JP4482804B2 - Article conveying device - Google Patents

Description

  The present invention includes a plurality of article transport carts that travel on a track of a closed type installed so as to pass through a plurality of article transfer locations, a travel control means that controls the travel of the article transport cart, The present invention relates to an article conveying apparatus provided with an inter-vehicle distance detecting means for detecting an inter-vehicle distance between article conveying carts.

  The article conveying apparatus as described above is applied to an automatic warehouse or the like, for example, by moving a plurality of article conveying carts back and forth on a linear endless track, and transferring a plurality of articles. The article is conveyed by a plurality of article conveyance carriages.

In such an article conveyance device, since it is required to avoid collision between article conveyance carriages, conventionally, the travel control means has previously set the inter-vehicle distance between article conveyance carriages detected by the inter-vehicle distance detection means. There are some which are configured to stop traveling of the article transport carriage when the distance is less than the travel stop inter-vehicle distance (see, for example, Patent Document 1).
In the article conveying apparatus described in Patent Document 1, there are two article conveying carriages, a restriction range that restricts an article conveying carriage that can be invaded to one, and an interference range in which both of the article conveying carriages can enter Is set in advance, and when there is a possibility that the two article carriages will both enter the interference range and collide head-on, increase the inter-vehicle distance for stopping the driving. The distance between cars is small.

JP 11-59819 A

  In the above-described conventional article transport apparatus, since the limit range for restricting the article transport cart that can enter is set in advance, the travel range of the article transport cart is limited. The article transfer location where transfer can be performed is limited to a part of the plurality of article transfer locations, and there is a possibility that the article cannot be efficiently transported.

Therefore, in order to efficiently transport the articles, each of the plurality of article transport carts transfers the articles to all of the plurality of article transfer locations without limiting the travel range of the article transport cart. It is possible to do so.
In this case, there is a possibility that the article transport carts collide head-on in the entire range on the track. Therefore, by increasing the inter-vehicle distance for stopping the travel, the articles in the entire range on the track It is possible to avoid a collision between the transport carts.
However, if the inter-vehicle distance for stopping the travel is large, for example, when the inter-vehicle distance between the article transport carts is small, such as when the travel speed of each of the article transport carts is small, the article transport carts do not collide with each other. When the article can be transported, the article transport cart is stopped and the article transport by the article transport cart is interrupted, leading to a decrease in transport capability.

  The present invention has been made paying attention to such a point, and the object thereof is to prevent a decrease in the conveyance capability while avoiding the collision of the article conveyance carriages in the entire range on the track. The object is to provide an article conveying apparatus.

In order to achieve this object, the first characteristic configuration of the article transporting apparatus according to the present invention is to transport a plurality of articles traveling on an end-type track installed so as to pass through a plurality of article transfer locations. In the article conveying apparatus provided with a carriage, a traveling control means for controlling the traveling of the article conveying carriage, and an inter-vehicle distance detecting means for detecting an inter-vehicle distance between adjacent article conveying carriages,
A ground-side controller that manages the operation of the plurality of article transport carts is provided, and the article transport cart is provided with a travel inverter that operates the travel motor to drive the article transport cart, and the inter-vehicle distance The detection means and the travel control means are provided in the article transport cart independently of the ground controller, and the ground controller is configured to transmit travel speed command information to the travel inverter, Based on the traveling speed command information from the ground side controller, the traveling inverter operates the traveling motor to travel the article transport carriage at the traveling speed commanded by the traveling speed command information. It is configured to control the traveling of the conveyance carriage, the travel control means, our running direction of the adjacent article transport vehicle respectively And detected by the inter-vehicle distance detecting means when it is determined that the traveling state is such that the inter-vehicle distance between the article transport trolleys is reduced based on the detection information of the traveling state detecting means for detecting the traveling speed. The article transport carts are configured to stop traveling when the inter-vehicle distance between the article transport carts is equal to or less than the travel stop inter-vehicle distance determined based on the current travel speed information in each of the adjacent article transport carts. There is in point.

That is, by determining whether the traveling control means is in the approaching traveling state based on the detection information of the traveling state detecting means, the adjacent article transport is performed regardless of where the article transport carriage is on the track. Since it is possible to determine whether or not there is a possibility that the carts collide with each other, it is possible to determine whether or not there is a possibility that the article transport carts collide with each other in the entire range on the track.
When the traveling control means determines that the vehicle is in the approaching traveling state, there is a possibility that the adjacent article conveying carts may collide with each other, and the inter-vehicle distance between the article conveying carts detected by the inter-vehicle distance detecting means is When the distance is less than or equal to the distance between the traveling stop vehicles, it is possible to avoid collision between adjacent article transport carriages in the entire range on the track by stopping the article transport carriage.
Moreover, the travel stop inter-vehicle distance is determined based on the current travel speed information in each of the adjacent article transport carts. For example, when the travel speed in each of the article transport carts is small, the travel stop inter-vehicle distance is small. Thus, the inter-vehicle distance for stopping traveling can be made as small as possible.

  To summarize the above, it is determined whether there is a possibility of collision between adjacent article conveyance trolleys regardless of where the article conveyance trolley exists on the track. While it is possible to continue the conveyance of the articles by the article conveyance carriage as much as possible while avoiding the collision between the conveyance carriages, it is possible to avoid the collision of the article conveyance carriages in the entire range on the track Thus, it has become possible to provide an article conveying apparatus capable of preventing a decrease in conveying ability.

According to a second characteristic configuration of the article transporting apparatus according to the present invention, when the traveling control unit determines that the approaching traveling state is present, the traveling distance between the adjacent article transporting carts is different. When the inter-vehicle distance between the article transport carts detected at is equal to or less than the travel stop inter-vehicle distance, both the adjacent article transport carts are stopped traveling,
When it is determined that the vehicle is in the approaching traveling state, when the traveling directions of the adjacent article transport carts are the same, the inter-vehicle distance between the article transport carts detected by the inter-vehicle distance detection means is the travel stop When the distance is less than the inter-vehicle distance, the following article conveyance carriage is stopped traveling among the adjacent article conveyance carriages,
The travel stop inter-vehicle distance is configured to determine different travel stop inter-vehicle distances when the travel directions of adjacent article transport carts are different from each other and when the travel directions of adjacent article transport carts are the same. There is in point.

  That is, when the article conveyance carriages are stopped traveling because the distance between the article conveyance carriages detected by the inter-vehicle distance detection means is equal to or less than the distance between the traveling stop vehicles, the traveling directions of adjacent article conveyance carriages are different. In such a case, the traveling control means stops traveling of both adjacent article transport trolleys so that the distance between adjacent article transport trolleys can be shortened in a short time, and the adjacent article transport trolleys may collide head-on. Therefore, it is possible to accurately avoid the frontal collision by stopping the travel of both article transport carts.

And when the traveling directions of the adjacent article transporting carts are the same, the travel control means stops the subsequent article transporting cart among the adjacent article transporting carts, thereby causing the preceding article transporting cart to Since there is a possibility that the succeeding article transport cart will collide, it is possible to avoid the impact while continuing the traveling of the preceding article transport cart.
Therefore, it is possible to avoid the collision between the article conveyance carriages while continuing the conveyance of the articles by the preceding article conveyance carriage and continuing the conveyance of the articles as much as possible.

In addition, for example, when the traveling direction of the adjacent article transporting carts is different than when the traveling direction of the adjacent article transporting carts is the same, the inter-vehicle distance is shortened in a short time. It can be determined that the distance between the traveling stop vehicles is larger when the traveling directions of the adjacent article transporting carts are different than when the traveling directions of the adjacent article transporting carts are the same.
Therefore, even when the traveling directions of adjacent article transporting carts are the same or different, it is possible to determine an appropriate travel-stop inter-vehicle distance and avoid the collision between the article transporting carts, while reducing the travel-stop inter-vehicle distance as much as possible. It can be small.

  According to a third characteristic configuration of the article transporting apparatus according to the present invention, the travel control unit is configured so that the travel stop means the inter-vehicle distance, and the article transport cart is in a loaded state where the article is present, and the article transport cart is not present. It is in the point which is comprised so that another distance for driving | running | working stop may be determined with an empty state.

That is, for example, the traveling control means determines that the distance between vehicles for traveling stoppage is larger than when the vehicle is in an unloaded state, so that the vehicle in the loaded state is more than in an unloaded state. Even if the article transport cart is stopped while slowly decelerating, collision between the article transport carts can be avoided.
Therefore, when the article transport cart is in stock, by stopping the article transport cart while slowly decelerating, it prevents collisions between the article transport carts while preventing the collapse of the articles present in the article transport cart. Therefore, it becomes a useful article conveying apparatus.

A fourth characteristic configuration of the article transport device according to the present invention is the two article transport carts,
When the travel control means provided on one of the article transport carts determines that the vehicle is in the approaching travel state, the inter-vehicle distance between the article transport carts detected by the inter-vehicle distance detection means is the distance between the travel stop vehicles. When the distance is less than or equal to the distance, the article transport carriage is configured to stop traveling,
A communication means for exchanging information is provided between the travel control means provided in one of the article transport carts and the travel control means provided in the other article transport cart. is there.

  That is, when the traveling control means provided in one article transporting carriage determines that it is in the approaching traveling state, it can stop the traveling of one article transporting carriage based on the distance between the traveling stop vehicles. The travel control means provided in the other article transport carriage transmits information for stopping the other article transport carriage to the travel control means provided in the other article transport carriage. The travel control means provided in the other article transporting cart that receives the information can stop the travel of the other article transporting cart.

  Therefore, it is determined whether one of the two article transport trolleys is in an approaching travel state with the travel control means provided on one of the article transport trolleys, and the article transport trolley travels based on the inter-travel distance. By simply providing a control configuration for stopping, it is possible to stop the travel of any of the two article transport carts in order to avoid a collision between the article transport carts, thereby simplifying the configuration and reducing costs accordingly. Will be able to.

An embodiment of an article conveying device according to the present invention will be described based on the drawings.
This article transport apparatus is applied to an automatic warehouse or the like provided with an article storage shelf. As shown in FIG. 1, the article transport apparatus is used as an article transport cart that travels on a plurality of tracks 2 of a station 1 as an article transfer location. A plurality of carts 3 are provided, and the plurality of cargo handling carts 3 are configured to reciprocate on the track 2 and convey the article B between the plurality of stations 1.

The track 2 is configured in a straight line shape with ends defined at both ends, and a plurality of stations 1 are arranged on the left and right sides of the track 2 at intervals in the longitudinal direction of the track 2.
As a plurality of stations 1, a station 1 for delivery provided with a delivery conveyor for transporting articles delivered from the article storage shelf, and a station 1 for entry provided with a storage conveyor for transporting articles stored in the article storage shelf A loading station 1 provided with a carry-in conveyor for carrying articles to be carried in from the outside and a carry-out station 1 provided with a carry-out conveyor for carrying articles carried out to the outside are combined.

The cargo handling cart 3 is provided with a first cargo handling cart 3a and a second cargo handling cart 3b. Each of the first cargo handling cart 3a and the second cargo handling cart 3b has its own station 1 An electric transfer device 4 such as a roller conveyor for transferring an article B between the two and a plurality of traveling wheels 5 that travel on a traveling rail disposed along the track 2 are provided.
The traveling wheel 5 includes a driving traveling wheel 5 that is driven to rotate by an inverter traveling motor 6, and a driven traveling wheel 5 that can be driven and rotated.

  As shown in FIG. 2, the first handling cart 3 a detects the inter-vehicle distance between the traveling inverter 7 that operates the running motor 6 to drive the handling cart 3, and the other handling cart 3. An inter-vehicle distance sensor 8 as an inter-vehicle distance detecting means, an inter-vehicle optical transmission device 9 for communicating information with an opponent's unloading cart 3, a slave controller 10 capable of deactivating the traveling motor 6, The power supply to the traveling motor 6 is stopped and the mechanical brake is applied to stop the traveling motor 6 to stop operation. The transfer inverter 11 that operates the transfer device 4 and the transfer device 4 have the article B. A load sensor 12a for detecting whether the product is in a loaded state or an empty state in which the article B is not present in the transfer device 4, and an encoder 12 for detecting the traveling speed of the first loading cart 3a. Sensors such as 12, such as input-output device 13 for outputting detection information of the sensors 12 is provided.

Similarly to the first cargo trolley 3a, the second cargo trolley 3b includes a traveling inverter 7, an inter-cart optical transmission device 9, a slave controller 10, a sensor 12 such as an inventory sensor 12a, and an input. An output device 13 is provided.
In addition, although the inter-vehicle distance sensor 8 is not provided in the second cargo handling truck 3b, the light projected from the inter-vehicle distance sensor 8 of the first cargo handling truck 3a is reflected instead of the inter-vehicle distance sensor 8. The reflector 8a is provided, and the inter-vehicle distance sensor 8 of the first cargo handling cart 3a receives the light reflected by the reflector 8a, and the distance between the cargo handling carts 3 based on the received light. It is configured to detect the distance.

One ground side controller 14 for managing the operation of the first and second cargo handling carts 3a and 3b is provided on the ground side such as the floor surface, and the ground side controller 14 is provided with the first cargo handling cart 3a. And it is comprised so that operation | movement of the inverter 7 for driving | running | working, the inverter 11 for transfer, etc. in the 2nd handling truck 3b may be controlled.
Each of both ends of the track 2 is provided with a position detection sensor 15 for detecting the position of the handling cart 3 on the track 2 by detecting the distance from the end to the handling cart 3. Yes.

Although not shown, the ground side controller 14 provided on the ground side, the traveling inverter 7 provided on the cargo handling carriage 3 side, the slave controller 10, the transfer inverter 11, and the input / output device 13 are not illustrated. A controller, and a first optical transmission device 16 for exchanging information between the ground-side controller 14 and the first handling cart 3a, and the ground-side controller 14 and the second handling cart 3b. A second optical transmission device 17 is provided for exchanging information between them.
The communication controller provided on the ground side controller 14 side, the communication controller provided on the cargo handling cart 3 side, the first optical transmission device 16 and the second optical transmission device 17 constitute a communication network, so-called device network. The ground side controller 14 is configured as a master, and the traveling inverter 7, the slave controller 10, the transfer inverter 11, and the input / output device 13 are configured as slaves.

  Further, the detection information of the position detection sensors 15 disposed at both ends of the track 2 is configured to be input to the ground-side controller 14, and the ground-side controller 14 includes the detection information of the position detection sensor 15. Based on this, it is configured to manage the positions of the first cargo handling cart 3a and the second cargo handling cart 3b on the track 2.

In this way, the ground-side controller 14 manages the positions of the first cargo handling cart 3a and the second cargo handling cart 3b on the track 2, and the first cargo handling cart 3a and the second cart via the communication network. By giving various command information to the cargo handling cart 3b, the operation of the first cargo handling cart 3a and the second cargo handling cart 3b is managed.
And the ground side controller 14 is based on the conveyance request information which instruct | indicates the station 1 of a transfer object from the some station 1, either in the 1st handling cart 3a or the 2nd handling cart 3b. In order to transfer the article B to / from the transfer target station 1, the operation of the two cargo handling carts 3 is managed.

When the operation of the two cargo handling carts 3 is described, the ground-side controller 14 is based on the conveyance request information, and carries the conveyance processing cargo among the first cargo handling cart 3a and the second cargo handling cart 3b. A selection process for selecting the carriage 3 is performed, and the cargo handling carriage 3 selected in the selection process is moved to the transfer target station 1, and then the article is transferred to and from the transfer target station 1. It is configured to perform a conveyance process for transferring B.
The ground side controller 14 repeats the selection process and the transport process in sequence each time the transport request information is generated, and transports the article B between the plurality of stations 1 by the two unloading carts 3. Is configured to do.

  Incidentally, with regard to the conveyance request information, the conveyance request information can be input to the ground-side controller 14 by means of a human-operated input device such as a keyboard or a host controller, for example, transfer for picking up the article B The transfer request information indicates the target station 1 and the transfer target station 1 for wholesale the article B.

Further, the ground-side controller 14 performs a scooping transport process for traveling the selected handling cart 3 to the transfer target station 1 for picking up the article B as a transport process based on the transport request information, and the scooping process. As a separate transport process, the operation of the unloading carriage 3 is performed with the unloading carriage process in which the unloading truck 3 is moved to the transfer target station 1 for wholesale the article B. Is configured to manage.
When the explanation is added, the ground-side controller 14 first performs the selection process and the transfer process for scooping, so that the selected transport handling cart 3 is moved to the station 1 to be transferred and the article B is moved. After carrying out scooping and carrying out the scooping transport process, the selection handling and the transporting process for wholesale are carried out, so that the selected transporting cart 3 is moved to the transfer target station 1 and the article B Is configured to wholesale.

  To explain the selection process, the ground-side controller 14 determines whether the first cargo handling cart 3a and the second cargo handling cart 3b are currently used when carrying out the carrying process for scooping or when carrying out the carrying process for wholesale. Based on various conditions such as whether or not the conveying process is being performed and where the first and second cargo trolleys 3a and 3b are located on the track 2, the first and second cargo trolleys 3a and 3a are handled. It is comprised so that the unloading cart 3 for conveyance processing may be selected from the carts 3b.

That is, when carrying out the transfer process for scooping, the ground-side controller 14 is in a standby state in which neither of the two handling carts 3 is currently in the handling process, but the first handling cart 3a and the second handling cart. Among the carts 3b, the cargo handling cart 3 located near the transfer target station 1 is selected as the handling cart 3 for the conveyance process.
Further, when one of the ground side controllers 14 is currently carrying the transfer process and the other is waiting, the ground side controller 14 is currently carrying the transfer process even if the waiting unloading cart 3 performs the transfer process for scooping. When there is no interference with the unloading cart 3, the waiting unloading cart 3 is selected as the unloading cart 3 for the conveyance process.

Then, when carrying out the wholesale transport process, the ground-side controller 14 is in a state where another unloading truck 3 other than the unloading truck 3 after performing the scooping transport process is on standby. The cargo handling carriage 3 after carrying out the scooping conveyance process is selected as the handling truck 3 for the conveyance process.
In addition, when the other handling truck 3 is currently carrying out the carrying process, the ground-side controller 14 performs the carrying process for the wholesale handling truck 3 after carrying out the carrying process for scooping. However, when there is no interference with another unloading cart 3 that is currently being transported, the unloading cart 3 after performing the scooping transport processing is selected as the unloading cart 3 for the transport processing. ing.

In this way, the ground-side controller 14 performs the selection process while enabling any of the two cargo handling carts 3 to perform the conveyance process of conveying the article B to all of the plurality of stations 1. By carrying out the operation, the transport handling cart 3 selected based on the transport request information travels in a range not interfering with the current handling cart 3 that is currently performing the transport processing. 3 is selected.
When the ground side controller 14 interferes with the handling cart 3 that is currently in the transfer process in the selection process, the ground controller 14 does not select the handling cart 3 for the transfer process and waits at the current position. Alternatively, the drive-out operation for moving to a position where it does not interfere with the unloading cart 3 currently being transported is executed.

Hereinafter, in the selection process, a case will be described in which the first handling cart 3a is selected as the handling cart 3 for carrying processing, and the carrying processing is performed by the first handling cart 3a.
First, the ground-side controller 14 transmits travel start information for instructing the travel direction to the travel inverter 7 of the first loading cart 3a via a communication network such as the first optical transmission device 16 and the travel. The traveling inverter 7 that has received the start information is configured to start the traveling of the first loading cart 3a.
Thereafter, the ground-side controller 14 is configured to transmit the traveling speed command information to the traveling inverter 7 of the first cargo handling truck 3a every time the set time elapses.
On the other hand, based on the traveling speed command information from the ground-side controller 14, the traveling inverter 7 of the first unloading truck 3a travels through the first unloading cart 3a at the traveling speed commanded by the traveling speed command information. In order to achieve this, the current value for the traveling motor 6 is adjusted.

As described above, when the first handling cart 3a is caused to travel, the traveling inverter 7 is caused to travel while adjusting the traveling speed of the first handling cart 3a based on the travel command information from the ground-side controller 14. It is configured.
And since the detection information of the position detection sensor 15 is input with respect to the ground side controller 14, the ground side controller 14 manages the traveling position of the 1st handling cart 3a, and the 1st handling cart 3a. It is configured to run.

  In a state where the ground-side controller 14 is traveling while managing the traveling position of the first handling cart 3a, the traveling position of the first handling cart 3a is set to a target stop position corresponding to the station 1 to be transferred. When it reaches, the stop command information is transmitted to the traveling inverter 7 of the first cargo handling cart 3a via the communication network such as the first optical transmission device 16, and the first cargo handling cart 3a that has received the stop command information is transmitted. The traveling inverter 7 is configured to stop the traveling motor 6 and stop the first loading cart 3a at the target stop position.

The ground-side controller 14 transmits transfer command information to the transfer inverter 11 of the first handling cart 3a via the communication network in a state where the first handling cart 3a is stopped at the target stop position. It is configured as follows.
Then, the transfer inverter 11 of the first loading cart 3a operates the transfer device 4 based on the transfer command information from the ground-side controller 14, and the article B existing in the station 1 to be transferred. The article B is wholesaled to the station 1 to be picked up or transferred.

  The input / output device 13 is configured to transmit the detection information of the sensors 12 to the ground-side controller 14 via a communication network such as the first optical transmission device 16. Based on the information from the output device 13, it is configured to recognize that the conveyance process has been completed.

  The inter-vehicle distance sensor 8 independent of the ground-side controller 14, the inter-dolly optical transmission device 9, and the first slave controller 10 a as travel control means are provided in the first cargo handling cart 3 a, and the cart is independent of the ground-side controller 14. By providing the second slave controller 10b as the intermediary light transmission device 9 and the travel control means in the second cargo handling cart 3b, there is a possibility that the cargo handling carts 3 may accidentally collide with each other due to the runaway of the ground controller 14 or the like. Even in this case, it is configured to prevent the collision.

  The first slave controller 10a provided in one of the first cargo handling carts 3a out of the two cargo handling carts 3 detects a traveling state and a traveling speed of each of the two cargo handling carts 3a. Based on the detection information of the means 19, the distance between the cargo trucks 3 detected by the inter-vehicle distance sensor 8 when it is determined that the vehicle is approaching so that the distance between the cargo trucks 3 is reduced. When the distance becomes equal to or less than the distance between the traveling stop vehicles determined based on the current traveling speed information in each of the two cargo handling carts 3, the cargo handling cart 3 is configured to stop traveling.

When the first slave controller 10a determines that the traveling direction of the cargo handling carts 3 is different when it is determined that the vehicle is approaching, the distance between the cargo handling carts 3 detected by the inter-vehicle distance sensor 8 is determined. When the distance is less than the distance between the traveling stop vehicles, both the two cargo handling carts 3 are configured to stop traveling.
In addition, when the first slave controller 10a determines that the traveling trolleys 3 are in the approaching traveling state and the traveling directions of the cargo trolleys 3 are the same, the distance between the cargo trolleys 3 detected by the inter-vehicle distance sensor 8 is determined. When the inter-vehicle distance is equal to or less than the inter-vehicle distance for stopping traveling, the following unloading cart 3 out of the two unloading carts 3 is stopped.

When the first slave controller 10a determines that the travel direction between the adjacent article transport carts is different as the travel stop inter-vehicle distance, and when the travel direction between the adjacent article transport carts is the same, It is configured to determine the distance.
In addition, the first slave controller 10a determines whether the traveling stop vehicle distance is different between a loaded state where the article B is present in the handling truck 3 and an empty state where the article B is not present in the handling truck 3. It is configured to determine the inter-vehicle distance.

In the following, a description will be given of the configuration for stopping traveling of the cargo handling vehicle 3 based on the inter-vehicle distance for traveling stop.
The first slave controller 10a first determines the relative speed V1 of the first loading cart 3a with respect to the second loading cart 3b, the current traveling speed V2 and the traveling direction of the first loading cart 3a, and the second loading cart 3b. The present invention is configured to perform a traveling state calculation for obtaining the current traveling speed V3 and the traveling direction to determine whether or not the vehicle is in the approaching traveling state.
Then, when determining that the first slave controller 10a is in the approaching traveling state, the first slave controller 10a determines the traveling stop inter-vehicle distance Q based on the current traveling speed of each of the two cargo handling carts 3, and the inter-vehicle distance sensor 8 When the inter-vehicle distance detected at is equal to or less than the travel-stop inter-vehicle distance Q, the cargo handling carriage 3 is configured to stop traveling.

  In this way, the first slave controller 10a calculates the traveling state, determines whether or not the vehicle is in the approaching traveling state, and determines whether or not the inter-vehicle distance detected by the inter-vehicle distance sensor 8 is equal to or smaller than the inter-vehicle distance Q for stopping driving. By repeatedly determining whether or not, the collision between the two cargo handling carts 3 is avoided in the entire range on the track 2.

To explain the travel state calculation, first, the first slave controller 10a first determines the relative speed V1 of the first handling cart 3a with respect to the second handling cart 3b and the current running speed of the first handling cart 3a. While determining V2, it is comprised so that the traveling direction of the 1st loading cart 3a may be discriminate | determined whether the 1st loading cart 3a is a forward drive or a reverse drive.
Incidentally, the traveling direction in FIG. 1 is that the forward side of the first loading cart 3a is the right side in the drawing, the reverse side is the left side in the drawing, the forward side of the second loading cart 3a is the left side in the drawing, and the reverse side is shown. The middle right side.

For the relative speed V1, the first slave controller 10a reads the inter-vehicle distance between the cargo trucks 3 detected by the inter-vehicle distance sensor 8 every time a set time (for example, 5 ms) elapses, and the inter-vehicle distance sensor 8 The relative distance of the first unloading cart 3a to the second unloading cart 3b based on the amount of change between the current inter-vehicle distance detected at と and the inter-vehicle distance detected by the inter-vehicle distance sensor 8 before a set time (eg, 100 ms) The speed V1 is determined.
With respect to the current traveling speed V2 of the first cargo handling cart 3a, the first slave controller 10a determines the current status of the first cargo handling cart 3a based on the detection information of the encoder 12b provided in the first cargo handling cart 3a. It is comprised so that driving | running | working speed V2 of this may be calculated | required.
For the travel direction, the first slave controller 10a determines whether the output signal is a normal output signal or a reverse output signal based on the output signal of the inverter 7 for travel. It is configured to determine the traveling direction by determining whether the vehicle is moving forward or backward.

  Then, the first slave controller 10a is configured such that the relative speed V1 of the first loading cart 3a with respect to the second loading cart 3b, the current traveling speed V2 of the first loading cart 3a, and the first loading cart 3a advance. After determining the traveling direction of whether the second cargo handling cart 3b is moving forward or backward based on the traveling direction of whether the vehicle is traveling in reverse or reverse, the current traveling speed V3 of the second cargo handling cart 3b is determined. It is configured to ask for.

When the configuration for determining the traveling direction of the second handling cart 3b is added, the first slave controller 10a determines that the first handling cart 3a from the relative speed V1 when the first handling cart 3a is moving forward. If the value obtained by subtracting the current traveling speed V2 (V1−V2)> 0 and the relative speed V1 <0, the second handling truck 3b is determined to be moving forward.
Further, the first slave controller 10a determines that the second handling cart 3b is moving backward when the relative speed V1 <0 when the first handling cart 3a is moving forward, and the first handling cart 3a is moved forward. When the relative speed V1 <0 when 3a is reverse, the second cargo handling carriage 3b is determined to be reverse.

When the configuration for obtaining the current traveling speed V3 of the second handling cart 3b is added, the first slave controller 10a determines whether the first handling cart 3a moves forward or backward as shown in the table of FIG. The present embodiment is configured to obtain the current traveling speed V3 of the second cargo handling cart 3b from the relative speed V1 and the current traveling speed V2 of the first cargo handling cart 3a depending on whether the two cargo handling cart 3b moves forward or backward. Yes.
For example, if the first cargo handling cart 3a is moving forward and the second cargo handling cart 3b is also moving forward, the current traveling speed V3 = | V1-V2 | of the second cargo handling cart 3b is obtained and the first cargo handling cart is obtained. If 3a is reverse and the second cargo handling cart 3b moves forward, the present traveling speed V3 = | V1 + V2 | of the second cargo handling cart 3b is obtained.

  In this way, the first slave controller 10a, based on the detection information of the inter-vehicle distance sensor 8, the detection information of the encoder 12b, and the output signal of the inverter 7 for traveling, The traveling direction and the traveling speed of each of the carts 3b are configured to be detected. The first slave controller 10, the inter-vehicle distance sensor 8, the encoder 12b, and the traveling inverter 7 constitute a traveling state detecting means 19. Has been.

  If the determination as to whether or not the vehicle is in the approaching traveling state is added, the first slave controller 10a performs the first operation with respect to the second handling cart 3b regardless of where the handling cart 3 is located on the track 2. If the relative speed V1 <0 of the cargo handling carriage 3a, it is determined that the vehicle is in an approaching traveling state in which the distance between the first cargo handling carriage 3a and the second cargo handling truck 3b is reduced. ing.

  When the structure for determining the inter-vehicle distance Q for stopping the travel is added, the first slave controller 10a first stops traveling from the current traveling speed for the first cargo handling cart 3a and the second cargo handling cart 3b. Then, the stop distance required to stop the travel is obtained, and the distance Q for stopping the travel is determined from the stop distance, and the distance as small as possible is determined as the distance Q for stopping the travel while avoiding the collision between the cargo trucks 3. It is configured as follows.

In other words, the first slave controller 10a determines whether the first loading cart 3a is in the loaded state or in the empty state based on the detection information of the loading sensor 12a provided in the first loading cart 3a. Based on the following [Equation 1], the stop distance S1 of the first unloading carriage 3a in the empty state and the stop distance S2 of the first unloading truck 3a in the loaded state are determined based on the following [Equation 1]. Is configured to ask for.
However, in the following [Equation 1], V2 is the current traveling speed of the first cargo bogie 3a, α1 is the deceleration in the unloaded state, and α2 is the deceleration in the loaded state. And α1> α2 is set.

[Equation 1]
S1 = V2 ² /2×α1×9.8
S2 = V2 ² /2×α2×9.8

In addition, the first slave controller 10a is configured to be able to communicate with the second slave controller 10b by the inter-dolly optical transmission device 9 with respect to the detection information of the occupancy sensor 12a provided in the second cargo handling trolley 3b. ing.
And the 1st slave controller 10a is based on the detection information of the stock sensor 12a with which the 2nd load truck 3b was acquired by communication with the 2nd slave controller 10b. It is determined whether the vehicle is in an unloaded state or an unloaded state, and based on the following [Equation 2], the stop distance S3 of the second unloading cart 3b in the unloaded state and the second in the loaded state The stopping distance S4 of the cargo handling carriage 3b is obtained.
However, in the following [Equation 2], V3 is the current traveling speed of the second cargo bogie 3b, α3 is the deceleration in the empty state, and α4 is the deceleration in the in-load state. And α3> α4 is set.

[Equation 2]
S3 = V3 ² /2×α3×9.8
S4 = V3 ² /2×α4×9.8

  As described above, when the first slave controller 10a determines that the vehicle is in the approaching traveling state, the stop distances S1 and S2 for the first handling cart 3a and the stop distances S3 and S4 for the second handling cart 3b are obtained. If it asks for, it is the opposition operation | movement from which the traveling direction of the 1st unloading cart 3a and the 2nd unloading cart 3b differs, or the follow-up operation | movement with the same traveling direction of the 1 unloading cart 3a Or the inter-vehicle distance Q for stoppage of travel is determined according to various conditions such as whether the first cargo handling cart 3a and the second cargo handling cart 3b are empty or in stock. .

In other words, when it is determined that the first slave controller 10a is in the approaching traveling state, if the first handling cart 3a is moving forward and the second loading cart 3b is moving forward, the first slave controller 10a performs an opposing operation. It is configured to discriminate.
In this opposing operation, as shown in the table of FIG. 4, the first slave controller 10a determines whether the first cargo handling cart 3a and the second cargo handling cart 3b are in the loaded state or in the unloaded state. From the unloading stop distance S1 and the unloading stop distance S2 for the first unloading carriage 3a, and the unloading stop distance S3 and the unloading stop distance S4 for the second unloading carriage 3b, The travel-to-vehicle distance Q is determined.
For example, if both the first cargo handling cart 3a and the second cargo handling cart 3b are in an empty state, the travel-stop inter-vehicle distance Q = S1 + S3 is obtained, and the first cargo handling cart 3a is in an empty status and the second cargo handling carriage 2a. If the carriage 3b is in stock, the travel stop inter-vehicle distance Q = S1 + S4 is obtained.

When the first slave controller 10a determines that the vehicle is in the approaching traveling state, the first handling cart 3a is moving forward and the second handling cart 3b is moving backward, or the first loading cart 3a is moving backward. When the second cargo handling cart 3b is moving forward, it is determined that the following operation is being performed.
In this follow-up operation, as shown in the table of FIG. 5, depending on whether the first loading cart 3a and the second loading cart 3b are in the loaded state or in the empty state, the first loading cart 3a From the stop distance S1 in the unloaded state and the stop distance S2 in the loaded state, and from the stop distance S3 in the unloaded state and the stop distance S4 in the loaded state for the second loading cart 3b, It is configured to ask for.

When the first handling cart 3a is moving backward and the second handling cart 3b is moving forward, the first handling cart 3a is preceded and the second handling cart 3b is followed. About the 1st loading cart 3a, it is comprised so that the inter-vehicle distance Q for driving | running | working stop may be calculated | required only using the stop distance S1 of an empty state.
As shown in FIG. 5 (a), for example, if both the first cargo handling cart 3a and the second cargo handling cart 3b are in an unloaded condition, the inter-travel distance Q = | S1-S3 | When the first loading cart 3a is in the loaded state and the second loading cart 3b is in the unloaded state, the travel stop inter-vehicle distance Q = | S1-S3 | is obtained.

Further, when the first cargo handling cart 3a is moving forward and the second cargo handling cart 3b is moving backward, the second cargo handling cart 3b is preceded, and the first cargo handling cart 3a is followed. The preceding second unloading truck 3b is configured to obtain the inter-vehicle distance Q for stopping travel using only the stop distance S3 in the empty state.
As shown in FIG. 5 (b), for example, if both the first cargo handling cart 3a and the second cargo handling cart 3b are in an unloaded state, the inter-travel distance Q = | S3-S1 | If the first loading cart 3a is in an empty state and the second loading cart 3b is in a loaded state, the travel stop inter-vehicle distance Q = | S3-S1 | is obtained.

  In this way, the first slave controller 10a obtains another travel stop inter-vehicle distance as the travel stop inter-vehicle distance Q depending on whether it is an opposing operation or a follow-up operation, and the first cargo handling cart 3a and the second cargo handling cart. It is configured so as to obtain another inter-vehicle distance for travel stop depending on whether 3b is in a loaded state or an empty state.

  The first slave controller 10a determines that the inter-vehicle abnormality is present when the inter-vehicle distance between the cargo trucks 3 detected by the inter-vehicle distance sensor 8 during the opposing operation is equal to or less than the inter-vehicle distance Q for stopping driving. Both the cargo handling cart 3a and the second cargo handling cart 3b are configured to stop traveling.

If it demonstrates, the 1st slave controller 10a will be comprised so that the electric power stop means 18 may be actuated and the 1st handling cart 3a may be stopped.
And the 1st slave controller 10a is comprised so that the abnormal stop information for making the 2nd handling truck 3b run stop with respect to the 2nd handling truck 3 by the optical transmission apparatus 9 between trucks, The second slave controller 10b is configured to operate the power stop means 18 based on the abnormal stop information from the first slave controller 10a to stop the second cargo handling carriage 3b from traveling.

  In addition, the first slave controller 10a determines that the inter-vehicle abnormality is present when the inter-vehicle distance between the cargo trucks 3 detected by the inter-vehicle distance sensor 8 during the following operation is equal to or less than the inter-vehicle distance Q for stopping driving. Of the cargo handling trolley 3a and the second cargo handling trolley 3b, only the subsequent cargo handling trolley 3 is stopped.

In other words, when the first cargo handling cart 3a is the subsequent cargo handling cart 3, the first slave controller 10a operates the power stopping means 18 to stop the first cargo handling cart 3a from traveling. It is configured.
On the contrary, when the second cargo handling cart 3b is the subsequent cargo handling cart 3, the first slave controller 10a uses the inter-cart optical transmission device 9 to perform the second cargo handling cart 3 with respect to the second cargo handling cart 3. The second slave controller 10b is configured to transmit power stop means 18 based on the abnormal stop information from the first slave controller 10a. The second cargo handling carriage 3b is configured to stop traveling.

The operation of the first slave controller 10a will be described based on the flowchart of FIG.
First, the first slave controller 10a first determines the relative speed V1 of the first handling cart 3a with respect to the second handling cart 3b, the current traveling speed V2 and the traveling direction of the first handling cart 3a, and the second handling cart 3b. A running state calculation for obtaining the current running speed V3 and the running direction is performed (step 1).
When the first slave controller 10a determines that the vehicle is in the approaching traveling state, the inter-vehicle distance Q for stopping the vehicle is determined, and the inter-vehicle distance P between the loading carts 3 detected by the inter-vehicle distance sensor 8 is determined. It is determined whether or not the travel-to-vehicle distance is Q or less (steps 2 to 4).

When the inter-vehicle distance P between the cargo trucks 3 detected by the inter-vehicle distance sensor 8 is equal to or less than the travel-stop inter-vehicle distance Q, the first slave controller 10a is in contact with the first cargo truck 3a. Both the cargo handling carts 3 of the second cargo handling cart 3b are stopped (steps 5 and 6).
In addition, the first slave controller 10a, when the following operation is performed when the inter-vehicle distance P between the handling carts 3 detected by the inter-vehicle distance sensor 8 is equal to or less than the traveling stop inter-vehicle distance Q, the first handling cart 3a. Then, the following cargo handling cart 3 is stopped from the second handling cart 3b (steps 7 and 8).

[Another embodiment]
(1) In the above embodiment, when the first slave controller 10a determines that the inter-vehicle distance P between the cargo handling carts 3 detected by the inter-vehicle distance sensor 8 is equal to or less than the inter-travel distance Q for travel stop, When the traveling direction of the truck 3 is the same, only the subsequent truck 3 out of the two trucks 3 is stopped, but both the two trucks 3 travel. It can also be configured to be stopped.

(2) In the above-described embodiment, as the distance between the traveling stop vehicles, when the traveling directions of the two handling carts 3 are different from each other and when the traveling directions of the two handling carts 3 are the same, different travel stops While determining the inter-vehicle distance and determining the inter-vehicle distance for different travel stoppages in the loaded state and the empty load state, the inter-vehicle distance for travel stop is, for example, between the two rolling carts 3 It is possible to determine the same distance for stopping the vehicle when the traveling direction is different and when the traveling direction of the two cargo handling carts 3 is the same. Changes can be made as appropriate.

(3) In the above embodiment, the second cargo handling cart 3b is not provided with the inter-vehicle distance sensor 8, and only the first slave controller 10a provided in the first cargo handling cart 3a is in the running state calculation and the approaching running state. Whether or not, the control structure for stopping the handling truck 3 based on the inter-vehicle distance for stopping the traveling is provided. For example, the second handling truck 3b is also provided with an inter-vehicle distance sensor 8, In addition to the first slave controller 10a, the second slave controller 10b also has a control configuration for stopping the unloading cart 3 based on the running state calculation, the determination as to whether or not the vehicle is in the approaching running state, and the inter-vehicle distance for running stop. It is also possible to prepare and implement.

(4) In the above embodiment, the first slave controller 10a determines the relative speed of the first handling cart 3a with respect to the second handling cart 3b as to the traveling direction and the traveling speed for the two handling carts 3 respectively. As information, it is determined whether or not the vehicle is in the approaching traveling state. Whether the first slave controller 10a is in the approaching traveling state directly from the traveling direction and the traveling speed of each of the two unloading carts 3 or not. It is also possible to determine whether or not.

(5) In the above-described embodiment, the first slave controller 10a determines the relative speed of the first loading cart 3a with respect to the second loading cart 3b and the first loading with respect to the traveling direction and the traveling speed of the second loading cart 3b. The traveling state detection means for the second loading truck for detecting the traveling direction and traveling speed of the second loading truck 3b is used as the second loading truck, for example. In preparation for 3b, the detection information of the traveling state detection means for the second unloading cart is configured to communicate with the first slave controller 10a by the inter-dolly optical transmission device 9, and the first slave controller 10a It is also possible to obtain the traveling direction and the traveling speed of the second loading cart 3b based on the detection information of the traveling state detection means for the second loading cart acquired by communication. .
In other words, how to determine the traveling direction and the traveling speed of the first cargo handling cart 3a and the second cargo handling cart 3b can be appropriately changed.

( 6 ) In the above embodiment, the ground-side controller 14 is configured to manage the positions of the plurality of cargo handling carts 3 on the track 2 based on the detection information of the position detection sensor 15. For example, by providing an encoder in each of the cargo handling carts 3 and communicating the detection information of the encoders to the ground-side controller 14 using the input / output device 13, the ground-side controller 14 has a plurality of cargo handling carts 3. It is also possible to carry out by managing the position on the track 2.

( 7 ) In the above embodiment, the ground-side controller 14 selects the handling cart 3 that performs the transfer process from the first handling cart 3a and the second handling cart 3b based on various conditions. However, the conditions for selecting the cargo handling carriage 3 that performs the transfer process out of the first cargo handling carriage 3a and the second cargo handling carriage 3b can be appropriately changed. .

( 8 ) In the above embodiment, the number of stations 1 and at which position the stations 1 are arranged can be changed as appropriate.

( 9 ) In the above embodiment, an example in which two cargo handling carts 3 are provided has been described. However, the number of cargo handling carts 3 can be changed as appropriate.

( 10 ) In the above embodiment, the cargo handling carriage 3 is exemplified as the article transporting carriage. However, as the article transporting carriage, for example, a stacker crane that reciprocates on a track along the opening of a pair of article storage shelves is applied. It is also possible to use an article conveying cart other than the cargo handling cart 3.

Top view of the article transport device Block diagram of article transport device Table for determining the current traveling speed of the second cargo truck Table for determining the distance between vehicles for running stop in facing operation Table for determining the distance between the vehicles for running stop in the following operation Flow chart showing the operation of the first slave controller

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Goods transfer location 2 Track | truck 3 Goods conveyance trolley 8 Inter-vehicle distance detection means 10 Travel control means 19 Travel condition detection means

Claims (4)

A plurality of article transport carts that travel on a track of a closed type installed so as to pass through a plurality of article transfer locations, a travel control means that controls the travel of the article transport cart, and an adjacent article transport cart An article conveying apparatus provided with an inter-vehicle distance detecting means for detecting an inter-vehicle distance,
A ground-side controller for managing the operation of the plurality of article transport carts is provided;
The article transport carriage is provided with a travel inverter that drives the article transport carriage by operating a travel motor,
The inter-vehicle distance detection means and the travel control means are provided in the article transport cart independently of the ground-side controller,
The ground side controller is configured to transmit travel speed command information to the travel inverter,
Based on the travel speed command information from the ground controller, the travel inverter operates the travel motor to travel the article transport carriage at the travel speed commanded by the travel speed command information. Configured to control the travel of the article transport carriage,
In the approaching traveling state in which the traveling control unit travels so that the inter-vehicle distance between the article transporting carts is reduced based on the detection information of the traveling state detecting unit that detects the traveling direction and the traveling speed of each adjacent article transporting cart. When it is determined that there is an inter-vehicle distance between the article conveying carts detected by the inter-vehicle distance detecting means, the inter-vehicle distance for traveling stop is determined based on the current traveling speed information in each of the adjacent article conveying carts. Then, the article transport device configured to stop the travel of the article transport cart. When the traveling control means determines that the vehicle is in the approaching traveling state and the traveling directions of the adjacent article transport carts are different, the inter-vehicle distance between the article transport carts detected by the inter-vehicle distance detection means is When the distance between the traveling stop vehicles is equal to or less, both the adjacent article transport carts are stopped traveling,
When it is determined that the vehicle is in the approaching traveling state, when the traveling directions of the adjacent article transport carts are the same, the inter-vehicle distance between the article transport carts detected by the inter-vehicle distance detection means is the travel stop When the distance is less than the inter-vehicle distance, among the adjacent article transport carts, the subsequent article transport cart is stopped,
The travel stop inter-vehicle distance is configured to determine different travel stop inter-vehicle distances when the travel directions of adjacent article transport carts are different from each other and when the travel directions of adjacent article transport carts are the same. The article conveying apparatus according to claim 1.   The travel control means sets, as the travel stop inter-vehicle distance, different travel stop inter-vehicle distances in a loaded state in which an article is present in the article transport carriage and an empty state in which no article is present in the article transport carriage. The article conveying apparatus according to claim 1 or 2, wherein the article conveying apparatus is configured to be defined. Two article transport carts,
When the travel control means provided on one of the article transport carts determines that the vehicle is in the approaching travel state, the inter-vehicle distance between the article transport carts detected by the inter-vehicle distance detection means is the travel stop When the distance between the vehicles is less than or equal to, configured to stop traveling the article conveyance carriage,
A communication means for exchanging information is provided between the travel control means provided in one of the article transport carts and the travel control means provided in the other article transport cart. Item conveying apparatus of any one of 1-3.

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