JP4640607B2 - Goods transport equipment - Google Patents

Description

  The present invention optically detects a distance between a traveling body for conveying an article that reciprocates along a linear traveling path having an end shape, and a reference position at an end of the traveling path and the traveling body. The present invention relates to an article conveying facility provided with an optical distance measuring means and a control means for executing a traveling operation process for controlling the traveling body to travel to a target position based on distance measurement information of the distance measuring means. .

  As a conventional example of the article transporting equipment, there is one in which an optical distance measuring unit is configured to detect a distance to a light reflecting member for a traveling body that is installed at the reference position and provided on the traveling body ( For example, Patent Document 1).

  Although not described in Patent Document 1, when a transport facility that transports articles across the inside and outside of a warehouse is configured by the above-described article transport facility, a travel route in the article transport facility for air conditioning management in the warehouse In some cases, a shield that can freely open and close the travel route is provided. The shield is in a closed state when the article is not transported by the traveling body, and is open when the traveling body is transported from the inside of the warehouse to the outside or from the outside to carry the article. It has become.

  Therefore, when the traveling body is located on the traveling path portion on the non-existing side of the optical distance measuring means with respect to the shielding body in the traveling path and is not transported, the traveling body is closed. Since the distance measuring light of the optical distance measuring means is blocked by the shield in the state, the optical distance measuring means detects the distance between the reference position at the end of the traveling route and the traveling body. Can not.

  For this reason, when the shield is in a closed state in a state where the traveling body is positioned on the travel path portion on the non-existing side of the optical distance measuring means relative to the shield, the control means is based on the distance measurement information of the optical distance measuring means. Thus, the state in which the traveling operation of the traveling body can be controlled is temporarily interrupted. For this reason, while the shielding body is in a closed state, some unexpected situation such as positional deviation of the traveling body or intrusion of foreign matter into the traveling route occurs, and the control means includes the distance measurement information of the optical distance measuring means. Even if it is no longer possible to control the traveling operation of the traveling body based on this, the control means cannot detect this. Therefore, even if the distance measurement information of the optical distance measuring means when the shield is switched from the closed state to the opened state is not the distance between the reference position and the traveling object, the control means is the traveling object. There is an inconvenience that the next traveling operation process is executed in a state where the current position is not properly recognized.

  Therefore, in the conventional article transport equipment, after the shield is switched from the closed state to the open state, when executing the next traveling operation process, the origin returning process is performed and the traveling body is moved to the end of the traveling path. Check that the distance information of the optical distance measuring device in this state matches the actual distance information when the traveling body is located at the origin position. If the state in which the control means can control the traveling operation of the traveling body based on the distance measurement information of the optical distance measuring means is temporarily stopped, the traveling body is properly traveled. The operation is guaranteed.

  As the origin return processing, in order to position the traveling body at the origin position without performing control based on the distance measurement information of the optical distance measuring means, a stop dog is provided at the origin position. It stops at the origin position.

JP 2004-002006 A

  However, in the conventional article transporting equipment, when the shield is in a closed state, it is located on the travel path portion on the non-existing side of the optical distance measuring means relative to the shield in the travel path and stops. When an article is transported by a running body, the origin returning process is executed, the traveling body is positioned at the origin position, and then traveled to the target position. Therefore, the object moves from the stop position to the target position. Therefore, there is a problem that the route distance becomes long and the conveyance efficiency is poor.

  The present invention has been made in view of the above circumstances, and its purpose is to provide distance measurement information of an optical distance measuring means when a shield that can be opened and closed is provided in the middle of the travel path. The object of the present invention is to provide an article conveyance facility that can confirm whether or not the traveling operation of the traveling body can be appropriately controlled based on the reduction of the conveyance efficiency as much as possible.

  According to a first aspect of the present invention, the distance between the traveling body for conveying an article that reciprocates along a linear traveling path having an end form, and the reference position at the end of the traveling path and the traveling body. Optical distance measuring means for optical detection, and control means for executing traveling operation processing for controlling the traveling body to travel to a target position based on distance measurement information of the optical distance measuring means are provided. The optical distance measuring means is configured to detect a distance to the light reflecting member for a traveling body that is installed at the reference position and provided in the traveling body, and is provided in the middle of the traveling route. Is provided with a shield that can open and close its travel route, and the control means manages the open / close state of the shield, and when the shield is switched from an open state to a closed state, The optical distance measurement than the shield A state in which the shield is opened from the closed state in a state where the travel stop process for stopping the travel of the traveling body located on the travel path portion on the non-existing side of the step is performed and the travel of the traveling body is stopped When the vehicle is switched to, it is possible to confirm that the traveling body is operated under the set traveling conditions based on the distance measurement information of the optical distance measuring means by operating the traveling body under the set traveling conditions. A distance measurement state confirmation process for determining whether or not the distance measurement is appropriate is executed, and when the distance measurement is in an appropriate state, the travel operation process is started.

  According to the first feature of the present invention, when the shield is switched from the closed state to the open state in a state where the traveling of the traveling body is stopped, the distance measuring state confirmation process is executed, and the distance measuring state is appropriate. When it is confirmed, the travel operation process is started. That is, as a set travel condition, for example, a condition for traveling such as a condition for traveling for a set time at a speed set in a set direction is defined, and a change in the position of the traveling body caused by the travel is determined. If it can be confirmed by the change in the distance measurement information of the optical distance measuring means, it is estimated that the distance measurement is in an appropriate state. Compared to the conventional one that travels to the origin position, the travel operation process toward the target position is started in a short time after the shield is switched from the closed state to the open state. It becomes possible. Therefore, when the traveling body is switched from the closed state to the open state when the travel of the traveling body is stopped, the travel operation process is executed, and it is short after the shield is switched from the closed state to the open state. The traveling body can be positioned at the target position in time.

  By the way, by setting the travel travel distance as one of the set travel conditions as short as possible, the travel distance can be shortened before starting the travel operation process, and whether or not the distance measurement state is appropriate in a short time It is possible to start the traveling operation process as soon as possible.

  In addition, by setting the traveling direction as one of the set traveling conditions to the direction of movement by the next traveling operation process, it is possible to approach the target position for the next traveling operation process, so that the traveling body travels. When the traveling body is moved to the target position when the shielding body is switched from the closed state to the opened state in the stopped state, the movement route from the stop position to the target position can be a wasteful route.

  Thus, according to the first feature of the present invention, when a shield that can open and close the travel route is provided in the middle of the travel route, the travel operation of the travel device is performed based on the distance measurement information of the optical distance measuring means. The present inventors have obtained an article conveyance facility that can confirm whether or not the state can be properly controlled without reducing the conveyance efficiency as much as possible.

  A second feature of the present invention is the distance indicated by the distance measurement information of the optical distance measuring device when the control device switches from the closed state to the opened state in the first feature of the present invention. And an operation confirmation process for confirming whether or not the distance from the installation location of the optical distance measuring means to the installation location of the shield does not match, and in the case of the mismatch status, The distance measuring state confirmation process is configured to be executed.

According to the 2nd characteristic of this invention, in addition to the effect | action similar to the 1st characteristic of this invention, there exist the following effects.
When the control unit is switched from the closed state to the open state, the control unit performs an operation check process, and in the case of a mismatch state, the distance measurement state check process is executed. If the optical distance measuring device is in an abnormal operation state, for example, by executing processing for notifying the abnormal state without executing the distance measuring state confirmation processing if it is not possible to confirm that the state is inconsistent It is possible to avoid performing the distance measurement state confirmation process until.

  Therefore, the control means executes the distance measuring state confirmation process in a state where the optical distance measuring means is in an abnormal operation, and it is determined that the optical distance measuring means is inconsistent due to incorrect distance measurement information even though it is not inconsistent. And the reliability of the confirmation result by the distance measurement state confirmation process is improved.

  Thus, according to the second feature of the present invention, when a shield that can open and close the traveling route is provided in the middle of the traveling route, the traveling operation of the traveling member is performed based on the distance measurement information of the optical distance measuring means. It is possible to obtain an article conveyance facility capable of performing, in a highly reliable state, checking whether or not the state can be appropriately controlled without reducing the conveyance efficiency as much as possible.

  According to a third feature of the present invention, in the first or second feature of the present invention, two traveling bodies are provided, and the two traveling bodies are respectively located at the reference positions at both ends of the traveling route. The optical distance measuring means corresponding to is provided.

According to the 3rd characteristic of this invention, in addition to the effect | action similar to the 1st or 2nd characteristic of this invention, there exist the following effects.
Since the traveling operation of the two traveling bodies is controlled based on the distance measurement information of the optical distance measuring means corresponding to each of the two traveling bodies, it becomes possible to simultaneously operate the two transport carriages. More articles can be transported per unit time than when only one transport cart is operated.

  Thus, according to the third feature of the present invention, when a shield that can open and close the travel route is provided in the middle of the travel route, the travel operation of the travel device is performed based on the distance measurement information of the optical distance measuring means. It is possible to confirm whether or not the state can be properly controlled without reducing the transport efficiency as much as possible, and it is possible to obtain an article transport facility having a high article transport processing capability.

According to a fourth aspect of the present invention, there is provided an article conveying traveling body that reciprocates along a linear traveling path having an end form, and an optical distance between the reference position at an end of the traveling path and the traveling body. And an optical distance measuring means for detecting the vehicle and a control means for executing a traveling operation process for controlling the traveling body to travel to a target position based on distance measurement information of the optical distance measuring means. In the article transport facility, the optical distance measuring means is configured to detect a distance to a light reflecting member for reference position installed in the traveling body and installed at the reference position, and is located in the middle of the traveling route. A shielding member that can freely open and close the travel route is provided, and the shielding member is provided with a light reflecting member for a shielding member that measures the distance by the optical distance measuring device in the closed state, and the control unit includes the shielding member. Managing the open / closed state of the body, When switched to the closed state from the opened state, the shield travel stop process also stops the running of the running body is located in the travel path portion to be the absence side of the reference position for reflecting member from among the driving route And when the shield is switched from the closed state to the open state in a state where the traveling of the traveling body is stopped, as a change in distance measurement information of the optical distance measuring means, It is determined whether or not it is a distance measurement appropriate state in which a change in size corresponding to the distance between the installation positions of the shielding member light reflecting member and the reference position light reflecting member arranged in order from the stop point to the reference position appears. The distance measurement state confirmation process to be determined is executed, and when the distance measurement is in an appropriate state, the travel operation process is started.

According to the fourth aspect of the present invention, the shield is opened from the closed state when the running operation process is performed to control the running body to travel to the target position based on the distance measurement information of the optical distance measuring means. Based on the change in distance measurement information until the optical distance measuring means can optically detect the distance from the reference position at the end of the travel route to the traveling object, Judge whether there is. That is, the change in the distance measurement information of the optical distance measuring means when the shield is switched from the closed state to the open state corresponds to the distance between the installation positions of the shield light reflecting member and the reference position light reflecting member. If a change in size appears, it is estimated that the distance measurement information of the optical distance measuring means after the shield has been switched to the open state indicates the distance from the traveling body to the reference position light reflecting member. Therefore, it is possible to start the travel operation processing toward the target position in a short time after the shield is switched from the closed state to the open state as compared with the conventional one that travels to the origin position. Moreover, it is possible to determine whether or not the distance measurement is appropriate based on the change in distance measurement information due to the change in the opening / closing state of the shield, which is a phenomenon that inevitably occurs in the process until the running operation control is executed. In order to determine whether or not the distance is appropriate, it is not necessary to operate the shield or the traveling body after the shielding body is switched from the closed state to the open state. When the shield is switched from the closed state to the open state in the closed state, the distance measurement state confirmation process is performed.When the shield is in the distance measurement appropriate state, the travel operation process is immediately performed, and the travel body is quickly moved to the target position. The traveling body can be positioned at the target position in a short time after the shield is switched from the closed state to the opened state.

  As described above, according to the fourth feature of the present invention, when a shield that can open and close the travel route is provided in the middle of the travel route, the travel operation of the travel device is performed based on the distance measurement information of the optical distance measuring means. The present inventors have obtained an article conveyance facility that can confirm whether or not the state can be properly controlled without reducing the conveyance efficiency as much as possible.

According to a fifth aspect of the present invention, there is provided an article conveying traveling body that reciprocates along a linear traveling path having an end form, and an optical distance between the reference position at an end of the traveling path and the traveling body. And an optical distance measuring means for detecting the vehicle and a control means for executing a traveling operation process for controlling the traveling body to travel to a target position based on distance measurement information of the optical distance measuring means. In the article transport facility, the optical distance measuring means is configured to detect a distance to a light reflecting member for reference position installed in the traveling body and installed at the reference position, and is located in the middle of the traveling route. A plurality of shields that can open and close the travel path are provided at intervals in the longitudinal direction of the travel path, and the optical distance measuring means measures the distance in the closed state of each of the plurality of shields. A light reflecting member is provided, Running but manages the opening and closing control of said shield, said when switching to the closed state from the open state the shield is made of a non-existence side of the reference position for reflecting member than the shield of the traveling path When the travel stop process for stopping the travel of the traveling body located in the route portion is performed, and when the plurality of the shielding bodies are switched from the closed state to the open state in a state where the traveling of the traveling body is stopped, When there are a plurality of shields from the stopping point of the traveling body toward the reference position, the plurality of shielding bodies are configured to open and control in a form that opens closer to the traveling body, and When the plurality of shields are switched from a closed state to an open state in a state in which the traveling of the traveling body is stopped, a stop portion of the traveling body is detected as a change in distance measurement information of the optical distance measuring means. It is determined whether the distance measurement proper state change in size appears to correspond to the installation position distance between the plurality of shield-body light reflecting member arranged in this order toward et the reference position, or, the traveling body The plurality of shield light reflecting members and the reference position light reflecting members arranged in order from the stop point to the reference position have a size corresponding to the distance between the installation positions of the plurality of shield light reflecting members. And a distance measurement state check for determining whether or not a proper distance measurement state in which a change corresponding to the distance between the installation positions of the light reflection member for the shield and the light reflection member for the reference position appears. When the process is executed and the distance measurement is in an appropriate state, the travel operation process is started.

According to the fifth aspect of the present invention, in executing the traveling operation process for controlling the traveling body to travel to the target position based on the distance measurement information of the optical distance measuring means, the control means performs traveling of the traveling body. When the plurality of shields are switched from the closed state to the open state in a state where the vehicle is stopped, if there are a plurality of shields from the stop position of the traveling body toward the reference position, the plurality of shields are Opening control is performed in such a way that the closer to, the first it opens. Then, as a change in the distance measurement information of the optical distance measuring means when the control means opens and controls the plurality of shields in this way, a plurality of light for the shields arranged in order from the stop position of the traveling body toward the reference position If a change corresponding to the distance between the installation positions of the reflecting members appears, the control means determines that the distance measurement is in an appropriate state. It is possible to start the travel operation process toward the target position in a short time after switching from the closed state to the open state.

In addition, ranging until the plurality of shields are switched from the closed state to the opened state, and the optical distance measuring means can optically detect the distance from the reference position at the end of the traveling path to the traveling body. Based on the change in information, it is determined whether or not the distance measurement is in an appropriate state. Therefore, it is a phenomenon that occurs in the process until the running operation control is executed. Based on this, it is possible to determine whether or not the distance measurement is appropriate.
In other words, in order to determine whether or not the distance measurement is appropriate, it is not necessary to operate the shield and the traveling body after the plurality of shields are switched from the closed state to the open state. When a plurality of shields are switched from a closed state to an open state with the body running stopped, a distance measurement state confirmation process is executed, and when the body is in an appropriate distance measurement state, a travel operation process is immediately executed. Thus, the traveling body can be traveled promptly toward the target position, and the traveling body can be positioned at the target position in a short time after the plurality of shielding bodies are switched from the closed state to the opened state.

  Thus, according to the fifth aspect of the present invention, when a plurality of shields that can open and close the travel route is provided in the middle of the travel route, the travel of the travel device is based on the distance measurement information of the optical distance measuring means. The present inventors have obtained an article conveyance facility that can confirm whether or not the operation can be properly controlled without reducing the conveyance efficiency as much as possible.

  According to a sixth aspect of the present invention, in the fourth or fifth aspect of the present invention, two traveling bodies are provided, and the two traveling bodies are respectively provided at the reference positions at both end portions of the traveling path. The light reflecting member for reference position corresponding to is provided.

According to the sixth feature of the present invention, in addition to the same operation as that of the fourth or fifth feature of the present invention, the following function is provided.
Since the traveling operation of the two traveling bodies is controlled based on the distance measurement information of the optical distance measuring means corresponding to each of the two traveling bodies, it becomes possible to simultaneously operate the two transport carriages. More articles can be transported per unit time than when only one transport cart is operated.

  Thus, according to the sixth aspect of the present invention, when a shield that can open and close the traveling route is provided in the middle of the traveling route, the traveling operation of the traveling member is performed based on the distance measurement information of the optical distance measuring means. It is possible to confirm whether or not the state can be properly controlled without reducing the transport efficiency as much as possible, and it is possible to obtain an article transport facility having a high article transport processing capability.

  Hereinafter, an embodiment of an article conveyance facility of the present invention will be described based on the drawings.

[First Embodiment] As shown in FIG. 1, the article transporting facility of the present invention is installed in a distribution facility having a first warehouse WH1 and a second warehouse WH2, and a first reference in the first warehouse WH1. Along a linear travel route L having an end shape having both ends of the first end Le1 where the position Ps1 is set and the second end Le2 where the second reference position Ps2 is set in the second warehouse WH2 A guide track 1 is laid in a straight line.

  Each of the first warehouse WH1 and the second warehouse WH2 includes a plurality of storage shelves 103 in which storage units 102 in which articles W are stored are arranged side by side, and is laid along a passage formed between the storage shelves 103. The stacker crane 105 that reciprocates along the traveling rail 104 conveys the article W between the loading / unloading stations STa1 to STa6 and the loading / unloading stations STb1 to STb6 and the corresponding storage unit 102 of the storage shelf 103. This is an article storage facility configured to allow an article W to be loaded and unloaded.

  A first transport carriage 2A and a second transport carriage 2B as travel bodies for transporting articles that travel on the guide track 1 are provided so as to be able to reciprocate along the travel path L. The first transport cart 2A and the second transport cart 2B are provided with a transfer device for loading and unloading the articles W, and stopped at the stop positions set for a plurality of stations as article transfer locations, The transfer operation of the article W is performed by the transfer device between the station corresponding to the stop position.

  The travel route L is located between the first section L1 located inside the first warehouse WH1, the second section L2 located inside the second warehouse WH2, and the first warehouse WH1 and the second warehouse WH2. The first door position Pdr1 in the travel route L, which is composed of three sections L3 and is located at the boundary between the first section L1 and the third section L3, can be moved up and down by the operation of the first door motor MD1. The first door E1 in which the first automatic door DR1 configured in the above is installed is provided, and the second door position Pdr2 in the travel route L located at the boundary between the second section L1 and the third section L3 has a second door position Pdr2. A second doorway E2 is provided in which a second automatic door DR2 configured to be movable up and down by the operation of the door motor MD2 is installed.

  The first automatic door DR1 is normally located at the lowered position and is closed to close the first entrance E1, and when the first transport cart 2A or the second transport cart 2B enters and exits the first warehouse WH1. The first doorway E1 is opened by being in the open position at the raised position. Similarly, the second automatic door DR2 is normally in the lowered position and is closed to close the second entrance E2, and the first transport cart 2A or the second transport cart 2B enters and exits the second warehouse WH2. At that time, the second doorway E2 is opened by being in the open position and in the open state. Therefore, when the first automatic door DR1 and the second automatic door DR2 are both in the raised position and are in the open state, the first entrance E1 and the second entrance E2 are both opened, and the travel route L is divided into the first section. L1, the third section L3, and the second section L2 are in an open state. That is, in the article transport facility, the first automatic door DR1 and the second automatic door DR2 are provided as a plurality of shields that can open and close the travel route L.

  Although not shown in FIG. 1, the first door elevating position detection switch SW <b> 1 </ b> U that is turned on when the first automatic door DR <b> 1 is in the raised position and the first automatic door DR <b> 1 are lowered at the first doorway E <b> 1. A first door descent position detection switch SW1D that is turned on when positioned is provided, and these switches are connected to a first door control device DC1 described later (see FIG. 2). Similarly, a second door lift position detection switch SW2U that is turned on when the second automatic door DR2 is located at the raised position, and a second door drop position detection switch SW2D that is turned on when the second automatic door DR2 is located at the lowered position. Is connected to a second door control device DC2 described later (see FIG. 2).

  A first door control device DC1 for controlling the opening / closing operation of the first automatic door DR1 is provided in the vicinity of the first doorway E1 of the first warehouse WH1. The first door control device DC1 is provided with a first door motor provided in the vicinity of the first doorway E1 when an open command is instructed via a communication network NET by a first cart control device VC1 or a second cart control device VC2 described later. When the MD1 is rotationally driven in the upward direction and the first door lift position detection switch SW1U is turned on, the rotational drive of the first door motor MD1 is stopped and a lift completion signal VC1 is sent via the communication network NET. It transmits to 2nd trolley | bogie control apparatus VC2.

  The first door control device DC1 rotates the first door motor MD1 in the downward direction when a close command is commanded via the communication network NET by the first cart control device VC1 or the second cart control device VC2. When the first door lowering position detection switch SW1D is turned on, the rotational drive of the first door motor M1 is stopped, and a lowering completion signal is transmitted to the first and second vehicle control devices VC1 and VC2 via the communication network NET. .

  A second door control device DC2 for controlling the opening / closing operation of the second automatic door DR2 is provided in the vicinity of the second doorway E2 of the second warehouse WH2. When the first door control device VC1 or the second cart control device VC2 issues an open command via the communication network NET, the second door control device DC2 controls the second door motor MD2 provided near the second doorway E2. When the second door lift position detection switch SW2U is turned on when the second door lift position detection switch SW2U is turned on, the rotation drive of the second door motor MD2 is stopped, and the lift completion signal is sent to the first cart control device VC1 and the second via the communication network NET. It transmits to the trolley | bogie control apparatus VC2.

  Further, when the close command is instructed via the communication network NET by the first cart control device VC1 or the second cart control device VC2, the second door control device DC2 rotationally drives the second door motor MD2 in the downward direction, When the second door lowering position detection switch SW2D is turned on, the rotational driving of the second door motor M2 is stopped, and a lowering completion signal is transmitted to the first cart control device VC1 and the second cart control device VC2 via the communication network NET. .

  A pair of first stop dogs DG1 for emergency stop are installed on the floor inside and outside the first entrance E1 of the first warehouse WH1. The first stop dog DG1 is configured to be movable up and down to the detected height and the passing height, and is located at the detected height, and the first dog detection limit switch provided on the first transport carriage 2A. The second dog detection limit switch SW2 provided on the SW1 and the second transport carriage 2B is provided on the side of the guide track 1 at a position in plan view so as to contact.

  The first door control device DC1 performs the lifting control of the first stop dog DG1 along with the opening / closing control of the first automatic door DR1 described above. Specifically, when the first door control device DC1 places the first automatic door DR1 in the closed state, the first door control device DC1 places the first stop dog DG1 at the detected height and places the first automatic door DR1 in the open state. The first stop dog DG1 is positioned at the passing height. Accordingly, when the first transport carriage 2A or the second transport carriage 2B approaches the first entrance E1 even though the first entrance E1 is closed, the first dog detection limit switch SW1 or the second dog detection is detected. The limit switch SW2 detects the first stop dog DG1 located at the detected height, thereby stopping the transport cart that is running and moving in an emergency and preventing it from colliding with the first automatic door DR1. Further, when the first transport carriage 2A or the second transport carriage 2B approaches the first entrance E1 with the first entrance E1 being open, the first dog detection limit switch SW1 or the second dog detection limit switch SW2 is By not detecting the first stop dog DG1 located at the passing height, the transport carriage can pass through the entrance E1.

  Similarly, a pair of second stop dogs DG2 for emergency stop are also installed on the floor inside and outside the first doorway E2 of the second warehouse WH2, and the carriage is placed on the closed second automatic door DR2. Will not collide.

  In the vicinity of the first end Le1 of the first warehouse WH1, the first cart control device VC1 is installed. The first vehicle control device VC1 is configured to be able to transmit and receive control commands to and from the first vehicle-mounted control unit H1 included in the first transport vehicle 2A by the first optical communication device TM1, and the first vehicle control device VC1 is configured to transmit the first vehicle control unit VC1 via the first vehicle-mounted control unit H1. The operation of the one-travel motor MV1 can be remotely controlled (see FIG. 2). Similarly, a second cart control device VC2 is installed in the vicinity of the second end Le2 of the second warehouse WH2. The second cart control device VC2 is configured to be able to transmit and receive control commands to and from the second vehicle-mounted control unit H2 included in the second transport cart 2B by the second optical communication device TM2, and the second cart control device VC2 receives the second command via the second vehicle-mounted control unit H2. 2 The operation of the traveling motor MV2 can be remotely controlled (see FIG. 2). Thus, the 1st trolley control device VC1 and the 1st in-vehicle control part H1, and the 2nd trolley control device VC2 and the 2nd in-vehicle control part H2 constitute the control means of the present invention, respectively.

  The article transport facility is provided with a first laser distance sensor S1 (see FIG. 2) for optically detecting the distance between the first reference position Ps1 and the first transport carriage 2A. The device VC1 executes a travel operation process and controls the first transport carriage 2A to travel to the target position based on the distance measurement information of the first laser distance sensor S1. Similarly, a second laser distance sensor S2 (see FIG. 2) for optically detecting the distance between the second reference position Ps2 and the second transport carriage 2B is provided, and the second carriage control device VC2 travels. Based on the distance measurement information of the second laser distance sensor S2, the operation process is executed to control the second transport carriage 2B to travel to the target position. Thus, the first laser distance sensor S1 and the second laser distance sensor S2 each function as an optical distance measuring means of the present invention.

  The first cart control device VC1 and the second cart control device VC2 are connected to the main controller MC via the communication network NET, and perform the above-described control operation based on the transport command commanded by the main controller MC. The first cart control device VC1 controls the travel operation of the first transport cart 2A, the transfer operation of the transfer device provided in the first transport cart 2A, and the first automatic door DR1. The opening / closing operation of the second automatic door DR2 is controlled. Similarly, the second cart control device VC2 controls the travel operation of the second transport cart 2B, the transfer operation of the transfer device provided in the second transport cart 2B, the first automatic door DR1, and the second automatic The opening / closing operation of the door DR2 is controlled.

  In the present embodiment, as shown in FIGS. 2 and 3, the first laser distance sensor S1 is provided at the first reference position Ps1, and is connected to the first cart control device VC1. The first laser distance sensor S1 reflects the laser distance measuring light to the first reflecting member RF1 provided on the surface facing the first reference position Ps1 of the first transport carriage 2A, and the first reflection from the first reference position Ps1. The distance to the member RF1 is detected, and the distance information is output to the first cart control device VC1. Similarly, the second laser distance sensor S2 is provided at the second reference position Ps2, and is connected to the second carriage control device VC2. The second laser distance sensor S2 reflects the laser ranging light on the second reflecting member RF2 provided on the surface facing the second reference position Ps2 of the second transport carriage 2B, and the second reflection from the first reference position Ps1. The distance to the member RF2 is detected, and the distance information is output to the second cart control device VC2.

  With the above configuration, the present article transport facility allows the article W to be carried from the outside to the carry-in station STin by the carry conveyor 101 at the loading / unloading stations STa1 to STa6 and the second warehouse WH2 provided in the first warehouse WH1. Carry-in work to transport to the loading / unloading stations STb1 to STb6 provided inside, and unloading work to unload the articles W unloaded at the loading / unloading stations STa1 to STa6 and the loading / unloading stations STb1 to STb6 to the unloading station STout. It has become.

  The first transport carriage 2A mainly transports the article W between the loading / unloading stations STa1 to STa6 provided inside the first warehouse WH1, the loading station STin and the unloading station STout. The article W is also transported between the loading / unloading stations STb1 to STb6 provided in the two warehouses WH2 and the loading station STin and the loading station STout. Therefore, a situation occurs in which the first transport cart 2A enters the second warehouse WH2, and both the first transport cart 2A and the second transport cart 2B are located inside the second warehouse WH2. Similarly, a situation occurs in which both the first transport cart 2A and the second transport cart 2B are located inside the first warehouse WH1.

  As shown in FIG. 2, the first and second optical carriages 2 </ b> A and 2 </ b> B are detected by the first optical sensor S <b> 5 and the second optical sensor S <b> 6 that are turned on when a workpiece existing within the set distance range is detected. The first optical sensor S5 and the second optical sensor S6 are turned on when the first conveyance carriage 2A and the second conveyance carriage 2B are abnormally close to each other within a set distance. Thus, each of the first in-vehicle control unit H1 and the second in-vehicle control unit H2 executes an emergency braking process, stops the first transport cart 2A and the second transport cart 2B, and avoids a collision. .

  The first cart control device VC1 and the second cart control device VC2 are the same for each control target, except that the control target is the first transport cart 2A or the second transport cart 2B. Since the control operation is performed, in the following description, the control operation of the first cart control device VC1 will be described in order to avoid redundant description. In the following description, the stop position on the travel route L of the first transport carriage 2A set corresponding to each station, for example, the stop position set for the loading / unloading station STa3 is represented by the stop position Pa3. In this way, it is expressed in association with the code of the corresponding station.

  In this article transport facility, when the first automatic door DR1 is positioned at the lowered position and switched to the closed state while the first transport carriage 2A is positioned in the third section L3, the first automatic door DR1 is in the closed state. The distance measurement information of the first laser distance sensor S1 in the meantime does not indicate the distance from the first reference position Ps1 to the first reflecting member RF1. Therefore, the distance measurement information of the first laser ranging sensor S1 after the first automatic door DR1 is located at the raised position and switched to the open state indicates the distance from the first reference position Ps1 to the first reflecting member RF1. In order to confirm that it is shown, the first cart control device VC1 executes a distance measurement state confirmation process. Further, in order to confirm whether or not the first laser distance measuring sensor S1 is operating normally, the first cart control device VC1 performs the first laser when the first automatic door DR1 is switched from the closed state to the open state. The distance d1 indicated by the distance measurement information of the distance measurement sensor S1 and the distance from the first reference position Ps1 where the first laser distance measurement sensor S1 is installed to the first door position Pdr1 where the first automatic door DR1 is installed An operation confirmation process is performed to confirm whether or not a mismatched state does not match.

  As a specific transfer operation of the article W by the first transfer carriage 2A, the first transfer carriage 2A in the standby state after the article W is completely unloaded at the entry / exit station STa1 of the first warehouse WH1 is transferred from the entry / exit station STa3 to the exit station STout. Each process executed by the first cart control device VC1 will be described by taking as an example a transporting operation in which the article W is unloaded and the article W is loaded from the loading station STin to the loading / unloading station STb5 through the standby state again. When carrying out the transfer operation as in the above-described example, the first carriage control device VC1 controls the first carriage 2A, the first automatic door DR1, and the second automatic door DR2 in the order shown in FIG. Hereinafter, the control operation of the first cart control device VC1 when carrying out the transfer work as in the above-described example will be described based on the flowchart of FIG.

  As shown in FIG. 5, when a conveyance command is instructed from the main controller MC in step # 1, the first cart controller VC1 executes the travel operation process of step # 2 and enters a standby state at the stop position Pa1. A certain first transport carriage 2A is moved to the stop position Pa3 based on the distance measurement information of the first laser distance sensor S1. In step # 3, the transfer process for picking up the article W located at the loading / unloading station STa3 is executed in the state stopped at the stop position Pa3. When this is completed, the first process is executed in steps # 4 to # 5. After the automatic door DR1 is opened, a travel operation process is executed in step # 6 to travel from the stop position Pa3 to the stop position Pout on the basis of the distance measurement information of the first laser distance sensor S1. After the traveling of the one transport carriage 2A is stopped, a transfer process is performed in which the article W is wholesaled to the carry-out station STout in step # 7. Thereafter, the first automatic door DR1 is closed by the processing of Step # 8 to Step # 9.

  Thus, when the first automatic door DR1 is switched from the open state to the closed state, the first bogie control device VC1 determines that the first laser distance measuring sensor S1 is less than the first automatic door DR1 in the travel route L. A travel stop process is performed to stop the travel of the first transport carriage 2A located in the third section L3, which is the travel path portion on the existence side.

  After the unloading of the article W is completed, the standby state is entered at step # 10, and when a conveyance command is instructed from the main controller MC, the first automatic door DR1 is switched to the opened state by the processing of step # 11 to step # 12. . In step # 13, the first cart controller VC1 starts from the distance d1 indicated by the ranging information of the first laser ranging sensor S1 and the first reference position Ps1 that is the installation location of the first laser ranging sensor S1. It is determined whether or not the distance d (Ps1, Pdr1) to the first door position Pdr1 where the automatic door DR1 is installed matches, and if it matches, the first laser ranging sensor S1 Is not operating normally, an abnormality occurrence process is executed and a process such as notifying the operator of the abnormality of the first laser distance measuring sensor S1 is performed. If they do not coincide with each other, it is highly likely that the first laser distance measuring sensor S1 is operating normally, and the process proceeds to the next process, and a distance measuring state confirmation process described later is executed in step # 14.

  Thus, when the first automatic door DR1 is switched from the closed state to the opened state in the state where the traveling of the first transport carriage 2A is stopped, the first cart control device VC1 is configured to detect the first laser ranging sensor S1. The distance d1 indicated by the distance measurement information and the distance d (Ps1, Pdr1) from the first reference position Ps1 where the first laser ranging sensor S1 is installed to the first door position Pdr1 where the first automatic door DR1 is installed ) Is executed to confirm whether or not the mismatched state does not match, and in the case of the mismatched state, the distance measurement state checking process is executed.

  If it is confirmed in step # 14 that the distance measurement state is normal, a travel operation process is executed in step # 15, and the first transport carriage 2A is stopped based on the distance measurement information of the first laser distance measurement sensor S1. The vehicle travels from the position Pout to the stop position Pin. Then, in step # 16, the transfer process for holding the article W positioned at STin is executed in the state stopped at the stop position Pin, and when this is completed, the second automatic door DR2 is processed by the processes of step # 17 to step # 18. Is opened, and a travel operation process is executed in step # 19 to travel from the stop position Pin to the stop position Pb5 on the basis of the distance measurement information of the first laser distance measuring sensor S1. After stopping the travel of 2A, a transfer process for unloading the article W to the loading / unloading station STb5 is executed in Step # 20, and when the transfer process is completed, the first automatic operation is performed by the process of Step # 21 to Step # 22. The door DR1 and the second automatic door DR2 are closed. In step # 23, a standby state for the next transport command from the main controller MC is entered.

  The ranging state confirmation process executed by the first cart control device VC1 will be described based on the flowchart of FIG. As shown in FIG. 6, the first cart controller VC1 stores the distance measurement information of the first laser distance measurement sensor S1 as the pre-movement distance information Db in step # 1. And in order to carry out driving | running | working on the driving | running condition set beforehand, a driving | running | working command is instruct | indicated with respect to 2A of 1st conveyance cart | both in step # 2-step # 4. Specifically, a motor rotation speed of 1000 [rpm] is commanded in Step # 2, and after waiting for 1 second in Step # 3, a motor rotation speed of 0 [rpm] is commanded in Step # 4. After waiting for 1 second in step # 5, the distance information of the first laser distance sensor S1 is stored as post-movement distance information Da in step # 6. By waiting for 1 second in step # 5, the distance measurement information by the first laser distance measuring sensor S1 for the first transport carriage 2A stopped in step # 6 is stored as the distance information Da after movement. Yes.

In step # 7, a change in distance measurement information of the first laser distance sensor S1, that is, a change ΔD (hereinafter referred to as distance measurement information change ΔD) from the distance information Db before movement to the distance information Da after movement is calculated. In step # 8, it is determined whether or not the distance measurement information change ΔD is appropriate. That is, for the moving direction, it is determined whether the sign of the ranging information change ΔD matches the sign corresponding to the moving direction set in the set travel condition. Whether the magnitude | ΔD | of ΔD matches the assumed travel distance Dimg that is assumed in consideration of the acceleration performance and deceleration performance known in the design when the vehicle is operated under the set travel conditions. If the travel direction and the travel distance are determined to match the set travel conditions, the first transport carriage 2A is set to the set travel conditions based on the distance measurement information of the first laser distance measuring sensor S1. The distance measurement state confirmation process is normally terminated assuming that the distance measurement is in an appropriate state in which it can be confirmed that the vehicle is running. If it is determined in step # 6 that either or both of the moving direction and the moving distance do not match the set travel condition, the abnormality occurrence process in step # 9 is executed.

Note that the movement direction in the distance measurement state confirmation process is set to the same direction as the movement direction in the travel operation process executed after the distance measurement state confirmation process is completed. In the case of the present embodiment, in the travel operation process executed after the distance measurement state confirmation process is completed, the vehicle travels from the stop position Pout to the stop position Pin. Therefore, the movement direction in the distance measurement state confirmation process is as shown in FIGS. In FIG. 4, a direction from right to left, that is, a direction approaching the first reference position Ps1 is set. For this reason, since the distance measurement information of the first laser distance measuring sensor S1 should be reduced when the first transport carriage 2A travels under the set conditions, the distance information Da after movement is the distance information Db before movement. Should be a smaller value. Accordingly, in step # 8, it is determined whether or not the sign of the distance measurement information change ΔD is “+”. In addition, an allowable range is set for the assumed movement distance Dimg, and it is determined whether or not the magnitude | ΔD | of the distance measurement information change ΔD is within the set allowable range in comparison with the assumed movement distance Dimg. The

  As described above, in the present embodiment, the first cart controller VC1 manages the open / close state of the first automatic door DR1 as shown in Step # 6 to Step # 8 of FIG. When the first automatic door DR1 is switched from the open state to the closed state, the third section L3 which is a travel route portion on the non-existence side of the first laser ranging sensor S1 with respect to the first automatic door DR1 in the travel route L. The travel stop process for stopping the travel of the first transport cart 2A located at the position is executed, and the travel of the first transport cart 2A is stopped as shown in Step # 11 to Step # 15 of FIG. 5 and FIG. When the first automatic door DR1 is switched from the closed state to the opened state in the closed state, the distance d1 indicated by the distance measurement information of the first laser distance sensor S1 and the installation location of the first laser distance sensor S1 An operation check process is executed to check whether or not the distance d (Ps1, Pdr1) from the first reference position Ps1 to the first door position Pdr1 where the first automatic door DR1 is installed does not match. In the inconsistent state, the first transport carriage 2A is driven to operate under the set travel conditions, and based on the pre-movement distance information Db and the post-movement distance information Da, which are distance measurement information of the first laser distance measuring sensor S1. Ranging state confirmation processing is performed to determine whether or not the first transport carriage 2A is in a distance measurement appropriate state in which it can be confirmed that the first carriage 2A is operating under the set driving conditions. It is configured to start processing.

  As an explanation of the control operation of the first cart control device VC1, the first automatic door DR1 is switched from the closed state to the open state when the first transport cart 2A is stopped at the stop position of the third section L3. The operation confirmation process and the distance measurement state confirmation process that are sometimes executed have been described. When the first transport carriage 2A is stopped at the stop position (for example, Pb5) of the second section L2, the first carriage controller The VC 1 executes the operation confirmation process and the distance measurement state confirmation process before executing the travel operation process when both the first automatic door DR1 and the second automatic door DR2 are switched from the closed state to the open state. In this case, in the operation check process, the distance from the distance d1 indicated by the distance measurement information of the first laser distance sensor S1 and the first reference position Ps1 where the first laser distance sensor S1 is installed to the first automatic door DR1. It may be confirmed whether or not the distance d (Ps1, Pdr1) to the first door position Pdr1, which is the installation location, does not match, or instead of this, in addition to this, the first The distance d1 indicated by the distance measurement information of the laser distance sensor S1 and the first reference position Ps1 where the first laser distance sensor S1 is installed to the second door position Pdr2 where the second automatic door DR2 is installed. Whether or not the distance d (Ps1, Pdr2) does not match may be confirmed.

[Second Embodiment]
Below, 2nd Embodiment of the article conveyance equipment of this invention is described centering on a different part from 1st Embodiment.
In the present embodiment, as shown in FIGS. 7 and 8, a first laser distance sensor S3 as an optical distance measuring means is installed in the first transport carriage 2A and is connected to the first in-vehicle controller H1. A first transport carriage reference position reference RF3 as a reference position light reflecting member that reflects the distance measurement light of the first laser distance sensor S3 is installed at the first reference position Ps1, and the distance measurement light of the first laser distance sensor S3. The first door reflex RF5 as the light reflecting member for the shield that reflects the light is installed on the outer surface of the warehouse of the first automatic door DR1, and the second door reflex RF7 as the light reflecting member for the shield is also the second automatic door DR2. It is installed on the inner surface of the warehouse. The mounting height position of the first door reflex RF5 on the first automatic door DR1 reflects the distance measuring light of the first laser distance sensor S3 when the first automatic door DR1 is in the lowered position and is in the closed state. When the 1 automatic door DR1 is located at the raised position and is in the open state, the automatic door DR1 is installed at a height that does not reflect the distance measuring light of the first laser distance sensor S3. The same applies to the mounting height position of the second door reflex RF7.

A second laser distance sensor S4 as an optical distance measuring means is installed in the second transport carriage 2B and is connected to the second in-vehicle controller H2. Then, a second transport carriage reference position reference RF4 as a reference position light reflecting member that reflects the distance measuring light of the second laser distance sensor S4 is installed at the second reference position Ps2, and the second laser distance sensor S4 measures. A second door reflex RF6 for the second transport carriage and a first door reflex RF8 for the second transport carriage are installed on the second automatic door DR2 and the first automatic door DR1 as the light reflecting member for the shield that reflects the distance light. About the installation height in 2nd automatic door DR2 and 1st automatic door DR1 of 2nd door reflex RF6 for 2nd conveyance trolleys and 1st door reflex RF8 for 2nd conveyance trolleys, it is the same as that of 1st door reflex RF5 and 2nd door reflex RF7. is there.

  In the present embodiment, the main controller MC commands the first cart control device VC1 and the second cart control device VC2, and the first cart control device VC1 uses the first door control device based on the feed command. In addition to instructing an open command and a close command to the DC1 and the second door control device DC2, the control information is transmitted to the first in-vehicle control unit H1 via the first optical communication device TM1, and the second cart control device VC2 issues an open command and a close command to the first door control device DC1 and the second door control device DC2, and also provides control information to the second in-vehicle control unit H2 via the second optical communication device TM2. Send.

  When the first cart control device VC1 commands an open command to both the first door control device DC1 and the second door control device DC2, the time difference is set so that the first cart control device VC1 operates in order from the one closest to the first transport cart 2A. When a command is given for the opening and, conversely, when a close command is issued to both the first door control device DC1 and the second door control device DC2, the time difference is set so that the first transport cart 2A operates in order from the farthest. It is commanded with a gap. For example, when the first transport carriage 2A is stopped at the stop position of the second section L2 of the travel route L, both the first automatic door DR1 and the second automatic door DR2 are switched from the closed state to the open state. First, the first truck control device VC1 first issues an open command to the second door control device DC2 and receives the ascent completion signal output from the second door control device DC2, and then sends it to the first door control device DC1. In response to the open command.

  Therefore, when the first cart control device VC1 switches both the first automatic door DR1 and the second automatic door DR2 from the closed state to the open state in a state where the travel of the first transport cart 2A is stopped, the first transport cart VC1 When there are a plurality of automatic doors of the first automatic door DR1 and the second automatic door DR2 from the stop position of the carriage 2A toward the first reference position Ps1, the plurality of automatic doors are connected to the first transport carriage 2A. The closer the closer, the more the opening is controlled.

  In addition, when the second cart control device VC2 commands an open command to both the first door control device DC1 and the second door control device DC2, the second cart control device VC2 operates in order from the one closest to the second transport cart 2B. When a command is given with a time difference, and conversely, when a close command is issued to both the first door control device DC1 and the second door control device DC2, the second carriage 2B is operated in order from the farthest. It is commanded with a time difference. For example, when the second transport carriage 2B is stopped at the stop position of the first section L1 of the travel route L, both the first automatic door DR1 and the second automatic door DR2 are switched from the closed state to the open state. First, the second carriage control device VC2 first issues an open command to the first door control device DC1, receives the ascent completion signal output from the first door control device DC1, and then sends it to the second door control device DC2. In response to the open command.

  Therefore, when the second carriage control device VC2 switches both the first automatic door DR1 and the second automatic door DR2 from the closed state to the open state in a state where the traveling of the second conveyance carriage 2B is stopped, the second conveyance controller VC2 When there are a plurality of automatic doors of the first automatic door DR1 and the second automatic door DR2 from the stop position of the carriage 2B toward the second reference position Ps2, the plurality of automatic doors are connected to the second transport carriage 2B. The closer the closer, the more the opening is controlled.

  The control information transmitted from the first bogie control device VC1 to the first in-vehicle control unit H1 via the first optical communication device TM1 includes the target station information for performing the transfer operation according to the transfer command instructed by the main controller MC, and the relevant information. This is transfer type information performed at the station, and the first in-vehicle control unit H1 determines the target stop position corresponding to the station from these control information, and the first based on the distance measurement information of the first laser distance sensor S1. The travel operation of the transport carriage 2A is controlled to travel to the target stop position, and the transfer operation of the transfer device provided in the first transport carriage 2A is controlled in a state where the transport carriage 2A is stopped at the target stop position.

  Similarly, the control information transmitted from the second carriage control device VC2 to the second in-vehicle control unit H2 via the second optical communication device TM2 is the target station that performs the transfer operation according to the transport command commanded by the main controller MC. Information and transfer type information performed at the station, the second in-vehicle control unit H2 determines a target stop position corresponding to the station from these control information, and based on the distance measurement information of the second laser distance sensor S2. Then, the travel operation of the second transport cart 2B is controlled to travel to the target stop position, and the transfer operation of the transfer device provided in the second transport cart 2B is controlled in a state where the travel is stopped at the target stop position.

  Incidentally, when the first transport carriage 2A is located in the third section L3, if the first automatic door DR1 is in the closed state, the control information that the first carriage control device VC1 transmits from the first optical communication device TM1. Is blocked by the first automatic door DR1 and is not transmitted to the second on-vehicle controller H2 of the first transport carriage 2A. Further, when the first transport carriage 2A is located in the second section L2, if the second automatic door DR2 is in the closed state, the control information transmitted by the first carriage control device VC1 is the second automatic door DR2. If the first automatic door DR1 is closed even if the second automatic door DR2 is open, the control information transmitted by the first cart controller VC1 is transmitted to the first automatic door DR1. The second on-vehicle control unit H2 of the first transport cart 2A is not transmitted because it is blocked.

  Therefore, when there is an automatic door between the first carriage control device VC1 and the first transfer carriage 2A, all the existing automatic doors are opened and then controlled by the first vehicle-mounted control unit H1. It is configured to transmit information. The same applies to the case where the second cart control device VC2 transmits control information to the second vehicle-mounted control unit H2 of the second transport cart 2B.

  Below, the driving | running | working operation control of 2 A of 1st conveyance carts by the 1st vehicle-mounted control part H1 is demonstrated. In order to avoid redundant description, description of the travel operation control of the second transport carriage 2B by the second in-vehicle control unit H2 is omitted.

  In the present article transport facility, when the first transport cart 2A is positioned in the third section L3 or the second section, the first automatic door DR1 and the second automatic door DR2 are positioned in the lowered position and switched to the closed state. The distance measurement information of the first laser distance sensor S1 does not indicate the distance from the first transport carriage 2A to the reference position reflex, and the first vehicle-mounted control unit H1 performs the first reference for the first transport carriage 2A. The position on the travel route L with respect to the position Ps1 cannot be grasped. Therefore, in the present article transport facility, when the first transport cart 2A is stopped in the third section L3, the travel operation control performed after the closed first automatic door DR1 is switched to the open state, Ensuring the reliability of travel operation control performed after the first automatic door DR1 and the second automatic door DR2 in the closed state are both switched to the open state when the one transport carriage 2A is stopped in the second section L2. Therefore, the first vehicle-mounted control unit H1 is configured to execute a distance measurement state confirmation process for confirming that the distance measurement state of the first laser distance measurement sensor S1 is appropriate before executing the travel operation process. ing.

  In the distance measurement state confirmation process, if it is determined that the distance measurement state of the first laser distance sensor S1 is appropriate, the distance measurement appropriate flag F is turned on. If it is determined that the distance measurement state is not appropriate, the distance measurement appropriate flag F is set. Turn off. In other words, the distance measurement appropriate flag F is a flag indicating that the distance measurement state is appropriate if it is on, and indicating that the distance measurement state is not appropriate if it is off. The initial value is set to on.

  The ranging state confirmation process executed by the first in-vehicle controller H1 will be described based on the flowchart shown in FIG. As shown in FIG. 9, first, at step # 1, whether or not the position where the first transport carriage 2A is stopped (hereinafter referred to as the current position Px) is located in the first section L1 of the travel route L. Determine. The first vehicle-mounted control unit H1 stores information about the stop position of the first transport carriage 2A when the travel movement is completed by the previous travel operation process (hereinafter referred to as the previous stop position information), and the previous stop position. The current position Px can be acquired by referring to the information. Even if the first transport carriage 2A is moved by an unexpected external force after the travel operation process is executed, it moves beyond the first automatic door DR1 or the second automatic door DR2 to another section of the travel route L. It is thought that there is nothing to do.

  If it is determined in step # 1 that the current position Px is located in the first section L1, the execution of the distance measurement state confirmation process is terminated without executing the processes in steps # 2 to # 7. When it is determined in step # 1 that the current position Px is not located in the first section L1, that is, the first transport carriage 2A is located in the second section L2 or the third section L3 of the travel route L. In step S2, the distance measurement state flag F is temporarily turned off. In step # 3, it is determined whether or not the ranging information of the first laser ranging sensor S1 has changed.

  Explaining the processing of step # 3, the first in-vehicle control unit H1 compares the distance measurement information of the first laser distance measurement sensor S1 with the latest distance measurement information at sufficiently fine set time intervals. The change is monitored, and when the amount of change in the distance measurement information exceeds the set threshold, the distance measurement information before the change is recorded as past distance measurement information D (n). In this embodiment, the past distance measurement information D (n) is stored with four data D (1), D (2), and D (3) so as to be traced back from the latest past distance measurement information D (0). It has become. In step # 3, if even one of the past distance measurement information is recorded, it is determined that the distance measurement information of the first laser distance sensor S1 has changed. The past distance measurement information D (0), D (1), D (2), D (3) is cleared to zero in step # 7, and the pointer indicating the data storage destination is also reset. In the distance confirmation process, a change in distance measurement information of the first laser distance sensor S1 is not erroneously detected.

  In step # 4, it is determined whether or not the current position Px is located in the second section L2 of the travel route L. As a result, the first on-vehicle controller H1 simply executes the travel operation process depending on whether the travel route segment where the first transport carriage 2A is located is the third segment L3 or the second segment L2. Which process is to be executed is selected from the confirmation process Z1 during shielding and the confirmation process Z2 during double shielding. That is, if the current position Px is located in the third section L3, there is a gap between the first reference position Ps1 where the first transport carriage reference position reflex RF3 is provided and the current position Px of the first transport carriage 2A. If the first automatic door DR1 exists, in this case, the single-shielding confirmation process Z1 is executed in step # 5, and the current position Px is located in the second section L2, the reference position reference for the first transport carriage The first automatic door DR1 and the second automatic door DR2 exist between the first reference position Ps1 where the RF3 is provided and the current position Px of the first transport carriage 2A. In this case, double shielding is performed in step # 6. Time confirmation process Z2 is executed. When the execution of the single-shielding confirmation process Z1 or the double-shielding confirmation process Z2 is completed, as described above, in the step # 7, the past distance measurement information D (0), D (1), D (2), D (3) Is cleared to zero, and the distance measurement status confirmation processing is completed.

The single-shielding confirmation process Z1 and the double-shielding confirmation process Z2 will be described based on the flowcharts shown in FIGS.
As shown in FIG. 10, in the single-shielding confirmation process Z1, the distance measurement information change ΔD in step # 1.
Is calculated by D (0) -D (1). In step # 2, it is determined whether or not the sign of the distance measurement information change ΔD is valid. In step # 3, it is determined whether or not the magnitude | ΔD | of the distance measurement information change ΔD is valid. When the first automatic door DR1 is switched from the open state to the closed state, if A is stopped in the second section L2, the change in the ranging information of the first laser ranging sensor S1 is the first FIG. 12 shows the switching of the reflecting member that reflects the distance measuring light associated with the opening / closing operation of the automatic door DR1 (specifically, switching from the first door reflex RF5 to the first transport carriage reference position reflex RF3). Step-by-step changes are expected. Accordingly, in step # 2, it is determined whether or not the sign of the distance measurement information change ΔD is “+”, and the distance measurement information change ΔD.
Is a distance d (P between the first reference position Ps1 and the first door position Pdr1.
It is determined whether or not s1, Pdr1). When both step # 2 and step # 3 are determined to be YES, that is, as the change ΔD of the distance measurement information of the first laser distance sensor S1,
The change of the distance d (Ps1, Pdr1) between the installation positions of the first door reflex RF5 and the first reference position reflex RF3 for the first transport carriage arranged in order from the stop point of the first transport carriage 2A toward the first reference position Ps1 appears. When it is determined that the distance measurement state is appropriate, the distance measurement state flag F is turned on in step # 4.

As shown in FIG. 11, in the double shielding confirmation process Z2, in step # 1, the first ranging information change ΔD1 is calculated by D (2) -D (1), and the second ranging information change ΔD2 is D. Calculated by (0) -D (1). In step # 2, it is determined whether or not the sign and magnitude | ΔD1 | of the first ranging information change ΔD1 is appropriate. In step # 3, the sign and magnitude | ΔD2 | of the second ranging information change ΔD2 is determined. Determine whether it is valid. When the first automatic door DR1 and the second automatic door DR2 are switched from the open state to the closed state in the order from the first transfer cart 2A, if the first transfer cart 2A is stopped in the second section L2. The change in the ranging information of the first laser ranging sensor S1 includes switching of the reflecting member accompanying the opening / closing operation of the first automatic door DR1 and the second automatic door DR2 (specifically, from the second door reflex RF7 to A stepwise change as shown in FIG. 12B is expected due to switching to the 1-door reflex RF5 and switching from the first door reflex RF5 to the first transport carriage reference position reflex RF3). Therefore, in Step # 2 and Step # 3, it is determined whether or not the signs of the first ranging information change ΔD1 and the second ranging information change ΔD2 are “+”, and the magnitude of the first ranging information change ΔD1 is large. It is determined whether or not | ΔD1 | is the distance d (Pdr1, Pdr2) between the first door position Pdr1 and the second door position Pdr2, and the magnitude | ΔD2 | It is determined whether or not the distance d (Ps1, Pdr1) between the one reference position Ps1 and the first door position Pdr1. If both step # 2 and step # 3 are determined to be YES, that is, as the changes ΔD1 and ΔD2 in the distance measurement information of the first laser distance measurement sensor S1, the second door reflex RF7 and the first door reflex RF5 are installed. When it is determined that a change in the inter-position distance d (Pdr1, Pdr2) and a change in the inter-position distance d (Ps1, Pdr1) between the first door reflex RF5 and the first transport carriage reference position reflex RF3 have occurred. In step # 4, the distance measurement state flag F is turned on because the distance measurement is appropriate.

  As a specific transfer operation of the article W by the first transfer carriage 2A, the first transfer carriage 2A in the standby state after the article W is completely unloaded at the entry / exit station STa1 of the first warehouse WH1 is transferred from the entry / exit station STa3 to the exit station STout. Each process executed by the first in-vehicle control unit H1 will be described by taking as an example a transfer operation for unloading the article W and carrying out the article W from the loading / unloading station STb5 to the loading station STin through a standby state. When carrying out the transfer work as in the above-described example, the first door control device DC1 and the second door control device are operated by the travel operation of the first transfer carriage 2A controlled by the first vehicle-mounted control unit H1 and the first carriage control device VC1. The opening / closing operation of the first automatic door DR1 and the second automatic door DR2 controlled via the DC2 is performed in the order shown in FIG.

  Below, the outline of the control operation | movement of the 1st vehicle-mounted control part H1 in the case of performing conveyance work like the above-mentioned example is demonstrated based on the flowchart of FIG. The control operation of the first in-vehicle control unit H1 basically waits for reception of control information from the first bogie control device VC1, and if it is received, the value of the distance measurement state flag F is checked to determine whether the distance measurement is appropriate. For example, a series of control operations consisting of four steps, such as running operation processing, stopping at a target stop position, performing transfer processing based on the control information, and performing either wholesale or scooping transfer work. However, this is repeated for each transfer operation. In the flowchart shown in FIG. 14, a series of four control operations such as step # 1 to step # 4, step # 5 to step # 8, step # 9 to step # 12, and step # 13 to step # 16 are intermittent. Has been repeated. In other words, the first transport carriage 2A moves to the stop position Pa3 as the first transport work by the process of Step # 1 to Step # 4, performs the scooping work, and the process of Step # 5 to Step # 8 performs the first work. As the second transfer work, the work is moved to the stop position Pout and the wholesale work is performed. By the processes of Step # 9 to Step # 12, the third transfer work is moved to the stop position Pb5 and the scooping work is performed. By the processing in step # 16, the wholesale operation is performed by moving to the stop position Pout as the fourth transport operation. And it waits for control information about the 5th conveyance work by processing of Step # 17.

  As shown in FIG. 14, the ranging state confirmation process is repeatedly executed until the control information from the first cart control device VC1 is received before each of the first to fourth transport operations is started. And the 1st trolley | bogie control apparatus VC1 commands the open command about 1st automatic door DR1 and 2nd automatic door DR2, in order to transmit the control information for starting each conveyance work to 1st vehicle-mounted control part H1. . The first automatic door DR1 and the second automatic door DR2 that are opened by the opening / closing control of the first cart control device VC1 according to the transfer work are both closed when the transfer work is finished. Thereby, for example, in the standby state of the control information in step # 9, the first automatic door DR1 is switched from the closed state to the open state when the first transport carriage 2A is located at the stop position Pout ( FIG. 14 “No. 6” in FIG. 14 shows the first automatic door DR1 ascending operation), and changes in the distance measurement information of the first laser ranging sensor S1 due to the first automatic door DR1 ascending operation (see FIG. 12A). ) Is recorded in the first vehicle-mounted control unit H1, and the distance measurement state of the first laser distance sensor S1 is reflected in the distance measurement state flag F in the distance measurement state confirmation processing. In the control information standby state at step # 13, when the first transport carriage 2A is located at the stop position Pb5, the first automatic door DR1 and the second automatic door DR2 are Open control is performed in such a manner that the first automatic door DR1 is switched from the closed state to the open state before the first automatic door DR1 (the second automatic door DR2 ascending operation indicated by “No. 11” in FIG. Ascending operation of the door DR1), the change in the ranging information (see FIG. 12B) of the first laser ranging sensor S1 by the ascending operation of the first automatic door DR1 and the second automatic door DR2 is the first in-vehicle control. The distance measurement state of the first laser distance measurement sensor S1 is reflected in the distance measurement state flag F in the distance measurement state confirmation process.

[Another embodiment]
Hereinafter, other embodiments are listed.
(1) In the above embodiment, the traveling body is exemplified as having two traveling bodies, but the traveling body may be one.
(2) In the above embodiment, an example in which two shields are provided on the travel route L is illustrated, but only one shield may be provided, or three or more shields may be provided. In the case where the second embodiment is configured with only one shield, only the single-shielding confirmation process Z1 is executed in the distance measurement state confirmation process.
(3) In the above embodiment, the optical distance measuring device is configured by the laser distance measuring sensor. However, the present invention is not limited to this, and the emitted distance measuring light is reflected by the light reflecting member to the light reflecting member. What is necessary is just to measure the distance.
(4) In the above-described embodiment, the article conveyance facility in which the traveling body is configured by the transport carriage is illustrated. However, the present invention is not limited thereto, and the traveling body, for example, the traveling body is configured by a stacker crane is used. What is necessary is just for goods conveyance which reciprocates along the linear travel path of a form.
(5) In the second embodiment, the first in-vehicle control unit H1 determines the distance d (Pdr1) between the installation positions of the second door reflex RF7 and the first door reflex RF5 as a change in distance measurement information in the double-shielding confirmation process Z2. , Pdr2) and a change in the distance d (Ps1, Pdr1) between the installation positions of the first door reflex RF5 and the first transport carriage reference position reflex RF3 is determined. However, instead of this, as shown in the flowchart of FIG. 15, the first in-vehicle control unit H1 performs distance measurement information in the double-shielding confirmation process Z2. If it is determined that a change in the distance d (Pdr1, Pdr2) between the installation positions of the second door reflex RF7 and the first door reflex RF5 appears as a change in the distance, it is determined that the distance measurement is appropriate. It may be what was done.

Overall plan view of a logistics facility equipped with the article conveying equipment of the present invention Control configuration block diagram in the first embodiment Arrangement side view in the first embodiment The figure which showed the operation | movement order of the 1st conveyance trolley | bogie and 1st and 2nd automatic door in 1st Embodiment. The flowchart which shows the control operation | movement of the 1st trolley | bogie control apparatus in 1st Embodiment. The flowchart of the ranging state confirmation process which the 1st trolley | bogie control apparatus in 1st Embodiment performs. Control configuration block diagram in the second embodiment Arrangement side view in the second embodiment Flow chart of distance measurement state confirmation processing executed by the first vehicle-mounted control unit in the second embodiment Flowchart of single-shielding confirmation process in the second embodiment Flowchart of double-shielding confirmation process in the second embodiment The figure which shows the change of the ranging information of the 1st laser distance sensor in 2nd Embodiment. The figure which showed the operation | movement order of the 1st conveyance trolley | bogie and 1st and 2nd automatic door in 2nd Embodiment. The flowchart which shows the control operation of the 1st vehicle-mounted control part in 2nd Embodiment. Flowchart of confirmation processing at the time of double shielding in another embodiment (5)

Explanation of symbols

L travel path Ps1, Ps2 reference position DR1, DR2 shield H1, VC1 control means H2, VC2 control means RF1, RF2 light reflecting member RF3 for traveling body, light reflecting member RF5 for reference position RF4, RF7 light reflecting member for shielding body RF6, RF8 Shielding light reflecting members S1, S2 Optical distance measuring means S3, S4 Optical distance measuring means
d (Ps1, Pdr1) Distance between installation positions
d (Pdr1, Pdr2) Distance between installation positions Db, Da, D (n) Ranging information 2A, 2B

Claims (6)

A traveling body for conveying an article that reciprocates along a linear travel path in an end form;
An optical distance measuring means for optically detecting a distance between a reference position at an end of the traveling route and the traveling body;
An article conveying facility provided with a control means for executing a traveling operation process for controlling the traveling body to travel to a target position based on distance measurement information of the optical distance measuring means;
The optical distance measuring means is configured to detect a distance to a light reflecting member for a traveling body that is installed at the reference position and provided in the traveling body,
In the middle of the travel route, a shield that can open and close the travel route is provided,
The control means is
When the shielding body is managed from the open state to the closed state by managing the open / closed state of the shielding body, the traveling path which is on the non-existing side of the optical distance measuring means with respect to the shielding body in the traveling path When the travel stop process for stopping the travel of the traveling body located in the portion is executed, and the shield is switched from the closed state to the open state in the state where the travel of the traveling body is stopped, the traveling body Whether or not the vehicle is in a distance measurement proper state in which it can be confirmed that the vehicle is running under the set travel conditions based on the distance measurement information of the optical distance measuring means. The article conveyance facility is configured to execute a distance measurement state confirmation process for determining whether the distance measurement state is appropriate and to start the travel operation process.   When the control unit switches from the closed state to the open state, the control unit determines the distance indicated by the distance measurement information of the optical distance measurement unit and the position of the shield from the installation position of the optical distance measurement unit. The operation confirmation process for confirming whether or not the disagreement state does not match the distance to the installation location is executed, and the distance measurement state confirmation process is executed in the case of the disagreement state. Item conveying equipment of 1. There are two traveling bodies,
The article conveyance facility according to claim 1 or 2, wherein the optical distance measuring means corresponding to each of the two traveling bodies is provided at the reference position at each of both ends of the traveling route. A traveling body for conveying an article that reciprocates along a linear travel path in an end form;
Optical distance measuring means for optically detecting the distance from the reference position of the end of the travel route to the traveling body;
An article conveying facility provided with a control means for executing a traveling operation process for controlling the traveling body to travel to a target position based on distance measurement information of the optical distance measuring means;
The optical distance measuring means is configured to detect a distance to a reference position light reflecting member installed in the traveling body and installed at the reference position ;
In the middle of the travel route, a shield that can open and close the travel route is provided,
The shield is provided with a light reflecting member for the shield that the optical distance measuring means measures in the closed state,
The control means is
When the open / close state of the shield is managed so that the shield is switched from the open state to the closed state, the travel path that is on the non-existing side of the reference position reflecting member relative to the shield in the travel path When the travel stop process for stopping the travel of the traveling body located in the portion is executed, and when the shield is switched from the closed state to the open state in the state where the travel of the traveling body is stopped, the optical type As a change in the distance measurement information of the distance measuring means, a magnitude corresponding to the distance between the installation positions of the light reflecting member for the shield and the light reflecting member for the reference position, which are sequentially arranged from the stop position of the traveling body toward the reference position. run the ranging state confirmation process determines whether or not the distance-measuring proper state change appears in the, when the a distance measurement proper state is configured to start the traveling operation processing Goods transport equipment. A traveling body for conveying an article that reciprocates along a linear travel path in an end form;
Optical distance measuring means for optically detecting the distance from the reference position of the end of the travel route to the traveling body;
An article conveying facility provided with a control means for executing a traveling operation process for controlling the traveling body to travel to a target position based on distance measurement information of the optical distance measuring means;
The optical distance measuring means is configured to detect a distance to a reference position light reflecting member installed in the traveling body and installed at the reference position ;
In the middle of the travel route, a plurality of shields that can freely open and close the travel route are provided at intervals in the longitudinal direction of the travel route,
Each of the plurality of shields is provided with a shield light reflecting member for distance measurement by the optical distance measuring means in its closed state,
The control means is
When the opening / closing control of the shield is managed and the shield is switched from the open state to the closed state, the travel path portion on the non-existence side of the reference position reflecting member with respect to the shield in the travel path The travel body is stopped when traveling of the travel body is stopped, and when the travel of the travel body is stopped, the plurality of shielding bodies are switched from the closed state to the open state. When there are a plurality of shields from the stop point toward the reference position, the plurality of shields are configured to open and control in a form that opens closer to the traveling body, and
When the plurality of shields are switched from a closed state to an open state in a state in which the traveling of the traveling body is stopped, as a change in distance measurement information of the optical distance measuring means, the reference from the stop position of the traveling body It is determined whether or not it is an appropriate distance measurement state in which a change in size corresponding to the distance between the installation positions of the light shielding members for the plurality of shields arranged in order toward the position appears, or where the traveling body stops The plurality of shielding light reflecting members and the reference position light reflecting members arranged in order from the reference position to the reference position, a change in size corresponding to the distance between the installation positions of the plurality of shielding light reflecting members, And a distance measurement state confirmation process for determining whether or not a distance measurement appropriate state in which a change in size corresponding to the distance between the installation positions of the light shielding member for the shield and the light reflection member for the reference position appears is executed. And the distance measurement When a positive state, the article transport facility which is configured to start the traveling operation processing. There are two traveling bodies,
The article conveyance facility according to claim 4 or 5, wherein the reference position light reflecting member corresponding to each of the two traveling bodies is provided at the reference position at each of both ends of the traveling route.

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