JP4505743B2 - Goods transport equipment - Google Patents

Description

  According to the present invention, a plurality of work passages are arranged side by side in a state perpendicular to the longitudinal direction in a state in which article storage shelves having a plurality of storage portions arranged vertically and horizontally are arranged on the side of the work passage, The number of transfer devices including a moving body that moves horizontally and a lifting body that is movable up and down along a lifting mast standing on the moving body and includes article transfer means is less than the number of the work passages. A plurality of transfer devices are provided in the form, and each of the plurality of transfer devices is configured to be horizontally movable to an outside getting-on / off location at an end of each of the plurality of work passages by horizontal movement of the movable body. There is provided a transfer device that is movable in the direction in which the work passages are arranged side by side so as to be selectively located at any of the plurality of the getting-on / off locations for the work passage, and for loading / unloading the transfer device at the getting-on / off locations. Multiple before For horizontal movement of the movable body in each of the work paths, horizontal movement distance detection means for detecting the horizontal movement distance of the movable body from a reference horizontal position, and for the vertical movement of the lift body along the lift mast A vertical movement distance detecting means for detecting a vertical movement distance of the lifting body from the vertical position, and a control means that is mounted on the transfer device and controls its operation is a horizontal movement of the horizontal movement distance detection means. Based on the distance detection information and the up / down movement distance detection information of the up / down movement distance detection means, among the plurality of work paths, a plurality of items in the article storage shelf installed corresponding to the work path where the transfer device is currently located In order to selectively position the elevating body at any one of a plurality of target stop positions corresponding to each of the storage sections, the horizontal movement of the moving body and the elevating body It is configured to control the transfer operation of the article transfer means in order to control the descending movement and to put the article in and out of the storage section in a state where the elevating body is located at the target stop position. The present invention relates to an article conveyance facility.

  The above article transport equipment is adapted to automatic warehouses, etc., and the transfer device moves from / to the target boarding / exiting location among a plurality of boarding / exiting locations to get on / off the transfer device and equip the transfer device The control means moves the moving body horizontally and moves the elevating body up and down to the target stop position so that the elevating body is located at the target stop position corresponding to the target storage portion among the plurality of target stop positions. By moving the article in and out by the article transfer means in the state where the body is positioned, the warehousing operation for warehousing the article into the storage section of the article storage shelf and the warehousing work for unloading the article from the storage section of the article storage shelf are performed. Is.

  In such an article conveyance facility, a stacker crane is provided as a transfer device, a traverser is provided as a transfer device, the traverser is moved so as to be positioned at a target entry / exit location, and the stacker crane is loaded and unloaded to equip the stacker crane. The control means positions the lifting body at a target stop position corresponding to the target storage section with respect to the article storage shelf installed corresponding to the work path where the stacker crane is currently located among the plurality of work paths. By controlling the horizontal movement of the moving body and the raising / lowering movement of the lifting body and controlling the transfer operation of the article transfer means with the lifting body positioned at the target stop position, Articles are taken in and out of the target storage part (see, for example, Patent Document 1).

The plurality of target stop positions are indicated by target horizontal movement distance information from the reference horizontal position for the moving body and target vertical movement distance information from the reference lifting position for the lifting body.
The horizontal movement distance detecting means for detecting the horizontal movement distance from the reference horizontal position for the horizontal movement of the moving body in each of the plurality of work paths, and the vertical movement of the lifting body along the lifting mast from the reference lifting position. The vertical movement distance detection means for detecting the vertical movement distance is provided, and the control means provided in the transfer device includes the target horizontal movement distance information, the target vertical movement distance information, and the horizontal movement distance detection information of the horizontal movement distance detection means. And the horizontal movement of the moving body and the vertical movement of the lifting body are controlled to selectively position the lifting body at any of a plurality of target stop positions based on the lifting movement distance detection information of the lifting movement distance detecting means. .

The multiple target stop positions may differ depending on the article storage shelf due to assembly errors, etc., so the lifting body is appropriate for the multiple target stop positions in the article storage shelf installed corresponding to one of the multiple work paths. Therefore, the target horizontal movement distance information and the target up-and-down movement distance information about all of the plurality of storage units provided in the plurality of article storage shelves installed corresponding to the plurality of work paths are required.
Therefore, conventionally, all of the control means equipped in the plurality of transfer devices has the target horizontal movement distance information for all of the plurality of storage units provided in the plurality of article storage shelves installed corresponding to the plurality of work paths. And target up / down movement distance information are stored in advance.

JP 2004-99213 A

However, in the above-described conventional article transport facility, the target horizontal movement distance for all of the plurality of storage units provided in the article storage shelf installed corresponding to the plurality of work paths in the memory of the control means provided in the transfer device Information and target up / down movement distance information need to be stored and stored, but the memory of the control means also stores information for controlling the horizontal movement of the moving body and the up / down movement of the lifting body. Therefore, a large-capacity memory is required as the memory of the control means provided in the transfer device.
Therefore, the target horizontal movement distance information and the target up-and-down movement of the plurality of storage units provided in the article storage shelf installed corresponding to the increased work passages are caused by increasing the number of work passages. The distance information cannot be added and stored, and there is a possibility that the equipment cannot be enlarged.

  Further, in the conventional article transport facility, all of the plurality of storage units provided in the plurality of article storage shelves installed corresponding to the plurality of work paths with respect to all of the control means equipped in the plurality of transfer devices. Since it is necessary to store and hold the target horizontal movement distance information and the target up-and-down movement distance information in advance, the operation is troublesome.

  The present invention has been made paying attention to such a point, and the object thereof is to obtain target horizontal movement distance information and target vertical movement distance information while minimizing the memory capacity of the control means provided in the transfer device. The object is to provide an article transport facility capable of simplifying work stored in advance.

In order to achieve this object, the first characteristic configuration of the article transporting facility according to the present invention is such that the work passage is arranged with an article storage shelf provided with a plurality of storage portions vertically and horizontally on its side, in the longitudinal direction. A moving body that is arranged in parallel with the direction perpendicular to the moving direction as a parallel arrangement direction and that moves horizontally along the working path, and that can move up and down along an elevating mast standing on the moving body, and includes article transfer means. A plurality of transfer devices each provided with an elevating body are provided in a form that is smaller than the number of the work passages, and each of the plurality of transfer devices is disposed in each of the plurality of work passages by horizontal movement of the movable body. It is configured to be horizontally movable up to the boarding / exiting point outside the end portion, and is movable in the direction in which the work passages are arranged so as to be selectively located at any of the plurality of boarding / exiting points of the plurality of work passages And A horizontal movement distance detecting means for detecting a horizontal movement distance of the movable body from a reference horizontal position with respect to a horizontal movement of the movable body in each of the plurality of work paths. And an elevating movement distance detecting means for detecting an elevating movement distance of the elevating body from a reference elevating position with respect to the elevating movement of the elevating body along the elevating mast. Based on the horizontal movement distance detection information of the horizontal movement distance detection means and the up / down movement distance detection information of the up / down movement distance detection means, the control device for controlling the operation has the transfer device currently in the plurality of work paths. The elevating body is selected at any one of a plurality of target stop positions corresponding to each of the plurality of storage sections in the article storage shelf installed corresponding to the work path positioned. In order to control the horizontal movement of the movable body and the vertical movement of the lifting body, and to move the lifting body in a state where the lifting body is positioned at a target stop position, In the article transport facility configured to control the transfer operation of the article transfer means,
Among the target horizontal movement distance information from the reference horizontal position for the moving body and the target vertical movement distance information from the reference lifting position for the lifting body, which indicates the plurality of target stop positions, at least the target horizontal Storage means for storing movement distance information is provided outside the transfer device so as to be communicable with the control means, and the control means provided on the transfer device is configured to indicate the plurality of target stop positions. By acquiring both horizontal movement distance information and the target up / down movement distance information from the storage means, or by acquiring the target horizontal movement distance information from the storage means and storing the target up / down movement distance information in advance. Based on the target horizontal movement distance information to be obtained and the target vertical movement distance information, the lifting body is selectively positioned at one of the plurality of target stop positions. Rubeku is configured to control the elevating movement of the horizontal movement and the lift of the movable body, a plurality of said storage means, is disposed on an end portion of the elevating portion side of each of the plurality of working channel The information storage tags are configured such that each of the plurality of information storage tags stores information on the plurality of target stop positions in the article storage shelf corresponding to the installed work path. There is in point.

That is, at least the target horizontal movement distance among the target horizontal movement distance information and the target up-and-down movement distance information for all of the plurality of storage units provided in the article storage shelves installed corresponding to the plurality of work paths. Information will be stored.
When the storage means stores both the target horizontal movement distance information and the target up / down movement distance information, the control means provided in the transfer device communicates with the storage means so that the transfer device is located at the current position. Both the target horizontal movement distance information and the target up-and-down movement distance information about the plurality of storage units provided in the article storage shelf installed corresponding to the work path to be performed can be acquired.
Further, when the storage means stores the target horizontal movement distance information, the control means provided in the transfer device is installed corresponding to the work path where the transfer device is currently located by communication with the storage means. It is possible to acquire target horizontal movement distance information for a plurality of storage units included in the article storage shelf to be provided. As for the target up / down movement distance information, the control means provided in the transfer device includes the target up / down movement distance information for all of the plurality of storage units provided in the article storage shelves installed corresponding to the plurality of work paths. By storing and holding in advance, the target ascending / descending movement of a plurality of storage units included in the article storage shelf installed corresponding to the work path where the transfer device is currently located is determined based on the stored ascending / descending movement distance. Distance information can be obtained.
In this way, all of the plurality of control means equipped in the plurality of transfer devices are set to the target level for the plurality of target stop positions in the article storage shelf installed corresponding to the work path where the transfer device is currently located. The moving distance information and the target lifting / lowering moving distance information can be acquired, and the lifting body is selected as one of a plurality of target stop positions in the article storage shelf installed corresponding to the work path where the transfer device is currently located. Therefore, it is possible to control the horizontal movement of the mobile body and the vertical movement of the lift body.

For the control means equipped in the transfer device, it is only necessary to store in advance at most the target vertical movement distance among the target horizontal movement distance information and the target vertical movement distance information. Since it is not necessary to store and hold both the information and the target up / down movement distance information in advance, the amount of information stored and held in advance by the control means can be reduced.
Of the target horizontal movement distance information and the target up / down movement distance information, the target horizontal movement distance information only needs to be stored in the storage means, and for all of the plurality of control means equipped in the plurality of transfer devices. Since it is not necessary to memorize | store, it is only necessary to perform the operation | work which memorize | stores in the memory | storage means about target horizontal movement distance information.

As described above, according to the present invention, it is possible to simplify the work of preliminarily storing the target horizontal movement distance information and the target up / down movement distance information while minimizing the memory capacity of the control means provided in the transfer device. It has become possible to provide an article conveyance facility that can achieve the above.
Moreover, since each of the plurality of information storage tags arranged in each of the plurality of work paths stores information about a plurality of target stop positions in the article storage shelf corresponding to the installed work path, The information storage tag can store an article storage shelf and information about a plurality of target stop positions in the article storage shelf in association with each other, and the storage configuration can be simplified.

  According to a second characteristic configuration of the article conveying facility according to the present invention, the lifting body is provided with member detecting means for detecting a member corresponding to each of the storage sections in the article storage shelf, and the control means performs a learning operation. When instructed, the member detecting means controls the horizontal movement of the movable body and the vertical movement of the lifting body so that the members corresponding to each of the storage portions are sequentially detected by the member detecting means, and the member Based on the horizontal movement distance detection information of the horizontal movement distance detection means and the up / down movement distance detection information of the up / down movement distance detection means in a state where the detection means has detected a member corresponding to the storage section, it corresponds to the storage section. It is configured to perform a learning operation for obtaining the target horizontal movement distance information and the target up / down movement distance information for a target stop position, and the storage means includes the control means In that it is configured to store at least said target horizontal movement distance information of said target horizontal movement distance information and the target vertical moving distance information calculated by the learning operation.

That is, when the learning operation is instructed to the control means provided in the transfer device, the control means performs the learning operation. Then, the control means performs the learning operation so that the member corresponding to each of the plurality of storage units is sequentially detected by the member detection means, and the moving body is moved horizontally and the lifting body is moved up and down to move the member. Based on the horizontal movement distance detection information of the horizontal movement distance detection means and the vertical movement distance detection information of the vertical movement distance detection means in a state in which the detection means detects the member corresponding to the storage part, the target stop position corresponding to the storage part Therefore, the target horizontal movement distance information and the target up / down movement distance information are obtained.
And since the storage means stores at least the target horizontal movement distance information among the target horizontal movement distance information and the target up / down movement distance information obtained by the control means by the learning operation, the target horizontal movement obtained by the control means by the learning operation It is only necessary to store at least the target horizontal movement distance information among the distance information and the target up / down movement distance information in the storage means.

In this way, the learning operation is performed by giving the learning command, and only the work of storing at least the target horizontal movement distance information among the target horizontal movement distance information and the target lifting movement distance information obtained by the learning operation is stored in the storage means. Storing at least the target horizontal movement distance information among the target horizontal movement distance information and the target up / down movement distance information for all of the plurality of storage units provided in the plurality of article storage shelves installed corresponding to the plurality of work paths. It can be stored in the means, and the work can be simplified.
And since the information memorize | stored in a memory | storage means is information obtained by performing a learning driving | operation and moving a moving body horizontally and moving a raising / lowering body up / down, appropriate information is memorize | stored in a memory | storage means. Will be able to.

  According to a third characteristic configuration of the article transport facility according to the present invention, the article storage shelf is provided with a plurality of support columns standing at intervals in the longitudinal direction of the work passage and at intervals in the longitudinal direction of the support columns. A plurality of placement support portions for placing the product, wherein the storage portion is configured to store the product in a form of placing and supporting the product on the placement support portion, and the member detection unit includes: It is comprised from the support | pillar detection means which detects the said support | pillar, and the mounting support part detection means which detects the said mounting support part, and the said control means mentions the said mounting support part in each accommodating part in the said learning driving | operation. The movement is performed so that the support detection unit detects the position corresponding to the installation location of the storage support in the support column adjacent to each storage unit. Horizontal movement of the body and ascent of the lifting body In that it is configured to control the movement.

That is, each storage unit stores the article in a form in which the article is mounted and supported on the mounting support unit provided at an interval in the longitudinal direction of the adjacent column, so that the target stop position corresponding to each storage unit The target horizontal movement distance information and target vertical movement distance information are based on the distance from the reference horizontal position for the column adjacent to the storage section and the distance from the reference lift position for the mounting support section corresponding to the storage section. You can ask for it.
Then, the control means performs a learning operation to cause the placement support part detection means to detect the placement support part in each storage part, and to place each storage part in the column adjacent to each storage part. In a state where the mounting support unit detecting means detects the mounting support unit by controlling the horizontal movement of the moving body and the vertical movement of the lifting body so that the portion corresponding to the installation location of the support unit is detected by the support column detection unit. Based on the lifting / lowering movement distance detection information of the lifting / lowering movement distance detecting means, the distance from the reference lifting / lowering position of the mounting support portion can be obtained, and the column detection means corresponds to the installation position of the mounting support portion in the column Based on the horizontal movement distance detection information of the horizontal movement distance detection means in the state where the portion is detected, the distance from the reference horizontal position for the column can be obtained.
Therefore, the target indicating the target stop position corresponding to each storage unit based on the distance from the reference lift position for the mounting support portion and the distance from the reference horizontal position for the support column, which are obtained by the learning operation performed by the control means. The horizontal movement distance information and the target up / down movement distance information can be accurately obtained.

  According to a fourth characteristic configuration of the article transport facility according to the present invention, the control means learns all of the plurality of storage units included in the plurality of article storage shelves for the target horizontal movement distance information in the learning operation. For the target up / down movement distance information, the plurality of storage units included in some of the plurality of article storage shelves are set as learning targets in the article storage shelves that are not the learning targets. The target up / down movement distance information for the target stop position corresponding to the storage section is configured to substitute the target up / down movement distance information obtained for the storage section in the learned article storage shelf. .

That is, for the target horizontal movement distance information, the control means performs learning operation for all of the plurality of storage units included in the plurality of item storage shelves as learning targets, so that the plurality of storage units included in the plurality of item storage shelves. The target horizontal movement distance information for all target stop positions can be obtained.
For the target ascending / descending movement distance information, the control unit performs learning operation with a plurality of storage units provided in some of the plurality of article storage shelves as a learning target, thereby storing the learning target. The target up / down movement distance information about the target stop position in the unit can be obtained. And the target raising / lowering movement distance information about the target stop position corresponding to the article storage shelves not to be learned can be obtained by substituting the target raising / lowering movement distance information obtained by performing the learning operation. Therefore, it is possible to obtain the target up / down movement distance information about the target stop positions in all of the plurality of storage units provided in the plurality of article storage shelves.

For example, when the column provided in the article storage shelf is assembled in a tilted state, the target stop position corresponding to each storage unit is more easily displaced in the horizontal direction than in the vertical direction. In addition, for example, in the case where the article transfer means is configured by a fork-type article transfer means, the article is taken in and out of the storage unit by raising and lowering the lifting body located at the target stop position. In positioning the elevating body at the target stop position, high accuracy cannot be required for the position of the elevating body in the vertical direction.
Therefore, since the target up-and-down movement distance information is not required to be highly accurate information compared to the target horizontal movement distance information, the target up-and-down movement distance information about the target stop position corresponding to the article storage shelf that is not a learning target is Information that can properly carry in and out articles for a plurality of storage units provided in an article storage shelf that is not a learning target, even if the target up-and-down movement distance information obtained by performing learning operation is substituted. Will be obtained.

Thus, by performing the learning operation, it is possible to obtain appropriate target horizontal movement distance information and target up / down movement distance information regarding the target stop positions in all of the plurality of storage units included in the plurality of article storage shelves.
Moreover, with respect to the target ascending / descending movement distance information, since the learning operation is performed with only a part of the plurality of article storage shelves as the learning target, the number of storage units to be learned can be reduced. Thus, the work can be simplified.

  A fifth characteristic configuration of the article transport facility according to the present invention is that a part of the plurality of transfer devices is defined as a transfer device for a learning operation, and the control means provided therein includes a plurality of work paths. The learning unit is configured to execute the learning operation for all of the plurality of article storage shelves installed corresponding to the storage unit, and the storage unit includes the control unit included in the transfer device for the learning operation. The transfer device that is configured to store the target horizontal movement distance information and the target up / down movement distance information obtained by the learning operation and that does not execute the learning operation among the plurality of transfer devices is used for the individual difference learning operation. A plurality of the article storages that are defined as the transfer device, and the control means of the equipment has the learning operation as the individual difference learning operation, and the control means of the transfer device for the learning operation performs the learning operation. Out of the shelf The horizontal movement of the movable body and the vertical movement of the lift body are controlled so as to perform the learning operation with at least a part of the plurality of storage sections included in the article storage shelves as learning targets, and The horizontal movement distance detection information of the horizontal movement distance detection means and the vertical movement distance detection information of the vertical movement distance detection means detected for the storage unit to be learned by the learning operation, and the transfer device for the learning operation The horizontal movement distance detection of the horizontal movement distance detection means detected by the control means of the equipment for the storage unit to be learned by the control means of the equipment in the transfer device for individual difference learning operation by the learning operation. Individual difference information is obtained by comparing the information with the up-and-down movement distance detection information of the up-and-down movement distance detection means, and a plurality of the article storage shelves Among the plurality of storage units, at least the target horizontal movement distance information and the target up / down movement distance information indicating a target stop position for a storage unit that is not performing the learning operation are stored in the storage unit. The target horizontal movement distance information and the target up-and-down movement distance information are obtained by correcting with the individual difference information.

That is, since there are individual differences among a plurality of transfer devices, the target horizontal movement distance information and the target up-and-down movement distance information obtained by performing a learning operation by the control means equipped on the transfer device is the transfer device. There is a possibility that it is not necessarily information corresponding to the transfer device for other transfer devices. Therefore, each of the plurality of control means equipped in the plurality of transfer devices is required to acquire the target horizontal movement distance information and the target up-and-down movement distance information corresponding to the transfer device for which the operation is controlled.
Therefore, all of the plurality of transfer devices are determined as transfer devices for learning operation, and the control means of the equipment learns all of the plurality of article storage shelves installed corresponding to the plurality of work paths. It is conceivable to configure to execute the operation.
However, in this case, all of the plurality of control means equipped on the plurality of transfer devices perform the learning operation for all of the plurality of article storage shelves installed corresponding to the plurality of work paths. As a result, the number of storage units to be learned increases, resulting in a complicated work and a long time for the work.

According to the present invention, a part of the plurality of transfer devices is defined as a transfer device for learning operation, and the rest that does not execute the learning operation is determined as a transfer device for individual difference learning operation.
The control means provided in the transfer device for the learning operation executes the learning operation for all of the plurality of article storage shelves installed corresponding to the plurality of work paths as the learning target, and transfers the learning operation. The target horizontal movement distance information and the target vertical movement distance information corresponding to the loading device can be obtained, and the storage means stores the target horizontal movement distance information and the target vertical movement distance information corresponding to the obtained learning operation transfer device. I will remember it.
Further, the control means provided in the transfer device for individual difference learning operation may be a part of the article storage shelves among the plurality of article storage shelves that the control means provided in the transfer device for learning operation has performed the learning operation. The learning operation is performed with at least some of the plurality of storage units included in the learning target as the learning target, and the horizontal movement distance detection information and the vertical movement distance detection information are detected for the storage unit as the learning target. Then, the control means provided in the transfer device for individual difference learning driving, for the storage unit to be learned, the horizontal movement distance detection information and the vertical movement distance detection information detected by itself, and the transfer for learning driving The individual between the transfer device for learning operation and the transfer device for individual difference learning operation is compared by comparing the horizontal movement distance detection information and the vertical movement distance detection information detected by the control means installed in the device. Individual difference information indicating the difference can be obtained. The control means included in the transfer device for individual difference learning operation is the target horizontal movement distance information and the target up / down movement distance information corresponding to the transfer device for learning operation stored in the storage means by communication with the storage means. The target horizontal movement distance information and the target vertical movement corresponding to the transfer device for individual difference learning operation are corrected by correcting the acquired target horizontal movement distance information and target vertical movement distance information with the individual difference information. The travel distance information can be obtained.

  In this way, the control means equipped in the transfer device for learning operation can acquire the target horizontal movement distance information and the target up-and-down movement distance information corresponding to the transfer device for learning operation. The control means equipped in the transfer device for driving can also acquire target horizontal movement distance information and target lifting / lowering distance information corresponding to the transfer device for individual difference learning operation, and is equipped in multiple transfer devices. Each of the plurality of control means can acquire the target horizontal movement distance information and the target up-and-down movement distance information corresponding to the transfer device that controls the operation.

And although the control means equipped in the transfer device for learning driving is intended to learn all of the plurality of article storage shelves, the control means equipped in the transfer device for individual difference learning driving is used for learning driving. Since at least some of the plurality of storage units included in some of the article storage shelves out of the plurality of article storage shelves in which the control unit of the transfer device has performed the learning operation are subject to learning, individual differences It is possible to reduce the number of storage units to be learned by the control means equipped in the transfer device for learning operation, simplify the work, and shorten the time required for the work. It will be possible.
Further, for example, by defining one of the plurality of transfer devices as a transfer device for learning operation and determining the rest as a transfer device for individual difference learning operation, the number of storage units to be learned is determined. As much as possible, the work can be simplified and the time required for the work can be shortened.

  A sixth characteristic configuration of the article transport facility according to the present invention is that a part of the plurality of transfer devices is defined as a transfer device for a learning operation, and the control means included therein includes a plurality of work paths. The learning unit is configured to execute the learning operation for all of the plurality of article storage shelves installed corresponding to the storage unit, and the storage unit includes the control unit included in the transfer device for the learning operation. Of the target horizontal movement distance information and the target up / down movement distance information obtained by the learning operation, the target horizontal movement distance information is stored, and the learning operation of the plurality of transfer devices is not executed. The transfer device is defined as a transfer device for individual difference learning operation, and the control means equipped to the transfer device is used as the individual difference learning operation, and the control means equipped to the transfer device for learning operation is the learning device. Drive A learning operation for the target horizontal movement distance information is performed with at least some of the plurality of storage units included in some of the plurality of article storage shelves as learning targets, and Controlling the horizontal movement of the movable body and the vertical movement of the lifting body so as to perform learning operation on the target lifting movement distance information, with at least a part of the article storage shelf as a learning target, and By the learning operation, the horizontal movement distance detection information of the horizontal movement distance detection means detected for the storage unit to be learned, and the control means equipped in the transfer device for the learning operation, the learning operation, the control means Comparison with the horizontal movement distance information of the horizontal movement distance detection means detected by the control means included in the transfer device for individual difference learning operation detected for the storage unit to be learned The target horizontal movement indicating a target stop position for a storage unit that is configured to obtain more individual difference information and that does not execute at least the learning operation among a plurality of storage units in the plurality of article storage shelves. The distance information is obtained by correcting the target horizontal movement distance information stored in the storage means with the individual difference information.

In other words, a part of the plurality of transfer devices is defined as a transfer device for learning operation, and the rest not performing the learning operation is defined as a transfer device for individual difference learning operation.
Then, the control means provided in the transfer device for the learning operation performs the learning operation with all of the plurality of article storage shelves installed corresponding to the plurality of work passages as the learning target, but the target horizontal movement For the distance information, the learning operation is performed for all of the plurality of article storage shelves installed corresponding to the plurality of work passages, and for the target lifting movement distance information, among the plurality of article storage shelves An article in which learning operation is performed with a plurality of the storage units included in some article storage shelves as learning targets, and the target up / down movement distance information about the target stop position corresponding to the storage unit in the article storage shelves that are not the learning targets is learned The target up-and-down movement distance information obtained for the storage unit in the storage shelf is used instead. In this way, the control means provided in the transfer device for learning operation can obtain the target horizontal movement distance information and the target up / down movement distance information corresponding to the transfer device for learning operation.
Then, the storage means stores the target horizontal movement distance information corresponding to the transfer device for learning operation, and the target up / down movement distance information corresponding to the transfer device for learning operation is used for the learning operation. The control means provided in the transfer device stores and holds it.
Further, the control means provided in the transfer device for individual difference learning operation may be a part of the article storage shelves of the plurality of article storage shelves that the control means provided in the transfer device for learning operation has performed the learning operation. The learning operation for the target horizontal movement distance information is performed with at least some of the plurality of storage units included in the learning target as the learning target, and the horizontal movement distance detection information is detected for the storage unit as the learning target. Then, the control means provided in the transfer device for individual difference learning driving includes the horizontal movement distance detection information detected by the self for the storage unit to be learned in the learning driving for the target horizontal movement distance information, and the learning driving The individual difference between the transfer device for learning operation and the transfer device for individual difference learning operation is shown by comparing the horizontal movement distance detection information detected by the control means of the transfer device Individual difference information can be obtained. The control means equipped in the transfer device for individual difference learning driving acquires the target horizontal movement distance information corresponding to the transfer device for learning driving stored in the storage means by communication with the storage means, and By correcting the acquired target horizontal movement distance information with the individual difference information, the target horizontal movement distance information corresponding to the transfer device for individual difference learning operation can be obtained. Further, the control means provided in the transfer device for individual difference learning operation performs the learning operation on the target ascending / descending movement distance information with at least a part of the plurality of article storage shelves as the learning object, and the article that is not the learning object. Transfer for the individual difference learning operation by substituting the target up / down movement distance information obtained for the storage unit in the learned article storage shelf with the target up / down movement distance information about the target stop position corresponding to the storage unit in the storage shelf. The target up / down movement distance information corresponding to the apparatus can be obtained.

  In this way, the control means equipped in the transfer device for learning operation can acquire the target horizontal movement distance information and the target up-and-down movement distance information corresponding to the transfer device for learning operation. The control means equipped in the transfer device for driving can also acquire target horizontal movement distance information and target lifting / lowering distance information corresponding to the transfer device for individual difference learning operation, and is equipped in multiple transfer devices. Each of the plurality of control means can acquire the target horizontal movement distance information and the target up-and-down movement distance information corresponding to the transfer device that controls the operation.

Then, with respect to the target horizontal movement distance information, the control means provided in the transfer device for learning operation controls the equipment in the transfer device for individual difference learning operation, although all of the plurality of article storage shelves are subject to learning. The means for learning at least a part of the plurality of storage units included in a part of the article storage shelves of the plurality of article storage shelves that the control means of the equipment on the transfer device for the learning operation performs the learning operation on Therefore, it is possible to reduce the number of storage units to be learned by the control means equipped in the transfer device for individual difference learning operation, and to simplify the work, and the time required for the work. Can be shortened.
Further, for example, by defining one of the plurality of transfer devices as a transfer device for learning operation and determining the rest as a transfer device for individual difference learning operation, the number of storage units to be learned is determined. As much as possible, the work can be simplified and the time required for the work can be shortened.

  According to a seventh characteristic configuration of the article transport facility according to the present invention, the control means provided in the transfer device for the individual difference learning operation learns one support column included in the article storage shelf in the individual difference learning operation. As a target, the horizontal movement of the moving body and the vertical movement of the lifting body are controlled so as to perform a learning operation on the target horizontal movement distance information.

  That is, the control means equipped in the transfer device for individual difference learning operation is configured so that the support body detection unit detects the portion corresponding to the installation location of the mounting support portion of each storage unit in one support column. The movement and the lifting / lowering movement of the lifting / lowering body will be controlled. Therefore, the member to be learned becomes one support column, and the work can be simplified and the time required for the work can be shortened.

  An eighth feature of the article conveying facility according to the present invention is that the horizontal movement distance detecting means is provided on the moving body and engages with an engaging body provided along the horizontal movement direction of the moving body. The moving body is provided with a reference member detecting means for detecting at least two reference members provided at intervals in the horizontal movement path; The control means provided in the transfer device for the learning operation controls horizontal movement of the movable body so that the reference member detection means detects at least two reference members, and the reference member Based on the horizontal movement distance detection information of the horizontal movement distance detection means from when the detection means detects the reference member to when the next reference member is detected, the distance between the two reference members is determined. The control means provided in the transfer device for individual difference learning operation is configured to obtain at least two reference members by the reference member detection means. Obtained based on the horizontal movement distance detection information of the horizontal movement distance detection means from when the reference member detection means detects the reference member until the next reference member is detected after controlling the horizontal movement of the body. The pulse number difference information is obtained by comparing the pulse number information regarding the distance between the two reference members and the pulse number information obtained by the control means provided in the transfer device for the learning operation. The lifting body is selected as one of the plurality of target stop positions based on the target horizontal movement distance information stored in the storage means and the pulse number difference information. In order to position the, in that it is configured to control the horizontal movement of the moving body.

That is, since the horizontal movement distance detecting means is constituted by the encoder by the rotation of the rotating body engaged with the engaging body provided along the horizontal moving direction of the moving body, the control of the equipment in the transfer device The means can detect the horizontal movement distance detection information from the reference horizontal position for the moving body by detecting the number of pulses output from the encoder.
The control means controls the horizontal movement of the moving body so that the distance information corresponding to the number of pulses output from the encoder matches the target horizontal movement distance information, thereby moving the lifting body to the target stop position in the horizontal direction. Can be positioned.

  The target horizontal movement distance information stored in the storage means is pulse number information output from an encoder provided on the moving body of the transfer device for learning operation. However, since the distance information corresponding to one pulse output from the encoder may vary depending on the encoder due to individual differences, the control means provided in the transfer device for individual difference learning operation is obtained from the storage means. If the target horizontal movement distance information is used as it is, there is a possibility that the elevating body is positioned in a state of being displaced from the target stop position in the horizontal direction.

According to the present invention, both the control means provided in the transfer device for learning operation and the control means provided in the transfer device for individual difference learning operation include at least two reference members in the reference member detection means. Based on the number of pulses output from the encoder from when the reference member detecting means detects the reference member until the next reference member is detected, the moving body is moved horizontally so that the two reference members are detected. The pulse number information for the distance is obtained.
The control means equipped in the transfer device for individual difference learning operation, by comparing the pulse number information obtained by the self and the pulse number information obtained by the control means equipped in the transfer device for learning operation, The difference information of the number of pulses is obtained.
Then, the control means provided in the transfer device for individual difference learning operation moves up and down to one of a plurality of target stop positions based on the target horizontal movement distance information stored in the storage means and the pulse number difference information. The horizontal movement of the moving body is controlled to selectively position the body.

  In this way, the control means equipped in the transfer device for individual difference learning operation does not use the target horizontal movement distance information stored in the storage means as it is, but uses the individual difference learning operation based on the difference information of the number of pulses. The distance information corresponding to one pulse output from the encoder provided on the moving body of the transfer apparatus for the image is converted into the reference information, and the lifting body is selectively positioned at one of a plurality of target stop positions. Accordingly, the horizontal movement of the moving body is controlled, and the lifting body can be positioned at the target stop position in the horizontal direction.

An article conveying facility according to the present invention will be described with reference to the drawings.
[First Embodiment]
First, the first embodiment will be described. As shown in FIGS. 1 and 2, the article transport facility in the first embodiment has a work path 2 for entering and leaving the article storage shelf 1 on the side. In a state where the article storage shelf 1 is disposed, a plurality of the storage shelves 1 are arranged side by side in the direction perpendicular to the longitudinal direction.
FIG. 1 is a plan view of the article transport facility, and FIG. 2 is a perspective view of one work path 2 of the article transport facility.

  Then, a stacker crane 4 as a transfer device for loading and unloading the article B with respect to each of the plurality of storage units 3 arranged vertically and horizontally on the article storage shelf 1, and a plurality of the stacker cranes 4 that can be freely taken on and off by running of the stacker crane 4. A traverser 5 is provided as a movable transfer device so as to be selectively positioned in one of the work paths 2.

As shown in FIG. 3 which shows a side view of the work passage 2, the article storage shelf 1 is provided with a plurality of support posts 6 standing in the horizontal direction (longitudinal direction of the work passage 2) at intervals. In each case, a plurality of placing support portions 7 for placing articles extending in the horizontal direction are arranged at intervals in the longitudinal direction of the support column 6.
The storage unit 3 is configured to store the article B in a form in which the article B is placed and supported on the placement support part 7.

Each of the work passages 2 is provided with a guide rail 8 for horizontally moving the stacker crane 4 along the longitudinal direction of the work passage 2.
As shown in FIG. 3, the stacker crane 4 includes a traveling carriage 9 as a movable body that can travel along the guide rail 8, and a lifting platform 10 as a lifting body that can be raised and lowered relative to the traveling carriage 9. The fork device 11 is provided as an article transfer means that can be transferred together with the pallet P on which the article 9 is placed on the lifting platform 10.
As shown in FIG. 2, the left and right guide rollers 13 supported by the support frame 12 are guided and supported along the guide rails 14 provided on the article storage shelf 1 at the upper end of the stacker crane 4. .

The stacker crane 4 includes a plurality of storage units in the article storage shelf 1 installed corresponding to the work path 2 currently located among the plurality of work paths 2 by traveling the traveling carriage 9 and raising and lowering the lifting platform 10. The elevator 10 is selectively positioned at any one of a plurality of target stop positions corresponding to each of the three, and is stored in a state where the elevator 10 is positioned at the target stop position by the transfer operation of the fork device 11. The article B is configured to be taken in and out of the part 3.
A plurality of the stacker cranes 4 are provided in a form that is smaller than the number of work passages 2. In this embodiment, four work passages 2 are provided side by side, and two stacker cranes 4 are provided.

The lifting platform 10 is guided and supported so as to be movable up and down along a pair of front and rear lifting masts 15 erected on the traveling carriage 9, and is suspended and supported by lifting chains 16 connected to the left and right sides thereof.
The elevating chain 16 is wound around a guide sprocket 18 provided on the upper frame 17 of the stacker crane 4 and a guide sprocket 19 provided on one elevating mast 15, and is installed on one end of the traveling carriage 9. 20 is connected.
The take-up drum 20 is driven to rotate in the forward and reverse directions by an elevating electric motor 21 that is an inverter type motor, and the elevating platform 10 is moved up and down by feeding and winding operations of the elevating chain 16. Yes.

The traveling carriage 9 has an elevation laser range finder 22 for projecting beam light for distance measurement in the horizontal direction, and a path of the beam light projected by the elevation laser range finder 22 vertically upward. A mirror 24 is provided for bending and irradiating the reflecting plate 23 installed on the lower surface of the lifting platform 10.
Then, the lifting laser range finder 22 uses the position of the mirror 24 provided on the traveling carriage 9 as the reference lifting position in the lifting direction of the lifting platform 10, and sets the distance between the reference lifting position and the lifting platform 10. By detecting, it is comprised so that the raising / lowering movement distance from a reference | standard elevating position may be detected. In this manner, the lifting / lowering distance detecting means for detecting the lifting / lowering distance of the lifting / lowering platform 10 from the reference lifting / lowering position with respect to the lifting / lowering movement of the lifting / lowering platform 10 along the lifting / lowering mast 15 is obtained by the lifting / lowering laser rangefinder 22. It is configured.

  Further, the traveling carriage 9 is provided with two front and rear wheels 25 that can freely travel on the guide rail 8, and a wheel on one end side of the two wheels 25 is a traveling electric motor 26 that is an inverter type motor. The driving wheel 25a for driving is configured to be driven, and the wheel on the other end side is configured as a freely driven wheel 25b.

On one end side of the guide rail 8, a traveling laser range finder 27 that projects a distance measuring beam light in the horizontal direction is provided. The traveling carriage 9 includes a beam light from the traveling laser range finder 27. Is provided.
The traveling laser range finder 27 projects the light toward the reflector 28 installed on the traveling carriage 9 and detects the horizontal movement distance from the reference horizontal position with the installation position as the reference horizontal position. It is configured as follows. In this way, the horizontal movement distance detecting means for detecting the horizontal movement distance of the traveling carriage 9 from the reference horizontal position for the horizontal movement of the traveling carriage 9 in each of the plurality of work paths 2 includes the traveling laser range finder 27. It is composed of.

As shown in FIG. 1, a boarding / unloading point 30 for getting on and off the stacker crane 4 is provided on the traverser 5, and the stacker crane 4 is moved by the traveling carriage 10. The work passage 2 is configured to move horizontally to the boarding / alighting location 30 and to get on and off the traverser 5.
The traverser 5 includes a rail portion 33 and a guide rail that guide the travel of the stacker crane 4 between the end portion of the guide rail 8 of the work path 2 and a position on the traverser 5 in a state where the traverser 5 is located at the getting-on / off location 30. Part 34 is provided.

The traverser 5 includes an idler wheel 31 and a drive wheel 31a that is rotationally driven by the electric motor 32, and is movable on the two rails 29 provided along the parallel direction of the work path 2. It is configured to be movable on the two rails 29 in the direction in which the work passages 2 are juxtaposed so as to be selectively located at any one of the plurality of getting-on / off places 30.
A carry-in / out location 40 is provided at the end of the travel path of the traverser 5, and the traverser 5 is configured to be movable to the carry-in / out location 40.

  The traverser 5 is provided with a photoelectric sensor 45 for detecting the position of the detected plate 44 provided on the floor side, and the detected plate 44 corresponds to each of the plurality of boarding points 30. It is arranged so that it can be stopped at each boarding point 30 by detecting the detection plate 44 by the photoelectric sensor 45.

As shown in FIG. 1, a central control device 35 for centrally controlling the operation of the plurality of stacker cranes 4 and the traverser 5 is provided.
As shown in FIG. 4, each of the plurality of stacker cranes 4 is provided with a crane control device 36 as control means for controlling the operation of the stacker crane 4, and the traverser 5 controls the operation of the traverser 5. A traverser control device 37 is provided.

Various information is transmitted between the central control device 35 and the crane control device 36 and between the central control device 35 and the traverser control device 37 by optical signals.
Specifically, as shown in FIG. 1, an optical transmission / reception device 38a connected to the central control device 35 is installed at one end of the travel path of the traverser 5, and the optical transmission / reception device 38a and the light on the traverser 5 side are installed. The transmission / reception device 38 b is configured to transmit and receive optical signals transmitted along the travel path of the traverser 5.
Further, an optical transmission / reception device 39a connected to the central control device 35 is installed at an end outward position opposite to the boarding / alighting location 30 of each work passage 2, and an optical transmission / reception device 39a at the end of each work passage 2 is installed. And the optical transmission / reception apparatus 39b installed in each stacker crane 4 is comprised so that the optical signal transmitted along the longitudinal direction of the work path 2 may be transmitted / received.

Then, the centralized control device 35 issues an article transport request such as an entry request for entering the article B that has been carried in from the carry-in / out place 40 into the article storage shelf 1 or an exit request for taking out the article B from the article storage shelf 1 to the carry-in / out place 40. If there is, the operation command information for instructing the location corresponding to the target entry / exit location 30 and the carry-in / out location 40 from the plurality of entry / exit locations 30 is given to the traverser control device 37 and the articles are taken in / out from the plurality of storage units 3. Operation command information for instructing the intended storage 3 is given to the crane control device 36.
On the other hand, the traverser control device 37 places the traverser 5 on the basis of the operation command information from the centralized control device 35 so that the traverser 5 is positioned at a location corresponding to the intended entry / exit location 30 and the loading / unloading location 40. Based on the operation command information from the central control device 35, the crane control device 36 controls the traveling carriage 9 to position the lifting platform 10 at the target stop position corresponding to the target storage unit 3. Control of traveling and raising / lowering of the lifting / lowering table 10 and controlling the transfer operation of the fork device 11 so that articles can be taken into and out of the target storage unit 3 with the lifting / lowering table 10 positioned at the target stop position. .

The operation of the stacker crane 4 will be described.
The target stop position is determined in correspondence with each of the plurality of storage units 3 provided in the article storage shelf 1 installed corresponding to the work path 2, and is based on the reference horizontal position for the traveling carriage 9. The target horizontal movement distance information and the target vertical movement distance information from the reference lifting position for the lifting platform 10 are indicated. Further, as the target stop position, a target stop position for scooping up the article 9 from the storage unit 3 to the fork device 11 and a target stop position for wholesale of the article 9 from the fork device 11 to the storage unit 3 are determined. Two types of target stop positions are determined corresponding to each of the plurality of storage units 3. The target stop position for scooping and the target stop position for wholesale are different positions in the vertical direction in a state where the target stop position for wholesale is located above the target stop position for scooping. The direction is the same.
As shown in FIGS. 1 to 3, the target horizontal movement distance information from the reference horizontal position for the traveling carriage 9 and the target vertical movement distance from the reference lifting position for the lifting platform 10 that indicate a plurality of target stop positions. Storage means 41 for storing information about all of the article storage shelves 1 corresponding to each of the plurality of work paths 2 is provided outside the stacker crane 4 so as to be able to communicate with the crane control device 36. Yes.

  As shown in FIG. 1, the storage means 41 is a plurality of information storage tags 42 disposed in each of the plurality of work passages 2, and each of the plurality of information storage tags 42 is disposed at its position. The target horizontal movement distance information and the target up / down movement distance information for a plurality of target stop positions in the article storage shelf 1 corresponding to the work path 2 corresponding to the above are stored.

  The crane control device 36 equipped in the stacker crane 4 acquires the target horizontal movement distance information and the target up-and-down movement distance information stored in the information storage tag 42 by non-contact communication in the reader / writer device 43, Based on the acquired target horizontal movement distance information and target up / down movement distance information, horizontal movement distance detection information of the traveling laser range finder 27 and up / down movement distance detection information of the up / down laser range finder 22, a plurality of information are obtained. Among the work paths 2, the lifting platform 10 is located at one of a plurality of target stop positions corresponding to each of the plurality of storage units 3 in the article storage shelf 1 installed corresponding to the work path 2 where the stacker crane 4 is currently located. Is configured to control the traveling of the traveling carriage 9 and the elevation of the lifting platform 10.

That is, when the crane control device 36 descends from the traverser 5 to the work path 2 at the getting-on / off location 30, first, the information storage tag 42 and the reader / writer device 43 disposed in the vicinity of the getting-on / off location 30 are connected. Through the non-contact communication, the target horizontal movement distance information and the target up / down movement distance information about a plurality of target stop positions in the article storage shelf 1 installed corresponding to the work path 2 where the stacker crane 4 is currently located are acquired.
Thereafter, the crane control device 36 acquires the acquired target horizontal movement distance information and target vertical movement distance information, horizontal movement distance detection information of the traveling laser range finder 27, and vertical movement distance detection of the vertical movement laser range finder 22. Based on the information, the electric motor 26 for traveling and the electric motor for raising and lowering are used to run the traveling carriage 9 and raise and lower the elevator 10 so that the elevator 10 is located at the target stop position corresponding to the target storage unit 3. The operation of the motor 21 is controlled. At this time, when the article 9 is scraped from the target storage unit 3 to the fork device 11, the traveling carriage 9 is caused to travel and the elevator base 10 is moved up and down so that the elevator base 10 is positioned at the target stop position for scooping; When the article 9 is wholesaled from the fork device 11 to the target storage unit 3, the traveling carriage 9 is caused to travel and the elevator base 10 is moved up and down so that the elevator base 10 is positioned at the target stop position for wholesale.
And if the control apparatus 36 for cranes positions the raising / lowering stand 10 in the target stop position corresponding to the target accommodating part 3, transfer of the fork apparatus 11 will be carried out in the state which put the lifting / lowering base 10 in the target stop position. By controlling the operation, the article B is put into and out of the target storage unit 3.

The crane control device 36 has a work mode and a learning mode. By switching to the work mode, as described above, the traveling carriage 10 positions the elevator 10 at the target stop position corresponding to the target storage unit 3. 9 is controlled, and the operation of the fork device 11 is controlled so that articles can be taken in and out of the storage unit 3 with the lift 10 positioned at the target stop position.
Then, by switching to the learning mode, the crane control device 36 travels the traveling carriage 9 and raises / lowers the lifting platform 10, so that the target horizontal movement distance information and the target lifting / lowering for the target stop position corresponding to the storage unit 3 are obtained. The learning driving for obtaining the travel distance information is performed.
The switching between the work mode and the learning mode is switched by the mode switching switch 44. When the mode switching switch 44 is switched to the learning mode, the crane control device 36 assumes that a learning command has been commanded. It is configured to perform learning driving.

To explain the learning operation, the crane control device 36 detects the column 6 in the article storage shelf 1 by the column detection sensor 46 including a photoelectric sensor and the like, and also detects the support unit detection sensor 47 from the photoelectric sensor and the like. While detecting the mounting support portion 7, the traveling carriage 9 is moved horizontally at the learning speed and the lifting platform 10 is moved up and down at the learning speed.
Then, the crane control device 36 obtains the target horizontal movement distance information for each target stop position based on the horizontal movement distance detection information of the traveling laser range finder 27 when the pillar detection sensor 46 detects the pillar 6. In addition, the target up / down movement distance information for each target stop position is obtained based on the up / down movement distance detection information of the up / down laser range finder 22 when the placement support part detection sensor 47 detects the placement support part 7. It is configured to ask for.

  That is, the crane control device 36 sequentially detects the members corresponding to each of the plurality of storage units 3 by the support detection sensor 46 and the placement support unit detection sensor 47 as the member detection unit as the learning operation. The horizontal movement distance detection information of the traveling laser range finder 27 and the lifting laser in a state where the traveling of the traveling carriage 9 and the lifting and lowering of the lifting platform 10 are controlled and the member detection means detects the member corresponding to the storage unit 3. Based on the up / down movement distance detection information of the distance meter 22, the target horizontal movement distance information and the target up / down movement distance information for the target stop position corresponding to the storage unit 3 are obtained.

In other words, the crane control device 36 detects the placement support portion 7 in each storage portion 3 by the placement portion detection sensor 47 in the learning operation, and the column 6 adjacent to each storage portion 3. The traveling carriage 9 and the lifting / lowering of the lifting platform 10 are controlled so that the column detection sensor 46 detects the portion corresponding to the installation location of the mounting support portion 7 of each storage section 3.
Then, the crane control device 36 detects the horizontal movement distance detection information and the placement support of the traveling laser rangefinder 27 when the support detection sensor 46 detects a portion corresponding to the installation location of the placement support 7 on the support 6. Based on the up / down movement distance detection information of the up-and-down laser rangefinder 22 when the mounting support part 7 is detected by the part detection sensor 47, the target horizontal movement distance information and the target up-and-down movement distance for a plurality of target stop positions It is configured to ask for information.

The configuration for obtaining the target horizontal movement distance information and the target up / down movement distance information will be described.
First, acquisition of horizontal movement distance detection information of the travel laser range finder 27 will be described.
For example, the crane control device 36 detects a plurality of struts 6 spaced apart in the horizontal direction in a state where the lifting platform 10 is positioned at a portion corresponding to the installation location of the mounting support 7 provided on the strut 6. As shown in FIG. 5 (a), one mounting provided on the column 6 is made by traveling the traveling carriage 9 from one end side to the other end side of the article storage shelf 1 so as to be sequentially detected by the sensor 46. The horizontal movement distance detection information (P11 to P14) of the traveling laser rangefinder 27 for the portion corresponding to the installation location of the mounting support portion 7 is acquired. Then, the crane control device 36 repeats the above-described operation while changing the portion corresponding to the installation location of the placement support portion 7 to be detected by the support column detection sensor 46, so that the crane control device 36 can detect the support 6 and the placement device of the article storage shelf 1. For all of the support parts 7, horizontal movement distance detection information (P11 to P14, P22) of the travel laser range finder 27 when the support detection sensor 46 detects a portion corresponding to the installation location of the mounting support part 7 in the support pillar 6. To P24, P31 to 34, and P41 to P44). Incidentally, FIG. 5 (a) shows only a part of the article storage shelf 1.

Next, acquisition of up / down movement distance detection information of the up / down laser range finder 22 will be described.
For example, the crane control device 36 has a plurality of placements spaced apart in the vertical direction provided on the column 6 in a state where the lifting platform 10 is positioned on the placement support unit 7 provided on the column 6. As shown in FIG. 5B, the elevator 10 is moved up and down from the lower end portion to the upper end portion of the article storage shelf 1 so that each of the support portions 7 is sequentially detected by the placement support portion detection sensor 47. The up / down movement distance detection information (Q11 to Q14) of the up-and-down laser rangefinder 22 for the plurality of mounting support portions 7 in one column 6 is acquired. Then, the crane control device 36 repeats the above operation while changing the support column 6 to be detected by the mounting support unit detection sensor 47, so that the crane control device 36 has all of the support column 6 and the mounting support unit 7 of the article storage shelf 1. As for elevating movement distance detection information (Q11 to Q14, Q21 to Q24, Q31 to Q34, Q41 to Q44) of the elevating laser range finder 22 when the placing support portion detection sensor 47 detects the placing support portion 7. ) To get. Incidentally, FIG. 5 (b) shows only a part of the article storage shelf 1.

When the crane control device 36 acquires the horizontal movement distance detection information of the traveling laser range finder 27, the crane control device 36 detects the portion corresponding to the installation location of the mounting support portion 7 in the column 6 by the column detection sensor 46. Information on the horizontal movement distance of the traveling laser range finder 27 and the traveling laser measurement when the column detection sensor 46 detects a portion corresponding to the installation position of the mounting support portion 7 in the column 6 adjacent to the column 6 in the horizontal direction. The intermediate point of the distance traveled by the distance measuring device 27 is set as a target stop position corresponding to the storage unit 3 adjacent to the column 6 and the target horizontal travel distance information for the target stop position is obtained. .
Further, when the crane control device 36 acquires the elevation movement distance detection information of the elevation laser range finder 22, the elevation laser distance measurement when the placement support portion detection sensor 47 detects the placement support portion 7. The set distance is subtracted and added to the total up / down movement distance detection information of the total 22, and the scooping target stop position and the wholesale target corresponding to the storage unit 3 on which the article B is placed and supported by the placement support part 7. It is comprised so that the target raising / lowering movement distance information about a stop position may be calculated | required.

  In this way, the crane control device 36 performs all of the plurality of target stop positions corresponding to the plurality of storage units 3 included in the article storage shelf 1 installed corresponding to the work path 2 by performing the learning operation. The target horizontal movement distance information and the target up / down movement distance information are obtained.

  The crane control device 36 provided for each of the plurality of stacker cranes 4 does not perform the learning operation for all of the plurality of work passages 2, but each of the plurality of work passages 2 includes a plurality of stacker cranes. Among these, a learning operation stacker crane 4 for performing a learning operation is set.

That is, a part of the plurality of stacker cranes 4 is determined as a stacker crane for learning operation, and a plurality of article storage shelves in which crane control devices 36 are installed corresponding to the plurality of work paths 2 are provided. 1 is configured to execute the learning operation for all of 1.
And the memory | storage means 41 is comprised so that the control apparatus 36 for cranes with which the stacker crane 4 for learning driving | operations was equipped by learning driving | operation will memorize | store the target horizontal moving distance information and target raising / lowering moving distance information. In other words, the crane control device 36 provided in the learning operation stacker crane 4 performs learning operation with the reader / writer device 43 using the target horizontal movement distance information and the target lifting movement distance information obtained by performing the learning operation. The information storage tag 42 disposed in the work passage 2 in which the article storage shelf 1 is installed is configured to be stored.

  Further, the stacker crane 4 that does not execute the learning operation among the plurality of stacker cranes 4 is determined as the stacker crane 4 for the individual difference learning operation, and the crane control device 36 that is equipped with the stacker crane 4 has the stacker crane 4 for the learning operation. Individual differences indicating individual differences between the stacker crane 4 for learning operation and the stacker crane 4 for individual difference learning operation by performing redundant learning operation on some of the article storage shelves 1 that have performed the learning operation An individual difference learning driving for obtaining information is performed.

The individual difference learning operation will be described. The crane control device 36 provided in the stacker crane 4 for individual difference learning operation includes a plurality of crane control devices 36 provided in the stacker crane 4 for learning operation. Of the traveling carriage 9 and the lifting platform 10 so as to perform the learning operation with at least a part of the plurality of storage units 3 included in some of the article storage shelves 1 as the learning target. It is comprised so that raising / lowering may be controlled.
And the crane control apparatus 36 with which the stacker crane 4 for individual difference learning driving | operation is equipped with the horizontal movement distance detection information of the travel laser rangefinder 27 detected about the storage part 3 made into learning object by the learning driving | operation, and The lift control distance detection information of the lift laser range finder 22 and the crane control device 36 installed in the stacker crane 4 for learning operation are controlled by the crane control device 36 installed in the stacker crane 4 for individual difference learning operation. The individual difference information is obtained by comparing the horizontal movement distance detection information of the traveling laser range finder 27 detected by the device 36 with respect to the storage unit 3 to be learned and the up / down movement distance detection information of the elevation laser range finder 22. It is configured.

Hereinafter, operations in the learning operation and the individual difference learning operation will be described. This learning operation and individual difference learning operation are performed before the stacker crane 4 is operated, for example, at the initial stage of installation of equipment.
In this embodiment, as shown in FIG. 1, four work passages 2 are arranged side by side and two stacker cranes 4 are provided. The crane control device 36 installed in the first stacker crane 4a performs the learning operation, and the second stacker crane 4b located on the lower side in FIG. 1 is used as the individual difference learning operation stacker crane. Then, the crane control device 36 installed in the second stacker crane 4b performs the individual difference learning operation.

The learning operation will be described below. First, the crane control device 36 provided in the first stacker crane 4a is installed in the article storage rack 1 corresponding to the first work path 2a located on the uppermost side in FIG. The learning operation is performed, and the target horizontal movement distance information and the target lifting movement distance information obtained by the learning operation are stored in the information storage tag 42 disposed in the first work path 2a.
And the crane control apparatus 36 with which the 1st stacker crane 4a is equipped is with respect to the article storage shelf 1 installed corresponding to each of the 2nd work path 2b, the 3rd work path 2c, and the 4th work path 2d. However, similar to the first work path 2a, the learning operation is performed, and the target horizontal movement distance information and the target up-and-down movement distance information learned in the learning operation are used as the second work path 2b, the third work path 2c, and the second work path. The information is stored in each of the information storage tags 42 disposed in the four work paths 2d.

  In this way, the crane control device 36 equipped in the first stacker crane 4a performs the learning operation for all of the plurality of article storage shelves 1, and the target horizontal movement distance information and the target obtained by the learning operation are determined. By causing the storage unit 41 to store the up / down movement distance information, the target horizontal movement distance information and the target up / down movement distance information are obtained and stored in advance.

Next, the individual difference learning operation will be described. The crane control device 36 provided in the second stacker crane 4b includes a plurality of storage units 3 provided in the article storage shelf 1 installed corresponding to the first work path 2a. The traveling of the traveling carriage 9 and the raising / lowering of the lifting platform 10 are controlled so that the learning operation is performed with all as learning targets.
By this learning operation, the crane control device 36 provided in the second stacker crane 4b is provided in the column 6 for all of the plurality of storage units 3 provided in the article storage shelf 1 installed corresponding to the first work path 2a. The horizontal movement distance detection information of the traveling laser range finder 27 when the portion corresponding to the installation location of the mounting support unit 7 is detected by the support column detection sensor 46, and the mounting support unit 7 by the support unit detection sensor 47. The up / down movement distance detection information of the up-and-down laser range finder 22 when detected is acquired.
And the crane control apparatus 36 with which the 1st stacker crane 4a is equipped performs the above-mentioned learning driving | operation, and the plurality of storage parts 3 with which the article storage shelf 1 installed corresponding to the 1st work path 2a is equipped. For all, the horizontal movement distance detection information of the traveling laser range finder 27 when the portion corresponding to the installation location of the mounting support portion 7 in the column 6 is detected by the column detection sensor 46 and the mounting support unit 7 are supported. The up / down movement distance detection information of the up / down laser rangefinder 22 when detected by the part detection sensor 47 is acquired.
Therefore, the crane control device 36 provided in the second stacker crane 4b detects the traveling laser distance measurement for all of the plurality of storage units 3 provided in the article storage shelf 1 installed corresponding to the first work path 2a. About the horizontal movement distance detection information of the total 27 and the vertical movement distance detection information of the lifting laser range finder 22, the detection information acquired by itself and the detection information acquired by the crane control device 36 provided in the first stacker crane 4a Based on the deviation, individual difference information is obtained and stored.

Thus, before the stacker crane 4 is operated, the storage means 41 stores the target horizontal movement distance information and the target up-and-down movement distance information obtained by the crane controller 36 in the first stacker crane 4a in the learning operation. And the individual difference information obtained by the crane control device 36 installed in the second stacker crane 4b in the individual difference learning operation is stored and held.
When the stacker crane 4 is operated, the crane control device 36 installed in the first stacker crane 4a and the crane control device 36 installed in the second stacker crane 4b are switched to the work mode.

The crane control device 36 provided in the first stacker crane 4a, which is the stacker crane 4 for learning operation, has an article storage shelf 1 installed corresponding to the work path 2 where the stacker crane 4 for learning operation is currently located. Both the target horizontal movement distance information and the target up / down movement distance information indicating the plurality of target stop positions are obtained from the storage means 41, and based on the target horizontal movement distance information and the target up / down movement distance information, a plurality of target stop positions In order to selectively position the lifting platform 10 on any of the above, the traveling of the traveling carriage 9 and the elevation of the lifting platform 10 are controlled.
In other words, when the first stacker crane 4a descends from the traverser 5 to the work path 2 at the boarding / alighting point 30, the crane control device 36 provided in the first stacker crane 4a is disposed in the work path 2. The target horizontal movement distance information and the target up / down movement distance information are acquired by contactless communication between the information storage tag 42 and the reader / writer device 43.
Then, the crane control device 36 provided in the first stacker crane 4a, the acquired target horizontal movement distance information and target vertical movement distance information, the horizontal movement distance detection information of the traveling laser range finder 27, and the vertical laser measurement. Based on the up-and-down movement distance detection information of the rangefinder 22, the traveling carriage 9 is caused to travel so that the lifting platform 10 is located at the target stop position corresponding to the target storage unit 3, and the traveling platform 10 is moved up and down. The operation of the electric motor 26 and the lifting electric motor 21 are controlled.

The crane control device 36 installed in the second stacker crane 4b, which is the stacker crane 4 for individual difference learning operation, executes at least a learning operation among the plurality of storage units 3 in the plurality of article storage shelves 2. The target horizontal movement distance information and the target vertical movement distance information indicating the target stop position for the storage unit 3 that is not present, and the target horizontal movement distance information and the target vertical movement distance information stored in the storage means 41 are corrected by the individual difference information. It is comprised so that it may obtain | require by doing.
When the description is added, the target horizontal movement distance information and the target lifting / lowering movement distance information stored in the storage means 41 correspond to the first stacker crane 4a, and therefore the information corresponding to the second stacker crane 4b is obtained. There is a need.
Therefore, when the crane control device 36 equipped in the second stacker crane 4a acquires the target horizontal movement distance information and the target up-and-down movement distance information by contactless communication between the information storage tag 42 and the reader / writer device 43, By correcting the acquired target horizontal movement distance information and target vertical movement distance information with the individual difference information, target horizontal movement distance information and target vertical movement distance information corresponding to the second stacker crane 4a are obtained.
Then, the crane control device 36 installed in the second stacker crane 4b obtains the obtained target horizontal movement distance information and target vertical movement distance information, horizontal movement distance detection information of the traveling laser range finder 27, and vertical laser measurement. Based on the up-and-down movement distance detection information of the rangefinder 22, the traveling carriage 9 is caused to travel so that the lifting platform 10 is located at the target stop position corresponding to the target storage unit 3, and the traveling platform 10 is moved up and down. The operation of the electric motor 26 and the lifting electric motor 21 are controlled.

  In this way, both the crane control device 36 installed in the first stacker crane 4a and the crane control device 36 installed in the second stacker crane 4b acquire appropriate target horizontal movement distance information and target lifting movement distance information. As a result, the traveling of the traveling carriage 9 and the elevation of the lifting platform 10 can be controlled so that the lifting platform 10 is positioned at the target stop position corresponding to the target storage unit 3.

  Hereinafter, with the first stacker crane 4a as a learning stacker crane and the second stacker crane 4b as an individual difference learning operation, the operation of the crane control device 36 provided in the first stacker crane 4a, and The operation of the crane control device 36 installed in the second stacker crane 4b will be described based on the flowcharts of FIGS.

First, based on FIG. 6, operation | movement of the control apparatus 36 for cranes with which the 1st stacker crane 4a is equipped is demonstrated.
When the crane control device 36 provided in the first stacker crane 4a is switched to the learning mode, the target horizontal movement distance information and the target up-and-down movement with respect to the article storage shelf 1 installed corresponding to the first work path 2a. A first horizontal ascending / learning learning operation for performing a learning operation on distance information is performed (steps 1 and 2).
And the crane control apparatus 36 with which the 1st stacker crane 4a is equipped is installed corresponding to the 2nd work path 2b similarly to the operation | movement with respect to the goods storage shelf 1 installed corresponding to the 1st work path 2a. The second horizontal elevating learning operation for performing the learning operation on the target horizontal movement distance information and the target elevating movement distance information is performed on the article storage shelf 1, and the article storage shelf 1 installed corresponding to the third work path 2c. The third horizontal elevating learning operation for performing learning operation on the target horizontal movement distance information and the target elevating movement distance information is performed, and the target horizontal with respect to the article storage shelf 1 installed corresponding to the fourth work path 2d is performed. A fourth horizontal ascending / learning learning operation for performing learning operation for the movement distance information and the target ascending / descending movement distance information is performed (steps 3 to 5).
In this way, the crane control device 36 equipped in the first stacker crane 4a performs the learning operation on the target horizontal movement distance information and the target lifting movement distance information for all of the plurality of article storage shelves 1, The storage unit 41 stores the target horizontal movement distance information and the target up / down movement distance information obtained in the learning operation.

When the crane control device 36 provided in the first stacker crane 4a is switched to the work mode, a plurality of crane storage devices 1 in the article storage rack 1 installed corresponding to the work path 2 where the first stacker crane 4a is currently located are provided. The target horizontal movement distance information Ma and the target up / down movement distance information Mb for the target stop position are acquired from the storage means 41 (steps 6 and 7).
And the crane control apparatus 36 with which the 1st stacker crane 4a is equipped selects the lifting platform 10 as one of a plurality of target stop positions based on the acquired target horizontal movement distance information Ma and target lifting movement distance information Mb. In order to position the vehicle, the traveling up / down control for controlling the traveling of the traveling cart 9 and the lifting / lowering of the lifting platform 10 is performed (step 8).

Next, based on FIG. 7, operation | movement of the control apparatus 36 for cranes with which the 2nd stacker crane 4b is equipped is demonstrated.
When the crane control device 36 installed in the second stacker crane 4b is switched to the learning mode, the target horizontal movement distance information and the target up-and-down movement with respect to the article storage shelf 1 installed corresponding to the first work path 2a. A first horizontal ascending / learning learning operation that performs a learning operation for distance information is performed (steps 11 and 12).
Then, the crane control device 36 provided in the second stacker crane 4b detects the traveling laser measurement detected by the first horizontal elevating learning operation with respect to the article storage shelf 1 installed corresponding to the first work path 2a. The horizontal movement distance detection information of the distance meter 27 and the vertical movement distance detection information of the lifting laser range finder 22, and the traveling detection detected by the crane control device 36 of the first stacker crane 4a by the first horizontal lifting learning operation. The individual difference information is obtained and stored by comparing the horizontal movement distance detection information of the laser rangefinder 27 and the elevation movement distance detection information of the elevation laser rangefinder 22 (step 13).

In addition, when the crane control device 36 installed in the second stacker crane 4b is switched to the work mode, the crane storage device 36 in the article storage shelf 1 installed corresponding to the work path 2 where the second stacker crane 4b is currently located. Target horizontal movement distance information Ma and target up / down movement distance information Mb for a plurality of target stop positions are acquired from the storage means 41 (steps 14 and 15).
The crane control device 36 installed in the second stacker crane 4b corrects the target horizontal movement distance information Ma and the target up / down movement distance information Mb acquired from the storage means 41 with the individual difference information, whereby the second stacker crane The target horizontal movement distance information and the target up / down movement distance information corresponding to 4a are obtained (step 16).
And the crane control apparatus 36 with which the 2nd stacker crane 4b is equipped selectively selects the lifting platform 10 at one of a plurality of target stop positions based on the obtained target horizontal movement distance information and target lifting movement distance information. In order to make it position, the driving | running | working raising / lowering control which controls driving | running | working of the driving cart 9 and raising / lowering of the raising / lowering platform 10 is performed (step 17).

[Second Embodiment]
Next, the second embodiment will be described. However, the configuration different from the first embodiment will be described in detail, and the description of the same configuration as the first embodiment will be omitted.

In the article transport facility according to the second embodiment, as shown in FIG. 8, the article storage shelf 1 is located on the side of the article storage shelf 1 on the side opposite to the side where the boarding / exiting location 30 is located. There are provided a carry-in unit 48 for carrying in an article B to be stored in the container from the outside and a carry-out part 49 for carrying out the article B to be delivered from the article storage shelf 1 to the outside.
Although not shown in the drawings, the carry-in unit 48 and the carry-out unit 49 include a conveyor that conveys the article B between the outside and a load receiving table on which the article B can be placed, and the article B that enters the article storage shelf 1. The article B that is delivered from the article storage shelf 1 is placed on the receiving tray.

  Then, the crane control device 36 equipped in the stacker crane 4 can store the article B placed on the load receiving table in the carry-in section 48 in any of the plurality of storage sections 3 in the article storage shelf 1, or The traveling of the traveling carriage 9, the raising and lowering of the lifting platform 10 is performed so as to perform the unloading work of unloading the article B stored in any of the plurality of storage sections 3 in the article storage shelf 1 to the load receiving platform in the unloading section 49. The fork device 11 is configured to control the transfer operation.

In the first embodiment, the elevation movement distance detecting means is constituted by the elevation laser range finder 22, and the horizontal movement distance detection means is constituted by the traveling laser range finder 27. In the embodiment, instead of the laser range finder, the up-and-down movement distance detecting means is constituted by the up-and-down rotary encoder 50, and the horizontal movement distance detecting means is constituted by the traveling rotary encoder 51.
Referring to FIG. 9, the lifting rotary encoder 50 is provided on the lifting platform 10, and a rotary shaft of the lifting rotary encoder 50 is connected to a chain 52 provided along the lifting direction of the lifting mast 15. An engaging sprocket 50a is provided. The lifting rotary encoder 50 outputs a pulse when the sprocket 50a rotates as the lifting platform 10 moves up and down.
The traveling rotary encoder 51 is provided in the traveling carriage 9, and the rotating shaft of the traveling rotary encoder 51 is engaged with a chain 53 as an engaging body provided along the traveling direction of the traveling carriage 9. A sprocket 51a is provided as a rotating body. The traveling rotary encoder 51 outputs a pulse when the sprocket 51a rotates as the traveling carriage 9 travels.

With respect to the reference lifting position, the lowermost position of the lifting platform 10 is set as the reference lifting position, and the reference horizontal position is set as the reference horizontal position at the end of the guide rail 8 on the side opposite to the side where the boarding point 30 is located. .
Then, the crane control device 36 installed in the stacker crane 4 detects the number of pulses output by the lifting rotary encoder 50 with reference to the reference lifting position, thereby detecting the number of pulses as lifting movement distance detection information, In addition, by detecting the number of pulses output by the traveling rotary encoder 51 with reference to the reference horizontal position, the number of pulses is detected as horizontal movement distance detection information.

In the first embodiment, the storage means 41 indicates the target horizontal movement distance information from the reference horizontal position for the traveling carriage 9 and the target vertical movement distance information from the reference elevation position for the lifting platform 10 indicating the target stop position. In this second embodiment, the storage means 41 stores the target horizontal movement distance information among the target horizontal movement distance information and the target up / down movement distance information. Each of the plurality of information storage tags 42 stores target horizontal movement distance information about a plurality of target stop positions in the article storage shelf 1 corresponding to the work path 2 corresponding to the arrangement position.
And about the target raising / lowering moving distance information, each of the crane control apparatus 36 with which the stacker crane 4 is equipped memorize | stores and hold | maintains.

As shown in FIG. 10, when the central control device 35 has an article transport request such as an entry request for entering the article B into the article storage shelf 1 or an exit request for exiting the article B from the article storage shelf 1, If the stacker crane 4 is located in the work path 2 in which the article storage rack 1 for which the article B is to be taken in and out according to the transport request is installed, a plurality of storages are stored in the crane control device 36 provided in the stacker crane 4. The operation command information for instructing the storage unit 3 for the purpose of taking in and out the article is commanded from the unit 3.
Then, if the stacker crane 4 is not located in the work path 2 where the article storage shelf 1 that is the target of taking in and out of the article B in response to the article transport request is located, the central control device 35 first sets the stacker crane in the work path 2. The operation command information is instructed to the traverser control device 37 so as to convey 4. Next, when the stacker crane 4 is positioned in the work path 2 in which the article storage rack 1 that is the target of taking in and out the article B in response to the article transport request is placed in the central control device 35, the central control device 35 is equipped with the crane installed in the stacker crane 4. The operation command information for instructing the target storage unit 3 to take in and out articles from the plurality of storage units 3 is commanded to the control device 36.

  Then, when the operation command information is instructed, the crane control device 36 obtains the target ascending / descending information obtained from the target horizontal moving distance information acquired by communication with the storage means 41 and the target ascending / descending movement distance information stored therein. Based on the movement distance information, the horizontal movement distance detection information of the traveling rotary encoder 51, and the elevation movement distance detection information of the lifting rotary encoder 50, the work in which the stacker crane 4 is currently located among the plurality of work paths 2 In order to position the lifting platform 10 at a target stop position corresponding to the target storage section 3 among the plurality of storage sections 3 in the article storage shelf 1 installed corresponding to the passage 2, the traveling of the traveling carriage 9 and the lifting platform 10. In order to control the raising and lowering of the item B and to put the article B into and out of the target storage unit 3 in a state where the elevator 10 is positioned at the target stop position, It is configured to control the transfer operation of the forks 11.

  Since the crane control device 36 installed in the stacker crane 4 is configured to perform the learning operation and the individual difference learning operation, the learning operation and the individual difference learning operation will be described below.

  When the learning control is instructed by the crane control device 36 installed in the stacker crane 4 being switched to the learning mode by the mode changeover switch 44, a plurality of learning operations are performed as in the first embodiment. Control the traveling of the traveling carriage 9 and the elevation of the lifting platform 10 so that members corresponding to each of the storage units 3 are sequentially detected by the column detection sensor 46 and the mounting support detection sensor 47 as member detection means, In addition, based on the horizontal movement distance detection information of the traveling rotary encoder 51 and the elevation movement distance detection information of the elevation rotary encoder 50 in a state in which the member detection unit detects a member corresponding to the accommodation unit 3, It is configured to obtain target horizontal movement distance information and target up / down movement distance information for the corresponding target stop position.

First, acquisition of the horizontal movement distance detection information of the traveling rotary encoder 51 will be described. Since the operation at this time is the same as the operation described with reference to FIG. 5A in the first embodiment, it will be briefly described with reference to FIG.
For example, the crane control device 36 detects a plurality of struts 6 spaced apart in the horizontal direction in a state where the lifting platform 10 is positioned at a portion corresponding to the installation location of the mounting support portion 7 provided on the strut 6. The part corresponding to the installation location of the mounting support portion 7 for which the column detection sensor 46 detects the operation of traveling the traveling carriage 9 from one end side to the other end side of the article storage shelf 1 so as to be sequentially detected by the sensor 46. Repeat while changing. Then, as shown in FIG. 5 (a), the crane control device 36 uses the column detection sensor 46 to place the mounting support 7 on the column 6 for all the columns 6 and the mounting support 7 of the article storage shelf 1. The horizontal movement distance detection information (P11 to P14, P22 to P24, P31 to 34, P41 to P44) of the traveling rotary encoder 51 when the portion corresponding to the installation location is detected is acquired.

Next, acquisition of the up / down movement distance detection information of the up / down rotary encoder 50 will be described. Since the operation at this time is the same as the operation described with reference to FIG. 5B in the first embodiment, it will be briefly described with reference to FIG.
For example, the crane control device 36 has a plurality of placements spaced apart in the vertical direction provided on the column 6 in a state where the lifting platform 10 is positioned on the placement support unit 7 provided on the column 6. The placement support portion detection sensor 47 detects the operation of raising and lowering the lifting platform 10 from the lower end portion to the upper end portion of the article storage shelf 1 so that each of the support portions 7 is sequentially detected by the placement support portion detection sensor 47. Repeat while changing the target column 6. Then, as shown in FIG. 5B, the crane control device 36 uses the placement support portion detection sensor 47 to place the placement support portion 7 for all the columns 6 and placement support portions 7 of the article storage shelf 1. The lift movement distance detection information (Q11 to Q14, Q21 to Q24, Q31 to Q34, Q41 to Q44) of the lift rotary encoder 50 at the time of detecting is acquired.

  In this way, when the crane control device 36 acquires the horizontal movement distance detection information of the traveling rotary encoder 51 and the vertical movement distance detection information of the lifting rotary encoder 50, the crane control device 36 mounts on the column 6 by the column detection sensor 46. By adding a set distance to the horizontal movement distance detection information of the traveling rotary encoder 51 when the portion corresponding to the installation location of the support portion 7 is detected, the target stop position corresponding to the storage portion 3 adjacent to the column 6 The target horizontal movement distance information is obtained, and the set distance is subtracted or added to the vertical movement distance detection information of the vertical rotary encoder 50 when the mounting support section 7 is detected by the mounting support section detection sensor 47. Thus, the scooping target stop position corresponding to the storage unit 3 on which the article B is placed and supported by the placing support part 7 and the wholesale eyes It is configured to determine the target vertical movement distance information about the stop position.

In the learning operation, the crane control device 36 targets all of the plurality of storage units 3 included in the plurality of article storage shelves 1 for the target horizontal movement distance information, and for the target lifting movement distance information, A target stop position corresponding to the storage unit 3 in the article storage shelf 1 that is not a learning target, with a plurality of storage units 3 included in some of the article storage shelves 1 included in the plurality of article storage shelves 1 being learned. The up / down movement distance information is configured to substitute the target up / down movement distance information obtained for the storage unit 3 in the learned article storage shelf 1.
A part of the plurality of stacker cranes 4 is determined as the stacker crane 4 for learning operation, and a crane control device 36 is installed in the plurality of article storages installed corresponding to the plurality of work paths 2. The learning operation is performed on all the shelves 1.
Moreover, the stacker crane 4 that does not execute the learning operation among the plurality of stacker cranes 4 is determined as the stacker crane 4 for individual difference learning operation, and the crane control device 36 equipped with the stacker crane 4 determines individual difference information for obtaining individual difference information. It is configured to perform learning driving.

  In the second embodiment, as shown in FIG. 8, four work paths 2 are arranged side by side and two stacker cranes 4 are provided. Therefore, the first stacker crane 4a located on the upper side in FIG. The crane control device 36, which is determined as a stacker crane for learning operation and is equipped in the first stacker crane 4a, performs the learning operation, and the second stacker crane 4b located on the lower side in FIG. 8 is used as a stacker for individual difference learning operation. The crane control device 36, which is determined as a crane and is equipped on the second stacker crane 4b, performs the individual difference learning operation.

The learning operation will be described. First, the crane control device 36 provided in the first stacker crane 4a is first installed in the article storage shelf 1 corresponding to the first work path 2a located on the uppermost side in FIG. The learning operation about the target horizontal movement distance information and the target up-and-down movement distance information is performed, and the target horizontal movement distance information obtained by the learning operation is the information storage tag 42 arranged in the first work path 2a. The target up-and-down movement distance information obtained in the learning operation and stored in the learning operation is stored and held.
And the crane control apparatus 36 with which the 1st stacker crane 4a is equipped with respect to the goods storage shelf 1 installed corresponding to each of the 2nd work path 2b, the 3rd work path 2c, and the 4th work path 2d. Thus, the learning operation is performed only for the target horizontal movement distance information, and the target horizontal movement distance information obtained by the learning operation is arranged in the second work path 2b, the third work path 2c, and the fourth work path 2d. Each information storage tag 42 is stored.
Moreover, the crane control apparatus 36 equipped in the first stacker crane 4a includes a plurality of article storage shelves 1 corresponding to the second work path 2b, the third work path 2c, and the fourth work path 2d. For the target up-and-down movement distance information about the target stop position, the target up-and-down movement distance information learned for the article storage shelf 1 installed corresponding to the first work path 2a is used instead.

The individual difference learning operation will be described. The crane control device 36 installed in the second stacker crane 4b is used for the plurality of article storage shelves 1 in which the crane control device 36 installed in the first stacker crane 4a performs the learning operation. The traveling of the traveling carriage 9 and the elevation of the lifting platform 10 are controlled so that the learning operation is performed with at least some of the plurality of storage units 3 included in some of the article storage shelves 1 as learning targets. It is configured.
And the crane control apparatus 36 with which the 2nd stacker crane 4b is equipped is the horizontal movement distance detection information of the rotary encoder 51 for driving | running | working detected about the accommodating part 3 made into learning object by the learning driving | operation, and the 1st stacker crane 4a. And the horizontal movement distance detection information of the traveling rotary encoder 51 detected by the crane control device 36 of the second stacker crane 4b detected for the storage unit 3 to be learned by the crane control device 36 installed in the second stacker crane 4b. Individual difference information is obtained by comparison.
Further, the crane control device 36 equipped in the second stacker crane 4b performs the learning operation on the target horizontal movement distance information with the single column 6 included in the article storage shelf 1 as a learning target in the individual difference learning operation. Furthermore, it is configured to control the traveling of the traveling carriage 9 and the elevation of the lifting platform 10.

If it demonstrates, the crane control apparatus 36 with which the 2nd stacker crane 4b is equipped will be near the boarding / alighting location 30 among the support | pillars 6 with which the goods storage shelf 1 installed corresponding to the 1st work path 2a is equipped, for example. The travel of the traveling carriage 9 and the lifting / lowering of the elevator platform 10 are controlled so that the learning operation for the target horizontal movement distance information is performed with the fifth column 6 from the side as the learning target.
As a result of this learning operation, the crane control device 36 installed in the second stacker crane 4b, as shown in FIG. 11 (a), has the column 6 provided in the article storage shelf 1 installed corresponding to the first work path 2a. Among these, in the fifth column 6 from the side closer to the boarding / alighting point 30, the horizontal movement distance detection information of the traveling rotary encoder 51 when the portion corresponding to the installation location of each mounting support portion 7 is detected by the column detection sensor 46. (V1 to V4) are acquired.
And the crane control apparatus 36 with which the 1st stacker crane 4a is equipped performs boarding / alighting among the support | pillars 6 with which the article | item storage shelf 1 installed corresponding to the 1st work path 2a performs the above-mentioned learning driving | operation. Horizontal movement distance detection information (W1 to W4) of the rotary encoder 51 for traveling when the portion corresponding to the installation location of each mounting support portion 7 is detected by the column detection sensor 46 in the fifth column 6 from the side close to the location 30. )
Therefore, the crane control device 36 installed in the second stacker crane 4b is, as shown in FIG. 11 (b), out of the columns 6 provided in the article storage shelf 1 installed corresponding to the first work path 2a. Regarding the horizontal movement distance detection information of the rotary encoder 51 for travel when the portion corresponding to the installation location of each mounting support portion 7 is detected by the column detection sensor 46 in the fifth column 6 from the side close to the boarding location 30 Is obtained by comparing the detection information acquired by the crane control device 36 installed in the first stacker crane 4a with the detection information acquired by the crane control device 36 to obtain the deviations Δt1 to Δt4 in the portions corresponding to the installation positions of the mounting support portions 7. Is stored as individual difference information.

In this way, before the stacker crane 4 is operated, the target horizontal movement distance information obtained by the crane control device 36 equipped in the first stacker crane 4a in the learning operation is stored in the storage means 41, and the first stacker crane 4a is operated. The target up-and-down movement distance information obtained by the crane control device 36 equipped in the stacker crane 4a in the learning operation is stored and retained, and the crane control device 36 equipped in the second stacker crane 4b is operated in the individual difference learning operation. The obtained target up / down movement distance information and individual difference information are stored and held.
When the stacker crane 4 is operated, the crane control device 36 installed in the first stacker crane 4a and the crane control device 36 installed in the second stacker crane 4b are switched to the work mode.

A plurality of crane control devices 36 installed in the first stacker crane 4a, which is the stacker crane 4 for learning operation, are installed in the article storage rack 1 corresponding to the work path 2 where the first stacker crane 4a is currently located. A plurality of targets are obtained based on the target horizontal movement distance information and the target vertical movement distance information obtained from the target vertical movement distance information acquired from the storage means 41 and stored in advance. In order to selectively position the lifting platform 10 at one of the stop positions, the traveling of the traveling cart 9 and the lifting / lowering of the lifting platform 10 are controlled.
In other words, the crane control device 36 provided in the first stacker crane 4a is disposed in the work path 2 when the first stacker crane 4a descends from the traverser 5 to the work path 2 at the landing point 30. The target horizontal movement distance information is acquired by contactless communication between the information storage tag 42 and the reader / writer device 43.
Then, the crane control device 36 equipped on the first stacker crane 4a includes the acquired target horizontal movement distance information, the target vertical movement distance information obtained from the target vertical movement distance information stored in advance, and the traveling rotary encoder. Based on the horizontal movement distance detection information 51 and the vertical movement distance detection information of the rotary encoder 50, the traveling carriage 9 is caused to travel so that the lifting platform 10 is located at the target stop position corresponding to the target storage unit 3. In addition, the operation of the traveling electric motor 26 and the lifting electric motor 21 is controlled in order to move the lifting platform 10 up and down.

The crane control device 36 installed in the second stacker crane 4b, which is the stacker crane 4 for individual difference learning operation, executes at least a learning operation among the plurality of storage units 3 in the plurality of article storage shelves 2. The target horizontal movement distance information indicating the target stop position for the storage unit 3 that is not present is obtained by correcting the target horizontal movement distance information stored in the storage means 41 with the individual difference information.
In other words, since the target horizontal movement distance information stored in the storage means 41 corresponds to the first stacker crane 4a, it is necessary to obtain the information corresponding to the second stacker crane 4b.
Therefore, when the crane control device 36 installed in the second stacker crane 4a acquires the target horizontal movement distance information through contactless communication between the information storage tag 42 and the reader / writer device 43, the acquired target horizontal movement distance. The target horizontal movement distance information corresponding to the second stacker crane 4b is obtained by correcting the information with the individual difference information stored and held. More specifically, since the individual difference information is a deviation of the horizontal movement distance detection information of the traveling rotary encoder 51 when a portion corresponding to the installation location of each mounting support portion 7 is detected by the support detection sensor 46, By correcting the target horizontal movement distance information acquired by the deviation of the horizontal movement distance detection information of the rotary encoder 51 for the travel about the portion corresponding to the installation position of the mounting support section 7 corresponding to the target storage section 3, The target horizontal movement distance information corresponding to the second stacker crane 4b in the storage unit 3 is obtained.
Then, the crane control device 36 installed in the second stacker crane 4a includes the obtained target horizontal movement distance information, the target up / down movement distance information obtained from the target up / down movement distance information stored in advance, and the traveling rotary. Based on the horizontal movement distance detection information of the encoder 51 and the vertical movement distance detection information of the lifting rotary encoder 50, the traveling carriage 9 travels so that the lifting platform 10 is positioned at the target stop position corresponding to the target storage unit 3. In addition, the operation of the traveling electric motor 26 and the lifting electric motor 21 is controlled so as to raise and lower the lifting platform 10.

  Hereinafter, with the first stacker crane 4a as a learning stacker crane and the second stacker crane 4b as an individual difference learning operation, the operation of the crane control device 36 provided in the first stacker crane 4a, and The operation of the crane control device 36 installed in the second stacker crane 4b will be described with reference to the flowcharts of FIGS.

First, based on FIG. 12, operation | movement of the control apparatus 36 for cranes with which the 1st stacker crane 4a is equipped is demonstrated.
When the crane control device 36 provided in the first stacker crane 4a is switched to the learning mode, the target horizontal movement distance information and the target up-and-down movement with respect to the article storage shelf 1 installed corresponding to the first work path 2a. A first horizontal ascending / learning learning operation that performs a learning operation for distance information is performed (steps 21 and 22).
And the crane control apparatus 36 with which the 1st stacker crane 4a is equipped differs from the operation | movement with respect to the goods storage shelf 1 installed corresponding to the 1st work path 2a, and is installed corresponding to the 2nd work path 2b. The second horizontal learning operation for performing the learning operation on the target horizontal movement distance information is performed on the article storage shelf 1 (step 23).
Further, the crane control device 36 provided in the first stacker crane 4a is installed corresponding to the third work path 2c in the same manner as the operation for the article storage shelf 1 installed corresponding to the second work path 2b. The third horizontal learning operation for performing learning operation on the target horizontal movement distance information is performed on the article storage shelf 1, and the target horizontal movement distance is set for the article storage shelf 1 installed corresponding to the fourth work path 2d. A fourth horizontal learning operation for performing a learning operation on information is performed (steps 24 and 25).
In this way, the crane control device 36 equipped in the first stacker crane 4a performs the learning operation on all of the plurality of article storage shelves 1 and obtains the target horizontal movement distance information by the learning operation. The target horizontal movement distance information is stored in the storage means 41. And the crane control apparatus 36 with which the 1st stacker crane 4a is equipped performs learning operation only with respect to the goods storage shelf 1 installed corresponding to the 1st work path 2a about target up-and-down movement distance information, The target up-and-down movement distance information obtained in the learning operation is stored and held.

When the crane control device 36 provided in the first stacker crane 4a is switched to the work mode, a plurality of crane storage devices 1 in the article storage rack 1 installed corresponding to the work path 2 where the first stacker crane 4a is currently located are provided. The target horizontal movement distance information Ma for the target stop position is acquired from the storage means 41 (steps 26 and 27).
Then, the crane control device 36 equipped on the first stacker crane 4a is based on the acquired target horizontal movement distance information Ma and the target vertical movement distance information obtained from the stored target vertical movement distance information. In order to selectively position the lifting platform 10 at any one of a plurality of target stop positions, traveling elevation control is performed to control traveling of the traveling carriage 9 and elevation of the lifting platform 10 (step 28).

Next, based on FIG. 13, operation | movement of the control apparatus 36 for cranes with which the 2nd stacker crane 4b is equipped is demonstrated.
When the crane control device 36 provided in the second stacker crane 4b is switched to the learning mode, the crane control device 36 performs a learning operation on one column 6 of the article storage shelf 1 installed corresponding to the first work path 2a. The first strut learning operation is performed (steps 31 and 32).
And the crane control apparatus 36 with which the 2nd stacker crane 4b is equipped detected with one support | pillar learning driving | operation with respect to one support | pillar 6 of the article | item storage shelf 1 installed corresponding to the 1st work path 2a. The horizontal movement distance detection information of the traveling laser range finder 27 and the horizontal movement distance detection of the traveling laser range finder 27 detected by the crane control device 36 installed in the first stacker crane 4a by the first horizontal lifting learning operation. By comparing with the information, individual difference information is obtained and stored (step 33).

When the crane control device 36 installed in the second stacker crane 4b is switched to the work mode, a plurality of cranes in the article storage rack 1 installed corresponding to the work path 2 where the second stacker crane 4b is currently located. The target horizontal movement distance information Ma for the target stop position is acquired from the storage means 41 (steps 34 and 35).
The crane control device 36 installed in the second stacker crane 4b corrects the target horizontal movement distance information Ma acquired from the storage means 41 with the individual difference information, thereby making the target horizontal movement corresponding to the second stacker crane 4a. Distance information is obtained (step 36).
Then, the crane control device 36 installed in the second stacker crane 4b is based on the obtained target horizontal movement distance information and the target up / down movement distance information obtained from the stored target up / down movement distance information. In order to selectively position the lifting platform 10 at any one of the target stop positions, traveling lifting control for controlling traveling of the traveling carriage 9 and lifting of the lifting platform 10 is performed (step 37).

  Since the crane control device 36 obtains other information in addition to the target horizontal movement distance information, the target lifting movement distance information, and the individual difference information when operating the stacker crane 4, hereinafter, Will be described.

First, it is information about the rotary encoder 51 for traveling.
The target horizontal movement distance information stored in the storage means 41 is pulse number information output from the traveling rotary encoder 51 provided on the traveling carriage 9 of the stacker crane 4 for learning operation. However, since the distance information corresponding to one pulse output from the encoder may vary depending on the individual difference by the encoder, the crane control device 36 provided in the stacker crane 4 for the individual difference learning operation has the storage means. If the target horizontal movement distance information acquired from 41 is used as it is, there is a possibility that the elevator 10 is positioned in a state of being displaced from the target stop position in the horizontal direction. Therefore, the crane control device 36 installed in the stacker crane 4 for individual difference learning operation obtains and uses information about the traveling rotary encoder 51 so that the elevator 10 is positioned at the target stop position in the horizontal direction. I have to.

The traveling carriage 9 is provided with a reference member detection sensor 55 as a reference member detection means for detecting at least two reference members 54 (see FIG. 8) provided at intervals in the horizontal movement path. The reference member 54 is provided at both ends of the guide rail 8.
Then, the crane control device 36 provided in the learning operation stacker crane 4 controls the traveling of the traveling carriage 9 so that the reference member detection sensor 55 detects the two reference members 54, and the reference member Based on the horizontal movement information detection information of the travel rotary encoder 51 from when the detection sensor 55 detects the first reference member 54 to when the second reference member 54 is detected, the distance between the two reference members 54 is detected. It is configured to obtain pulse number information about the distance.
In addition, the crane control device 36 provided in the stacker crane 4 for individual difference learning operation controls the traveling of the traveling carriage 9 so that the two reference members 54 are detected by the reference member detection sensor 55, and The distance between the two reference members 54 calculated based on the horizontal movement information detection information from when the reference member detection sensor 55 detects the first reference member 54 to when the second reference member 54 is detected. The difference information of the pulse number is obtained by comparing the pulse number information with the pulse number information obtained by the crane control device 36 installed in the stacker crane 4 for learning operation.
The crane control device 36 installed in the stacker crane 4 for individual difference learning operation uses any one of a plurality of target stop positions based on the target horizontal movement distance information stored in the storage means 41 and the pulse number difference information. It is configured to control the traveling of the traveling carriage 9 in order to selectively position the lift 10.

  In this way, the crane control device 36 installed in the stacker crane 4 for individual difference learning operation does not use the target horizontal movement distance information stored in the storage means 41 as it is, but uses the difference information on the number of pulses. Any one of a plurality of target stop positions is converted into a reference based on distance information corresponding to one pulse output from a rotary encoder 51 for traveling provided on the traveling carriage 9 of the stacker crane 4 for individual difference learning operation. Therefore, the traveling of the traveling carriage 9 is controlled so as to selectively position the lifting platform 10, so that the lifting platform 10 can be positioned at the target stop position in the horizontal direction.

Next, it is information about the braking distance in the traveling carriage 9.
The braking distance in the traveling carriage 9 varies depending on the stacker crane 4 depending on the effectiveness of the brake provided for braking the traveling carriage 9 and the brake gap. Therefore, all of the crane control devices 36 provided in the plurality of stacker cranes 4 obtain the braking distance in the traveling carriage 9 of the stacker crane 4 that the operation is controlled by themselves, and based on the braking distance, the target in the horizontal direction is obtained. The braking start timing for braking the traveling carriage 9 for positioning the lifting platform 10 at the stop position is obtained.

The crane control device 36 installed in the stacker crane 4 brakes the traveling carriage 9 that is traveling, and based on the horizontal movement distance detection information of the traveling rotary encoder 51 from when the braking starts until the traveling carriage 9 stops. Thus, the traveling of the traveling carriage 9 is controlled so that the braking distance in the traveling carriage 9 is obtained.
That is, the crane control device 36 brakes the traveling vehicle 9 by applying a brake while the traveling vehicle 9 is traveling, and based on the horizontal movement distance detection information of the traveling rotary encoder 51, the braking control point 36 is started. The distance traveled by the traveling carriage 9 until the traveling carriage 9 stops is obtained as a braking distance.

Next, it is the information about the control distance in the lifting platform 10.
Since the braking distance in the lifting platform 10 varies depending on the stacker crane 4 depending on the effectiveness of the brakes provided for braking the lifting platform 10 and the brake gap, the braking in the lifting platform 10 is similar to the braking distance in the traveling carriage 9. Seeking distance.

The crane control device 36 installed in the stacker crane 4 detects the moving distance of the lifting rotary encoder 50 from the start of braking until the lifting platform 10 stops by braking the lifting platform 10 that is rising or descending. Based on the information, it is configured to control the lifting / lowering of the lifting platform 10 so as to obtain the braking distance in the lifting platform 10.
That is, the crane control device 36 brakes the lifting platform 10 by applying a brake in a state where the lifting platform 10 is raised and lowered, and based on the lifting / lowering movement distance detection information of the lifting rotary encoder 50, from the braking start time point. The distance by which the elevator 10 is moved up and down before the elevator 10 stops is determined as the braking distance.

Next, it is the information about the receiving platform in the carrying-in part 48 and the discharge part 49. FIG.
The crane control device 36 controls the traveling of the traveling carriage 9 and the raising / lowering of the lifting platform 10 in order to position the lifting platform 10 at a target stop position corresponding to the load receiving platform in the carry-in section 48 and the discharge section 49, and The transfer operation of the fork device 11 is controlled so as to transfer the article B between the loading unit 48 and the load receiving table in the discharge unit 49 in a state where the lifting platform 10 is positioned at the target stop position. Has been.
Therefore, in order to position the lifting platform 10 at the target stop position corresponding to the load receiving table in the carry-in unit 48 and the discharge unit 49, the target horizontal movement distance indicating the target stop position corresponding to the load receiving table in the carry-in unit 48 and the discharge unit 49. It is necessary to obtain information and target up / down movement distance information in advance.
Therefore, all of the plurality of crane control devices 36 equipped on the plurality of stacker cranes 4 are information on the target horizontal movement distance and the target vertical movement distance information indicating the target stop positions corresponding to the load receiving bases in the carry-in section 48 and the discharge section 49. Seeking.

The crane control device 36 controls the traveling of the traveling carriage 9 and the elevation of the lifting platform 10 based on the traveling command and the lifting command, and the target stop position corresponding to the load receiving platform in the carry-in portion 48 and the carry-out portion 49. The target horizontal movement distance information indicating the target stop position and the target based on the horizontal movement distance detection information of the traveling rotary encoder 51 and the vertical movement distance detection information of the lifting rotary encoder 50 with the lifting platform 10 positioned on the It is configured to obtain and store up / down movement distance information.
Incidentally, with respect to the traveling command and the lifting command, the crane control is performed by the operator operating the command operating unit so that the lifting table 10 is positioned at the target stop position corresponding to the load receiving table in the loading unit 48 and the unloading unit 49. Command to device 36.

[Another embodiment]
( 1 ) In the first and second embodiments, the storage means 41 stores the target horizontal movement distance information and the target up / down movement distance information learned by the stacker crane 4 performing a learning operation. The target horizontal movement distance information and the target up / down movement distance information can also be stored in the storage means 41 by the operator's manual input.

( 2 ) In the first and second embodiments, the example in which the support detection sensor 46 and the placement support part detection sensor 47 are provided separately as the member detection means has been described. It is possible to provide one sensor that also serves as a detection sensor, and it is possible to appropriately change the type of sensor constituting the member detection means.

( 3 ) In the first and second embodiments, all of the plurality of article storage shelves 1 are fixed to the floor surface, and a plurality of work passages 2 are illustrated. Only the article storage shelves 1 positioned at both ends of the juxtaposed direction are fixed to the floor, and the article storage shelves 1 positioned between the fixed article storage shelves 1 are arranged in the direction in which the article storage shelves 1 are arranged with respect to the floor. It is also possible to implement such that the work path 2 appears between the article storage shelves 1 by moving the movable shelf.

( 4 ) In the first and second embodiments, four working passages 2 and two stacker cranes 4 are provided. However, the number of stacker cranes 4 is greater than the number of working passages 2. If the number is small, the number of work passages 2 and the number of stacker cranes 4 can be appropriately changed.
For example, in the case where five work passages 2 and three stacker cranes 4 are provided, one of the three stacker cranes 4 is a stacker crane 4 for learning operation, and the remaining two are individual difference learning. A stacker crane for operation will be used.

( 5 ) In the first and second embodiments, the article storage shelves 1 are installed on both sides of the work path 2 with the work path 2 sandwiched therebetween, but the article storage shelves 1 are installed only on one side of the work path 2. However, it is possible to appropriately change how the article storage shelf 1 is installed in each work passage 2.

( 6 ) In the second embodiment, two reference members 54 are provided in each work path 2 and the reference member detection sensor 55 provided in the traveling carriage 10 detects the reference member 54. The support 6 in the shelf 1 can be used as a reference member, and the support detection sensor 46 can be used as a reference member detection sensor. The configuration of the reference member and the reference member detection means can be changed as appropriate.

The top view of the article conveyance equipment in a 1st embodiment Perspective view of work passage Side view of the stacker crane in the first embodiment Control block diagram of article transport equipment in the first embodiment The figure which shows the detection information of learning driving The flowchart which shows operation | movement of the control apparatus for cranes with which a 1st stacker crane is equipped. The flowchart which shows operation | movement of the control apparatus for cranes with which a 2nd stacker crane is equipped. The top view of the article conveyance equipment in a 2nd embodiment Side view of the stacker crane in the second embodiment Control block diagram of article transport equipment in the second embodiment The figure which shows the detection information of the individual difference learning driving | operation in a 2nd real form The flowchart which shows operation | movement of the control apparatus for cranes with which a 1st stacker crane is equipped. The flowchart which shows operation | movement of the control apparatus for cranes with which a 2nd stacker crane is equipped.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Article storage shelf 2 Work path 3 Storage part 4 Transfer apparatus 5 Conveyance apparatus 6 Support | pillar 7 Mounting support part 9 Moving body 10 Lifting body 11 Article transfer means 22 Lifting / moving distance detecting means 27 Horizontal moving distance detecting means 30 Getting on / off place Reference Signs List 36 Control means 41 Storage means 42 Information storage tag 46 Strut detection means as member detection means 47 Mounting support part detection means as member detection means 50 Lifting / moving distance detection means 51 Horizontal movement distance detection means 51a Rotating body 53 Engagement body 54 Reference member 55 Reference member detection means

Claims (8)

A plurality of work passages are arranged side by side in a direction perpendicular to the longitudinal direction in a state in which an article storage shelf provided with a plurality of storage units vertically and horizontally is arranged on the side thereof,
A moving body that horizontally moves in the working path, and a transfer device that includes a lifting body that is movable up and down along an elevating mast standing on the moving body and that has an article transfer means. Are provided in a form that is less than,
Each of the plurality of transfer devices is configured to be horizontally movable to the outside of the end of the plurality of working passages by horizontal movement of the movable body,
A transfer device is provided that is movable in the direction in which the work passages are arranged side by side so as to be selectively located at any of the plurality of boarding / alighting locations for the plurality of work passages, and that is used to get on and off the transfer device at the boarding / alighting locations. And
Horizontal movement distance detecting means for detecting a horizontal movement distance of the moving body from a reference horizontal position for the horizontal movement of the moving body in each of the plurality of work passages, and the lifting movement of the lifting body along the lifting mast And a lifting movement distance detecting means for detecting a lifting movement distance of the lifting body from a reference lifting position,
The control means that is mounted on the transfer device and controls the operation thereof has a plurality of work paths based on the horizontal movement distance detection information of the horizontal movement distance detection means and the vertical movement distance detection information of the vertical movement distance detection means. Among the plurality of target stop positions corresponding to each of the plurality of storage units in the article storage shelf installed corresponding to the work path in which the transfer device is currently located. In order to control the horizontal movement of the movable body and the vertical movement of the elevating body, and to move the movable body in a state where the elevating body is located at a target stop position, the article is taken in and out. An article conveying facility configured to control the transfer operation of the transfer means,
Among the target horizontal movement distance information from the reference horizontal position for the moving body and the target vertical movement distance information from the reference lifting position for the lifting body, which indicates the plurality of target stop positions, at least the target horizontal Storage means for storing movement distance information is provided outside the transfer device so as to be able to communicate with the control means,
The control means equipped in the transfer device acquires both the target horizontal movement distance information and the target up / down movement distance information indicating the plurality of target stop positions from the storage means, or the target horizontal movement distance. Based on the target horizontal movement distance information and the target vertical movement distance information obtained by acquiring information from the storage means and preliminarily storing and holding the target vertical movement distance information, any one of the plurality of target stop positions In order to selectively position the lifting body, it is configured to control horizontal movement of the moving body and lifting movement of the lifting body,
The storage means is composed of a plurality of information storage tags arranged at the end of each of the plurality of work passages on the side of the boarding / exiting points,
Each of the plurality of information storage tags is configured to store information on the plurality of target stop positions in the article storage shelf corresponding to the installed work path . The lifting body is provided with a member detection means for detecting a member corresponding to each storage section in the article storage shelf,
When the control means is instructed to perform a learning operation, the movable body is horizontally moved and the lift body is moved up and down so that members corresponding to the plurality of storage portions are sequentially detected by the member detecting means. And the horizontal movement distance detection information of the horizontal movement distance detection means and the vertical movement distance detection information of the vertical movement distance detection means in a state where the member detection means detects a member corresponding to the storage portion. And the learning operation for obtaining the target horizontal movement distance information and the target lifting movement distance information about the target stop position corresponding to the storage unit,
2. The storage unit is configured to store at least the target horizontal movement distance information among the target horizontal movement distance information and the target up / down movement distance information obtained by the control unit through the learning operation. Article conveying equipment as described in 2. The article storage shelf includes a plurality of support columns standing at intervals in the longitudinal direction of the work passage and a plurality of article support units for mounting articles provided at intervals in the longitudinal direction of the support columns. Prepared,
The storage unit is configured to store the article in a form in which the article is placed and supported on the placement support unit,
The member detecting means is composed of a support detecting means for detecting the support and a mounting support detecting means for detecting the mounting support.
In the learning operation, the control unit causes the mounting support unit detection unit to detect the mounting support unit in the storage unit, and the storage unit in the support column positioned adjacent to the storage unit. The article conveyance according to claim 2, wherein the article is configured to control horizontal movement of the movable body and vertical movement of the lift body so that a portion corresponding to an installation location of the mounting support portion is detected by the support column detection unit. Facility.   In the learning operation, the control means is configured to learn all of the plurality of storage units provided in the plurality of article storage shelves for the target horizontal movement distance information, and for the target lifting movement distance information, The target for the target stop position corresponding to the storage unit in the article storage shelf that is not the learning target, with the plurality of storage units included in some of the article storage shelves included in the plurality of the article storage shelves as learning targets. The article transporting facility according to claim 2 or 3, wherein the lifting / lowering distance information is configured to substitute the target lifting / lowering distance information obtained for the storage unit in the learned article storage shelf. A part of the plurality of transfer devices is determined as a transfer device for learning operation, and the control means of the equipment is provided for the plurality of article storage shelves installed corresponding to the plurality of work paths. Configured to perform the learning operation for all,
The storage means is configured to store the target horizontal movement distance information and the target up / down movement distance information obtained by the control means equipped in the transfer device for the learning operation by the learning operation,
Among the plurality of transfer devices, a transfer device that does not execute the learning operation is defined as a transfer device for individual difference learning operation, and the control means that is equipped with the transfer device,
As the individual difference learning operation, a plurality of the storage units provided in some of the article storage shelves out of the plurality of the article storage shelves that the control unit equipped in the transfer device for the learning operation performs the learning operation. The storage unit that controls the horizontal movement of the moving body and the up-and-down movement of the elevating body so that the learning operation is performed with at least a part of the learning object as a learning object, and is the learning object by the learning operation The horizontal movement distance detection information detected by the horizontal movement distance detection means and the vertical movement distance detection information of the vertical movement distance detection means, and the control means included in the transfer device for the learning operation is performed by the learning operation. The horizontal movement distance detection information of the horizontal movement distance detection means detected by the control means included in the transfer device for individual difference learning operation detected for the storage unit to be learned, and the Configured to determine the individual difference information by comparing the vertical movement distance detection information of descending movement distance detecting means, and,
The target horizontal movement distance information and the target up-and-down movement distance information indicating a target stop position for at least a storage section that is not performing the learning operation among the plurality of storage sections in the plurality of article storage shelves. The article conveyance facility according to claim 2 or 3, wherein the article transporting equipment is configured to obtain the target horizontal movement distance information and the target up / down movement distance information stored in the means by correcting the information with the individual difference information. A part of the plurality of transfer devices is determined as a transfer device for learning operation, and the control means of the equipment is provided for the plurality of article storage shelves installed corresponding to the plurality of work paths. Configured to perform the learning operation for all,
The storage means stores the target horizontal movement distance information among the target horizontal movement distance information and the target up / down movement distance information obtained by the control means provided in the transfer device for the learning operation by the learning operation. Configured to
Among the plurality of transfer devices, a transfer device that does not execute the learning operation is defined as a transfer device for individual difference learning operation, and the control means that is equipped with the transfer device,
As the individual difference learning operation, a plurality of the storage units included in some of the article storage shelves out of the plurality of the article storage shelves that the control unit of the transfer device for the learning operation has performed the learning operation. The learning operation for the target horizontal movement distance information is performed with at least a part of the learning object as the learning object, and the target lifting movement distance information is provided with at least a part of the plurality of article storage shelves as the learning object. The horizontal movement of the horizontal movement distance detection means detected for the storage unit to be learned by controlling the horizontal movement of the movable body and the vertical movement of the lifting body is controlled so as to perform the learning operation. Movement distance detection information and the control means equipped in the transfer device for learning driving are learned by the learning operation, and the control means equipped in the transfer device for individual difference learning driving is learned. Configured to determine the individual difference information by comparing the horizontal movement distance information of the horizontal movement distance detecting means detects the said housing part in question, and,
Of the plurality of storage units in the plurality of article storage shelves, the target horizontal movement distance information indicating a target stop position for at least a storage unit that is not performing the learning operation is stored in the storage unit. The article conveyance facility according to claim 4, wherein the article horizontal transportation distance information is obtained by correcting the target horizontal movement distance information with the individual difference information.   In the individual difference learning operation, the control means provided in the individual difference learning driving transfer device performs a learning operation on the target horizontal movement distance information with one column provided in the article storage shelf as a learning target. The article conveyance facility according to claim 6, configured to control horizontal movement of the movable body and vertical movement of the lift body so as to perform. The horizontal movement distance detecting means is configured by an encoder that is provided in the moving body and outputs a pulse by rotation of a rotating body that engages with an engaging body that is provided along a horizontal moving direction of the moving body. And
The moving body is provided with a reference member detecting means for detecting at least two reference members provided at intervals in the horizontal movement path,
The control means provided in the transfer device for the learning operation controls horizontal movement of the movable body so that the reference member detection means detects at least two reference members, and the reference member Based on the horizontal movement distance detection information of the horizontal movement distance detection means from when the detection means detects the reference member to when the next reference member is detected, pulse number information about the distance between the two reference members Is configured to ask for
The control means provided in the transfer device for individual difference learning operation controls horizontal movement of the moving body so that the reference member detection means detects at least two reference members, and The distance between the two reference members obtained based on the horizontal movement distance detection information of the horizontal movement distance detection means from when the reference member detection means detects the reference member until the next reference member is detected. It is configured to obtain pulse number difference information by comparing the pulse number information with the pulse number information obtained by the control means provided in the transfer device for learning operation, and
Based on the target horizontal movement distance information stored in the storage means and the difference information of the number of pulses, in order to selectively position the elevating body at any of the plurality of target stop positions, The article conveyance facility according to claim 6 or 7, which is configured to control horizontal movement.

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