JP2023180591A - Carrying system and control method thereof - Google Patents

Abstract

To provide a carrying system capable of detecting the inclination of a lifting table with a simple structure.SOLUTION: A carrying system 100 comprises a rack 110, a crane 120, and a control device 150. The rack 110 comprises a plurality of parts to be detected 113. The crane 120 comprises a lifting table 121, a suspension member, a lifting drive device 124, a transfer machine 125 which travels along the lifting table 121, a traveling drive device 129, a position detector 126 for detecting the position of the transfer machine, and a sensor 127 which is mounted on the transfer machine 125 and detects the part to be detected 113. The control device 150 comprises: a height position detector 153 which moves the transfer machine 125 so as to allow the height positions of the plurality of parts to be detected 113 on a storage shelf 112 to be detected in a confirmation mode, and detects the height position of the part to be detected 113 by the position detector 126 and the sensor 127; and an abnormality notification unit for notifying the inclination abnormality of the lifting table 121 based on a plurality of detected height positions.SELECTED DRAWING: Figure 3

Description

The present invention relates to a transport system that transports cargo to any location on a rack, transfers the cargo onto the rack, and takes out cargo from any location on the rack and transports the cargo to any location.

Conventionally, a pair of masts, a long elevating platform placed in a bridge-like manner between the masts, a transfer machine that moves along the elevating platform, and a suspension device that holds both ends of the elevating platform and moves it in the vertical direction. There are cranes equipped with a holding member. In such cranes, the lifting platform may tilt due to elongation of the suspension member over time. For this reason, Patent Document 1 describes a crane that is equipped with a sensor that detects the inclination of a lifting platform and corrects the operation of a suspension member so that the inclination does not occur.

Japanese Patent Application Publication No. 11-278606

However, providing a sensor that detects only the inclination of the platform increases the number of parts, leading to a decrease in efficiency and an increase in cost during crane manufacturing.

The present invention has been made in view of the above-mentioned problems, and provides a transport system and a transport system control method that can detect the inclination of an elevating platform without using a dedicated sensor for detecting the inclination of the elevating platform. intended to provide.

In order to achieve the above object, a conveyance system that is one aspect of the present invention provides a transport system that transports goods between a rack that is provided with a plurality of storage shelves in the vertical direction, each having a storage section for storing goods arranged side by side in the left and right direction, and the rack. A transport system comprising a crane for transporting cargo to be loaded and a control device for controlling the crane, wherein the rack has a plurality of detected parts arranged corresponding to the positions of the storage parts. The crane includes: a lifting platform that extends along the storage rack and is movable up and down along the rack; a pair of suspension members that suspend both ends of the lifting platform; and a pair of the suspension members. a lifting drive device that raises and lowers the lifting platform via a member; a transfer device that is held movably on the lifting platform in a left-right direction and that transfers cargo to and from the rack; a travel drive device that causes the transfer device to travel in a direction, a position detection device that detects the position of the transfer device with respect to the storage section, and a sensor that is mounted on the transfer device and detects the detected portion, and the control device The apparatus includes, in a normal mode, a placement unit that controls the lifting drive device and the transfer machine to place the transfer machine in the storage unit, and a placement unit that controls the transfer machine in the normal mode based on information from the sensor. a correctness detection unit that detects whether the loading machine is correctly placed in the storage section; and a correctness detection section that detects whether the loading machine is correctly placed in the storage section; The transfer device is moved by the placement unit so that the height positions of the plurality of detected parts corresponding to the parts can be detected, and the height positions of the detected parts are detected by the position detection device and the sensor. and an abnormality reporting section that reports an abnormality regarding the inclination of the lifting platform based on the plurality of detected height positions.

In order to achieve the above object, another method of controlling a conveyance system according to the present invention includes a rack provided with a plurality of storage shelves vertically having storage sections for storing cargo arranged side by side in the left and right direction; A transportation system control method for controlling the crane of a transportation system comprising: a crane for transporting cargo to be transferred between the racks; The crane includes a detection unit, and the crane includes a lifting platform that extends along the storage shelf and is movable up and down along the rack, and a pair of suspension members that suspend both ends of the lifting platform. a lifting drive device that raises and lowers the lifting platform via a pair of suspension members; a transfer device that is held movably in the left-right direction on the lifting table and that transfers cargo to and from the rack; a travel drive device that causes the transfer machine to travel in the left-right direction; a position detection device that detects the position of the transfer machine with respect to the storage section; and a sensor that is mounted on the transfer machine and detects the detected part; In the normal mode, a placement unit controls the lifting drive device and the transfer machine to place the transfer machine in the storage unit, and in the normal mode, the transfer unit controls the transfer machine based on information from the sensor. A correctness detection unit detects whether or not the loading machine is correctly placed in the storage section, and in the confirmation mode, the lifting platform is placed on the plurality of storage shelves, and a plurality of storage devices are placed on each of the arranged storage shelves. The transfer device is moved by the placement unit so that the height positions of the plurality of detected parts corresponding to the parts can be detected, and the position detection device and the sensor are used to increase the height positions of the detected parts. The height position detection unit detects the height position, and the abnormality notification unit reports an abnormality regarding the tilt of the lifting platform based on the plurality of detected height positions.

Using a sensor that detects whether the position of the transfer device with respect to the rack is correct or incorrect, it is possible to detect the inclination of the lifting platform caused by the difference in extension of a pair of suspension members having different lengths. This allows you to adjust the inclination of the lift platform and prevent mistakes in transferring cargo.

It is a perspective view showing a conveyance system. It is a perspective view showing a transfer machine of a conveyance system, and its surroundings. FIG. 2 is a block diagram showing the functional configuration of a control device. It is a flowchart which shows the flow of processing of a control device in normal mode. It is a flowchart which shows the flow of processing of a control device in confirmation mode. It is a figure showing the locus of a laser beam in confirmation mode. It is a graph showing a change over time in the intensity of reflected light in confirmation mode.

EMBODIMENT OF THE INVENTION Hereinafter, embodiments of a conveyance system and a conveyance system control method according to the present invention will be described with reference to the drawings. Note that the following embodiments are provided as an example to explain the present invention, and are not intended to limit the present invention. For example, the shapes, structures, materials, components, relative positional relationships, connection states, numerical values, formulas, contents of each step in the method, order of each step, etc. shown in the following embodiments are merely examples. It may contain content not listed. Furthermore, although geometric expressions such as parallel and perpendicular are sometimes used, these expressions do not indicate mathematical rigor and include substantially permissible errors, deviations, and the like. Furthermore, expressions such as "simultaneously" and "identical" also include a substantially permissible range.

In addition, the drawings are schematic diagrams with emphasis, omission, or ratio adjustment as appropriate for explaining the present invention, and differ from the actual shapes, positional relationships, and ratios. Further, the X-axis, Y-axis, and Z-axis that may be shown in the drawings indicate orthogonal coordinates arbitrarily set for the purpose of explaining the drawings. In other words, the Z-axis is not necessarily an axis along the vertical direction, and the X-axis and Y-axis are not necessarily in a horizontal plane.

Furthermore, hereinafter, multiple inventions may be comprehensively described as one embodiment. Further, some of the contents described below are explained as optional components related to the present invention.

FIG. 1 is a perspective view showing the conveyance system. FIG. 2 is a perspective view showing a transfer machine of the transport system and its surroundings. The transport system 100 includes a rack 110, a crane 120, and a control device 150, and the crane 120 transports the cargo 200 to a predetermined position on the rack 110, transfers it to the rack 110, and transfers the cargo 200 stored in the rack 110. This is a system that can be taken out and transported to a predetermined location by a crane 120.

The rack 110 is a facility that includes a plurality of storage shelves 112 in the vertical direction (Z-axis direction in the figure), each of which has storage units 111 (see FIG. 2) for storing luggage 200 arranged side by side in the left-right direction (Y-axis direction in the figure). , a detected section 113 is provided. The storage section 111 is a space in which the luggage 200 can be stored, and does not represent actual articles. In the case of this embodiment, the storage section 111 is a space in which one piece of luggage 200 can be stored. The storage method of the luggage 200 in the rack 110 is not limited, and examples include a method of storing the luggage 200 by hanging it, a method of storing the luggage 200 by mounting it, and the like. In the case of this embodiment, the rack 110 stores the luggage 200 in the storage section 111 by placing the luggage 200 on the storage shelf 112 .

The detected parts 113 are arranged corresponding to the positions of the respective storage parts 111 arranged evenly on the storage shelf 112, and are parts that can be detected by a sensor 127, which will be described later. The detected portion 113 is not particularly limited as long as it can indicate the relative positional relationship in the vertical direction and the relative positional relationship in the horizontal direction with respect to the sensor 127. Examples of the detected portion 113 include a mark, a reflector, and the like. In the case of this embodiment, the detected portion 113 is a hole provided in the surface of the storage shelf 112 facing the crane 120. The storage shelf 112 includes a rectangular front plate 114 hanging from the storage section 111 on the surface facing the crane 120, and the detected section 113 is provided penetrating the front plate 114. The detected part 113 is arranged at a position where it is detected by a sensor 127 at a position where a transfer machine 125 (described later) stops to transfer the cargo 200 to and from the storage shelf 112 using a position detector 126. There is.

The crane 120 is a device for transporting cargo 200 to and from the rack 110, and includes a lifting platform 121, a pair of hanging members, a long hanging member 122 and a short hanging member 123, and a lifting drive device. 124, a transfer device 125, a travel drive device 129, a position detection device 126 (see FIG. 3), a sensor 127, and a mast 128.

The mast 128 is a columnar member extending in the vertical direction, and is provided near both ends of the rack 110 in the left-right direction. In the case of this embodiment, a pulley 139 on which a hanging member is hung is attached to the upper end of the mast 128.

The lifting platform 121 is a member that extends along the storage shelf 112 in the left-right direction and is movable up and down along the rack 110, and holds the transfer machine 125 so as to be movable in the left-right direction. In the case of the present embodiment, the lifting platform 121 is disposed in a bridge-like manner between a pair of masts 128, and moves up and down in the vertical direction along the masts 128.

Although the structure of the lifting platform 121 is not particularly limited, it may include, for example, a rail for the transfer machine 125 to run in the left-right direction.

The suspension member is a member that is hung around a pulley 139 provided on the mast 128 and suspends both ends of the lifting platform 121. Although the type of suspension member is not limited, examples thereof include a timing belt, a wire, and a chain. In the case of this embodiment, the suspension member includes a relatively long suspension member 122 that suspends the end of the elevator platform 121 on the opposite side of the elevator drive device 124 with respect to the center of the elevator platform 121 in the left-right direction. , and a relatively short suspension member 123 that suspends the end of the elevator platform 121 on the side of the elevator drive device 124.

The long suspension member 122 is attached to one end side of the lifting platform 121, spanning from a pulley 139 of the mast 128 placed on the side of the lifting drive device 124 to a pulley 139 of the mast 128 placed on the other side. . The short suspension member 123 is attached to the other end of the lifting platform 121 via a pulley 139 of the mast 128 arranged on the lifting drive device 124 side. In other words, the long suspension member 122 is longer than the short suspension member 123 by the distance of the mast 128.

Note that a counterweight that offsets the weight of the lifting platform 121 and the transfer machine 125 may be attached to the suspension member.

The lifting drive device 124 is a device that raises and lowers the lifting platform 121 by simultaneously operating the long hanging member 122 and the short hanging member 123. Although the structure of the elevating drive device 124 is not particularly limited, in the case of this embodiment, it includes an electric motor, a reducer, a long suspension member 122, and a pair of components that wind up and unwind the short suspension member. Equipped with a drum.

The transfer machine 125 is a device that moves in the left-right direction along the lifting platform 121 and transfers the cargo 200 to and from the storage shelf 112 of the rack 110. In the case of this embodiment, two transfer machines 125 are arranged side by side so as to correspond to the storage sections 111 adjacent to each other in the left and right direction, and it is possible to transfer the cargo 200 to the adjacent storage sections 111 at the same time. Can be done. Note that one transfer machine 125 may be arranged on one lifting platform 121, or three or more transfer machines 125 may be arranged.

The type of transfer machine 125 is not limited, and is appropriately selected depending on the shape of the luggage 200 and the like. For example, the transfer machine 125 inserts an arm into the side of the baggage 200 placed on the rack 110, hooks a hook on the back end (X+ side in the figure) of the baggage 200, and pulls out the baggage 200 from the rack 110. A device that pushes out the cargo 200 by pressing a hook against the front side (X-side in the figure) end surface of the cargo 200 placed on the transfer device 125 and placing it on the rack 110. I can give an example. In addition, the transfer machine 125 transfers the package 200 between the transfer machine 125 and the rack 110 by hooking a hook to an engaging part provided on the front end surface of the package 200 and pushing and pulling the package 200. It is also possible to exemplify a device to be mounted. In addition, the transfer machine 125 transfers the package 200 between the transfer machine 125 and the rack 110 by inserting arms on both sides of the package 200 to clamp the package 200 and pushing and pulling the clamped package 200. It is also possible to exemplify a device to be mounted.

The traveling drive device 129 (see FIG. 3) is a device that causes the transfer machine 125 to travel in the left-right direction with respect to the lifting platform 121. Although the structure of the traveling drive device 129 is not particularly limited, in the case of this embodiment, it includes an electric motor and a reduction gear. The traveling drive device 129 may be attached to the lifting platform 121 to cause the transfer machine 125 to travel in the left and right direction, or may be attached to the transfer machine 125 to cause the transfer machine 125 to travel autonomously. .

The position detection device 126 is a device that detects the position of the transfer machine 125 with respect to the storage section 111 without using the detected section 113 and the sensor 127. In the case of this embodiment, the position detection device 126 includes a vertical detector that detects the height position of the lifting table 121 and a lateral detector that detects the horizontal position that is the position of the transfer machine 125 with respect to the lifting table 121. ing. The vertical detector is an encoder or the like that can indicate the height position of the lifting platform 121 based on the unwinding length and the winding length of the hanging member, and is attached to the lifting drive device 124. The lateral detector is attached to a traveling drive device 129 that is provided on the lifting platform 121 or the transfer machine 125 and causes the transfer machine 125 to travel in a lateral direction with respect to the lifting platform 121. This is an encoder that can indicate travel length.

The sensor 127 is mounted on the transfer machine 125 and detects the detected part 113. The type of sensor 127 is not particularly limited, and is selected depending on the detected portion 113. In the case of this embodiment, the detected portion 113 is a rectangular hole that penetrates the front plate 114 in the depth direction (X-axis direction in the figure), and the sensor 127 is detected from the transfer machine 125 toward the rack 110 in the depth direction. This device includes a light irradiation unit that irradiates laser light with a laser beam, and a detection unit that detects the detected portion 113 based on the strength (presence or absence) of the received reflected light. That is, when the laser beam passes through the hole provided in the front plate 114, the sensor 127 detects the hole based on the fact that the reflected light becomes weaker (disappears) than the reflected light reflected by the front plate 114. The sensor 127 using laser light, which has a smaller irradiation area than other lights, can detect the boundary between the front plate 114 and the detected portion 113 with high resolution. Note that as the sensor 127, it is possible to use a distance measuring sensor that uses laser light.

In the case of this embodiment, the crane 120 includes a plurality of transfer machines 125, and a sensor 127 is attached to each of the transfer machines 125.

FIG. 3 is a block diagram showing the functional configuration of the control device. The control device 150 is a device that controls the crane 120 and places the transfer machine 125 in the storage section 111 at an arbitrary position.The control device 150 is a device that controls the crane 120 and places the transfer machine 125 in the storage section 111 at an arbitrary position. , a correctness detection section 152, a height position detection section 153, and an abnormality notification section 154. Note that although each processing unit will be explained below, the order of explanation and the flow of control may not match. The flow of control will be described later.

The control device 150 has a normal mode and a confirmation mode as program execution methods. In the normal mode, the crane 120 is controlled to transport the cargo 200 to a predetermined position on the rack 110 and transfer it to the rack 110, and also to take out the cargo 200 stored in the rack 110 and transport it to a predetermined location. mode. The confirmation mode is a mode in which the transfer machine 125 is placed at a predetermined position to confirm the inclination of the lifting platform 121, and the crane 120 is controlled to raise and lower the lifting platform 121. Note that the control device 150 may have a teaching mode. In the teaching mode, the transfer machine 125 is moved to the vicinity of a predetermined storage section 111, and the crane 120 is controlled so that the sensor 127 detects both ends of the detected part 113 in the left and right direction and both ends in the up and down direction. However, this is a mode in which the positions (coordinates) of a plurality of (or all) storage units 111 are stored as basic information based on information from the position detection device 126 acquired at the same time.

In the normal mode, the arrangement unit 151 arranges the transfer machine 125 at a position where the cargo 200 can be transferred to and from the storage unit 111 as instructed by the transfer information obtained from the host computer. Controls the lifting drive device 124 and the traveling drive device 129.

In the confirmation mode, the arrangement unit 151 arranges the lifting platform 121 on the first storage shelf 112 of the plurality of storage shelves 112, and detects a plurality of objects to be detected corresponding to the plurality of storage units 111 on the arranged storage shelf 112. The lifting drive device 124 and the traveling drive device 129 are controlled to move the transfer machine 125 so that the height position of the section 113 can be detected.

The correctness/incorrect detection unit 152 detects whether the transfer device 125 is correctly placed in the storage unit 111 based on information from the sensor 127 in the normal mode. The specific detection method is not limited depending on the type of detected portion 113 and the combination of sensor 127. In the case of this embodiment, if the intensity of the reflected light acquired from the sensor 127 is less than the light threshold, the correctness detection unit 152 determines that the positional relationship between the sensor 127 and the detected part 113 is correct, that is, the transfer device 125 is in storage. It is detected that it is correctly placed in the section 111. On the other hand, if the intensity of the reflected light obtained from the sensor 127 is equal to or higher than the light threshold, the positional relationship between the sensor 127 and the detected part 113 is incorrect, that is, the transfer device 125 is not correctly placed in the storage part 111. Detect that.

In this embodiment, the crane 120 includes two sensors 127. The correct/incorrect detection unit 152 detects correct/incorrect based on the signal from the sensor 127 mounted on the transfer machine 125 to which the baggage 200 is transferred. When the two transfer machines 125 transfer the cargo 200 at the same time, a positive signal is detected only when the signals from any of the sensors 127 are determined to be positive.

In addition, the correct/incorrect detection unit 152 notifies the transfer device 125 in the normal mode that the transfer device 125 is not correctly arranged with respect to the storage unit 111, that is, based on the incorrect detection, confirmation information prompting the transition to the confirmation mode. The notification method is not particularly limited, and for example, the confirmation information may be notified on a display device included in the control device 150 using sound, light, text, graphics, or the like. Further, the confirmation information may be notified to the terminal used by the user through communication.

In the confirmation mode, the placement unit 151 places the transfer device 125 in the storage unit 111, and the height position detection unit 153 detects the height position of the corresponding detected part 113 from the position detection device 126 and the sensor 127. Detect based on information. The specific detection method is not limited depending on the type of detected portion 113 and the combination of sensor 127. In the case of this embodiment, as shown in FIG. By doing so, the laser beam emitted from the sensor 127 is linearly moved in the vertical direction from below the detected part 113 to above the detected part 113 through the detected part 113. The height position detection unit 153 determines the positions where the received intensity of reflected light changes greatly as shown in FIG. The intermediate height position is detected as the height position of the detected part 113. Note that the height positions of the lower end and the upper end of the detected part 113 may be obtained by moving the laser beam linearly from above to below the detected part 113.

The height position detection unit 153 detects the height position of the detected part 113 in a plurality of storage units 111 of the same storage shelf 112. In the case of this embodiment, the height position of the detected part 113 is detected for the storage section 111 arranged on the rightmost side of the same storage shelf 112 and the storage section 111 arranged on the leftmost side. The height position detection section 153 detects the height position of the detected section 113 on the plurality of storage shelves 112. In the case of this embodiment, the height positions of the plurality of detected parts 113 on the lowest storage shelf 112 and the highest storage shelf 112 are detected.

In the confirmation mode, the height position detection unit 153 first places the lifting platform 121 on the lowest storage shelf 112 among the plurality of storage shelves 112, and the abnormality alarm unit 154 detects an abnormality on the lowest storage shelf 112. If this notification is made, the arrangement unit 151 may stop raising the lifting platform 121 toward the other storage shelves 112. Thereby, the confirmation mode can be ended early.

The abnormality notification unit 154 determines whether the tilt of the lifting platform 121 is abnormal based on the plurality of height positions detected for one storage shelf 112, and notifies the abnormality if it is determined to be abnormal. The method of determining whether or not there is an abnormality by the abnormality reporting unit 154 is not particularly limited. For example, each time the height position detection unit 153 detects a plurality of height positions for one storage shelf 112, the abnormality notification unit 154 acquires the height position and determines whether or not there is an abnormality. I don't mind if you do. Specifically, if the difference in the height positions of the two detected parts 113 located at the farthest positions is equal to or greater than the inclination threshold, it is determined that there is an abnormality. Further, after acquiring the height positions of the plurality of storage shelves 112, the plurality of height positions may be statistically processed, and the result of the statistical processing may be used to determine whether or not there is an abnormality.

The method for notifying the abnormality is not particularly limited, and for example, the abnormality may be notified by sound, light, text, and graphics on a display device included in the control device 150. Further, the abnormality may be reported to the terminal used by the user through communication.

Next, a process flow of the control device 150, that is, a method of controlling the transport system 100 will be explained. FIG. 4 is a flowchart showing the flow of processing by the control device in normal mode.

In the normal mode, the placement unit 151 acquires transfer information including information such as receiving the package 200 from a predetermined storage unit 111 and delivering the package to the predetermined storage unit 111 from a host computer or the like (S101 ). Next, the placement unit 151 uses the position detector 126 to move the transfer machine 125 to a position where the package 200 can be transferred to and from the storage unit 111 as instructed by the transfer information etc. (S102 ).

When the transfer device 125 is placed at a predetermined position, the correctness detection unit 152 acquires information from the sensor 127 (S103), and determines whether the position of the transfer device 125 is correct or incorrect based on the obtained information (S104). ). If the transfer machine 125 is correctly placed in the storage unit 111 (S104, correct), the transfer is executed according to the transfer information (S105). If all the transfers included in the transfer information have not been completed (S106, No), the placement unit 151 moves the transfer machine 125 to the next storage unit 111. If all the transfers included in the transfer information have been completed (S106, Yes), the process ends.

On the other hand, if the correctness detection unit 152 determines that the transfer machine 125 is not correctly placed in the corresponding storage unit 111 based on the information from the sensor 127 (S104, incorrect), the placement unit 151 executes a retry. (S107). Retrying means moving the transfer machine 125 (S102) and acquiring information from the sensor (S103). The correct/incorrect detection unit 152 determines correct/incorrect based on the information from the sensor by retry (S108). If the position is correct (S108, correct), the transfer is executed (S105), and if the position is incorrect (S108, incorrect). ), confirmation information is notified (S109), and the process ends midway through the transfer information.

FIG. 5 is a flowchart showing the flow of processing of the control device in confirmation mode. In the confirmation mode, the placement unit 151 moves the elevator platform 121 to one of the storage shelves 112 (S201). The placement unit 151 initially moves the candidate to the lowest storage shelf 112 (in the case of this embodiment, the lowest storage shelf 112 of the rack 110) from among the plurality of candidates. Note that the height position of the lifting platform 121 is a position at which the laser beam of the sensor 127 is irradiated below the detected part 113 attached to the corresponding storage shelf 112.

Next, the placement unit 151 moves the transfer machine 125 to one of the multiple storage units 111 (S201). The placement unit 151 initially moves the candidate to the storage unit 111 located at one end (in the case of this embodiment, the rightmost (or left) storage unit 111 of the storage shelf 112) from among a plurality of candidates.

Next, the arrangement unit 151 raises the transfer machine 125 together with the lifting platform 121 so that the height position of the detected part 113 can be detected (S203). In the case of this embodiment, as shown in FIG. 6, the laser light passes through the detected part 113 like a trajectory 210 indicated by a broken line arrow. Simultaneously with the rise, the height position detection unit 153 detects the detected portion 113 using the sensor 127 (S204). FIG. 7 is a graph showing signals acquired by the height position detection unit 153 from the sensor 127. While the sensor 127 is detecting the front plate 114, it is ON, and while the sensor 127 is detecting the detected part 113, it is OFF.

Next, if the detection of the detected part 113 corresponding to the storage part 111 in one storage shelf 112 has not been completed (S205, No), the process returns to step S202. Next, the placement unit 151 moves the storage unit 111 at the other end (in the case of this embodiment, the leftmost (or right) storage unit 111 of the storage shelf 112) from among the plurality of candidates. Then, the placement unit 151 lowers the elevator platform 121 and then raises it again (S203), and detects the detected portion 113 (S204).

If the detection of the detected parts 113 corresponding to the storage part 111 in one storage shelf 112 has been completed (S205, Yes), the abnormality notification unit 154 determines the height positions of the two detected parts 113 based on the inclination threshold. The difference between the two is determined (S206). If the difference in the height positions of the two detected parts 113 is equal to or greater than the inclination threshold, it is determined that there is an abnormality (S206, Yes). In this case, the abnormality notification unit 154 reports the abnormality (S207). If the difference in the height positions of the two detected parts 113 is less than the inclination threshold, it is determined that there is no abnormality (S206, No).

Next, if the detection of the detected portion 113 on the storage shelf 112 in the rack 110 has not been completed (S208, No), the process returns to step S201. Next, the placement unit 151 moves the item to a higher storage shelf 112 (in the case of this embodiment, the uppermost storage shelf 112 of the rack 110) from among the plurality of candidates. After that, steps S202 to 206 are executed.

According to the transport system 100 according to the embodiment, it is possible to detect the inclination of the lifting platform 121 in the confirmation mode using the sensor 127 that detects whether the placement of the transfer machine 125 is correct or incorrect in the normal mode and the detected part 113. can. Therefore, it is possible to detect the inclination of the lifting platform 121 caused by the difference in elongation of the long suspension member 122 and the short suspension member 123, which have different lengths, and to notify that fact. Thereby, the operator can adjust the hanging member to return the tilt of the lifting platform 121 to horizontal, and can prevent mistakes in transferring the cargo 200 in the subsequent normal mode.

Furthermore, since a sensor provided solely for detecting the inclination of the lifting platform 121 is not used, the number of parts in the entire transport system 100 can be reduced, and the program executed by the control device 150 can be simplified. can. In particular, by making the operations common between the teaching mode and the confirmation mode, the program can be further simplified.

Further, if an abnormality is detected in the storage shelf 112 at the lowest stage, this is notified and the confirmation mode is exited, so that the confirmation mode can be ended in a short time.

Note that the present invention is not limited to the above embodiments. For example, the embodiments of the present invention may be realized by arbitrarily combining the components described in this specification or by excluding some of the components. The present invention also includes modifications obtained by making various modifications to the above-described embodiments that a person skilled in the art can conceive without departing from the gist of the present invention, that is, the meaning of the words written in the claims. It will be done.

For example, the detected part 113 is a two-dimensional code pasted on the front plate 114, and the sensor 127 is a relative positional relationship in the vertical direction and the relative position in the horizontal direction between the two-dimensional code and the sensor 127. A camera or the like that can detect relationships may also be used.

Furthermore, although a case has been described in which the storage shelf 112 is an integral plate member extending in the left-right direction, the storage shelf 112 may be separated in the left-right direction corresponding to the storage section 111.

Further, the detected portion 113 may be a reflecting plate that reflects laser light more strongly than the front plate 114.

Furthermore, in the confirmation mode, a case has been described in which an abnormality is detected in a plurality of storage shelves 112. It does not matter if an abnormality in the slope of is detected.

Further, the confirmation mode may be executed at the time of periodic inspection of the transport system 100.

INDUSTRIAL APPLICATION This invention can be utilized for the conveyance system which conveys goods for sorting of a picking system, the conveyance system which conveys heavy goods, etc.

100 Transport system 110 Rack 111 Storage section 112 Storage shelf 113 Detected section 114 Front plate 120 Crane 121 Lifting platform 122 Long suspension member 123 Short suspension member 124 Lifting drive device 125 Transfer device 126 Position detection device 127 Sensor 128 Mast 129 Travel drive device 139 Pulley 150 Control device 151 Arrangement section 152 Right/wrong detection section 153 Height position detection section 154 Abnormality notification section 200 Baggage 210 Trajectory

Claims (5)

A rack comprising a plurality of storage shelves vertically having storage sections for storing cargo arranged side by side in the left and right direction, a crane for transporting cargo to be transferred between the racks, and a control device for controlling the crane. A conveyance system comprising:
The rack is
comprising a plurality of detected parts arranged corresponding to the positions of the respective storage parts,
The crane is
a lifting platform that extends along the storage shelf and is movable up and down along the rack;
a pair of suspension members suspending both ends of the lifting platform;
an elevating drive device that raises and lowers the elevating platform via the pair of suspension members;
a transfer machine that is held movably in the horizontal direction on the lifting platform and that transfers cargo to and from the rack;
a traveling drive device that causes the transfer machine to travel in the left-right direction;
a position detection device that detects the position of the transfer machine with respect to the storage unit;
a sensor that is mounted on the transfer machine and detects the detected part,
The control device includes:
In normal mode, a placement unit that controls the lifting drive device and the transfer machine to place the transfer machine in the storage unit;
In normal mode, a correctness detection unit detects whether the transfer machine is correctly placed in the storage unit based on information from the sensor;
In the confirmation mode, the elevating platform is arranged on a plurality of the storage shelves, and the arrangement section is arranged so that the height positions of the plurality of detected parts corresponding to the plurality of storage sections can be detected in each of the arranged storage shelves. a height position detection unit that moves the transfer machine and detects the height position of the detected part using the position detection device and the sensor;
A conveyance system comprising: an abnormality reporting unit that reports an abnormality regarding the inclination of the lifting platform based on a plurality of detected height positions. In the confirmation mode, the arrangement unit first arranges the lifting platform on the lowest storage shelf among the plurality of storage shelves, and when the abnormality notification unit reports an abnormality on the lowest storage shelf; 2. The conveying system according to claim 1, wherein raising of the lifting platform to a subsequent storage shelf is stopped. The correct/incorrect detection unit is
The conveyance system according to claim 1 or 2, wherein confirmation information prompting a transition to a confirmation mode is notified based on detection that the transfer machine is not correctly placed in the storage section in the normal mode. The control device includes:
The conveyance system according to claim 1 or 2, further comprising a teaching mode having an operation common to the operation of the transfer machine in the confirmation mode. Controlling the crane of a transport system comprising: a rack having multiple storage shelves in the vertical direction having storage sections for storing luggage arranged side by side in the left-right direction; and a crane transporting the luggage to be transferred between the racks. A method for controlling a conveyance system, the method comprising:
The rack includes a plurality of detected parts arranged corresponding to the positions of the respective storage parts,
The crane includes a lifting platform that extends along the storage shelf and is movable up and down along the rack, a pair of suspension members that suspend both ends of the lifting platform, and a pair of the suspension members. a lifting drive device that raises and lowers the lifting platform via the elevator; a transfer device that is held movably in the horizontal direction on the lifting platform and transfers cargo to and from the rack; and a transfer device that moves the loading device in the horizontal direction. comprising a traveling drive device for running, a position detection device for detecting the position of the transfer machine with respect to the storage section, and a sensor mounted on the transfer machine and detecting the detected part,
In the normal mode, a placement unit controls the lifting drive device and the transfer machine to place the transfer machine in the storage unit,
In the normal mode, a correctness detection unit detects whether the transfer machine is correctly placed in the storage unit based on information from the sensor;
In the confirmation mode, the elevating platform is arranged on a plurality of the storage shelves, and the arrangement section is arranged so that the height positions of the plurality of detected parts corresponding to the plurality of storage sections can be detected in each of the arranged storage shelves. moves the transfer machine, and a height position detection unit detects the height position of the detected part using the position detection device and the sensor,
A transport system control method, wherein an abnormality notification section reports an abnormality regarding the inclination of the lifting platform based on a plurality of detected height positions.

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