raising / lowering position for avoiding interference for each set control cycle, thereby controlling both raising / lowering operations of the pair of raising / lowering bodies and passing the pair of raising / lowering bodies. Elevate to the lifting position. The target lifting position for avoiding interference is updated and generated based on the lifting position and lifting speed of the lifting body of the pair of stacker cranes, and the necessary separation distance. In other words, depending on the lifting position and the lifting speed of both lifting bodies at the control timing, both of the pair of lifting bodies are appropriate for raising and lowering to the passing lifting position spaced apart in the lifting direction by more than the necessary separation distance. The target lift position is updated and generated as a target lift position for avoiding interference. Therefore, in the lifting operation in the mutual avoidance lifting processing, the lifting / lowering operation is performed so as to approach the passing lifting / lowering position by commanding an appropriate lifting / lowering position in consideration of the lifting position and lifting speed of the lifting body at each control timing. Therefore, a useless lifting operation amount can be suppressed as much as possible as an operation amount for moving up and down to the passing lifting position.

  As described above, in the article conveying operation, the traveling operation and the raising / lowering operation are performed so as to match the traveling pattern for the article conveying operation and the lifting pattern for the article conveying operation as much as possible, so that the pair of stacker cranes can move without interfering with each other. Although the lifting operation in the mutual avoiding lifting process as the avoiding operation for the purpose is a lifting operation different from the article conveying operation, it can be moved up and down to the passing lifting position with a minimum amount of lifting operation. Therefore, when the pair of lifting bodies are raised and lowered to the passing lifting position in the mutual avoiding lifting process, a time margin can be provided, and the pair of lifting bodies can be reliably raised and lowered to the passing lifting position.

  According to a sixth characteristic configuration of the article storage facility according to the present invention, the control means is installed on the ground side, and the first crane control means controls the operation of one of the pair of stacker cranes; The second crane control means controls the operation of the other stacker crane.

  According to this characteristic configuration, the operation of each of the pair of stacker cranes is controlled by the first crane control means and the second crane control means provided in the control means installed on the ground side. For example, the control configuration to be provided on the vehicle can be as simple as a control configuration based on simple servo control that moves the traveling carriage and the lifting body of the stacker crane to the target position based on the target position information. Therefore, it is possible to simplify the control configuration provided for each of the pair of stacker cranes.

  An embodiment of an article storage facility according to the present invention will be described based on the drawings. As shown in FIG. 1 to FIG. 3, this article storage facility is formed between two article storage shelves 1 that are installed at an interval so that the direction of putting in and out the articles is opposed to each other, and the two article storage shelves 1. And a stacker crane 3 that moves along the travel path 2 (corresponding to a travel path). Articles 4 carried in from the outside are placed and supported on both sides of the article storage shelf 1 in the widthwise direction of the article storage shelf 1 (the vertical direction in FIG. 1). A carry-in / out section 5 for placing and supporting the article 4 to be carried out is provided.

  Each article storage shelf 1 is configured by a plurality of a pair of front and rear support columns 1a standing at an interval in the width direction of the shelf, and connecting the support columns 1a adjacent in the width direction of the shelf with a plurality of upper and lower shelf plates 1b. ing. The shelf board 1b is configured to place and support the article 4 in a state in which a part of the article 4 protrudes forward in the front-rear direction of the shelf. The shelf board 1b is configured to place and support the plurality of articles 4 in a state where the plurality of articles 4 are arranged in the shelf width direction. Thus, the storage unit 6 in the article storage shelf 1 is configured to store the article 4 in a state where the article 4 is placed and supported by the shelf board 1b. A plurality of storage units 6 are provided so as to be arranged in the vertical direction and the horizontal direction on both sides of the movement path 2 in the longitudinal direction of the shelf (the horizontal direction in FIG. 1).

  As the stacker crane 3, a first stacker crane 3a (hereinafter referred to as No. 1 machine 3a) that moves on one side (the right side in FIG. 1 and FIG. 3) centering on the movement path 2 and the shelf front and rear direction. 2 is provided with a second machine 3b (hereinafter referred to as a second machine 3b) that moves on the other side (the left side in FIG. 1 and FIG. 3). Two lower rails 7 (corresponding to travel guide rails) are laid in parallel along the shelf width direction on the floor surface of the movement path 2, and the upper rail 8 is located above the movement path 2 in the width direction of the shelf. Are arranged in parallel along the line. Of the two lower rails 7 and the upper rail 8, the one arranged on the one side in the front-rear direction of the shelf (the right side in FIG. 1 and FIG. 3) is for moving the first machine 3 a along the movement path 2. What is arranged on the other side in the front-rear direction of the shelf (the left side in FIG. 1 and FIG. 3) is for moving the second machine 3b along the movement path 2. Each of the No. 1 machine 3a and No. 2 machine 3b can reciprocate along the moving path 2 over the entire length of the article storage shelf 1 in the width direction of the shelf and the place where the loading / unloading portion 5 is provided by the guidance of the lower rail 7 and the upper rail 8. Is provided.

  Hereinafter, although the 1st machine 3a and the 2nd machine 3b are demonstrated, the 1st machine 3a and the 2nd machine 3b are the same structurally only in the mutually different direction arrange | positioned in the movement path | route 2. As shown in FIG. Therefore, the same structure will be described generically as the stacker crane 3 without distinguishing between the first machine 3a and the second machine 3b.

  The stacker crane 3 includes a traveling carriage 9 that can travel along the lower rail 7, and a lifting platform 11 that can move up and down along a lifting guide mast 10 that stands on the traveling carriage 9. The lifting platform 11 includes an article transfer device 12 that can transfer the article 4 to the storage unit 6 and the carry-in / out unit 5. The lifting platform 11 and the article transfer device 12 constitute a lifting body UD.

  The traveling carriage 9 is formed in a flat shape that is long in the width direction of the shelf, and is configured such that the traveling carriage 9 of the first car 3a and the traveling carriage 9 of the second car 3b move along the movement path 2 in a state where they can pass each other. Has been.

  The elevator guide mast 10 of the No. 1 machine 3a is provided on the traveling carriage 9 in a state where the elevator guide mast 10 of the No. 1 machine 3a is moved to one side in the longitudinal direction of the shelf (the right side of FIG. 1 and FIG. 3). It is provided in the traveling cart 9 in a state where it is moved to the other side (left side of FIG. 1 and FIG. 3).

  The lifting platform 11 of the first machine 3a is cantilevered by the lifting guide mast 10 so as not to contact the lifting guide mast 10 of the second machine 3b so as to extend in the longitudinal direction of the shelf from the lifting guide mast 10 of the first machine 3a. Yes. The elevator 11 of the second machine 3b is also cantilevered by the elevator guide mast 10 in a state extending from the elevator guide mast 10 of the second machine 3b in the longitudinal direction of the shelf so as not to contact the elevator guide mast 10 of the first machine 3b. Yes.

  In this way, the first machine 3a and the second machine 3b are configured to reciprocate along the movement path 2 in a state in which they can pass each other.

  The lifting guide mast 10 is formed in a flat shape that is long in the shelf width direction, and one elevating guide mast 10 is erected on one end side of the traveling carriage 9 in the shelf width direction. The lifting guide mast 10 is erected on the traveling carriage 9 at a position that is biased toward the side approaching the article storage shelf 1 from the lower rail 7 when viewed in the width direction of the shelf. The lifting guide mast 10 is configured such that its upper end is higher than the lower end of the upper rail 8. Two upper guide rollers 14 provided in a state of sandwiching the upper rail 7 are supported by a support body 13 extending in the longitudinal direction of the shelf at the upper end portion of the lifting guide mast 10. The contact between the two upper guide rollers 14 and the upper rail 7 restricts the movement of the stacker crane 3 in the longitudinal direction of the shelf.

  The lifting platform 11 is fitted to two lifting rails 15 provided on the lifting guide mast 10 and supported by the single lifting guide mast 10 so as to be movable up and down in the vertical direction. One end of a lifting / lowering chain 16 for lifting and lowering the lifting / lowering base 11 is connected to the lifting / lowering base 11. The raising / lowering chain 16 is wound around an upper sprocket 17 provided at the upper part of the raising / lowering guide mast 10, and is wound around a lower sprocket 18 provided at the traveling carriage 9, and the other end thereof is taken up by the lifting platform 11. It is connected to. A drive sprocket 20 that is rotationally driven by an elevating electric motor MV is provided so as to engage with the elevating chain 16. The lifting platform 11 is configured to move up and down by moving the lifting chain 16 in the longitudinal direction by forward / reverse rotation driving of the lifting electric motor MV.

  The traveling carriage 9 is provided with traveling wheels 21 that are rotatable on the lower rail 7. One of the pair of front and rear traveling wheels 21 is configured as a driving wheel 21a that is rotationally driven by a traveling electric motor MH, and the other is configured as a driven wheel 21b that can freely rotate.

  The traveling carriage 9 of the first car 3a is provided with a first lifting laser distance meter 23 (for the second car 3b, the second lifting laser distance meter 27) that detects the lifting position of the lifting body UD in the lifting path. Yes. The first elevating laser rangefinder 23 is used for distance measurement along the vertical direction toward the first elevating reflector 24 (the second elevating reflector 28 for the second machine 3b) provided on the elevating platform 11. By projecting light (laser light) and receiving the light reflected by the first lifting / lowering reflector 24, the distance to the lifting / lowering body UD is measured. The first lift laser distance meter 23 is configured to detect the lift position of the lift body UD from the measured distance to the lift body UD. The first lift laser distance meter 23 and the second lift laser distance meter 27 correspond to a pair of lift position detecting means.

  The traveling carriage 9 is provided with a first traveling laser distance meter 25 (for the second machine 3b, a second traveling laser distance meter 29) that detects the traveling position of the traveling carriage 9 in the movement path 2. The first traveling laser distance meter 25 emits distance measuring light (laser light) toward the first traveling reflector 26 (the second traveling reflector 30 for the second machine 3b) along the shelf width direction. By receiving the light reflected and reflected by the first traveling reflector 26, the first traveling laser rangefinder 25 in the shelf width direction (for the second unit 3b, the second traveling laser rangefinder). 29) and the traveling cart 9 are configured to measure the distance.

  The first traveling reflector 26 is provided on the ground side of the end portion of the moving passage 2, and the installation position is set as a reference position for detecting the traveling position of the traveling carriage 9 of the first car 3 a. The first travel laser distance meter 25 measures the distance from the reference position, which is the installation position of the first travel reflector 26, to the travel bogie 9 of the first car 3a, and the travel position of the travel bogie 9 of the first car 3a. Is configured to detect.

  The second traveling reflector 30 is provided on the ground side of the end of the moving path 2 opposite to the end where the first traveling reflector 26 is provided, and the installation position thereof is set to the second machine 3b. It is set as a reference position for detecting the traveling position of the traveling carriage 9. The second traveling laser distance meter 29 measures the distance from the reference position, which is the installation position of the second traveling reflector 30, to the traveling carriage 9 of the second machine 3b, and the traveling position of the traveling carriage 9 of the second machine 3b. Is configured to detect.

  That is, the first travel laser distance meter 25 and the second travel laser distance meter 29 correspond to a pair of travel position detection means.

  The article transfer device 12 includes a placement transport unit that places and transports the article 4 in the article transfer direction along the shelf front-rear direction, and a base that supports the placement transport unit in a freely movable manner in the article transfer direction. And a retreat drive means for retreating the retraction position for retreating the placement transport unit to the base side in the article transfer direction and a protrusion position for projecting outward from the base 28 in the article transfer direction. I have.

  As shown in the control block diagram of FIG. 4, a ground-side controller H is provided as a control means for controlling the operations of the first car 3a and the second car 3b. The ground-side controller H is configured to be communicable with each of the travel and lift laser distance meters and the travel and lift servo amplifiers provided on the stacker crane 3 side. Communication between the ground side controller H and each laser distance meter and each servo amplifier on the stacker crane 3 side is performed by wireless communication devices 19 and 22 using infrared rays.

  The wireless communication devices 19 and 22 will be described by taking the first wireless communication device 19 that performs infrared communication between the first vehicle 3a and the ground-side controller H as an example. The ground side communication unit 19a installed on the ground side and wiredly connected to the ground side controller H, and the up / down laser distance meter 23 and the traveling laser distance meter of the first unit 3a installed in the traveling carriage 9 of the first unit 3a. 25, a lift servo amplifier SV1, and a terminal communication unit 19b connected to the traveling servo amplifier SH1 by wire.

  Each of the ground side communication unit 19a and the terminal communication unit 19b includes an infrared transmitter and a receiver, and the ground side communication unit 19a has various control information such as target travel position information and target lift position information about the first unit 3a. Is transmitted to the terminal communication unit 19b by infrared rays. The terminal communication unit 19b demodulates the received infrared signal and outputs various control information such as target travel position information and target lift position information to the lift servo amplifier SV1 and the travel servo amplifier SH1. On the contrary, the terminal communication unit 19b is based on the lifting position information about the lifting body UD detected by the lifting laser distance meter 23 and the traveling position information about the traveling carriage 9 of the first machine 3a detected by the traveling laser distance meter 25. The carrier signal modulated as a band signal is transmitted to the ground side communication unit 19a by infrared rays. The ground side communication unit 19a demodulates the received infrared signal, and outputs to the ground side controller H the lift position information about the lift body UD of the first car 3a and the travel position information about the traveling carriage 9 of the first car 3a.

  Thus, bidirectional communication is performed between the ground side communication unit 19a and the terminal communication unit 19b, so that the ground side controller H can control the operation of the first machine 3a. Similarly, two-way communication is performed between the ground side communication unit 22a and the terminal communication unit 22b of the No. 2 radio communication device 22, so that the ground side controller H can control the operation of the No. 2 machine 3b. ing. The modulation / demodulation period of the wireless communication devices 19 and 22 is sufficiently shorter than the control period of the ground-side controller H.

  Then, when an operation command for instructing goods entering / exiting work in units of articles is instructed from an upper management computer or an instruction input means that is instructed by an operator, the transportation source and the transportation designated by the operation instruction are issued. In order to move the article transfer device 12 to the storage unit 6 or the carry-in / out unit 5 as described above, the ground-side controller H controls the traveling operation of the traveling carriage 9 of the first unit 3a and the second unit 3b and the lifting operation of the lifting body UD. Then, the article transfer device 12 is moved on the front side of the shelf to a preset target stop position for each of the storage unit 6 and the carry-in / out unit 5.

  Here, the target stop position is set to be higher when the article 4 is unloaded from the storage section 6 or the loading / unloading section 5 than when the article 4 is loaded from the storage section 6 or the loading / unloading section 5. Yes. The ground-side controller H should transfer the article 4 between the article transfer device 12 and the target storage unit 6 or the loading / unloading unit 5 with the article transfer device 12 positioned at the target stop position. The operation of the exit / retreat driving means and the loading / conveying unit of the article transfer device 12 is controlled.

  Thus, when the ground controller H controls the stacker crane 3 based on the operation command, the stacker crane 3 receives the operation command, and the article transfer device up to the conveyance source designated by the operation command. After performing an empty transfer operation (corresponding to an article transfer operation) in which 12 moves in a state in which the article 4 is not placed and supported, and arrives at the transfer source, the transfer operation for scooping the article 4 from the transfer source is performed. The article transfer device 12 performs an actual transfer operation (corresponding to an article transfer operation) in which the article 4 is placed and supported on the article 4, and when the article arrives at the transfer destination, the article 4 is unloaded to the transfer destination. The transfer operation for wholesale is performed, and the warehousing work and the warehousing work are performed. Depending on the operation, after the warehousing operation is completed, the command standby home position HP (in this embodiment, the traveling carriage 9 is positioned at the end of the movement path 2 in the lateral width direction of the shelf, and the lifting body UD is set at the lower limit of lifting. There is also a case where an origin return operation is performed to return to a position located at a position (see FIG. 1).

  When the operation command is issued, the ground controller H searches for a stacker crane that is not in charge of the article transport operation (hereinafter referred to as a non-charge crane). If both No. 1 unit 3a and No. 2 unit 3b are non-charge cranes, based on the transfer source position information specified by the operation command and the current position of No. 1 unit 3a and No. 2 unit 3b, The stacker crane is set as a responsible stacker crane in charge of the operation command (hereinafter referred to as a responsible crane). If either No. 1 machine 3a or No. 2 machine 3b is a non-charge crane, the non-charge crane is set as a charge crane in charge of the operation command. If both No. 1 machine 3a and No. 2 machine 3b are responsible cranes, when any stacker crane becomes a non-responsible crane, the non-responsible crane is set as a responsible crane in charge of the operation command. In addition, when the operation command is instructed one after another while both the No. 1 machine 3a and the No. 2 machine 3b are responsible cranes, the operation command information is accumulated, and when the responsible crane is generated, it is accumulated first. Sequential processing is performed to set the crane in charge of the operation command.

  When setting the crane in charge, the ground-side controller H transmits the target lifting position information and the target lifting position information to the crane in charge every control cycle (10 [ms] in this embodiment). Controls the article transport operation of the crane in charge. Hereinafter, control of the article conveyance operation of the stacker crane 3 by the ground controller H will be described.

  The ground-side controller H performs target transport position information on the traveling carts of the first car 3a and the second car 3b and the first car for each control cycle while performing the goods transport operation of the empty transport operation and the actual transport operation. In order to move the article transfer device 12 from the operation start position to the operation end position by instructing the target elevator position information about the elevator bodies of the 3a and 2 machine 3b to the 1st machine 3a and the 2nd machine 3b. 3 is controlled.

  The operation start position is the transfer source for the operation command if the article transfer operation is an actual transfer operation, and the destination of the operation command processed most recently by the stacker crane if it is an empty transfer operation or an origin return operation. It is. The operation end position is a transfer destination for the operation command if the article transfer operation is an actual transfer operation, a transfer source for the operation command if the article transfer operation is an empty transfer operation, and a home position if the origin return operation is performed. It is.

  In the target travel position information, the travel distance DH required to move from the operation start position to the operation end position is as short as possible under the restrictions of the set travel acceleration αH, the set maximum travel speed VHmax, and the set travel deceleration βH. This is a target value for the travel position for each control cycle for controlling the travel position change of the travel carriage 9 so as to change the speed according to the travel speed change pattern (see FIG. 5A). .

  For example, if the target lift position information is a lift operation from the operation start position to the operation end position, the lift distance DV required to rise from the operation start position to the operation end position is set as the set increase acceleration αup, The speed change along the lift speed change pattern (see Fig. 5 (b). The solid line is the lift speed change pattern during the lift operation) that can be increased as quickly as possible under the restrictions of the lift speed Vupmax and the set lift deceleration βup. The target value for the lift position for each control cycle for controlling the lift position change of the lift body UD. In the case of a descent operation from the operation start position to the operation end position, the required elevating distance DV is reduced as quickly as possible under the restrictions of the set descent acceleration αdw, the set maximum descent speed Vdwmax, and the set up / down deceleration βdw. Ascending / descending speed change pattern (refer to FIG. 5 (b). Ascending / descending speed change pattern when dashing operation is performed), the elevating position change of elevating body UD is controlled for each control cycle. This is the target value for the lift position.

  From the first unit 3a to the first unit, the traveling position information of the traveling carriage 9 of the first unit 3a by the first traveling laser distance meter 25 and the elevation position information of the lifting body UD of the first unit 3a by the first lifting laser distance meter 23 are obtained. It is transmitted to the ground-side controller H every control cycle via the wireless communication device 19, and the ground-side controller H causes the traveling vehicle 9 of the first car 3a to change the speed according to the traveling speed change pattern. In addition, based on the traveling position information of the traveling carriage 9 of the first car 3a and the lifting position information of the lifting body UD so that the lifting body UD of the first car 3a changes in speed according to the lifting speed change pattern. Then, the target travel position information and the target lift position information about the first car 3a are updated and generated, and the lift servo amplifier SV1 of the first car 3a and the travel are transmitted via the first car wireless communication device 19. To send to the servo amplifier SH1.

  Similarly, the traveling position information of the traveling carriage 9 of the second machine 3b by the second traveling laser distance meter 29 and the lifting position information of the lifting body UD of the second machine 3b by the second lifting laser distance meter 27 are obtained from the second machine 3b. It is transmitted to the ground side controller H at every control cycle via the No. 2 wireless communication device 22, and the ground side controller H indicates that the traveling carriage 9 of the No. 2 machine 3b follows the above traveling speed change pattern. The traveling position information of the traveling carriage 9 of the second machine 3b and the lifting position of the lifting body UD so that the speed changes, and the lifting body UD of the second machine 3b changes the speed according to the lifting speed change pattern. Based on the information, the target travel position information and the target lift position information for the second machine 3b are updated and generated, and the lift servo amplifier SV2 for the second machine 3b is transmitted via the second machine wireless communication device 22. To send to the fine for running servo amplifier SH2.

  As shown in FIG. 4, the ground-side controller H includes first crane control means 31, second crane control means 32, interference avoidance control means 33, and communication control means 34 configured by a program.

  In the traveling servo amplifier SH1, traveling position information of the traveling carriage 9 detected by the first traveling laser rangefinder 25 and motor rotational speed information by the rotary encoder provided in the traveling motor MH1, and in the lifting servo amplifier SV1, The lift position information of the lift body UD detected by the first lift laser distance meter 23 and the motor rotational speed information by the rotary encoder provided in the lift motor MV1 are input. These servo amplifiers are operated in the position control mode, and the traveling servo amplifier SH1 is configured so that the traveling position of the traveling carriage 9 detected by the first traveling laser rangefinder 25 becomes the set target position. The motor drive output for the traveling motor MH1 of the first machine 3a is controlled. Similarly, the lift servo amplifier SV1 is configured so that the lift position of the lift body UD detected by the first lift laser distance meter 23 is the set target position. In this manner, the motor drive output for the lift motor MV1 of the first machine 3a is controlled.

  Based on the target travel position information transmitted from the No. 1 machine 3a, the first crane control means 31 has a travel servo amplifier SH1 that operates in the position control mode so that the travel position of the travel carriage 9 becomes the target travel position. Target travel position information as target position information is generated for each control cycle. The generated target travel position information is output from the communication port controlled by the communication control means 34 to the ground side communication unit 19a of the No. 1 wireless communication device 19. As a result, the traveling motor MH1 of the first car 3a is driven to rotate so that the traveling carriage 9 is located at the traveling position indicated by the target traveling position information.

  Similarly, the first crane control means 31 is a lifting servo that operates in the position control mode so that the lifting position of the lifting body UD becomes the target lifting position based on the target lifting position information transmitted from the No. 1 machine 3a. Target travel position information as target position information of the amplifier SV1 is generated for each control cycle. The generated target lift position information is output from the communication port controlled by the communication control means 34 to the ground side communication unit 19a of the No. 1 wireless communication device 19. Thereby, the lifting motor MV1 of the first machine 3a is rotationally driven so that the lifting body UD is positioned at the lifting position indicated by the target lifting position information.

  In this way, the ground-side controller H transmits the target travel position information and the target lift position information to the travel servo amplifier SH1 and the lift servo amplifier SV1 of the No. 1 machine 3a every control cycle, so that the travel of the No. 1 machine 3a is performed. The carriage 9 travels so as to be positioned at the travel position indicated by the target travel position information, and the lifting body UD of the first car 3a moves up and down so as to be positioned at the lift position indicated by the target lift position information.

  Since the control structure for the second machine 3b is the same as that for the first machine 3a, the description thereof will be omitted. Similarly, the ground side controller H performs the traveling servo amplifier SH2 of the second machine 3b and the elevator for every control cycle. By transmitting the target travel position information and the target lift position information to the servo amplifier SV2, the travel cart 9 of the second machine 3b travels to be located at the travel position indicated by the target travel position information, and the lift body of the second machine 3b. The UD moves up and down so as to be positioned at the lift position indicated by the target lift position information.

  Next, the control operation of the ground controller H will be described.

  The ground-side controller H sets the travel position of the traveling carriage 9 of the stacker crane 3 and the lift position of the lifting body UD in the width direction of the article placement surface in the placement transfer section of the article transfer device 12 (the path of the movement path 2). The center in the direction and the traveling direction of the traveling carriage 9) is managed as the representative position P (see FIG. 10) of the stacker crane 3 as the position of the representative position P as viewed in the longitudinal direction of the shelf. Specifically, the horizontal direction of the shelf (traveling direction of the traveling carriage 9) is the horizontal axis (x-axis), and the vertical direction of the shelf (lifting direction of the lifting body UD) is the vertical axis (y-axis). The traveling position of the traveling carriage 9 is managed as the x coordinate of the representative position P in the orthogonal coordinate system that is set, and the lifting position of the lifting body UD is managed as the y coordinate. The origin of this virtual orthogonal coordinate system is that the traveling carriage 9 is located at one end of the moving path 2 (the end on the lower side in FIG. 1), and the elevating body UD is located at the elevating lower limit position. That is, that is, the coordinates of the representative position P when the stacker crane 3 is located at the home position HP.

  Hereinafter, the traveling position of the traveling carriage 9 and the ascending / descending position of the elevating body UD will be expressed using the crane center coordinates P (x, y), and the crane center coordinates of the first machine 3a will be expressed as P1 (x1, y1). The crane center coordinate of Unit 3b is represented as P2 (x2, y2). That is, the traveling position of the traveling carriage 9 of the first car 3a is represented by x1, the raising / lowering position of the lifting body UD of the first car 3a is represented by y1, the traveling position of the traveling carriage 9 of the second machine 3b is x2, and the lifting body UD of the second machine 3b. The raising / lowering position of can be represented by y2. Further, the crane center coordinates P (x, y) may be simply referred to as the position of the stacker crane 3.

  As shown in the flowchart of FIG. 6, when the operation command is issued and the crane in charge is set, in # 01, the control means of the crane in charge (one of the first crane control means 31 and the second crane control means 32). Or both) is the target travel position information based on the travel speed pattern for the article transport operation determined from the operation start position and the operation end position of the article transport operation for the crane in charge, and the target lift position information based on the lift speed pattern for the article transport operation. Is written to the output buffer.

  In # 02, the interference avoidance control means 33 determines whether or not the No. 1 machine 3a and the No. 2 machine 3b are in a mutually approaching position where it is predicted that they will interfere with each other. In this process, when it is assumed that the traveling carriage 9 of the first car 3a and the traveling carriage 9 of the second car 3b at the current control timing are stopped at the set travel deceleration βH, the current position P1 (x1, y1 ), When there is an overlapping portion in the temporary braking range of each traveling carriage 9 moving from P2 (x2, y2), it is determined that the respective traveling positions of the pair of traveling carriages 9 are mutually approaching positions.

  Specifically, as shown in FIG. 7A, at time t = t1, which is the current control timing, the first unit 3a carries the article at the position P1 (x1, y1) and the operating speed V1 (Vx1, Vy1). When the No. 2 machine 3b is moving the article at the position P2 (x2, y2) and the operating speed V2 (Vx2, Vy2), the traveling carriage 9 of the No. 1 machine 3a is set at the set travel deceleration βH. It is assumed that the vehicle decelerates and stops at the virtual stop position P1ve (x1v, y1v), and the traveling carriage 9 of the second machine 3b decelerates at the set travel deceleration βH and stops at the virtual stop position P2ve (x2v, y2v). In this case, if at least a portion of the first unit temporary braking range VBW1 and the second unit temporary braking range VBW2 which are the respective temporary braking ranges of the first unit 3a and the second unit 3b overlap, the time t = t1 or later A part of the stacker crane in the direction of travel will change no matter how the traveling operation by the article transport operation of Unit 1 3a and Unit 2 3b changes. Since the travel positional relationship in proximity to the extent that, by the vertical position of the vertically movable body UD of each stacker crane, the vertically movable body UD of the first mobile body 3a and second mobile body 3b may interfere with each other. Therefore, depending on whether or not the No. 1 temporary braking range VBW1 and the No. 2 temporary braking range VBW2 have portions that overlap each other, there is a possibility that the No. 1 3a and No. 2 3b may interfere in the subsequent article transport operation. In this case, the interference avoidance process described later can be executed without omission. Conversely, if there is a possibility that the No. 1 machine 3a and the No. 2 machine 3b do not interfere in the subsequent article transport operation, it is premature to perform the interference avoidance process, and at this control timing, the interference avoidance process is performed. Do not execute.

  As a case where the Unit 1 temporary braking range VBW1 and the Unit 2 temporary braking range VBW2 overlap at least partially, as shown in FIGS. 7B and 7C in addition to FIG. 7A There is. In FIG. 7 (a), when both No. 1 machine 3a and No. 2 machine 3b carry out article conveyance operation as the cranes in charge and are running in directions facing each other, the temporary braking of No. 1 machine 3a and No. 2 machine 3b respectively. The case where the ranges overlap is shown. In FIG. 7 (b), when both No. 1 machine 3a and No. 2 machine 3b carry out article conveyance operation as the cranes in charge and are running in the same direction, the temporary braking ranges of No. 1 machine 3a and No. 2 machine 3b are The case where it overlaps is shown. In FIG. 7C, when only the No. 1 machine 3a performs the article conveying operation as the responsible crane and the No. 2 machine 3b is in the standby state as the non-in charge crane, that is, when the operating speed V2 of the No. 2 machine 3b is zero. Fig. 5 shows a case where the second machine 3b is located in the temporary braking range VBW1 of the first machine 3a.

  The first crane control means 31 of the ground side controller H calculates the traveling speed Vx1 of the traveling carriage 9 of the first unit 3a from the time change rate of the detection information of the first traveling laser rangefinder 25, and the first crane 3a of the first unit 3a. The lifting speed Vy1 of the lifting body UD is calculated from the time change rate of the detection information of the first traveling laser rangefinder 23, and the second crane control means 32 of the ground side controller H determines the traveling speed of the traveling carriage 9 of the second machine 3b. Vx2 is calculated from the time change rate of the detection information of the second traveling laser distance meter 29, and the lifting speed Vy2 of the lifting body UD of the second machine 3b is calculated from the time change rate of the detection information of the second traveling laser distance meter 27. Therefore, the interference avoidance control means 33 determines whether or not it is the mutual approach position, the travel speed information of the traveling carriage 9 of the first car 3a calculated by the first crane control means 31 and the second crane control means 32. calculate You can refer to the travel speed information of the traveling carriage 9 of No. 3b.

  When the Unit 1 temporary braking range VBW1 and Unit 2 temporary braking range VBW2 overlap at least partially, the traveling position x1 of the first unit 3a and the traveling position x2 of the second unit 3b at the time t = t1 in the traveling direction The arrangement order of the traveling position x1v at the virtual stop position P1ve (x1v, y1v) of the first car 3a and the traveling position x2v at the virtual stop position P2ve (x2v, y2v) of the second car 3b are reversed. Therefore, in the process of # 02, the difference (x1-x2) between the traveling position x1 of the first car 3a and the traveling position x2 of the second car 3b at time t = t1 is the virtual stop position P1ve of the first car 3a. Whether or not there is an overlapping portion in the virtual braking range depending on whether or not the difference (x1v-x2v) between the traveling position x1v and the traveling position x2v of the virtual stop position P2ve of Unit 2 3b is different (positive / negative) Is determined.

  If it is determined that the positions are not close to each other in # 02, it is determined that it is not necessary to perform interference avoidance processing by the interference avoidance control means 33 at that control timing, the process proceeds to # 04, and the communication control means 34 waits for the control timing. In step # 01, the first crane control unit 31 and the second crane control unit 32 output the target travel position information and the target lift position information about the crane in charge prepared in advance.

  If it is determined in # 02 that the positions are close to each other, the process proceeds to # 03, and the interference avoidance control unit 33 executes interference avoidance processing. As will be described in detail later, in the interference avoidance process, a crane to be avoided is selected as necessary, and a target lifting position for the avoidance action for the avoidance operation target crane is calculated, and the first crane control means 31 and the first crane The target lift position information written in the output buffer by the crane control means 32 in # 01 is overwritten and changed. Since the amount of calculation in this interference avoidance process is an amount of calculation that can be completed by the next control timing, it can be returned to # 04 by the next control timing. Then, when the next control timing comes, in # 05, the communication control means 34 causes the avoidance operation target lift position information for the avoidance operation target crane in the output buffer and the other stacker also in the output buffer. Target lift position information for the article transport operation for the crane 3 is output to the first machine 3a and the second machine 3b.

The interference avoidance process executed by the interference avoidance control means 33 will be described with reference to the flowchart shown in FIG.
In step # 11, it is determined whether or not a passing of the traveling carriage 9 occurs after the current control timing. When both No. 1 machine 3a and No. 2 machine 3b are responsible cranes, the current position P1 and operation end position P1e of No. 1 machine 3a and the current position P2 and operation end position P2e of No. 2 machine 3b are discriminated. If the order of the No. 1 machine 3a and No. 2 machine 3b in the traveling direction is switched when the article transport operation is completed, that is, if (x1s-x2s) · (x1e-x2e) <0, then a passing occurs. If the order of the No. 3a machine and the No. 2 machine 3b in the traveling direction does not change even when the article conveying operation is finished, that is, if (x1-x2) · (x1e-x2e)> 0, no passing occurs.

  Even if no passing occurs, for example, the operation end position of each article transport operation is the storage section 6 or the loading / unloading section 5 at a position facing each other across the movement path 2, so that the operation end positions P1e and 2 of the first machine 3a When the operation end position of the machine 3b overlaps as coordinates, or when the operation end position is located in a region in the coordinate plane occupied by a structure such as a motor cover provided in the traveling carriage 9 of the other crane in the standby state, etc. Since there is room for interference between Units 3a and 2b, verification processing for the presence or absence of interference between both cranes is subsequently performed in the processing of # 12 and subsequent steps.

  In the # 12 occupation area setting process, when the stacker crane 3 is positioned at the operation end position, the handling crane 9 of the stacker crane 3, the lifting guide mast 10, the lifting body UD, etc. occupy the assigned crane. For the non-charged crane in which the area in the coordinate plane is set as the occupied area and is in the standby state, when the stacker crane 3 is located at the standby position, the traveling carriage 9, the lifting guide mast 10, the lifting body UD of the stacker crane 3 An area on the coordinate plane occupied by the structure such as is set as the occupied area. In this embodiment, as shown in FIG. 10, the representative dimensions of each part centered on the crane center coordinate P (x, y) of the stacker crane 3 used for setting the occupation area are stored in advance, and the crane center coordinate P With respect to (x, y), for example, the occupied width (XA + XB) and the occupied height (YA + YB) in the x direction of the elevating body UD, the occupied width (XE + XD) in the x direction of the traveling carriage 9 and The occupied height (YC) in the y direction is set.

  Returning to FIG. 8, in the interference determination process of # 13, whether or not there is an overlap between the occupied area of the first car 3a and the occupied area of the second car 3b set in # 12, and if there is an overlap, which part Is determined, and an interference determination value is set for each interference mode. That is, as shown in FIG. 9, in # 101, it is determined whether the lifting bodies UD interfere with each other. If so, the process proceeds to # 104, and the interference determination value is set to “1”. In step # 102, it is determined whether or not the lifting body UD interferes with the motor cover in the traveling truck 9 of the counterpart crane. If so, the process proceeds to step # 105 and the interference determination value is set to “2”. In # 103, it is determined whether or not the lifting body UD interferes with the lifting guide mast 10 of the counterpart crane in the article transfer operation after the article transporting operation. If so, the process proceeds to # 106, and the interference determination value is “3. "Is set. If none of the interference modes apply, the interference judgment value is set to “0”, assuming that no interference occurs.

  Returning to FIG. 8 again, at # 14, the presence / absence of interference is determined based on the interference determination value set in the interference determination processing at # 13. If the interference discrimination value is “0”, the interference avoidance control means 33 does not rewrite the target travel position information and the target lift position information for the No. 1 machine 3a and No. 2 machine 3b in the output buffer to those for avoidance operation. The interference avoidance process is terminated, and the control operation of the ground controller H returns to the main routine of FIG.

  If the interference judgment value is “1” to “3” in # 14, the process proceeds to # 15, and at this control timing, both the first machine 3a and the second machine 3b are responsible cranes, or one of them. It is determined whether only the crane is in charge. If both of the two units carry out the article transport operation as the responsible crane, the remaining operation time of each stacker crane 3 is calculated in # 16. That is, the longer one of the remaining travel operation time and the remaining lift operation time up to the operation end position P1e (x1e, y1e) of the first unit 3a is set as the remaining operation time of the first unit 3a. The remaining travel time is the time required to travel the remaining travel distance x1e-x1 from the current position P1 (x1, y1) of Unit 1 3a to the operation end position P1e (x1e, y1e). It is calculated based on V1 (Vx1, Vy1), set travel acceleration αH, and set travel deceleration βH. Similarly, the remaining lifting operation time is the time required to lift and lower the remaining lifting distance y1e-y1 from the current position P1 (x1, y1) of Unit 1 3a to the operation end position P1e (x1e, y1e). It is calculated based on the current operating speed V1 (Vx1, Vy1), the set ascending acceleration αup or the set descending acceleration αdw, the set ascending deceleration βup or the set descending deceleration βdw.

  Since the process for calculating the remaining operating time of the second machine 3b is the same as the process for calculating the remaining operating time of the first car 3a, the description thereof is omitted.

  In step # 17, the remaining operation time of the first machine 3a and the remaining operation time of the second machine 3b are compared, and the longer assigned crane is set as the avoidance operation target crane. As a result, the crane in charge of the short remaining conveyance time due to the article conveyance operation can advance the article conveyance operation, and the crane in charge of the long remaining operation time of the article conveyance operation is at least that of the counterpart crane in charge. Until the article conveyance operation is completed and the article conveyance operation is finished from the operation end position, the apparatus waits at the eviction position calculated in # 19.

  In # 15, if only one of the first car 3a and the second car 3b is in charge of the crane at the current control timing, the process proceeds to # 18, and the non-charged crane is set as the avoidance operation target crane. As a result, the crane in charge of the article transfer operation can advance the article transfer operation, and the non-charged crane that is not in charge of the article transfer operation is the operation end position of the article transfer operation of the counterpart charge crane. Thus, the evacuation position is retreated to # 19 calculated in # 19.

  Thus, in the article storage facility of the present embodiment, the ground-side controller H is configured to perform the interference avoidance process in a form that controls the operation of only one of the pair of stacker cranes 3. In addition, when the ground-side controller H performs the article transport operation as the responsible stacker crane for only one of the pair of stacker cranes 3, the non-responsible stacker crane that is not performing the article transport operation of the pair of stacker cranes 3. 3 is configured to perform the interference avoidance processing in a form that controls the operation of No. 3. Furthermore, when the ground-side controller H performs the article transport operation separately as the responsible stacker crane for both the pair of stacker cranes 3, the remaining operation time of the article transport operation is long among the pair of stacker cranes 3. Interference avoidance processing is performed in a form that controls the operation of the stacker crane.

  In the evacuation position calculation process of # 19, according to the value of the interference determination value obtained in # 13, the crane center coordinate P of the avoidance operation target crane is located at a position deviating from the occupation area of the other stacker crane 3. The eviction position for the avoidance operation target crane is set.

  A specific example will be described. For example, No. 1 machine 3a and No. 2 machine 3b are in the positional relationship shown in FIGS. 1 and 2, and No. 1 machine 3a is operating an article transport as a responsible crane, and No. 2 machine 3b. When the operation end position P1e (x1e, y1e) of No. 1 unit 3a is located in the occupied area of the lifting body UD of No. 2 unit 3b in the standby state as a non-charged crane In order to bring 3a and No. 2 machine 3b into the state shown in FIG. 6 (b), as shown in FIG. 15 (a), No. 2 machine 3b, which is a non-charged crane, is set as the avoidance operation target crane. The displacement position P2m (x2m, y2m) of the second machine 3b is calculated so that the distance in the x direction between the crane center coordinate P1e at the end position and the crane center coordinate P2 of the second machine 3b is separated by “XB + XB”. In the case shown in FIG. 15 (a), the avoidance operation target crane only moves in the traveling direction from the standby state, and thus P2m (x1e + 2 * XB, y2).

  Further, for example, in a situation where both the No. 1 machine 3a and the No. 2 machine 3b are performing the article transport operation as the cranes in charge, the operation end position P1e (x1e, y1e) of the No. 1 machine 3a is the operation end position P2e (x2e, y2e). ), The crane center coordinates P1e at the operation end position of the first machine 3a and the operation end of the second machine 3b as shown in FIG. 15 (b). The displacement position P1m (x1m, y1m) of the first unit 3a is calculated so that the distance in the x direction (traveling direction of the traveling carriage 9, lateral direction of the shelf) with respect to the crane center coordinate P2e is separated by “XB + XE”. The movement trajectory including the portion drawn by the dotted line in the figure is the movement trajectory when the first unit 3a does not perform the operation for avoiding interference and advances the operation by the article conveying operation to the end.

  In the article transporting operation of the first car 3a and the second car 3b in FIG. 15 (b), the remaining operating time at the time when the respective traveling positions of the traveling carriages 9 of the stacker cranes 3 are close to each other. Since the longer stacker crane 3 is the first machine 3a, the first machine 3a is set as the avoidance operation crane.

  As described above, when the traveling positions of the pair of traveling carriages 9 are close to each other, the ground-side controller H performs the first traveling laser distance meter 25, the second traveling laser distance meter 29, and the first lifting / lowering. Based on the detection information of the laser range finder 23 and the second lift laser range finder 27, in order to position the pair of traveling carts 9 and the pair of lifting bodies UD at non-interfering positions where the pair of stacker cranes 3 do not interfere, An interference avoidance process for controlling the operation of the pair of stacker cranes 3 is performed.

  Returning to FIG. 8, in # 20, whether or not the kicking position calculated in # 19 is actually a position where the stacker crane 3 to be avoided can be moved, specifically, the x coordinate of the kicking position. Is within the range of the moving path 2. If the x-coordinate of the eviction position is within the range of the movement path 2, the evasion position is set as the operation end position in order to avoid the evasion operation target crane to the eviction position, and then the process exits from the interference avoidance process. Return to the main routine. Thus, at the subsequent control timing, the first crane control means 31 or the second crane control means 32 performs the avoidance operation for the avoidance operation target crane as the target travel position information and the target lift position information at # 01 in FIG. (The target travel position information and the target lift position information to be output at the control timing in order to position the avoidance operation target crane at the eviction position) are generated.

  If the x coordinate of the eviction position is outside the range of the movement path 2, the process proceeds to # 21, and the temporary operation end position setting process is executed. This process is a process of setting a pseudo operation end position for causing the avoidance operation target crane to travel in a direction opposite to the traveling direction toward the eviction position calculated in # 19. By setting the operation end position, at the subsequent control timing, the first crane control means 31 or the second crane control means 32 performs the avoidance operation as the target travel position information and the target lift position information of the avoidance operation target crane. (The target travel position information and the target lift position information to be output at the control timing in order to position the avoidance operation target crane at the operation end position set in the temporary operation end position setting process). Accordingly, the avoidance operation target crane performs a temporary article transport operation that is not based on the operation command. In this way, the avoidance operation target crane can avoid interference with the other stacker crane by moving toward the operation end position different from the initially calculated displacement position.

  Next, the case where it is determined in # 11 that the traveling carriage 9 will pass will be described. When a passing occurs, the lifting position of the lifting body UD of the No. 1 machine 3a and the lifting position of the lifting body UD of the No. 2 machine 3b are set as a separation distance in which the pair of stacker cranes 3 can move without interference. If they are not separated in the ascending / descending direction by y_CL or more, the elevators UD interfere with each other when the first machine 3a and the second machine 3b pass each other. Therefore, the interference avoidance control means 33 performs a postponement time T from when the traveling positions of the traveling carriages 9 of the first car 3a and the second car 3b become the mutual approaching position after the traveling position of the first car 3a and the second car 3b. The maximum ascending / descending range Z in which each elevating body UD can be ascended / descended is obtained, and the maximum ascending / descending ranges Z of the traveling carriages 9 of the first car 3a and the second car 3b overlap each other by being longer than the necessary separation distance y_CL. If there is not, the interference target range that spreads in the up and down direction by the required separation distance y_CL around the lifting position of the lifting body UD of the non-charged crane is the maximum lifting range Z for the lifting body UD of the assigned stacker crane Except for the case where there is no overlap, the lifting / lowering operation of the lifting / lowering body UD after the traveling positions of the traveling carriages 9 are different from each other is different from that of the article conveying operation. a and second mobile body 3b is to allow passing move without interfering with each other. In the present embodiment, the necessary separation distance y_CL is set to a constant value “YA + YB” without distinguishing whether the article transfer device 12 supports the article 4 (height dimension is YB or less). Hereinafter, the processing after # 22 will be described.

  First, in # 22, the crane in charge calculates the maximum ascending / descending range Z in which the elevating body UD can move up and down within the grace period T from the current control timing. The grace time T is the travel operation in a mode in which the travel cart 9 that is running after the travel positions of the travel carts 9 of the first car 3a and the second car 3b are close to each other is decelerated at the set travel deceleration βH. It is time until it becomes an interference assumption traveling position where it is assumed that a pair of raising / lowering body interferes in the case of doing.

  As the assumed interference travel position, a different position is adopted depending on how the first car 3a and the second car 3b pass. For example, when the No. 1 machine 3a and the No. 2 machine 3b are arranged in the reverse order due to passing from the order shown in FIG. 1 and FIG. 2, the traveling carts 9 of the No. 1 machine 3a and the No. 2 machine 3b are shown in FIG. Each traveling carriage when the relative traveling position relationship, that is, the x-coordinate x2 of the crane center coordinate P2 of the second machine 3b is larger by “XB + XB” than the x-coordinate x1 of the crane center coordinate P1 of the first machine 3a Nine running positions are assumed interference running positions.

  Further, when the first machine 3a and the second machine 3b are shifted from the arrangement order opposite to the arrangement order shown in FIGS. 1 and 2 and become the arrangement order shown in FIGS. 1 and 2, each of the first machine 3a and the second machine 3b The relative position of the traveling carriage 9 shown in FIG. 11A, that is, the x coordinate x1 of the crane center coordinate P1 of the first machine 3a is larger by “XA + XA” than the x coordinate x2 of the crane center coordinate P2 of the second machine 3b. The traveling position of each traveling carriage 9 when the traveling position relationship is established is the interference assumed traveling position.

  The grace time T is a time when the vehicle is operated in a mode in which the vehicle is decelerated at the set travel deceleration βH as a time from the mutual approach position to the assumed interference travel position, thereby becoming the mutual approach position. The maximum lift range Z is estimated to be as large as possible, assuming a travel operation mode in which the time required to reach the interference assumed travel position is the longest among the travel operations by the article transport operation.

  In step # 23, it is determined whether or not the interference between the pair of stacker cranes 3 does not occur. That is, it is determined whether the elevator UD of the first machine 3a and the second machine 3b does not interfere even if the article conveying operation for the assigned crane proceeds as it is.

  Specifically, when the ground-side controller H is operating the article conveying operation with both the pair of stacker cranes as the responsible crane by the first crane control means 31 and the second crane control means 32, the interference avoidance control means 33 is: If the maximum lifting range Z1 of the lifting body UD of the No. 1 machine 3a and the maximum lifting range Z2 of the lifting body UD of the No. 2 machine 3b are separated from each other by longer than the necessary separation distance y_CL, a pair of stacker cranes It is determined that no interference occurs and no interference occurs. When the ground-side controller H is operating the article transport operation by using the first crane control means 31 or the second crane control means 32 with only one of the pair of stacker cranes 3 as the responsible crane, the interference avoidance control means 33 The interference target range that extends in the up and down direction by the required separation distance y_CL centering on the lifting position of the lifting body UD of the stacker crane 3 must overlap the maximum lifting range Z for the lifting body UD of the crane in charge. For example, it is determined that no interference occurs.

  For example, as shown in FIG. 12 (a), both the No. 1 machine 3a and the No. 2 machine 3b operate to carry goods as the cranes in charge. At the current control timing, the No. 1 machine 3a is located at the position P1 (x1, y1), Maximum lift range Z1 of the lifting body UD of Unit 1 3a when operating at speed V1 (Vx1, Vy1) and Unit 2 3b operating at position P2 (x2, y2) and speed V2 (Vx2, Vy2) The lower limit position yT1_min, which is the lower end of the elevator, is located above the upper limit position yT2_max, which is the upper end of the maximum lift range Z2 of the lift body UD of the No. 2 machine 3b. Or lower limit position yT2_min, which is the lower end of the maximum lifting range Z2 of the lifting body UD of the No. 2 machine 3b, is the upper limit position of lifting, which is the upper end of the maximum lifting range Z1 of the lifting body UD of the No. 1 machine 3a. When located above yT1_max by more than the required separation distance y_CL ( If yT2_min> yT1_max + y_CL is satisfied), it is determined that no interference occurs.

  Further, as shown in FIG. 12B, only the No. 1 machine 3a is operated to carry the article as the responsible crane, and the No. 2 machine 3b is stopped in the standby state as the non-in charge crane. At the current control timing, the No. 1 machine 3a Operates at position P1 (x1, y1) and speed V1 (Vx1, Vy1), and No. 2 machine 3b stops at position P2 (x2, y2) and speed V2 (0, 0). The lower limit lower limit position yT1_min, which is the lower end of the maximum lift range Z1 of the lift body UD, is located above the target upper limit position y2 + y_CL, which is the upper end of the interference target range for the lift body UD of the second machine 3b (yT1_min > Y2 + y_CL), and although not shown, the upper limit position yT1_max, which is the upper end of the maximum lifting range Z1 of the lifting body UD of the first machine 3a, is the interference target range for the lifting body UD of the second machine 3b. When located below the target lower limit position y2-y_CL, which is the lower end (yT1_max <y2-y_CL If satisfied) is determined as the interference is not generated state.

  If it is determined in step # 23 that no interference has occurred, the interference avoidance control means 33 avoids the interference without rewriting the target lift position information for the No. 1 machine 3a and No. 2 machine 3b in the output buffer to those for avoidance operation. The process ends, and the control operation of the ground side controller H returns to the main routine of FIG.

  As described above, when the ground-side controller H determines that the interference-free state has occurred, the interference avoiding process may perform the article transport operation without controlling the lifting operation of the pair of lifting bodies UD. If it is determined in the avoidance process that no interference has occurred, the lifting / lowering operation of the pair of lifting bodies UD is controlled so that the article conveying operation is performed in the form of controlling the pair of lifting bodies UD in the interference avoidance process. Has been.

  If it is not determined in step # 23 that no interference has occurred, the process proceeds to step # 24, and avoidance lift position information about each lift body UD for raising and lowering both lift bodies UD by the lift action for avoidance action is obtained. In order to generate, the interference avoidance control means 33 performs a mutual avoidance raising / lowering position calculation process.

  In the mutual avoidance raising / lowering position calculation process, the required separation distance y_CL that is set as a separation distance that allows the pair of stacker cranes 3 to move without the interference between the lifting body UD of the first car 3a and the lifting body UD of the second car 3b. In order to move up and down to the passing lifting position separated in the lifting direction, both the pair of lifting bodies UD are lifted and lowered by an interference avoiding lifting action different from the lifting action by the article transporting action. Thus, the ground-side controller H is configured to perform the mutual avoidance raising / lowering process.

  The mutual avoidance raising / lowering position calculation processing will be described with reference to the flowchart shown in FIG. In # 201, a difference G12 between the upper limit elevating position yT1_max in the maximum elevating range Z1 for the elevating body UD of the No. 1 machine 3a and the lower limit elevating position yT2_min in the maximum elevating range Z2 for the elevating body UD of the No. 2 machine 3b is calculated. In # 202, the difference G21 between the lower limit lower limit position yT1_min in the maximum lift range Z1 for the lift body UD of the No. 1 machine 3a and the upper limit lift position yT2_max in the maximum lift range Z2 for the lift body UD of the No. 2 machine 3b is calculated.

  In step # 203, G12 and G21 are compared, and in step # 204 and # 205, the target lift position of each of the first and second machines 3a and 3b is calculated based on the larger lift position difference. That is, when G12 is larger than G21, it is determined Yes in # 203, and the process proceeds to # 204, where the target lifting position of the lifting body UD of the first unit 3a is set to “yT1_max− (G12−y_CL) / 2”. Then, the target lifting position of the lifting body UD of the second machine 3b is set to “yT2_min + (G12−y_CL) / 2”. If G21 is greater than G12, it is determined No in # 203, and the process proceeds to # 205, where the target lifting position of the lifting body UD of the first unit 3a is set to “yT1_min + (G21−y_CL) / 2”. The target lifting position of the lifting body UD of the machine 3b is set to “yT2_max− (G21−y_CL) / 2”. Thus, the interference avoidance control means 33 ends the mutual avoidance lift position calculation process and ends the interference avoidance process when the target lift position for each lifting body UD of the first car 3a and the second car 3b is set for the avoidance operation. Then, the control operation of the ground controller H returns to the main routine of FIG.

  In the mutual avoiding lift position calculation process, the target lift position for the lift body UD of the No. 1 machine 3a and the target lift position for the lift body UD of the No. 2 machine 3b are set, whereby both the No. 1 machine 3a and the No. 2 machine 3b are set. The lifting / lowering operation of the pair of lifting bodies UD is controlled so as to ensure the necessary separation distance y_CL by the lifting / lowering operation. Therefore, the lifting operation amount for avoiding the interference that should be borne by each of the lifting bodies UD of the No. 1 unit 3a and the No. 2 unit 3b can be uniformly distributed, so that the No. 1 unit 3a and the No. 2 unit 3b are driven by a pure article transport operation. The degree of deviation from the planned movement trajectory is made as small as possible, and the elevators UD are separated from each other as soon as possible after the traveling positions of the traveling carriages 9 of the first car 3a and the second car 3b become close to each other. It can be moved up and down to a passing lifting position separated by a distance higher than the distance.

  For example, as shown in FIG. 14, both the No. 1 machine 3a and the No. 2 machine 3b operate to carry goods as the cranes in charge, and at this control timing, the No. 1 machine 3a has a position P1 (x1, y1), a speed V1 ( Vx1, Vy1), and when Unit 2 3b is operating at position P2 (x2, y2) and speed V2 (Vx2, Vy2), at the lower end of the maximum lift range Z1 of the elevator UD of Unit 1 3a More than the difference G21 between a certain lift lower limit position yT1_min and the lift upper limit position yT2_max which is the upper end of the maximum lift range Z2 of the lift body UD of the No. 3b, the lift upper limit which is the upper end of the maximum lift range Z1 of the lift body UD of the No. 1 machine 3a When the difference G12 between the position yT1_max and the lift lower limit position yT2_min that is the lower end of the maximum lift range Z2 of the lift body UD of the second machine 3b is larger, the remaining amount obtained by subtracting the required separation distance y_CL from the lift position difference G12 Is the upper end of the maximum lifting range Z1 of Unit 1 3a The position on both lower sides divided from the descending upper limit position yT1_max is set as the target ascending / descending position for the elevator UD of the No. 1 machine 3a, and is divided into two from the raising / lowering lower limit position yT2_min which is the lower end of the maximum raising / lowering range Z2 of the No. 2 machine 3b The positions above both of them are set as the target lifting position for the lifting body UD of the second machine 3b.

  Thus, since the ground side controller H updates and sets the target lifting position information for each lifting body UD according to the operating state (position and operating speed) of the stacker crane 3 at that time, for each control timing, Both UDs can be accurately moved up and down to the passing up / down position, and a wasteful lifting operation amount can be suppressed as much as possible.

  For example, as shown in FIG. 16 (a), only the No. 1 machine 3a operates as the crane in charge from the operation start position P1s to the operation end position P1e, and the No. 2 machine 3b stops in the standby state as the non-charge crane. In this case, when the traveling positions of the traveling carriages 9 of the No. 1 machine 3a and the No. 2 machine 3b are close to each other, the lifting bodies UD of the No. 1 machine 3a and the No. 2 machine 3b are avoided to the raising / lowering position for passing (P2n for the No. 2 machine 3b). The raising / lowering operation for operation | movement is performed and interference with the 1st machine 3a and the 2nd machine 3b is avoided. The movement trajectory including the portion depicted by the dotted line in the figure is a movement trajectory when the first car 3a performs only the lifting / lowering operation by the article conveying operation and does not perform the lifting / lowering operation for avoiding interference.

  In addition, as shown in FIG. 16B, when both the No. 1 machine 3a and the No. 2 machine 3b operate as article cranes from the operation start positions P1s and P2s to the operation end positions P1e and P2e, the No. 1 machine 3a and When the traveling position of the traveling carriage 9 of the No. 2 machine 3b becomes a mutual approaching position, both the elevator bodies UD of the No. 1 machine 3a and the No. 2 machine 3b perform the raising / lowering action different from the raising / lowering action by the article conveying action, and the raising / lowering position for passing. By moving up and down so as to be located, interference between the first machine 3a and the second machine 3b is avoided. The movement trajectory including the portion drawn by the dotted line in the figure is a movement trajectory when the first car 3a and the second car 3b perform only the lifting / lowering operation by the article conveying operation and do not perform the lifting / lowering operation for avoiding interference.

[Another embodiment]
(1) In the above embodiment, the ground-side controller H manages whether it is an actual conveyance operation or an empty conveyance operation, and in the interference avoidance process, as the value of the required separation distance y_CL, the first machine 3a and the second machine 3b Different values may be used depending on the type of transport operation (depending on the presence or absence of an article).

(2) In order to determine whether or not the positions are close to each other, an inter-vehicle distance detection means for detecting an inter-vehicle distance between the traveling carriages of the pair of stacker cranes is provided on both or only one of the pair of stacker cranes. The means may determine whether or not it is a mutual approach position based on the inter-vehicle distance information detected by the inter-vehicle distance detection means.

(3) In the above-described embodiment, the control unit is configured by the ground-side controller H. However, the present invention is not limited thereto, and the control unit is installed on the ground side and the operation start position information based on the operation command and The management controller that transmits the operation end position information to the No. 1 machine 3a and the No. 2 machine 3b, and the operation of the No. 1 machine 3a based on the operation start position information and the operation end position information mounted on the No. 1 machine 3a from the management controller. A first crane controller to be controlled, and a second crane controller that is mounted on the second machine 3b and controls the operation of the second machine 3b based on the operation start position information and the operation end position information from the management controller. Alternatively, the specific configuration of the control means can be changed as appropriate.

(4) In the above embodiment, the description has been given of the configuration in which the mutual avoidance raising / lowering process is performed when the traveling positions of the pair of traveling carriages are the mutual approach positions. When performing the mutual avoidance raising and lowering processing, the first and second machines 3a and 3b are caused to travel after the raising and lowering positions of the pair of raising and lowering bodies UD are previously positioned at the raising and lowering positions for passing. In addition, the timing for performing the mutual avoidance raising / lowering process can be appropriately changed, such as starting the raising / lowering operation by the article conveying operation after the second machine 3b passes.

(5) In the above-described embodiment, the control unit instructs the target travel position information and the target lift position information to control the operation of the pair of stacker cranes. However, the present invention is not limited to this. The travel speed information and the target lifting speed information may be commanded to control the operation of the pair of stacker cranes, and various command information commanded by the control means can be applied.

Top view of goods storage equipment Sectional view of the movement path of the article storage shelf as seen in the width direction Sectional view in the longitudinal direction of the movement path of the article storage shelf Control block diagram An example of traveling speed pattern and elevating speed pattern Crane control flowchart Illustration of mutual approach positions Interference avoidance processing flowchart Flow chart of interference determination processing Diagram showing typical dimensions of a stacker crane Diagram explaining the assumed interference travel position of the stacker crane Diagram showing no interference Flowchart of mutual avoidance raising / lowering position calculation processing The figure explaining an example of the setting of the target raising / lowering position by a mutual avoiding raising / lowering position calculation process Schematic diagram showing the operation of the stacker crane by interference avoidance processing when no passing occurs Schematic diagram showing the operation of the stacker crane by the interference avoidance process when passing occurs

Explanation of symbols

UD Lifting body H Control means βH Set deceleration
VBW1, VBW2 Temporary braking range
P1m (x1m, y1m) Non-interference position
P2m (x2m, y2m) Non-interference position
P2n (x2, y2n) Passing lift position, non-interference position
y_CL Necessary separation distance T Grace time Z Maximum lifting range 1 Article storage shelf 2 Movement route 3 Stacker crane 4 Article 6 Storage section 7 Traveling guide rail 9 Traveling carriage 10 Lifting guide mast 11 Lifting base 12 Article transfer device 23, 27 Lifting position Detection means 25, 29 Traveling position detection means 31 First crane control means 32 Second crane control means

Claims (6)

An article storage shelf provided with a plurality of storage units for storing articles in the vertical direction and the horizontal direction;
A pair of stacker cranes are provided that are movable along a movement path provided along the width direction of the shelf on the front side of the article storage shelf,
Each of the pair of stacker cranes is guided by a traveling carriage guided by a traveling guide rail along the movement path, and a lifting guide mast provided in a standing state from the traveling carriage. And a lifting body that is provided on the lifting platform and is composed of an article transfer device that can transfer articles to the article storage unit.
A pair of traveling position detecting means for detecting the traveling position of each traveling carriage of the pair of stacker cranes;
A pair of lifting position detecting means for detecting the lifting position of each lifting body of the pair of stacker cranes;
An article storage facility provided with control means for controlling the operation of the pair of stacker cranes based on detection information of the pair of travel position detection means and the pair of lift position detection means,
As the travel guide rail, a pair of guide rails installed in parallel with each other at an interval in the longitudinal direction of the shelf is provided,
As the pair of stacker cranes, the traveling carriage is guided by one of the pair of traveling guide rails, and the stacker crane in which the lifting guide mast is provided on the traveling carriage, and the traveling carriage is the pair of traveling trucks. Guided by the other of the guide rails, and a stacker crane provided with the lifting guide mast provided in the traveling carriage,
The pair of elevating bodies includes a portion overlapping with the elevating body of the mating stacker crane in the longitudinal direction of the shelf so that each of the pair of stacker cranes can pass each other, and the elevating guide of the mating stacker crane It is provided in a state extending in the longitudinal direction of the shelf from the lifting guide mast so as not to reach the mast,
The control means is
When an operation command for conveying an article for entering and leaving the storage unit is instructed, based on the operation command, an article conveying operation for a charge stacker crane in charge of conveying an article according to the operation command is controlled. And
When controlling the article conveying operation of the pair of stacker cranes, based on the detection information of the pair of travel position detection means and the pair of lift position detection means, each of the pair of travel carts of the pair of stacker cranes The traveling position and the lifting position of the pair of lifting bodies of the pair of stacker cranes are managed, and the pair of lifting bodies need to be set as a separation distance that can be moved without passing by the pair of stacker cranes. Mutual avoidance lifting process in which both the pair of lifting bodies are lifted and lowered by an interference avoiding lifting action different from the lifting action by the article transporting action in order to raise and lower to the passing lifting position separated in the lifting direction by a separation distance or more. An article storage facility configured to perform.   The control means determines for each set cycle whether or not the traveling positions of the pair of traveling carriages are mutually approaching positions where the pair of stacker cranes are expected to interfere with each other, and the pair of traveling carriages The article storage facility according to claim 1, wherein the mutual avoidance raising / lowering process is performed when each traveling position of the carriage is the mutual approach position.   When the control means assumes that each of the pair of traveling trolleys has been stopped at a set deceleration, there is a portion that overlaps the virtual braking range of each traveling trolley that moves from the current position in the moving path direction before stopping. The article storage facility according to claim 2, wherein in some cases, the traveling position of the pair of traveling carriages is determined to be the mutual approaching position. In the mutual avoidance raising / lowering process, the control means travels in a manner that decelerates the traveling cart that is running after the respective traveling positions of the pair of traveling carts have reached the mutual approach position at a set deceleration. The assigned stacker has a maximum lifting range that is a lifting range in which the lifting body can be lifted by the article transport operation within a grace period until the pair of lifting bodies are assumed to interfere with each other. When the lifting and lowering bodies of the cranes are obtained and both the pair of stacker cranes are operated as the stacker cranes in charge, the maximum lifting range of each of the pair of lifting bodies is the necessary separation from each other. If the two stacker cranes do not overlap with each other by separating longer than the distance, interference between the pair of stacker cranes will not occur. When it is determined that the stacker crane is in a raw state and only one of the pair of stacker cranes is operated as the stacker crane in charge, the necessary separation is made around the lift position of the lifter of the other stacker crane. If the interference target range having a spread in the ascending / descending direction by a distance does not overlap with the maximum ascending / descending range of the lifting / lowering body of the assigned stacker crane, it is configured to determine that the interference does not occur, and ,
If it is determined that the interference is not generated in the mutual avoidance raising / lowering process, the mutual avoidance raising / lowering process may perform the article conveying operation in a form that does not control the lifting / lowering operation of the pair of lifting bodies, and If it is determined in the mutual avoidance lifting process that the interference does not occur, both of the pair of lifting bodies are controlled so that the article conveying operation is performed in a form in which the pair of lifting bodies is controlled by the mutual avoidance lifting process. The article storage facility according to any one of claims 1 to 3, wherein the article storage facility is configured to control a lifting operation. The control means is
A target travel position for the travel carriage and a target for the lift body that are updated and generated for each set control cycle based on the travel pattern for the article transport operation and the lift pattern for the article transport operation generated in response to the operation command. It is configured to control the article conveying operation for the assigned stacker crane by instructing a lifting position for each setting control cycle, and
As the mutual avoidance raising / lowering process, for the assigned stacker crane, instead of the target lifting position for the lifting body defined based on the lifting pattern for the article transport operation, the lifting / lowering body of the pair of stacker cranes is lifted / lowered By commanding the target lifting position for avoiding interference, which is updated and generated based on the position, the lifting speed, and the necessary separation distance, for each set control cycle, the pair of lifting bodies are raised and lowered to the passing lifting position. The article storage facility according to any one of claims 1 to 4, wherein the article storage facility is configured to control the lifting operation of both the pair of lifting bodies.   The control means is installed on the ground side, and first crane control means for controlling the operation of one of the pair of stacker cranes, and second crane control means for controlling the operation of the other stacker crane. The article storage equipment according to any one of claims 1 to 5, comprising:

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