JP2012246089A - Running car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently perform operation of retry to a stop point when a running car stops at a position off from a predetermined stop position.SOLUTION: A stacker crane 3 has a running truck 23 and a stop controlling part 55. The stop controlling part 55 determines whether a stop position of the running truck 23 is off from the predetermined stop point. When the stop position of the running truck 23 is off, the stop controlling part 55 controls retry operation to separate the running truck 23 from the stop point and make the same approach the stop point, and changes at least one of a separating distance to the running truck 23 from the stop point, a separating direction of the running truck 23 with respect to the stop point and an approaching speed of the running truck 23 with respect to the stop point and for each retry operation.

Description

  The present invention relates to a traveling vehicle such as a stacker crane, and more particularly to a traveling vehicle including a control unit for correcting a stop shift with respect to a predetermined stop position.

  A conventional automatic warehouse has, for example, a pair of racks provided at predetermined intervals in the front-rear direction, a stacker crane, a storage station provided on the side of one rack, and a side of the other rack. And a delivery station provided. The rack has a large number of luggage storage shelves vertically and horizontally. The stacker crane is provided so as to be movable in the left-right direction between the front and rear racks, and includes a traveling carriage and a lifting platform that is movable up and down on a mast provided on the traveling carriage.

  The stacker crane is required to stop at a predetermined stop point so as not to cause a problem such as a load slip when transferring the load between the lifting platform and the load storage shelf. In view of this, conventionally, a stacker crane has been proposed in which, for example, an operation that temporarily deviates from the stop position and the positioning with respect to the stop position is performed again when the vehicle stops with a shift from the stop position (see, for example, Patent Document 1). ).

JP 2003-237912 A

  The retry operation is performed several times until the stacker crane stops at the correct stop position. However, the distance at which the stacker crane is once removed from the stop position in the retry operation is fixed. Therefore, as a result, the retry operation under the same conditions may be repeated.

  An object of the present invention is to efficiently perform a retry operation to a stop point when a traveling vehicle with respect to a predetermined stop position shifts and stops.

Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary.
A traveling vehicle according to an aspect of the present invention includes a traveling unit and a stop control unit. The stop control unit determines whether the stop position of the traveling unit with respect to a predetermined stop point has shifted. The stop control unit controls a retry operation for separating the travel unit from the stop point and then approaching the stop point when the travel unit is at a stop position, and separating the travel unit from the stop point for each retry operation. At least one of the distance, the separation direction of the traveling unit with respect to the stop point, and the approaching speed of the traveling unit with respect to the stop point is changed.
Here, the stop control unit performs the retry operation so as to change at least one of the separation distance of the traveling unit from the stop point, the separation direction of the traveling unit with respect to the stop point, and the approaching speed of the traveling unit with respect to the stop point for each retry operation. To control. Since the retry operation is executed under different conditions as described above, the possibility that the traveling vehicle stops appropriately at the stop point can be increased, that is, a more efficient retry operation can be realized.

The stop control unit may be changed so as to increase the separation distance of the traveling unit from the stop point.
The stop control unit may be changed so as to slow the approach speed of the traveling unit with respect to the stop point.

  According to the present invention, when the traveling vehicle stops at a predetermined stop point, the retry operation to the stop point can be efficiently executed.

It is a schematic plan view of an automatic warehouse. It is an II-II arrow line view of FIG. 1, and is a figure for demonstrating a stacker crane. It is a functional block diagram of the apparatus control part of a stacker crane. It is a flowchart which shows control of the retry operation | movement by a stop control part. It is a figure explaining control of the retry operation | movement by the stop control part in 1st Example. It is a figure explaining control of the retry operation | movement by the stop control part in 2nd Example. It is a figure explaining control of the retry operation | movement by the stop control part in 3rd Example.

1. First Embodiment (1) Entire Automatic Warehouse Hereinafter, an automatic warehouse 1 as a first embodiment according to the present invention will be described. FIG. 1 is a schematic plan view of an automatic warehouse in the present embodiment. FIG. 2 is a view taken along the line II-II in FIG. 1 and is a view for explaining a stacker crane. In FIG. 1, the vertical direction is the front-rear direction of the automatic warehouse 1, and the left-right direction is the left-right direction of the automatic warehouse 1.
The automatic warehouse 1 is mainly composed of a pair of racks 2 and a stacker crane 3 as a traveling vehicle. In addition, a warehousing station 17 is provided on the rear side of the left rack 2, and a warehousing station 19 is provided on the rear side of the right rack 2.

The pair of racks 2 are arranged so as to sandwich a stacker crane passage 4 extending in the front-rear direction of FIG. The rack 2 includes a number of front struts 7 arranged in the front-rear direction of the automatic warehouse 1 at predetermined intervals, a rear strut 9 arranged at a predetermined interval between the front struts 7 on the right side of the front struts 7, and the front struts 7. And a large number of load bearing members 11 provided on the rear column 9. A luggage storage shelf 13 is constituted by a pair of front and rear luggage support members 11. A luggage W can be placed on each luggage storage shelf 13. A fork passage gap 15 between the pair of front and rear load bearing members 11 allows a slide fork 29 described later to move in the vertical direction. The frontage L of the luggage storage rack 13 is the same in all the luggage storage racks 13. Further, the center position of the frontage L of the luggage storage shelf 13 (hereinafter referred to as frontage center C) coincides between the luggage storage shelves 13 facing each other across the stacker crane 3.
A shielding plate 5 is disposed on the floor along the stacker crane passage 4 at a position corresponding to the frontage center C of the luggage storage shelf 13. Specifically, the shielding plate 5 is provided at a position where the optical axis of the photoelectric sensor 33 provided on the bottom surface of the stacker crane 3 can be blocked.

(2) Stacker Crane The stacker crane 3 includes a traveling carriage 23 as a traveling unit, a lifting platform 27 and a traveling carriage 23 that are mounted on a pair of masts 25 provided at the front and rear with respect to the traveling direction of the traveling carriage 23. The slide fork 29 is provided so as to be slidable in the left-right direction with respect to the traveling direction. A pair of upper and lower guide rails 21 are provided along the stacker crane passage 4, and the stacker crane 3 is guided so as to be movable along the guide rails 21.

The traveling carriage 23 includes wheels 23 a, photoelectric sensors 33, a traveling motor 35, a traveling brake 37, a traveling rotary encoder 39, a lifting motor 41, and a lifting rotary encoder 43.
A pair of left and right wheels are attached to the front and rear with respect to the traveling direction of the bottom surface of the wheel 23 a and the traveling carriage 23. The wheel 23a is driven by a travel control unit 53 described later.

  The photoelectric sensor 33 is a stop position detection sensor that detects the stop position of the stacker crane 3 with respect to the luggage storage shelf 13, and is provided at the bottom of the stacker crane 3. The photoelectric sensor 33 includes a light projecting end and a light receiving end, and the optical axis of the photoelectric sensor 33 moves along the traveling direction of the stacker crane 3. If the optical axis of the photoelectric sensor 33 is blocked by the shielding plate 5 due to the movement of the stacker crane 3, the photoelectric sensor 33 outputs an off signal to a stop control unit 55 described later. On the other hand, the photoelectric sensor 33 outputs an ON signal to the stop control unit 55 when the optical axis is not blocked by the shielding plate 5.

  In the present embodiment, two photoelectric sensors, that is, a first photoelectric sensor 33 a and a second photoelectric sensor 33 b are provided at the bottom of the stacker crane 3 along the traveling direction of the stacker crane 3. The first photoelectric sensor 33a and the second photoelectric sensor 33b are configured so that both the optical axis of the first photoelectric sensor 33a and the optical axis of the second photoelectric sensor 33b are shield plates when the stacker crane 3 is appropriately stopped at a predetermined stop point. 5 are provided at intervals such that they are shielded by 5. The photoelectric sensor 33 may be able to appropriately detect the stop position of the stacker crane 3, and the number thereof is not limited to two.

The traveling motor 35 drives the wheel shaft of the wheel 23a under the control of a traveling control unit 53 described later to cause the stacker crane 3 to travel. Further, the traveling motor 35 drives the wheel shaft of the wheel 23a to move the stacker crane 3 forward or backward under the control of the stop control unit 55 that controls the retry operation.
The traveling brake 37 brakes the wheel 23 a and stops traveling of the stacker crane 3 under the control of the traveling control unit 53 and the stop control unit 55. The traveling brake 37 may be built in the traveling motor 35.
The traveling rotary encoder 39 monitors the rotational speed of the traveling motor 35 or the rotational speed of the wheel 23a.

The elevating motor 41 drives the elevating table 27 by driving a take-up drum (not shown) around which the elevating wire to which the elevating table 27 is attached is wound, and feeding and unwinding the elevating wire. Let The lifting rotary encoder 43 monitors the number of rotations of the lifting motor 41 and estimates the height of the lifting platform 27.
The traveling carriage 23 may further include a transfer motor (not shown) for moving the slide fork 29 in the left-right direction with respect to the traveling direction of the traveling carriage 23.

  The stacker crane 3 further includes an apparatus control unit 51. The stacker crane 3 includes the device control unit 51 and can communicate with the overall control unit 6 that controls the entire automatic warehouse 1. The device control unit 51 is realized by computer hardware such as a CPU and a memory. With reference to FIG. 3, the apparatus control part 51 of the stacker crane 3 is demonstrated. FIG. 3 is a functional block diagram of the device control unit of the stacker crane.

The device control unit 51 includes a travel control unit 53, a stop control unit 55, and a lift control unit 57.
The traveling control unit 53 is a control unit for controlling the traveling of the traveling carriage 23 of the stacker crane 3. The traveling control unit 53 is connected to the traveling motor 35, the traveling brake 37, and the traveling rotary encoder 39.
Further, the traveling control unit 53 integrates the traveling distance of the traveling carriage 23 based on the number of revolutions of the traveling motor 35 or the number of revolutions of the wheels 23a monitored by the traveling rotary encoder 39 when the traveling carriage 23 is traveling. 3 is recognized. Further, the travel control unit 53 obtains the remaining distance to the stop point with respect to the luggage storage shelf 13 based on the recognized current position, and the travel motor 35 and the travel brake so that the stacker crane 3 stops appropriately at the stop point. 37 is controlled.

The stop control unit 55 determines whether or not the stop position of the stacker crane 3 with respect to the stop point has shifted, and controls the retry operation of the stacker crane 3 when the stop position of the stacker crane 3 has shifted.
Specifically, the stop control unit 55 determines whether the traveling carriage 23 has appropriately stopped at the stop point based on the on signal and the off signal received from the photoelectric sensor 33. In the present embodiment, when both the off signals are received from the first photoelectric sensor 33a and the second photoelectric sensor 33b, the stop control unit 55 determines that the traveling carriage 23 has stopped appropriately without deviating from the stop point. On the other hand, when an ON signal is received from both the first photoelectric sensor 33a and the second photoelectric sensor 33b, or when an ON signal is received from either the first photoelectric sensor 33a or the second photoelectric sensor 33b, the traveling carriage 23 Is judged to have deviated from the stop point and stopped.

  Here, the retry operation of the stacker crane 3 means that when the stacker crane 3 is deviated from the stop point and stopped, the traveling carriage 23 is moved away from the stop point and then approached to the stop point and stopped at the stop point. It is an action to make. Specifically, the stop control unit 55 drives the traveling motor 35 and the traveling brake 37 to move the traveling carriage 23 once away from the stop point, and then approaches the stop point again. Stop. The stop control unit 55 performs a retry operation a predetermined number of times until the traveling carriage 23 appropriately stops at the stop point. In addition, the stop control unit 55 controls the retry operation of the stacker crane 3 so as to change the separation distance from the stop point, the separation direction, and / or the speed of reapproach to the stop point for each retry operation. The separation distance is a distance for separating the traveling carriage 23 from the stop point, and the separation direction is a direction for separating the traveling carriage 23 from the stop point. Details of the retry operation will be described later.

  In the present embodiment, the stop control unit 55 determines the maximum number of retry operations that can be retried with respect to the stop point (hereinafter referred to as the number of retries) and the actual number of retries performed when the stop control unit 55 stops from the stop point. Has a storage unit 55a. The specified number of times is preset by, for example, an administrator of the automatic warehouse 1. The number of retries is accumulated every time the retry operation is repeated. When the number of retries exceeds the specified number, or when the stacker crane 3 is appropriately stopped at the stop point by the retry operation, the number of retries is reset.

The lifting control unit 57 is a control unit for moving the lifting platform 27 up and down along the mast 25. The lift control unit 57 is connected to the lift motor 41 and the lift rotary encoder 43.
Although not shown, the apparatus control unit 51 further includes a transfer control unit for moving the slide fork 29 in the front-rear direction, and the transfer control unit includes a transfer motor, a transfer rotary encoder, and the like. May be connected.

  By having the above-described configuration, the stacker crane 3 drives the traveling motor 35 and the like according to the conveyance instruction from the overall control unit 6 that controls the entire automatic warehouse 1, and the luggage storage shelf 13 and the storage station 17. And travels to and from the delivery station 19. Further, the stacker crane 3 drives a lifting motor 41 and a transfer motor (not shown) to transfer the load W between the load storage shelf 13, the storage station 17 or the output station 19. For example, the stacker crane 3 performs an operation of loading the load W from the load storage shelf 13. Specifically, the stacker crane 3 projects the slide fork 29 below the load W, lifts the lift 27 in that state, lifts the load W, and then moves the slide fork 29 back to the lift 27 side. Then, the luggage W is pulled into the lifting platform 27. Subsequently, the stacker crane 3 descends the lifting platform 27 and returns to the original position, travels on the guide rail 21 with the load W loaded thereon, and stops in front of the unloading station 19. Thereafter, the stacker crane 3 transfers the load W from the lifting platform 27 to the delivery station 19 by the slide fork 29.

(3) Operation of Stop Drive Unit As described above, the stop control unit 55 determines whether or not the stop position of the stacker crane 3 with respect to the stop point with respect to the luggage storage shelf 13 has shifted, and is not properly stopped at the stop point. Controls the retry operation of the stacker crane 3. With reference to FIG. 4, the control of the retry operation by the stop control unit 55 is shown. FIG. 4 is a flowchart showing the control of the retry operation by the stop control unit.

  The stop control unit 55 determines whether or not the stacker crane 3 has stopped (step S1). Specifically, the stop control unit 55 monitors the control of the traveling motor 35 and the traveling brake 37 by the traveling control unit 53 and determines whether the traveling carriage 23 is stopped.

  Subsequently, the stop control unit 55 determines whether or not the stacker crane 3 is deviated from the stop point and stopped (step S3). Specifically, the stop control unit 55 determines the deviation of the stop position of the traveling carriage 23 from the stop point based on whether or not the signal from the photoelectric sensor 33 is an off signal. In the present embodiment, when the stop control unit 55 receives an ON signal from at least one of the signals from the first photoelectric sensor 33a and the second photoelectric sensor 33b, the stacker crane 3 is shifted from the stop point and stopped. to decide.

If the stop control unit 55 receives the off signal from both the first photoelectric sensor 33a and the second photoelectric sensor 33b and determines that the stacker crane 3 is stopped without shifting at the stop point (No in step S3), the stop control unit 55 stops. The control unit 55 ends the process. In this case, the device controller 51 then drives the lifting motor 41 and the like, and the load W is transferred to and from the load storage shelf 13. At this time, the stop control unit 55 resets the number of retries.
On the other hand, when it is determined that the stacker crane 3 has deviated from the stop point and stopped (Yes in step S3), the stop control unit 55 refers to the storage unit 55a and compares the specified number of times with the number of retries ( Step S5). If the number of retries is less than the specified number (Yes in step S5), the stop control unit 55 controls the retry operation (step S7) and returns to step S3. At this time, in step S7, the stop control unit 55 drives the traveling motor 35 and the traveling brake 37 to temporarily move the traveling carriage 23 of the stacker crane 3 and separate it from the stop point. Thereafter, the stop control unit 55 causes the traveling carriage 23 of the stacker crane 3 to approach the stop point again and stop it. Further, the stop control unit 55 performs the retry operation so as to change at least one of the separation distance from the stop point, the separation direction with respect to the stop point, and the speed of the approach of the traveling carriage 23 to the stop point for each retry operation. To control.

  On the other hand, when the number of retries exceeds the prescribed number (No in step S5), the stop control unit 55 outputs an abnormal signal (step S13) and ends the process. For example, the stop control unit 55 notifies the overall control unit 6 of an abnormal signal via the device control unit 51. Thereafter, the overall control unit 6 notifies the administrator of the occurrence of abnormality via a display or the like based on the abnormality signal. At this time, the stop control unit 55 resets the number of retries.

(3-1) Retry Operation As described above, the stop control unit 55 performs the retry operation so as to change at least one of the separation distance, the separation direction, and the speed of reapproach to the stop point for each retry operation. Control. Hereinafter, an example of a retry operation by the stop control unit 55 will be described. Hereinafter, an example in which the prescribed number of retry operations is four will be described. However, the specified number of retry operations is not limited to this number.

(3-1-1) First Example With reference to FIG. 5, a first example showing the control of the retry operation by the stop control unit 55 will be described. FIG. 5 is a diagram for explaining the retry operation control by the stop control unit in the first embodiment. In the first embodiment, an example of a retry operation in which only the separation distance of the traveling carriage 23 from the stop point is changed for each retry operation will be described. FIG. 5 shows a state where the stop point and the stop position of the stacker crane 3 by the retry operation from the first time to the fourth time coincide with each other. However, in the following description, an example will be described in which a stop shift of the traveling carriage 23 with respect to the stop point occurs and the retry operation is executed up to the fourth time.

First, in the first retry operation, the stop control unit 55 drives the traveling motor 35 and the traveling brake 37 to retract the traveling carriage 23 away from the stop point, and then stops by moving it forward again. Approach the point and stop.
At this time, the speed at which the traveling carriage 23 approaches again to the stop point is the speed a shown in the section AB in FIG. That is, the traveling control unit 53 first decelerates the traveling carriage 23 when stopping the traveling carriage 23 at the stop point. After that, the traveling control unit 53 travels at a constant speed as shown in the section AB, and then further decelerates and stops the traveling carriage 23. The stop control unit 55 basically causes the traveling carriage 23 to approach the stop point at this speed a.

Thereafter, the stop control unit 55 performs control to increase the separation distance from the stop point as the number of retries increases.
Specifically, in the second retry operation, the stop control unit 55 controls the retry operation to the stop point so that the distance from the stop point is larger than that in the first retry operation. In addition, the stop control unit 55 controls the retry operation to the stop point so that the distance from the stop point is larger in the third retry operation than in the second retry operation. Further, the stop control unit 55 controls the retry operation to the stop point so that the distance from the stop point is larger in the fourth retry operation than in the third retry operation. Here, in the retry operation, the stop control unit 55 may set, for example, a distance obtained by adding the first separation distance to the number of retries as the separation distance. The first separation distance may be at least the length of the shielding plate 5 in the traveling direction of the stacker crane 3. The separation distance is not limited to the above example as long as the number of retries increases. However, in order to quickly stop the stacker crane 3 at the stop point, it is more preferable that the separation distance is short.

As described above, in the first embodiment, the stop control unit 55 controls the retry operation so as to change the separation distance of the traveling carriage 23 from the stop point for each retry operation. Therefore, it is possible to prevent the same retry operation from being repeated. As a result, the retry operation from different separation distances can be executed, so that the possibility of an appropriate stop to the stop point can be increased, and a more efficient retry operation can be realized.
For example, the stacker crane 3 may not be able to stop accurately at the stop point due to a change with time of the drive system such as wear of the wheels 23a. However, even if a change with time occurs in the stacker crane 3, by performing the retry operation from a different separation distance for each retry operation, the possibility of stopping the stacker crane 3 without causing a shift with respect to the stop point is increased. be able to.
Further, for example, the mast 25 has a natural frequency determined by its weight, rigidity, and the like. Therefore, the stacker crane 3 has a separation distance that cannot be stopped due to the influence of the natural frequency. However, in the first embodiment, even if there is an influence due to the natural frequency, the retry operation from different separation distances can be executed, so that the possibility that the stacker crane 3 stops appropriately at the stop point can be increased.

(3-1-2) Second Example Next, with reference to FIG. 6, a second example showing the control of the retry operation by the stop control unit 55 will be described. FIG. 6 is a diagram for explaining the control of the retry operation by the stop control unit in the second embodiment.
In the second embodiment, for each retry operation, the separation distance from the stop point and / or the separation direction with respect to the stop point is changed. FIG. 6 shows a state in which the stop point and the stop position of the stacker crane 3 by the retry operation from the first time to the fourth time coincide with each other. However, in the following description, an example will be described in which a stop shift of the traveling carriage 23 with respect to the stop point occurs and the retry operation is executed up to the fourth time.

  Specifically, in the first retry operation, the stop control unit 55 drives the traveling motor 35 and the traveling brake 37 to move the traveling carriage 23 backward, away from the stop point, and then advance again. Approach the stop point and stop. Next, the stop control unit 55 controls the second retry operation so that the separation direction of the traveling carriage 23 with respect to the stop point is changed without changing the separation distance from the separation distance of the first retry operation. That is, in the second retry operation, the stop control unit 55 moves the traveling carriage 23 in the direction opposite to the first retry movement, that is, in the direction in which the traveling carriage 23 moves forward, by the same separation distance as the first retry action. Move away from the stop point, then move backward and approach the stop point again to stop.

Thereafter, the stop control unit 55 increases the separation distance from the stop point compared to the second retry operation, and controls the third retry operation so that the separation direction of the traveling carriage 23 with respect to the stop point is changed from the second retry operation. To do. In other words, the stop control unit 55 makes the traveling cart larger than the separation distance of the second retry operation in the direction opposite to the second retry operation in the third retry operation, that is, in the direction of retracting the traveling cart 23 from the stop point. 23 is separated and then moved forward to approach the stop point again and stop.
Next, the stop control unit 55 controls the fourth retry operation so as to change the separation direction of the traveling carriage 23 with respect to the stop point without changing the separation distance from the separation distance of the third retry operation. That is, in the fourth retry operation, the stop control unit 55 moves the traveling carriage 23 in the direction opposite to the third retry movement, that is, the direction in which the traveling carriage 23 moves forward is the same as the separation distance of the third retry operation. Move away from the stop point by the distance, then move backward to approach the stop point again and stop.

  Thus, in the second embodiment, the stop control unit 55 changes the separation distance of the traveling carriage 23 from the stop point and / or the separation direction with respect to the stop point for each retry operation. In this way, by changing the separation distance and / or separation direction of the traveling carriage 23, the possibility that the stacker crane 3 stops appropriately without shifting to the stop point can be further increased. For example, due to its characteristics, the stacker crane 3 cannot be stopped in the same manner even if it is controlled so as to approach the stop point again at the same speed in the forward movement and the backward movement. Therefore, by changing the separation distance and / or the separation direction with respect to the stop point and performing the retry operation with respect to the stop point, the possibility that the stacker crane 3 stops appropriately at the stop point can be increased.

(3-1-3) Third Example Next, with reference to FIG. 7, a third example showing the control of the retry operation by the stop control unit 55 will be described. FIG. 7 is a diagram for explaining the control of the retry operation by the stop control unit in the third embodiment.
In the third embodiment, for each retry operation, the separation distance of the traveling carriage 23 from the stop point and / or the speed of reapproach to the stop point is changed. FIG. 7 shows a state where the stop point and the stop position of the stacker crane 3 by the retry operation from the first time to the fourth time coincide with each other. However, in the following description, an example will be described in which a stop shift of the traveling carriage 23 with respect to the stop point occurs and the retry operation is executed up to the fourth time.

Specifically, in the first retry operation, the stop control unit 55 drives the traveling motor 35 and the traveling brake 37 to move the traveling carriage 23 backward, away from the stop point, and then advance again. To approach the stop point and stop. Next, the stop control unit 55 controls the second retry operation so that only the separation distance of the traveling carriage 23 from the stop point is larger than the first retry operation.
After that, in the third retry operation, the stop control unit 55 changes the approach speed to the stop point compared to the second retry operation without changing the separation distance from the separation distance of the second retry operation. Take control. That is, in the third retry operation, the stop control unit 55 retracts the traveling carriage 23 by the same separation distance as the separation distance of the second retry operation, and then moves the traveling carriage 23 at a slower speed than the second retry operation. Move forward to approach the stop point again and stop.

Further, in the fourth retry operation, the stop control unit 55 changes the separation distance from the third retry operation, and further approaches the traveling carriage 23 to approach the stop point at the same approach speed as the second retry operation. Control to change the speed. That is, in the fourth retry operation, the stop control unit 55 retracts the traveling carriage 23 by a larger distance than the third retry operation, and then travels at the same approach speed as the first and second retry operations. Move forward to approach the stop point again and stop.
In this embodiment, the separation speed of the traveling carriage 23 from the stop point and the approach speed to the stop point are the same in one retry operation. However, if the approach speed to the stop point is changed as in the present embodiment, the approach speed to the stop point and the separation speed of the traveling carriage 23 from the stop point in one retry operation may be different.

  Thus, in 3rd Example, the stop control part 55 changes so that the separation distance of the traveling vehicle 23 from a stop point and / or the approach speed to a stop point with respect to a stop point may be made low for every retry operation. . Thus, by further changing the approach speed to the stop point, the possibility that the stacker crane 3 stops appropriately at the stop point can be further increased. For example, even if the performance of the traveling brake 37 is degraded, the retry operation can be prevented from being repeated by changing the approach speed to the stop point.

(4) Features of Embodiment The above embodiment can be expressed as follows.
The stacker crane 3 includes a traveling carriage 23 and a stop control unit 55. The stop control unit 55 determines whether the stop position of the traveling carriage 23 with respect to a predetermined stop point has shifted. When the stop position of the traveling carriage 23 is shifted, the stop control unit 55 controls a retry operation for moving the traveling carriage 23 away from the stop point and approaching the stop point, and the traveling carriage 23 from the stop point for each retry operation. At least one of the separation distance, the separation direction of the traveling carriage 23 with respect to the stop point, and the approaching speed of the traveling carriage 23 with respect to the stop point is changed.

The stop control unit 55 changes the distance of the traveling carriage 23 from the stop point to be increased.
The stop control unit 55 changes the approach speed of the traveling carriage 23 with respect to the stop point so as to slow down.

(5) Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention. In particular, a plurality of embodiments and modifications described in this specification can be arbitrarily combined as necessary.

(5-1) In the above embodiment, the stacker crane 3 is described as an example of the traveling vehicle. However, it is not limited to a stacker crane as long as it is a traveling vehicle. For example, the traveling vehicle may be an overhead traveling vehicle, a grounded track truck, or an automatic guided vehicle that travels on the ground without a track.

(5-2) In the above embodiment, the photoelectric sensor 33 is described as an example of the stop position detection sensor. However, instead of the photoelectric sensor 33, an ultrasonic sensor or a proximity sensor may be used as a stop position detection sensor. In place of the shielding plate 5, another mark, barcode, RFID, or the like may be provided, and instead of the photoelectric sensor 33, a mark sensor, barcode reader, RFID reader, or the like may be provided.
Further, the stop position of the stacker crane 3 may be detected from a comparison between a value of an encoder that follows the rotation of the wheel 23a and a specified value.

(5-3) The current position of the stacker crane 3 may be detected by, for example, mounting a laser distance meter or the like on the stacker crane and detecting the distance from the reflector provided at the traveling end of the rail. . Further, the traveling control unit 53 recognizes the current position and speed of the stacker crane 3 and compares it with a traveling pattern stored in advance such as a speed pattern with respect to the distance from the stop point so as to match the traveling pattern. The traveling of the stacker crane 3 may be controlled.

(5-4) In the above embodiment, the example in which the shielding plate 5 is provided at a position corresponding to the frontage center C of the luggage storage shelf 13 is given. However, the shielding plate 5 may be provided corresponding to the warehousing station 17 and the warehousing station 19, and the stop control unit 55 may control a retry operation for the warehousing station 17 and the warehousing station 19 of the stacker crane 3.

(5-5) The combination of the separation distance, the separation direction, and the approach speed to be changed in the retry operation, and the timing to be changed may be other than the above-described embodiment.
For example, in the third embodiment, the stop control unit 55 may change the separation direction to the stop point in addition to the separation distance of the traveling carriage 23 from the stop point and the approach speed to the stop point with respect to the stop point. Good.

  The present invention can be widely applied to traveling vehicles such as stacker cranes.

DESCRIPTION OF SYMBOLS 1 Automatic warehouse 2 A pair of racks 3 Stacker crane 4 Stacker crane passage 5 Shielding board 6 Overall control part 7 Front support | pillar 9 Rear support | pillar 11 Luggage support member 13 Luggage storage shelf 15 Fork passage clearance 17 Entry station 19 Delivery station 21 Guide rail 23 Traveling carriage 23a Wheel 25 Mast 27 Lifting base 29 Slide fork 33 Photoelectric sensor 33a First photoelectric sensor 33b Second photoelectric sensor 35 Traveling motor 37 Traveling brake 39 Traveling rotary encoder 41 Lifting motor 43 Lifting rotary encoder 51 Device control Unit 53 travel control unit 55 stop control unit 55a storage unit 57 lift control unit L frontage C frontage center

Claims (3)

A traveling section;
It is determined whether or not the stop position of the traveling unit with respect to a predetermined stop point has shifted. If the stop position of the traveling unit has shifted, the traveling unit is separated from the stop point and then approaches the stop point. And controlling at least one of a separation distance of the traveling unit from the stop point, a separation direction of the traveling unit with respect to the stop point, and an approach speed of the traveling unit with respect to the stop point for each retry operation. A stop control unit for changing
A traveling vehicle comprising:   The traveling vehicle according to claim 1, wherein the stop control unit is changed so as to increase a separation distance of the traveling unit from the stop point.   The traveling vehicle according to claim 1, wherein the stop control unit is configured to change the approaching speed of the traveling unit with respect to the stop point to be slow.

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