JP2023133775A - stacker crane - Google Patents

Abstract

To provide a technique for appropriately detecting an object to be detected which interferes with the operation of a stacker crane as an obstacle, and not detecting an object to be detected which is not an obstacle, e.g., a worker as an obstacle in the stacker crane having a sensor for detecting the obstacle.SOLUTION: A stacker crane comprises a first sensor 11, a second sensor 12 and a third sensor 13 as sensors for detecting an obstacle OB. A control device can switch an operation mode of the stacker crane 20 between an automatic mode and a manual mode. In the automatic mode, the control device validates the first sensor 11 when a traveling carriage 21 travels toward a first side L1 in the traveling direction, validates the second sensor 12 when the traveling carriage 21 travels toward a second side L2 in the traveling direction, and validates the third sensor 13 when a lifter 24 is lowered. In the manual mode, the control device invalidates the first sensor 11 and the second sensor 12, and validates the third sensor 13 when the lifter 24 is lowered.SELECTED DRAWING: Figure 4

Description

The present invention relates to a stacker crane that includes a traveling truck that travels along a traveling route, a mast fixed to the traveling truck, an elevating body that ascends and descends along the mast, and a transfer device supported by the elevating body. .

Japanese Unexamined Patent Publication No. 2002-362706 discloses a stacker crane (2) traveling on a traveling path (6) with an end, and a sensor (a) that detects an obstacle existing between the end of the traveling path (6). ~h, A~H) is disclosed (in the background art, the numbers in parentheses are those of the referenced documents). At one end of the traveling route (6), light receiving parts (A to D) of the sensor are arranged in a direction (width direction) orthogonal to the extending direction of the traveling route, and a stacker crane (2) facing the one end is provided. At one end side, light projecting parts (a to d) of the sensor are provided side by side in the width direction. That is, between the stacker crane (2) and one end of the travel route (6), four monitoring areas are set in parallel to each other by changing the positions in the width direction. Similarly, there are four parallel to each other between the other end of the travel path (6) (light receiving part (E to H)) and the other end of the stacker crane (2) (light projecting part (e to h)). A monitoring area has been set.

Japanese Patent Application Publication No. 2002-362706

Such stacker cranes are used in warehouses and the like that are equipped with storage shelves that store items in the width direction. In addition, in many cases, stacker cranes run automatically under computer control. At this time, if objects that have fallen on the travel route come into contact with the stacker crane, not only will this hinder the travel of the stacker crane, but there is also a risk that the stacker crane may be damaged. Therefore, it is desirable to be able to detect obstacles by providing a sensor as described above. However, in such warehouses, workers are required to inspect and adjust the stacker crane, remove obstacles if they exist, and restart the stacker crane after removal. also exists. The worker may be located near the travel route to check the operating state of the stacker crane, and operate the stacker crane by manual travel according to the worker's instructions. In such a case, if the sensor detects the worker as an obstacle, the stacker crane will stop, and there is a possibility that operations for inspection, adjustment, restart, etc. cannot be performed appropriately.

In view of the above background, in a stacker crane equipped with a sensor for detecting obstacles, objects that obstruct the operation of the stacker crane can be appropriately detected as obstacles, and objects that are not obstacles such as workers can be detected. It is desired to provide technology that does not detect obstacles.

In view of the above-mentioned problems, a stacker crane includes: a traveling truck that travels along a traveling route; a mast fixed to the traveling truck and provided along the vertical direction; and an elevating body that ascends and descends along the mast. A stacker crane comprising: a transfer device supported by the elevating body to hold an article to be transported and to transfer the article to and from a transfer target location, the stacker crane comprising: a direction in the traveling direction, one side in the traveling direction as a first side in the traveling direction, and the other side in the traveling direction as a second side in the traveling direction, on the traveling route and in the traveling direction with respect to the traveling trolley. a first sensor that detects an obstacle existing in a first detection range set on a first side; and a second sensor that is on the traveling route and set on a second side of the traveling direction with respect to the traveling trolley. A second sensor that detects an obstacle existing in the range, a third sensor that detects an obstacle that exists in a third detection range set below the elevating body, and a control device, The control device has two modes: an automatic mode in which the operation of transporting the article is automatically performed, and a manual mode in which the traveling cart and the elevating body are operated in response to a signal from a reception section that receives user operations. In the automatic mode, the first sensor is enabled when the traveling truck is traveling toward the first side in the traveling direction, and the first sensor is enabled when the traveling truck is traveling toward the second side in the traveling direction. The first sensor, the second sensor, and the third the first sensor and the second sensor to disable the first sensor and the second sensor in the manual mode and enable the third sensor when the elevating body is descending; The second sensor and the third sensor are controlled.

According to this configuration, in the automatic mode, by detecting an obstacle present in the traveling direction of the traveling vehicle, it is possible to appropriately avoid the traveling vehicle from colliding with an obstacle. Further, in the automatic mode, by detecting an obstacle present below the elevating object, it is possible to appropriately avoid the elevating object from coming into contact with the obstacle. On the other hand, in manual mode, by disabling the first sensor and the second sensor, the first sensor or the second sensor detects a worker, etc., including the user operating the reception section, and responds to the user's command. It is possible to avoid the traveling truck from becoming unable to travel. Even in this case, since the third sensor is effective, it is possible to appropriately prevent the elevating body from accidentally coming into contact with obstacles including the user. As described above, according to the present configuration, in a stacker crane equipped with a sensor for detecting obstacles, objects to be detected that interfere with the operation of the stacker crane can be appropriately detected as obstacles, and objects that are not obstacles such as workers can be detected. The detected object can be prevented from being detected as an obstacle.

Further characteristics and advantages of the stacker crane will become clear from the following description of an exemplary and non-restrictive embodiment with reference to the drawings.

Perspective view of article conveyance equipment Perspective view of stacker crane Schematic control block diagram of stacker crane Diagram schematically showing the detection range of the sensor Diagram schematically showing the detection range of the third sensor Graph showing an example of the relationship between traveling speed (elevating speed) and detection range length A graph showing an example of the relationship between the distance from the end (lower end position of the elevating object) and the length of the detection range

Hereinafter, embodiments of the stacker crane will be described based on the drawings, taking as an example a stacker crane used as an article transport vehicle in article conveyance equipment. As shown in FIGS. 1 and 2, the stacker crane 20 includes a traveling truck 21, a mast 22, an elevating body 24, and a transfer device 26. The traveling trolley 21 travels along the traveling route 4. The mast 22 is fixed to the traveling carriage 21 and is provided along the vertical direction Z. The elevating body 24 moves up and down along this mast 22. The transfer device 26 is supported by the elevating body 24, holds the article 2 to be transported by a holding portion 27 such as a fork, and transfers the article 2 to and from the transfer target location 3.

The traveling route 4 is formed by traveling rails 7. The traveling rail 7 is provided on the floor surface 5. The running truck 21 includes running wheels 28 (see FIG. 4) that roll on the running surface of the running rail 7. The traveling trolley 21 is controlled by a control device 1 (see FIG. 3) which will be described later. The control device 1 causes the traveling truck 21 to travel by driving and controlling a traveling drive unit (for example, an electric motor such as a servo motor) (not shown) included in the traveling truck 21. Here, the direction along the traveling route 4 is referred to as a traveling direction L, one side of the traveling direction L is referred to as a first traveling direction side L1, and the other side of the traveling direction L is referred to as a second traveling direction side L2. Further, a direction perpendicular to both the traveling direction L and the vertical direction Z (vertical direction) is referred to as a path width direction W. In addition, in the up-down direction Z, the upper side is called upper side Z1, and the lower side is called lower side Z2.

As shown in FIG. 1, the article conveyance equipment 100 includes a plurality of storage shelves 30. In this embodiment, the storage shelves 30 are provided on both sides of the travel route 4 in the route width direction W. Each storage shelf 30 is arranged such that the running direction L is the shelf width direction and the path width direction W is the shelf depth direction. Each storage shelf 30 is arranged such that the front side of the storage shelf 30 (the side on which the articles 2 are taken in and taken out from the storage shelf 30) faces the travel path 4 side. The storage shelf 30 is equipped with a plurality of storage sections 31 that store the articles 2. The plurality of storage sections 31 are arranged in a plurality of stages in the vertical direction Z and in a plurality of rows in the running direction L. The storage section 31 corresponds to the transfer target location 3.

As shown in FIG. 1, the mast 22 is supported by the traveling carriage 21 in a posture along the vertical direction Z. As shown in FIG. The mast 22 is erected on the traveling carriage 21 so as to extend from the traveling carriage 21 toward the upper side Z1. In this embodiment, two masts 22 are supported by the traveling truck 21 in a state where they are lined up in the traveling direction L. The upper end portions of the two masts 22 are connected by a connecting portion 23 such as an upper frame. The connecting portion 23 includes a guide ring 80 (see FIG. 2) that is guided by a guide rail 8 provided on the ceiling side of the ceiling portion 6 (see FIG. 4), etc.; It moves in the running direction L while being guided.

The elevating body 24 is raised and lowered by an elevating device 25 driven by the control device 1. The control device 1 raises and lowers the elevator body 24 by driving and controlling an elevator drive unit (for example, an electric motor such as a servo motor) included in the elevator device 25 . The elevating device 25 raises or lowers the elevating body 24 by, for example, rotating a winding drum around which a wire connected to the elevating body 24 is wound, and winding or letting out the wire. The elevating body 24 ascends and descends while being disposed between two masts 22 aligned in the traveling direction L. The elevating body 24 moves up and down along the mast 22 while being suspended by a wire, for example.

The elevating body 24 supports a transfer device 26. As shown in FIG. 1, the transfer device 26 includes a holding section 27 that holds the article 2, and performs a transfer operation of the article 2 between the holding section 27 and the transfer target location 3. The transfer device 26 is moved to a position corresponding to the transfer target location 3 (specifically, a position opposite to the transfer target location 3 in the path width direction W) by the traveling operation of the traveling trolley 21 and the vertical movement of the elevating body 24. ), perform the transfer operation. The holding part 27 holds the article 2 by supporting (placing and supporting) the article 2 from the lower side Z2. The transfer device 26 is also controlled by the control device 1. The control device 1 drives and controls the transfer device 26 by controlling the drive of a transfer drive unit (for example, an electric motor such as a servo motor) included in the transfer device 26.

In this embodiment, as shown in FIG. 4, the travel route 4 is a route with ends. Therefore, the running bogie 21 has an end 4e (end 7e of the running rail 7) on the first side L1 in the running direction of the running route 4 and an end 4e (end 7e of the running rail 7) on the second side L2 in the running direction. ). Moreover, in this embodiment, the travel route 4 is a straight route.

As shown in FIG. 4, the stacker crane 20 includes a position detection sensor 10 that detects the position of the stacker crane 20 (the position of the traveling truck 21) in the traveling direction L. In this embodiment, the position detection sensor 10 is an optical distance detection sensor, specifically, a laser distance sensor that detects a position by irradiating a laser beam. The position detection sensor 10 detects the distance between the position detection sensor 10 and the reflection plate 50 by projecting detection light toward the reflection plate 50 and receiving the reflected light from the reflection plate 50. The control device 1 derives the position of the stacker crane 20 in the traveling direction L based on the distance between the position detection sensor 10 and the reflection plate 50.

The reflector 50 is fixed to a location such as the ceiling 6 or the floor 5 where its position in the traveling direction L does not change. The position detection sensor 10 is fixed to a fixed part of the stacker crane 20 without changing its position. In other words, it is disposed not at a location where the position of the elevating body 24 or the like in the vertical direction Z changes, but at the mast 22 or the traveling trolley 21. When the reflector 50 is fixed to the ceiling 6, it is preferable that the position detection sensor 10 is fixed above the mast 22 or to the connecting part 23. Further, when the reflector 50 is fixed to the floor surface 5, it is preferable that the position detection sensor 10 is fixed below the traveling truck 21 or the mast 22. Further, here, an example is shown in which the position detection sensor 10 is provided on the stacker crane 20 and the reflection plate 50 is provided on the ceiling portion 6 or the floor surface 5, but the reverse may be used. That is, the position detection sensor 10 may be provided on the ceiling 6 or the floor 5, and the reflector 50 may be provided on the stacker crane 20. Note that when the position detection sensor 10 is provided on the ceiling 6 or the floor 5, it is preferable that the detection result by the position detection sensor 10 is transmitted to the control device 1 of the stacker crane 20 by wireless communication or the like.

Further, the stacker crane 20 includes a height detection sensor 19 that detects the position of the elevating body 24 in the vertical direction Z, as shown in FIG. In this embodiment, the height detection sensor 19 is an optical distance detection sensor, specifically, a laser distance sensor that detects a position by irradiating a laser beam. The height detection sensor 19 projects a detection light toward a reflection plate (not shown) installed on the lower surface of the elevating body 24, and receives the reflected light from the reflection plate. Detect the distance between the board and the board. The control device 1 derives the position of the elevating body 24 in the vertical direction Z based on the distance between the height detection sensor 19 and the reflection plate 50.

In this embodiment, the height detection sensor 19 is fixed to a location (here, the traveling trolley 21) whose position in the vertical direction Z on the stacker crane 20 does not change. Note that the height detection sensor 19 may be provided on the elevating body 24 and the traveling vehicle 21 may be provided with a reflecting plate. Note that the control device 1 is preferably disposed on the traveling carriage 21, and when the height detection sensor 19 is provided on the elevating body 24, the detection result by the height detection sensor 19 is transmitted to the control device 1 by wireless communication or the like. It is preferable that the information is transmitted to

Further, as shown in FIGS. 2 to 4, the stacker crane 20 includes a first sensor 11, a second sensor 12, and a third sensor 13. The first sensor 11 is an obstacle detection sensor that detects an obstacle OB present in a first detection range S1 that is on the traveling route 4 and is set on the first side L1 in the traveling direction with respect to the traveling trolley 21. The second sensor 12 is an obstacle detection sensor that detects an obstacle OB present in a second detection range S2 that is on the traveling route 4 and is set on the second side L2 in the traveling direction with respect to the traveling trolley 21. In this embodiment, the first sensor 11 is arranged on the end surface of the traveling trolley 21 on the first side L1 in the traveling direction. Further, the second sensor 12 is arranged on the end surface of the traveling carriage 21 on the second side L2 in the traveling direction. The third sensor 13 is an obstacle sensor that detects an obstacle OB present in a third detection range S3 set below Z2 with respect to the elevating body 24. In this embodiment, the third sensor 13 is arranged on the end surface of the lower side Z2 of the elevating body 24 in the vertical direction Z.

As shown in FIG. 2, the first sensor 11 is arranged so that the entire area in the path width direction W of the traveling trolley 21 is the detection range (first detection range S1) when viewed from the direction along the vertical direction Z. ing. The first sensor 11 may be configured by one sensor element, one sensor unit having multiple sensor elements, or multiple sensor units each having one sensor element. It is also possible to have a configuration in which there are two. Further, by providing a plurality of first sensors 11, the entire area in the path width direction W may be included in the first detection range S1.

Similarly, the second sensor 12 is also arranged so that the entire area in the path width direction W of the traveling trolley 21 is the detection range (second detection range S2) when viewed from the direction along the up-down direction Z. The second sensor 12 may be configured with one sensor element, one sensor unit having multiple sensor elements, or multiple sensor units each having one sensor element. It is also possible to have a configuration in which there are two. Further, by providing a plurality of second sensors 12, the entire area in the path width direction W may be included in the second detection range S2.

Furthermore, as shown in FIG. 5, it is preferable that at least one third sensor 13 is disposed on both sides of the path width direction W with the mast 22 in between. As described above, the storage shelves 30 are provided on both sides of the travel route 4 in the route width direction W. Therefore, as shown in FIG. 5, each third sensor 13 has a detection range (third detection range S3 ) is preferably installed.

Note that the first detection range S1, the second detection range S2, and the third detection range S3 are ranges set for detecting the obstacle OB, respectively. Therefore, the detectable ranges of the first sensor 11, second sensor 12, and third sensor 13 are wider than the first detection range S1, second detection range S2, and third detection range S3, respectively. That is, the first sensor 11 is an obstacle sensor that detects an obstacle OB that exists at least within the first detection range S1, and the second sensor 12 detects an obstacle OB that exists at least within the second detection range S2. The third sensor 13 is an obstacle sensor that detects at least an obstacle OB existing within the third detection range S3.

As described above, in this embodiment, the position detection sensor 10 is a laser distance sensor that irradiates a laser beam toward at least one side in the traveling direction L and detects the position of the traveling trolley 21 in the traveling direction L. In this embodiment, as shown in FIG. 4, one laser distance sensor is provided as the position detection sensor 10, which detects the position of the traveling truck 21 in the traveling direction L by emitting a laser beam toward the first side L1 in the traveling direction. The form is illustrated. Further, as described above, the first sensor 11 is provided to detect the obstacle OB on the first side L1 in the traveling direction. In this case, the first sensor 11 is preferably a sensor whose detection method is different from that of the position detection sensor 10, for example, an ultrasonic sensor.

Since the detection ranges of the position detection sensor 10 and the first sensor 11 are set on the same side in the running direction L (here, the first running direction side L1), the detection ranges of both sensors may overlap. If the detection methods of the position detection sensor 10 and the first sensor 11 are the same, there is a possibility that the detection accuracy of the position detection sensor 10 or the first sensor 11 will be reduced due to interference. However, by using the first sensor 11 as an ultrasonic sensor whose detection method is different from the laser distance sensor, interference between the sensors can be avoided. Note that it is easier to use the detection results when the first sensor 11 and the second sensor 12 are sensors with the same detection method. Like the sensor 11, an ultrasonic sensor is preferable.

In addition, when the position detection sensor 10 is arranged on the ceiling part 6 side and the 1st sensor 11 is arranged on the floor surface 5 side like this embodiment, the position detection sensor 10 and the 1st sensor Even if the detection method is the same as that of No. 11, interference is unlikely to occur. Naturally, if the detection methods of both sensors are different, the possibility of interference can be almost eliminated, but in cases such as this embodiment where interference is suppressed by sensor arrangement, the detection methods of both sensors may be different. This does not preclude them from being the same.

Further, in the present embodiment, the position detection sensor 10 that detects the position of the traveling truck 21 in the traveling direction L by emitting a laser beam toward the first side L1 in the traveling direction is illustrated, but the position detecting sensor 10 is Alternatively, the position of the traveling carriage 21 in the traveling direction L may be detected by emitting a laser beam toward the second side L2 in the traveling direction. In this case, the second sensor 12 is preferably a sensor with a different detection method from the position detection sensor 10, for example, an ultrasonic sensor. Furthermore, as described above, it is easier to use the detection results when the first sensor 11 and the second sensor 12 are sensors with the same detection method. Like the second sensor 12, the sensor 11 is also preferably an ultrasonic sensor.

Further, the position detection sensor 10 includes a first position detection sensor that emits a laser beam toward a first side L1 in the traveling direction, and a second position detection sensor that emits a laser beam toward a second side L2 in the traveling direction. It may be composed of two parts. In this case, it is preferable that the first sensor 11 and the second sensor 12 are sensors with a different detection method from the position detection sensor 10, for example, ultrasonic sensors.

That is, when the stacker crane 20 includes the position detection sensor 10 that irradiates a laser beam toward at least one side in the traveling direction L and detects the position of the traveling truck 21 in the traveling direction L, the first sensor 11 Preferably, the second sensor 12 is an ultrasonic sensor.

Similarly, when the height detection sensor 19 is a laser distance sensor, the third sensor 13 is preferably a sensor with a different detection method from the height detection sensor 19, for example, an ultrasonic sensor.

Note that as the position detection sensor 10, a sensor other than an optical distance detection sensor (for example, a rotary encoder that detects rotation of the running wheel 28, an ultrasonic sensor, etc.) may be used. When the position detection sensor 10 is an ultrasonic sensor, it is preferable that the first sensor 11 and the second sensor 12 are constituted by a sensor of a different detection method from the ultrasonic position detection sensor 10, for example, an optical sensor. be. When the position detection sensor 10 is a rotary encoder, no interference occurs even if the detection method of the first sensor 11 and the second sensor 12 is optical or ultrasonic. The sensor 12 may be of any type.

Similarly, as the height detection sensor 19, a sensor other than an optical distance detection sensor (for example, a rotary encoder that detects the rotation of a guide wheel (not shown) provided on the elevating body 24, a wire unwinding from a winding drum, etc.) A sensor that detects the amount (this may be a rotary encoder, an ultrasonic sensor, etc.) may be used. When the height detection sensor 19 is an ultrasonic sensor or the like, it is preferable that the third sensor 13 is configured by a sensor of a different detection method from that of the height detection sensor 19, for example, an optical sensor. If the height detection sensor 19 is a rotary encoder or a sensor that detects the amount of wire being fed out, no interference occurs even if the detection method of the third sensor 13 is optical or ultrasonic. The sensor 13 may be of any type.

As shown in FIG. 3, the stacker crane 20 includes a control device 1 that controls various operations of the stacker crane 20. The control device 1 controls the traveling trolley 21, the lifting device 25, and the transfer device 26 through cooperation between hardware such as an arithmetic processing device such as a microcomputer, and software such as programs and parameters executed on the hardware. Control. Specifically, the control device 1 causes the traveling cart 21 to travel using the detection result of the position detection sensor 10 based on a transport command from a higher-level equipment control device (not shown) in the article transport equipment 100, and adjusts the height. The elevating device 25 is raised and lowered using the detection result of the detection sensor 19, and the transfer device 26 is moved in and out to transport the article 2 under autonomous control. Note that detection results by a sensor (not shown) may also be used when the transfer device 26 moves in and out. Further, it is preferable that the equipment control device and the control device 1 are capable of mutually transmitting information through wireless communication.

The control device 1 operates in an automatic mode in which the operation of transporting the article 2 is automatically performed, and in response to a signal from a reception section 29 that receives operations from a worker (user), a traveling trolley 21, a lifting body 24, and a transfer device. The mode can be switched between a manual mode in which 26 is operated. For example, in the automatic mode, the traveling carriage 21, the elevating body 24, and the transfer device 26 are continuously driven and controlled based on a transport command from the equipment control device. In the manual mode, based on a signal from the reception unit 29, one or more of the traveling trolley 21, the elevating body 24, and the transfer device 26 to which an operation instruction has been given is drive-controlled. The reception section 29 may be configured with an operation panel (touch panel, etc.), switches, etc. mounted on the stacker crane 20, or may be configured with a mobile terminal (remote controller, smartphone, personal digital assistant, notebook) installed in the stacker crane 20. (book type computer, etc.). Further, in the case where it is possible to specify the stacker crane 20 and input an instruction to execute the manual mode to the equipment control device, the equipment control device may function as the reception unit 29 . When the receiving section 29 is provided separately from the stacker crane 20, it is preferable that the receiving section 29 and the control device 1 can communicate wirelessly.

Further, the control device 1 not only receives detection results from the first sensor 11, the second sensor 12, and the third sensor 13, but also controls the first sensor 11, the second sensor 12, and the third sensor 13. Control of the first sensor 11, second sensor 12, and third sensor 13 includes setting the detection range of each sensor and switching whether or not to perform detection by each sensor. Note that the setting of the detection range of each sensor is not limited to the form in which the control device 1 directly sets the detection range (distance, etc.) of each sensor; Alternatively, each sensor may set a specific detection range. In addition, switching between performing and not performing detection by each sensor is not limited to stopping each sensor when no detection is performed, but also switching from each sensor to blocking the transmission path of detection results from each sensor. This also includes a form in which the control device 1 does not use (ignore) the detection result even if it receives it.

As described above, the control device 1 can switch the stacker crane 20 between automatic mode and manual mode. In the automatic mode, the control device 1 enables the first sensor 11 when the traveling truck 21 is traveling toward the first side L1 in the traveling direction, and when the traveling truck 21 is traveling toward the second side L2 in the traveling direction. The first sensor 11, the second sensor 12, and the third sensor 13 are configured such that the second sensor 12 is enabled when the elevation body 24 is descending, and the third sensor 13 is enabled when the elevating body 24 is descending. control. That is, in the automatic mode, the control device 1 controls each sensor as shown in Table 1 below.

In addition, in the manual mode, as shown in Table 2 below, the control device 1 disables the first sensor 11 and the second sensor 12, and enables the third sensor 13 when the elevating body 24 is descending. The first sensor 11, second sensor 12, and third sensor 13 are controlled as follows.

In the automatic mode, the first sensor 11 and the second sensor 12 detect the obstacle OB present in the traveling direction of the traveling vehicle 21, thereby appropriately preventing the traveling vehicle 21 from colliding with the obstacle OB. Furthermore, in the automatic mode, the third sensor 13 detects the obstacle OB present on the lower side Z2 of the elevating body 24, thereby appropriately preventing the elevating body 24 from coming into contact with the obstacle. In this case, if a worker exists near the stacker crane 20, there is a possibility that the worker will also be detected as an obstacle OB. However, in the automatic operation mode, the worker is not necessarily aware of the movement of the stacker crane 20, so the first sensor 11 and the second sensor 12 detect obstacles OB including the worker. Safe operation of the article transport facility 100 can be realized.

On the other hand, in the manual mode, by disabling the first sensor 11 and the second sensor 12, the first sensor 11 or the second sensor 12 detects a worker, etc., including a user operating the reception section 29. It is possible to avoid the traveling trolley 21 becoming unable to travel in response to the command. Further, in this case as well, since the third sensor 13 is effective, it is possible to appropriately avoid the elevating body 24 from accidentally contacting the obstacle OB including the user. Since it is not easy for humans to visually recognize an object approaching from above their eye level, there is a possibility that the user may miss the descent of the elevating body 24 even in manual mode. However, by making the third sensor 13 effective even in the manual mode, safe operation of the article conveyance equipment 100 can be realized even in the manual mode.

Further, the control device 1 may be able to switch the control mode only to two modes, automatic mode and manual mode, but in addition to these, the control device 1 may also be able to switch to another control mode. good. In this embodiment, the control device 1 can also switch to a forced operation mode that is executed during inspection of the stacker crane 20. As shown in Table 3 below, the control device 1 disables all of the first sensor 11, second sensor 12, and third sensor 13 in the forced operation mode.

When inspecting the stacker crane 20, for example, a worker may raise and lower the elevating body 24 while observing the elevating body 24. In such a case, if the third sensor 13 is effective, there is a possibility that the third sensor 13 will detect the worker during inspection, and the elevating body 24 will stop, making inspection impossible. By disabling the third sensor 13, it is possible to avoid such a situation where inspection cannot be performed. In the forced operation mode, when the first sensor 11, the second sensor 12, and the third sensor 13 detect a worker, etc., it is possible to prevent the traveling trolley 21 and the elevating body 24 from operating in accordance with the worker's commands. Since this can be avoided, inspections and adjustments can be made appropriately.

That is, the stacker crane 20 of this embodiment appropriately detects detected objects that obstruct the operation of the stacker crane 20 as obstacles OB, and detects detected objects such as workers that are not obstacle OB as obstacle OB. You can prevent it from happening.

Note that when the traveling trolley 21 is traveling toward the first side L1 in the traveling direction, even if the obstacle OB is on the second side L2 in the traveling direction of the traveling trolley 21, the vehicle cannot travel with the obstacle OB. There is no contact between the carriage 21 and the carriage 21. Similarly, when the traveling truck 21 is traveling toward the second side L2 in the traveling direction, even if the obstacle OB is present on the first side L1 in the traveling direction of the traveling truck 21, the obstacle OB is There is no contact between the traveling carriage 21 and the carriage 21. Therefore, in the automatic mode, the control device 1 disables the second sensor 12 when the traveling truck 21 is traveling toward the first side L1 in the traveling direction, and when the traveling truck 21 is traveling toward the second side L2 in the traveling direction. The first sensor 11 may be disabled when the vehicle is traveling with the vehicle in the vehicle (see Table 4 below).

Moreover, when the elevating body 24 is rising, even if the obstacle OB is present on the lower side Z2 of the elevating body 24, the obstacle OB and the elevating body 24 do not come into contact. Therefore, in the automatic mode, the control device 1 may disable the third sensor 13 when the elevating body 24 is rising. That is, although the controlled states of each sensor in the automatic mode have been illustrated with reference to Table 1 above, in the automatic mode, the control device 1 may control each sensor as shown in Table 4 below.

Similarly, in the manual mode, the control device 1 may disable the third sensor 13 when the elevating body 24 is rising. That is, the control device 1 may disable the third sensor 13 when the elevating body 24 is rising in both the automatic mode and the manual mode. Since it can be easily understood from Tables 2 and 4, illustration of the table in manual mode will be omitted.

Naturally, in order to simplify the control of each sensor by the control device 1, both the first sensor 11 and the second sensor 12 are always enabled in the automatic mode, regardless of the traveling direction of the traveling trolley 21. (In Table 1, the "arbitrary" portions regarding the first sensor 11 and the second sensor 12 are "valid.") Similarly, in automatic mode and manual mode, the third sensor 13 is not prevented from being enabled regardless of the direction of elevation of the elevating body 24. ” is the form that is “valid”.)

Further, while the traveling trolley 21 is stopped (stopped), the control device 1 may disable both the first sensor 11 and the second sensor 12. Alternatively, if it is determined whether the traveling direction of the traveling trolley 21 after starting traveling is the first side L1 in the traveling direction or the second side L2 in the traveling direction, the control device 1 controls the first sensor 11 and the second side L2 in the traveling direction. Of the two sensors 12, the sensor on the side in the traveling direction L may be enabled. Regarding the third sensor 13, the control device 1 may disable the third sensor 13 while the elevating body 24 is stopped, or may enable the third sensor 13 depending on the subsequent ascending/descending direction.

By the way, for example, when the first sensor 11, the second sensor 12, and the third sensor 13 detect an obstacle OB within the detection range, the control device 1 stops the traveling vehicle 21 and the elevating body 24. Furthermore, the operator is notified that the obstacle OB has been detected by at least one of audio, display (including lighting of a lamp, etc.), transmission of a message, and the like. Here, the higher the traveling speed of the traveling truck 21, the longer the distance traveled by the traveling truck 21 from the detection of the obstacle OB until the traveling truck 21 stops. Similarly, the higher the descending speed of the elevating body 24, the longer the distance that the elevating body 24 descends from the detection of the obstacle OB until the elevating body 24 stops. Therefore, as the traveling speed of the traveling trolley 21 increases, the control device 1 continuously adjusts the first detection range S1 and It is preferable to increase the length of the second detection range S2 in the traveling direction L. Further, as the ascending/descending speed (in particular, the descending speed) of the elevating body 24 increases, the control device 1 continuously controls the elevating body 24 as shown by the solid line in FIG. 6, or in stages as shown by the broken line in FIG. 3. It is preferable to increase the length of the detection range S3 in the vertical direction Z.

When the distance between the traveling trolley 21 and the obstacle OB is the same, as the traveling speed of the traveling trolley 21 increases, the time until the traveling trolley 21 contacts the obstacle OB becomes shorter. If the first detection range S1 and the second detection range S2 are made larger as the traveling speed of the traveling trolley 21 increases, it is possible to detect an obstacle OB farther away as the traveling speed increases. Therefore, for example, it is easy to take measures such as the control device 1 controlling the traveling vehicle 21 so as to appropriately stop the traveling vehicle 21 before the traveling vehicle 21 contacts the obstacle OB.

Similarly, when the distance between the elevating body 24 and the obstacle OB is the same, the time it takes for the elevating body 24 to contact the obstacle OB becomes shorter as the ascending and descending speed (especially the descending speed) of the elevating body 24 increases. If the third detection range S3 is increased as the ascending/descending speed of the elevating body 24 becomes higher, it is possible to detect a farther obstacle OB as the ascending/descending speed becomes higher. Therefore, for example, it is easy for the control device 1 to control the elevating body 24 so as to appropriately stop the elevating body 24 before the elevating body 24 contacts the obstacle OB.

Note that if an obstacle OB is detected in the traveling direction while the traveling trolley 21 is traveling at the upper limit of the specified traveling speed, the traveling trolley 21 can be stopped without coming into contact with the obstacle OB. In some cases, that is, when the first detection range S1 and the second detection range S2 are sufficiently secured, the detection range is not variable depending on the traveling speed of the traveling trolley 21 as described above, but is constant. It may be. Similarly, if an obstacle OB is detected in the direction of movement of the elevator 24 while the elevator 24 is ascending or descending (here, descending) at the upper limit of the specified elevator speed (especially descending speed), the elevator When the body 24 can be stopped without coming into contact with the obstacle OB, that is, when the third detection range S3 is sufficiently secured, the vertical speed of the vertical body 24 (descending The third detection range may not be variable but may be constant depending on the speed).

Further, as described above, in this embodiment, the traveling route 4 is a route with ends. Therefore, when the traveling trolley 21 travels toward the first side L1 in the traveling direction, it gradually approaches the end 4e on the first side L1 in the traveling direction L. Similarly, when the traveling trolley 21 travels toward the second side L2 in the traveling direction, it gradually approaches the end 4e on the second side L2 in the traveling direction L. At the end 4e of such traveling path 4, that is, at the end 7e of the traveling rail 7, a car stop or the like is often installed to prevent the traveling bogie 21 from traveling beyond the traveling rail 7. Further, for example, the traveling trolley 21 runs on the first side L1 in the traveling direction from the end 4e on the first side L1 in the traveling direction, and on the second side L2 in the traveling direction from the end 4e on the second side L2 in the traveling direction. Therefore, other components of the article conveyance equipment 100 (for example, the loading/unloading station where the articles 2 for loading/unloading are placed, the input/output device of the equipment control device, and communication such as optical communication/wireless communication) equipment, power equipment, etc.) may be installed. Hereinafter, these components will be appropriately referred to as "accessories."

Normally, the traveling trolley 21 is controlled to stop at the end 4e of the traveling route 4 so as not to come into contact with a car stop or the like. Therefore, the bollard is not an obstacle that prevents the traveling trolley 21 from traveling. Furthermore, the accessories that are located closer to the travel direction than the end portion 4e of the travel route 4 do not come into contact with the travel trolley 21 because the travel route 4 disappears. If the first sensor 11 or the second sensor 12 detects such an object, smooth running of the traveling trolley 21 may be hindered.

Therefore, the control device 1 adjusts the lengths of the first detection range S1 and the second detection range S2 in the running direction L as shown by the solid line in FIG. It is preferable to decrease the value continuously or stepwise as shown by the broken line in FIG. That is, it is preferable that the control device 1 variably sets the detection range depending on the position of the traveling trolley 21 on the traveling route 4. Thereby, as described above, it is possible to avoid detecting an object that is not an obstacle OB of the traveling vehicle 21 as an obstacle OB.

Note that the traveling route 4 may not be a route with an end, but may be a circular route, for example. In that case, since the end portion 4e does not exist, the detection range does not need to be variably set depending on the traveling trolley 21. Furthermore, even if the traveling route 4 is a route with an end, the control device 1 grasps the position of the traveling trolley 21 and autonomously controls it, and any obstacles detected by the first sensor 11 or the second sensor 12 are detected by the control device 1. It is possible to determine whether the object OB exists on the traveling route 4 or on the traveling direction side of the end 4e of the traveling route 4. Therefore, this does not prevent the detection ranges of the first sensor 11 and the second sensor 12 from being constant.

Further, the elevating body 24 is normally controlled to stop at a lower end position P1 predefined on the mast 22 so as not to collide with the floor surface 5 or the traveling trolley 21. Therefore, objects that exist below Z2 from the lower end position, including the traveling carriage 21 itself, are not obstacles OB that prevent the elevating body 24 from descending. If the third sensor 13 detects the object, the smooth ascending and descending of the elevating body 24 may be hindered. Therefore, the control device 1 adjusts the length of the third detection range S3 in the vertical direction Z as the elevating body 24 approaches the floor surface 5, either continuously as shown in FIG. 7 or in stages as shown in FIG. It is preferable to make it relatively small. Thereby, it is possible to avoid detecting an object that does not interfere with the ascending and descending of the elevating body 24 as an obstacle OB.

Note that FIG. 7 illustrates an example in which the third detection range S3 becomes zero at the lower end position P1. However, even at a position Z2 below the lower end position P1 and not in contact with the elevating body 24, there is a possibility that an obstacle OB exists on the floor surface 5 that may hinder the traveling of the traveling trolley 21. There is also gender. For example, even if running of the traveling trolley 21 is not obstructed at that point, the traveling of the traveling trolley 21 may be obstructed due to a change in posture (for example, falling to the side of the traveling rail 7). Therefore, it is preferable that the third detection range S3 is set such that, even at the lower end position P1, the range from the lower end position P1 to the floor surface is included in the detection range.

For example, the graph illustrated in FIG. 7 may be used as the distance to the floor surface 5. Since the lower end position P1 does not coincide with the floor surface 5, the length of the third detection range S3 of the third sensor 13 is set so as not to decrease until it substantially intersects the horizontal axis. In this way, various implementation methods can be selected, but in any case, the control device 1 adjusts the length of the third detection range S3 in the vertical direction Z according to the figure as the elevating body 24 approaches the floor surface 5. It is preferable to decrease the size continuously as shown in FIG. 7 or stepwise as shown in FIG.

Note that, similarly to the first sensor 11 and the second sensor 12, the control device 1 grasps the position of the elevating body 24 and autonomously controls it. In other words, the control device 1 can determine whether the obstacle OB detected by the third sensor 13 is located above the lower end position P1 of the elevating body 24, Z1 or below Z2. . Therefore, this does not prevent the third detection range S3 of the third sensor 13 from being constant regardless of the height difference of the elevating body 24.

As explained above, the stacker crane 20 of the present embodiment appropriately detects detected objects that obstruct the operation of the stacker crane 20 as obstacles OB, and detects detected objects that are not obstacles OB, such as workers, as obstacles. It is configured so that it is not detected as an object. The configurations disclosed in each of the embodiments described above can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. Regarding other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of the present disclosure.

[Overview of embodiment]
Hereinafter, an overview of the stacker crane described above will be briefly explained.

In one aspect, the stacker crane includes: a traveling truck that travels along a traveling route; a mast that is fixed to the traveling truck and provided along the vertical direction; and an elevating body that ascends and descends along the mast. A stacker crane comprising: a transfer device that is supported by the elevating body, holds an article to be transported, and transfers the article to and from a transfer target location;
A direction along the traveling route is a traveling direction, one side of the traveling direction is a first side of the traveling direction, and the other side of the traveling direction is a second side of the traveling direction. a first sensor for detecting an obstacle existing in a first detection range set on a first side in the running direction; and a first sensor set on a second side in the running direction on the running route with respect to the running trolley. a second sensor that detects an obstacle that exists in a second detection range set below the elevating body; a third sensor that detects an obstacle that exists in a third detection range that is set below the elevating body; and a control device. The control device includes an automatic mode in which the operation of transporting the article is automatically performed, and a manual mode in which the traveling trolley and the elevating body are operated in response to a signal from a reception section that receives user operations. mode, and in the automatic mode, the first sensor is enabled when the traveling truck is traveling toward the first side in the traveling direction, and the first sensor is enabled when the traveling truck is traveling toward the first side in the traveling direction. the first sensor, the second sensor, so that the second sensor is enabled when the vehicle is traveling toward the second side, and the third sensor is enabled when the elevating body is descending; and controlling the third sensor to disable the first sensor and the second sensor in the manual mode, and enable the third sensor when the elevating body is descending. The first sensor, the second sensor, and the third sensor are controlled.

According to this configuration, in the automatic mode, by detecting an obstacle present in the traveling direction of the traveling vehicle, it is possible to appropriately avoid the traveling vehicle from colliding with an obstacle. Further, in the automatic mode, by detecting an obstacle present below the elevating object, it is possible to appropriately avoid the elevating object from coming into contact with the obstacle. On the other hand, in manual mode, by disabling the first sensor and the second sensor, the first sensor or the second sensor detects a worker, etc., including the user operating the reception section, and responds to the user's command. It is possible to avoid the traveling truck from becoming unable to travel. Even in this case, since the third sensor is effective, it is possible to appropriately prevent the elevating body from accidentally coming into contact with obstacles including the user. As described above, according to the present configuration, in a stacker crane equipped with a sensor for detecting obstacles, objects to be detected that interfere with the operation of the stacker crane can be appropriately detected as obstacles, and objects that are not obstacles such as workers can be detected. The detected object can be prevented from being detected as an obstacle.

Here, the control device can also switch to a forced operation mode executed during inspection, and in the forced operation mode, the first sensor, the second sensor, and the third sensor are disabled. suitable.

According to this configuration, for example, during an inspection of the stacker crane, such as when a worker (user) is raising or lowering the lifting object while keeping his eyes on the lifting object, the third sensor detects the worker and the lifting object stops. You can avoid things like that. In other words, when the first sensor, the second sensor, and the third sensor detect the worker, it is possible to prevent the traveling trolley and the elevating body from being unable to operate according to the worker's commands, so that proper inspection and It becomes possible to make adjustments.

Further, in the automatic mode, the control device disables the second sensor when the traveling truck is traveling toward the first side in the traveling direction, and the control device disables the second sensor when the traveling truck is traveling toward the second side in the traveling direction. It is preferable to disable the first sensor when the vehicle is moving towards the vehicle, and disable the third sensor when the elevating body is rising.

Even if an obstacle exists in the direction opposite to the moving direction of the traveling carriage or the lifting body, the traveling carriage or the lifting body will not come into contact with the obstacle as it moves. According to this configuration, depending on the moving direction of the traveling trolley and the elevating body, the sensors on the side with which they do not come into contact with obstacles are disabled, so that each sensor detects obstacles with which they do not come into contact. By doing so, it is possible to avoid the traveling truck or the elevating body from stopping. Further, since there is no need to consider disabled sensors, the number of signals that need to be processed in the control device can be kept small, and the calculation load on the control device can be reduced.

Further, it is preferable that the control device increases the lengths of the first detection range and the second detection range in the traveling direction continuously or stepwise as the traveling speed of the traveling trolley increases.

When the distance between the traveling truck and the obstacle is the same, the time it takes for the traveling truck to contact the obstacle becomes shorter as the traveling speed of the traveling truck increases. As in this configuration, if the detection range is increased as the traveling speed of the traveling cart increases, it is possible to detect obstacles farther away as the traveling speed increases. Therefore, for example, it is easy to take measures such as the control device controlling the traveling truck so as to appropriately stop the traveling truck before it comes into contact with an obstacle.

In addition, when the traveling route is a route with an end, the control device determines the length of the first detection range and the second detection range in the traveling direction so that the traveling trolley reaches an end of the traveling route. It is preferable to decrease the size continuously or stepwise as the distance approaches.

If the travel route has an end, a car stop or the like may be installed at the end. Normally, the traveling cart is controlled to stop at the end of the traveling route so as not to come into contact with the car stop or the like. Therefore, this object such as a bollard is not an obstacle that obstructs the traveling of the traveling cart. In addition, objects that are located closer to the travel direction than the end of the travel route will not come into contact with the traveling trolley since there will be no travel route. If the first sensor or the second sensor detects such an object, smooth running of the traveling truck may be hindered. According to this configuration, it is possible to avoid detecting an object that is not an obstacle to the traveling vehicle as an obstacle.

Further, it is preferable that the control device increases the length of the third detection range in the vertical direction continuously or stepwise as the ascending and descending speed of the elevating body increases.

When the distance between the elevating body and the obstacle is the same, as the elevating speed of the elevating body becomes higher, the time until the elevating body contacts the obstacle becomes shorter. If the detection range is increased as the vertical speed of the elevating body increases as in this configuration, it is possible to detect obstacles farther away as the vertical speed increases. Therefore, for example, it is easy to take measures such as the control device controlling the elevating object so as to appropriately stop the elevating object before the elevating object comes into contact with an obstacle.

Further, it is preferable that the control device continuously or stepwise decrease the length of the third detection range in the vertical direction as the elevating body approaches the floor surface.

Normally, the elevating body is controlled to stop at a lower end position predefined on the mast so as not to collide with the floor or the traveling trolley. Therefore, objects that exist below the lower end position, including the traveling trolley itself, are not obstacles that prevent the elevating body from descending. If the third sensor detects the object, the smooth ascending and descending of the elevating body may be hindered. According to this configuration, it is possible to avoid detecting objects that do not interfere with the ascending and descending of the elevating body as obstacles.

Further, the stacker crane includes a laser distance sensor that irradiates a laser beam toward at least one side in the traveling direction and detects a position of the traveling truck in the traveling direction, and the first sensor and the second sensor , preferably an ultrasonic sensor.

The detection ranges of the laser distance sensor and at least one of the first sensor and the second sensor may overlap. If the detection methods of the laser distance sensor, the first sensor, and the second sensor are the same, there is a possibility that the detection accuracy of at least one of the laser distance sensor, the first sensor, and the second sensor may be reduced due to interference. However, by using the first sensor and the second sensor as ultrasonic sensors whose detection method is different from that of the laser distance sensor, interference between the sensors can be avoided.

1: Control device 2: Article 3: Transfer target location 4: Travel route 4e: End 5: Floor surface 7e: End 10: Position detection sensor (laser distance sensor)
11: First sensor 12: Second sensor 13: Third sensor 20: Stacker crane 21: Traveling trolley 22: Mast 24: Elevating body 26: Transfer device 29: Reception section L: Running direction L1: First side of running direction L2: Second side in driving direction OB: Obstacle S1: First detection range S2: Second detection range S3: Third detection range Z: Vertical direction Z2: Lower side

Claims (8)

A traveling trolley that travels along a traveling route,
a mast fixed to the traveling truck and provided along the vertical direction;
an elevating body that ascends and descends along the mast;
A stacker crane comprising: a transfer device that is supported by the elevating body, holds an article to be transported, and transfers the article to and from a transfer target location;
A direction along the running route is a running direction, one side of the running direction is a first side of the running direction, and the other side of the running direction is a second side of the running direction,
a first sensor that detects an obstacle present on the traveling route and in a first detection range set on a first side in the traveling direction with respect to the traveling trolley;
a second sensor that detects an obstacle present on the traveling route and in a second detection range set on a second side of the traveling direction with respect to the traveling trolley;
a third sensor that detects an obstacle present in a third detection range set below the elevating body;
comprising a control device;
The control device includes:
The mode can be switched between an automatic mode in which the operation of transporting the article is automatically performed, and a manual mode in which the traveling cart and the elevating body are operated in response to a signal from a reception unit that receives user operations,
In the automatic mode, the first sensor is enabled when the traveling truck is traveling toward the first side in the traveling direction, and when the traveling truck is traveling toward the second side in the traveling direction. controlling the first sensor, the second sensor, and the third sensor so that the second sensor is enabled when the elevating body is descending, and the third sensor is enabled when the elevating body is descending;
In the manual mode, the first sensor, the second sensor, and , a stacker crane that controls the third sensor. The control device is also mode switchable to a forced operation mode executed during inspection;
The stacker crane of claim 1, wherein the first sensor, the second sensor, and the third sensor are disabled in the forced operation mode. In the automatic mode, the control device:
disabling the second sensor when the traveling trolley is traveling toward the first side in the traveling direction;
disabling the first sensor when the traveling trolley is traveling toward the second side in the traveling direction;
The stacker crane according to claim 1 or 2, wherein the third sensor is disabled when the elevating body is ascending. 4. The control device according to claim 1, wherein the control device increases the length of the first detection range and the second detection range in the traveling direction continuously or stepwise as the traveling speed of the traveling trolley increases. The stacker crane described in any one of the items. The traveling route is a route with ends,
1 . The control device continuously or stepwise decreases the length of the first detection range and the second detection range in the traveling direction as the traveling trolley approaches an end of the traveling route. The stacker crane according to any one of items 4 to 4. According to any one of claims 1 to 5, the control device increases the length of the third detection range in the vertical direction continuously or stepwise as the elevation speed of the elevating body increases. stacker crane. The controller according to any one of claims 1 to 6, wherein the control device continuously or stepwise decreases the length of the third detection range in the vertical direction as the elevating body approaches the floor surface. stacker crane. comprising a laser distance sensor that irradiates a laser beam toward at least one side in the traveling direction and detects the position of the traveling trolley in the traveling direction;
The stacker crane according to any one of claims 1 to 7, wherein the first sensor and the second sensor are ultrasonic sensors.

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