JP4862359B2 - Traveling control system for traveling body and traveling control method for traveling body - Google Patents

Description

  The present invention relates to a travel control system and a travel control method for a travel body, and more particularly, to a travel control system for a travel body that travels by receiving non-contact power supply from a power supply line along a travel track and a travel control method for the travel body. .

In factories, warehouses, and the like, articles may be transferred by a traveling body that travels on a preset route.
As such a traveling control system for a traveling body (simply referred to as a “traveling control system”), one that performs non-contact power feeding to a traveling body from a power supply line connected to a power source is known.

For example, a conventional travel control system 50 shown in FIGS. 7A and 7B includes a tracked carriage 60 as a traveling body on which an article W is mounted and travels on a predetermined travel track 51, and a tracked carriage. A power supply line 58 laid along 60 traveling tracks 51, a power supply 59 for supplying high-frequency current to the power supply line 58, a power supply mechanism for contactlessly supplying high-frequency current from the power supply line 58 to the tracked carriage 60, and conveyance It has a ground controller 66 as a control means for performing control for running the tracked carriage 60 based on the instruction.
In this travel control system 50, high-frequency alternating current flows through the power supply line 58, and the tracked carriage 60 having the pickup core 64 (power receiving core) that is a power supply mechanism is connected to the pickup core 64 (power receiving core). The electric power from the power supply line 58 is obtained in a non-contact manner by the electromagnetic induction action with the power 58.

In this traveling control system 50, as shown in FIG. 7B, a warehousing conveyor 52 as an article conveying means is provided in the vicinity of the traveling track 51, and the warehousing conveyor 52 is mounted on the loading platform 61 of the tracked carriage 60. The article W to be conveyed is conveyed.
The warehousing conveyor 52 includes a conveyor control unit 55 and a stock sensor 53 as an article detection unit that detects the presence or absence of an article W to be transported.
The in-stock sensor 53 is provided near the downstream end (traveling track 51 side) of the warehousing conveyor 52.
The ground controller 66 gives a conveyance instruction to the tracked carriage 60 based on the detection signal, and controls the power supply 59 to change the output of the power supply 59 from the power saving output to the normal output.

In this type of traveling control system 50, for example, when the tracked carriage 60 has been stopped for a long time, the output of the power source 59 is set as a power saving output, and the article W to be mounted on the tracked carriage 60 is detected by the warehousing conveyor 52. When this is done, the output of the power supply 59 is changed from the power saving output to the normal output so that the tracked carriage 60 can travel.
That is, in this type of traveling control system 50, when the tracked carriage 60 does not travel for a long time, the output of the power source 59 is set to the lowest power saving output in order to prevent useless power loss. When the cart 60 travels, power corresponding to the normal output necessary for travel is supplied to the power supply line 58.
Therefore, when the article W to be mounted on the tracked carriage 60 is detected, the ground controller 66 changes the output of the power supply 59 from the power saving output to the normal output, and gives a conveyance instruction to the tracked carriage 60.
At this time, as shown in FIG. 8, after the occupancy sensor 53 detects the article W, the output of the power source 59 is changed from the power saving output to the normal output, and power corresponding to the normal output is supplied to the feeder line 58. For example, a time of several seconds to 10 seconds is required.
Incidentally, it is practically difficult to eliminate the time required for the output of the power supply 59 to correspond to the normal output from the power saving output or to shorten this time.

In addition, the technique which changes the output of the power supply which supplies electric power to a feeder in this kind of traveling control system is also disclosed by patent document 1 and patent document 2, for example.
JP 2000-60034 A Japanese Patent Laid-Open No. 2001-19120

However, in the conventional traveling control system, even if an article is detected and the output of the power source is changed from the power saving output to the normal output, it actually takes time until the power corresponding to the normal output is obtained in the feeder line. .
There is a problem that the time from when the article is detected until the power of the power supply line corresponds to the normal output, that is, the time required to change the output of the power supply is reflected as a time loss in the travel control system.
Specifically, even when the traveling carriage receives a transportation instruction, the power required for the power supply line is not sufficient while the output of the power supply is changed. The waiting time is reflected and the traveling body cannot travel immediately, and it takes time until the article is mounted on the traveling body.

  The present invention has been made in view of the above-mentioned problems, and the object of the present invention is necessary for changing the output even if the output of the power source that supplies power to the feeder line is changed to an output that allows the traveling body to travel. The object of the present invention is to provide a traveling control system for a traveling body and a traveling control method for the traveling body that can reduce a time loss based on time.

In order to solve the above-mentioned problem, the invention according to claim 1 is a traveling body on which an article is mounted and travels on a predetermined traveling path, a feeder line laid along the traveling path of the traveling body, and the feeder line A power source for supplying high-frequency current to the vehicle, a power supply mechanism for non-contact power supply of the high-frequency current from the power supply line to the traveling body, and an article that is provided near the traveling track and conveys the article to be mounted on the traveling body A conveying means; an article detecting means for detecting the presence or absence of the article in the article conveying means; and a control means for controlling the traveling body to travel based on a conveying instruction, wherein the control means detects the article detecting means. A travel control system for a travel body that gives a transport instruction to the travel body based on a signal, wherein the article detection means includes a first article detection body that detects an article necessary for controlling the output of the power source, and a transport instruction. required for A second article detecting member for sensing the goods, the first goods detection member provided on the transport upstream side of the article conveyor means, said second article detecting body provided on the conveyance downstream side of the article transport means The control means outputs the power supply to the feeder line based on the detection signal of the first article detection body before giving a conveyance instruction to the traveling body based on the detection signal of the second article detection body. The power source is controlled to change from a power saving output to a normal output.

According to the first aspect of the present invention, the control means changes the power supply output to the power supply line from the power saving output to the normal output based on the detection signal of the article detection means before giving the conveyance instruction to the traveling body. To control the power supply.
Therefore, even if the instruction to change the output of the power supply and the instruction to convey the traveling body are simultaneous, if sufficient time for conveying the article by the conveying means is secured, the power saving output is changed to the normal output during the article conveyance. If the output of the power supply is changed, the time loss based on the time required for changing the output of the power supply can be eliminated.
Instruct the transport to the traveling body after instructing to change the output of the power source, and if the transportation time of the article by the transportation means is sufficiently secured, the power supply from the power saving output to the normal output during the transportation of the article If the output is changed, the time loss based on the time required for changing the output of the power supply can be eliminated or reduced.
In addition, before giving a conveyance instruction | indication with respect to a traveling body means the time range before giving a conveyance instruction | indication to a traveling body including the time of giving a conveyance instruction | indication to a traveling body.
Incidentally, the conveyance instruction includes an operation of conveying a specific article by a traveling carriage to a place where a specific article is designated.
Furthermore, the conveyance instruction may include an operation of transferring the article to the traveling body and an operation of transferring the article from the traveling body to a designated place.
A constant article conveyance distance is set between the first article detector and the second article detector.
When a certain article conveyance distance is set, a certain article conveyance time corresponding to the conveyance distance can be ensured.
Thereby, the conveyance time of the article from the detection of the article by the first article detector to the detection of the article by the second article detector can be used as the time required for changing the output of the power source.

According to a second aspect of the present invention, there is provided a traveling body carrying an article and traveling on a predetermined traveling path, a power supply line laid along the traveling path of the traveling body, and a power source for supplying a high-frequency current to the power supply line A power feeding mechanism that non-contact feeds a high-frequency current from the power supply line to the traveling body, an article transporting means that is provided near the traveling track and transports the article to be mounted on the traveling body, and the article transporting Means for detecting presence / absence of the article in the means, and control means for controlling the traveling body to travel based on a conveyance instruction, the control means being adapted to the traveling body based on a detection signal of the article detecting means. A travel control system for a traveling body that gives a transport instruction, comprising: an article transfer means that faces the transport upstream side of the article transport means; and a communication means that communicates between the article transfer means and the control means. And the article The loading means includes the article detection means, and the control means determines the power supply output from the power saving output based on the detection signal of the article detection means before giving a conveyance instruction to the traveling body. The power source is controlled to change to a normal output .

According to the invention described in claim 2, when the article transfer means transfers to the article transport means, communication including the detection signal is performed between the article transfer means and the control means.
Therefore, it is not always necessary to provide the article detection means in the article transport means, and the article detection signal can be transmitted from the article transfer means to the control means by the communication means.

According to a third aspect of the present invention, in the travel control system for a traveling body according to the first or second aspect, the control means is configured such that the power of the feeder line corresponds to a normal output based on a detection signal of the article detection means. A conveyance instruction is given to the traveling body .

According to the third aspect of the present invention, the control means gives a conveyance instruction to the traveling body after the power of the feeder line corresponds to the normal output based on the detection signal of the article detection means.
Therefore, since the control means gives the conveyance instruction to the traveling body after the power of the feeder line corresponds to the normal output, the traveling body can travel immediately upon receiving the transportation instruction.

According to a fourth aspect of the present invention, there is provided a traveling body to which a high-frequency current is contactlessly fed from a feeder line laid along the traveling track, and an article to be mounted on the traveling body, which is provided near the traveling track. Article conveying means, control means for controlling a power source for supplying a high-frequency current to the power supply line and the traveling body, and a first article detector for detecting an article necessary for controlling the output of the power source, And a second article detector for detecting an article required for the conveyance instruction, the first article detector is provided on the upstream side of the article conveying means, and the second article detector is the article conveying means. The control means is provided on the downstream side of the conveyance of the power supply line based on the detection of the first article detection body before giving a conveyance instruction to the traveling body based on the detection of the second article detection body. The power supply output from the power saving output is usually And controlling the power supply to change the force.

According to a fifth aspect of the present invention, there is provided a traveling body in which high-frequency current is contactlessly fed from a feeder line laid along the traveling track, and an article to be mounted on the traveling body, which is provided near the traveling track. Article conveying means, control of a power source for supplying a high-frequency current to the feeder, control means for controlling the traveling body, article transfer means facing the conveyance upstream side of the article conveying means, and a communication means for communicating between the mounting means and said control means, when said article transfer means that the article comprises an object article detection means has been detected by said article detection means, said control means, said Before giving a conveyance instruction to the traveling body, based on detection of the article, the power source is controlled so as to change the output of the power source to the power supply line from a power saving output to a normal output.

According to the invention of claim 4 and 5, wherein, when the article is examined knowledge, control means, before giving a transport instruction to the traveling body, based on the detection of an article, saving the output of the power supply for the power supply lines The power source is controlled to change from the power output to the normal output.
Therefore, even if the instruction to change the output of the power supply and the instruction to convey the traveling body are simultaneous, if the conveyance time of the article by the conveying means is sufficiently secured, the power in the feeder line is changed while the article is being conveyed. If it does, the time loss based on the time required until the output of the power supply is changed from the power saving output to the normal output can be eliminated.
Instruct the transport to the traveling body after instructing to change the output of the power source, and if the transportation time of the article by the transportation means is sufficiently secured, the power supply from the power saving output to the normal output during the transportation of the article If the output is changed, the time loss based on the time required for changing the output of the power supply can be eliminated or reduced.

  ADVANTAGE OF THE INVENTION According to this invention, even if it changes the output of the power supply with respect to a feeder to the output which a traveling body can drive | work, the traveling control system and traveling of a traveling body which can reduce the time loss based on the time required for the change of an output A body travel control method can be provided.

(First embodiment)
A travel control system for a traveling body according to a first embodiment (hereinafter simply referred to as “travel control system”) will be described with reference to FIGS.
The travel control system of this embodiment is an example applied to a physical distribution facility provided with a tracked carriage for transporting articles.
FIG. 1 is a plan view showing a travel control system 10 according to the first embodiment.
FIG. 2A is a configuration diagram schematically showing the main part of the traveling control system 10, and FIG. 2B is a cross-sectional view showing the main part of the power feeding mechanism.

  The traveling control system 10 according to this embodiment mainly includes a traveling track 11 laid on the floor, a tracked carriage 20 as a traveling body traveling on the traveling track 11, and article storage that is a storage destination of the article W. Storage as an article conveying means for conveying an article W to be mounted on the tracked carriage 20, a power supply line 19 laid along the traveling track 11, a power source 19 for supplying high-frequency current to the power supply line 18 It is mainly composed of a conveyor 12 and a ground controller 26 as control means for giving a conveyance instruction to the tracked carriage 20.

As shown in FIG. 1, the traveling track 11 is a track that guides the tracked carriage 20, and the tracked carriage 20 is disposed on the running track 11 so as to be able to travel.
In this embodiment, the standby position HP of the tracked carriage 20 is set near the end of the traveling track 11, and the tracked carriage 20 waits at the standby position HP when the article W is not transported.
The standby position HP is a reference position that is the basis of the position information of the tracked carriage 20.

In FIG. 1, the article mounting position LP is set at a position slightly away from the standby position HP.
The warehousing conveyor 12 is installed corresponding to the article loading position LP, and the downstream side end of the warehousing conveyor 12 faces the article loading position LP.
The article mounting position LP is a position where the tracked carriage 20 stops in order to mount the article W on the tracked carriage 20.

The warehousing conveyor 12 is a conveyor that conveys the articles W to be mounted on the tracked carriage 20.
The warehousing conveyor 12 includes a first stock sensor 13 as a first article detector and a second stock sensor 14 as a second article detector.
In this embodiment, the first article detector and the second article detector constitute an article detector.
Furthermore, the warehousing conveyor 12 includes a conveyor control unit 15 that controls each part of the warehousing conveyor 12.

In this embodiment, the first load sensor 13 is provided in the vicinity of the upstream end, which is the upstream side of the warehousing conveyor 12, and the second load sensor 14 is provided in the vicinity of the downstream end, which is the downstream side of the transfer.
The position where the article W is recognized by the first inventory sensor 13 is defined as a first article detection position S1, and the position where the article W is recognized by the second inventory sensor 14 is defined as a second article detection position S2.
The first stock sensor 13 and the second stock sensor 14 generate a detection signal when the article W is recognized.
The second in-stock sensor 14 is installed so that a transport instruction from the ground controller 26 can be issued to the tracked truck 20 when the tracked truck 20 becomes ready to travel.
That is, the installation position of the second in-stock sensor 14 is installed at a position that takes into consideration the time during which the tracked carriage 20 can travel from the relationship with the conveyance time of the article W on the warehousing conveyor 12.

An article storage shelf 16 is installed along the traveling track 11 at a location away from the article mounting position LP, and the article storage shelf 16 includes a plurality of storage units 17 for storing the articles W.
When the tracked carriage 20 stops at a position corresponding to the storage unit 17, the article W to be stored is stored in the storage unit 17, and the article W to be stored is taken out from the storage unit 17.
The article W to be delivered is performed by the tracked carriage 20 in the same manner as the article W to be delivered, but the delivery destination of the article W to be delivered is not shown in FIG.

On the other hand, as shown in FIGS. 2 (a) and 2 (b), a pair of upper and lower feeder lines 18 (18a, 18b) are parallel to each other on the side surface of the traveling track 11 as shown in FIGS. Is laid.
A high-frequency current flows through the feeder line 18 based on the output from the power source 19, and the power source 19 is an AC power source so that currents flow in opposite directions to the feeder lines 18a and 18b.
The power output from the power source 19 to the feeder line 18 is mainly used for traveling the tracked carriage 20.
The output of the power source 19 that supplies power to the feeder line 18 can be changed in two stages: a normal output capable of traveling the tracked carriage 20 and a power saving output that is the lowest value of power.

The tracked carriage 20 includes a loading platform 21 on which the article W is mounted, a cart control unit 22 that controls each part of the tracked carriage 20, a transmission / reception unit 23 that communicates with the ground controller 26, and a power supply line 18. A power feeding mechanism for power feeding is provided.
Incidentally, the track guided vehicle 20, or delivery or capture an article W to be mounted from the warehousing conveyer 12 to bed 21, the article W on the bed 21 to a location (transfer destination) to specify the loading platform 21 transfer A mechanism (not shown) is provided.
The cart control unit 22 controls the elements of the traveling drive system in the tracked cart 20 and also controls the transmission / reception unit 23 and the power feeding mechanism.
Under the control of the carriage control unit 22, traveling of the tracked carriage 20 and stopping at an appropriate position are realized.

The power supply mechanism is a mechanism for supplying power from the power supply line 18 to the tracked carriage 20, and the power supply mechanism of this embodiment uses a pickup core 24.
The pickup core 24 is a coil in which a coil is wound around a magnetic material such as an iron core. The longitudinal section of the pickup core 24 is substantially E-shaped.
Feed line 18a, 18b is faces to respective positions above and below the central collision raised portion 24a of the pick-up core 24.
The pickup core 24 is configured to obtain an alternating current from a coil 25 provided on the central protrusion 24a by using an electromagnetic induction action in the feeder lines 18a and 18b.

Next, the ground controller 26 as control means will be described.
The ground controller 26 of this embodiment is installed on the ground, and has a function of controlling the output of the power supply 19 in addition to giving a conveyance instruction to the tracked carriage 20 based on the detection of the article W in the warehousing conveyor 12.
The ground controller 26 is electrically connected to the conveyor control unit 15 of the warehousing conveyor 12 so that the detection signals of the first stock sensor 13 and the second stock sensor 14 can be recognized.
The ground controller 26 includes a transmission / reception unit 27 and can perform wireless communication with the tracked carriage 20.
The ground controller 26 is electrically connected to the power source 19 and controls the power source 19 to change the output of the power source 19 to a power saving output or a normal output.
In this embodiment, the ground controller 26 changes the output of the power source 19 from the power saving output to the normal output based on the detection signal of the article W by the first stock sensor 13, or the tracked carriage 20 does not travel for a long time. In this case, the normal output is changed to the power saving output.

Next, a travel control method for the tracked carriage 20 of this embodiment will be described.
First, it is assumed that the tracked carriage 20 is in the standby position HP, that is, the tracked carriage 20 is in a standby state without the article W mounted thereon.
In this state, the output of the power source 19 that supplies power to the feeder line 18 is a power saving output.
Therefore, it is in the state which suppresses the power consumption in the traveling control system 10 whole, and the tracked vehicle 20 is in the state which cannot drive | work.

Next, when the article W to be mounted on the tracked carriage 20 is introduced to the downstream end side of the warehousing conveyor 12, the first in-stock sensor 13 recognizes the article W at the first article detection position S1, and first A detection signal from the stock sensor 13 is sent to the conveyor control unit 15.
The conveyor control unit 15 controls the warehousing conveyor 12 so as to carry the article W, and transmits to the ground controller 26 that the detection signal has been received.
The ground controller 26 releases the power saving output from the power source 19 and controls the power source 19 so that the output becomes a normal output.
The power source 19 is controlled by the ground controller 26 to change from the power saving output to the normal output. However, in this embodiment, the change of the output of the power source 19 is completed and the power of the feeder line 18 corresponds to the normal output. It takes a few seconds to 10 seconds before the tracked carriage 20 can run.
That is, even if the ground controller 26 instructs to change the output to the power source 19, the power in the feeder line 18 is not immediately changed from the state corresponding to the power saving output to the state corresponding to the normal output.

The goods W are transported by the warehousing conveyor 12 until the tracked carriage 20 is ready to travel.
In this embodiment, when the output of the power source 19 is changed to the normal output and the tracked carriage 20 is ready to travel, the article W is recognized again by the second load sensor 14 at the second article detection position S2. A detection signal from the second stock sensor 14 is sent to the conveyor control unit 15.
Then, the fact that the detection signal has been received is transmitted to the ground controller 26, and the ground controller 26 gives a conveyance instruction to the tracked carriage 20.
In this embodiment, since the tracked carriage 20 is provided with a transfer mechanism, the tracked carriage 20 travels based on the conveyance instruction, and the article W is transferred by the transfer mechanism provided in the tracked carriage 20. I do.
First, the tracked carriage 20 receives a conveyance instruction from the ground controller 26 by wireless communication, and travels toward a position facing the downstream end of the warehousing conveyor 12.
FIG. 3 is a time chart from the detection of the article W by the first inventory sensor 13 to the detection of the article W by the second inventory sensor 14 and a conveyance instruction to the tracked carriage 20.

When the tracked carriage 20 reaches the position facing the downstream end of the warehousing conveyor and stops, the article is mounted on the loading platform 21 of the tracked carriage 20 and then travels toward the article storage shelf 16 again.
The tracked carriage 20 that has reached the article storage shelf 16 faces the predetermined storage unit 17 that is the receiving destination of the article W based on the conveyance instruction, and stores the article W in the storage unit 17.

Next, when the article W to be received is present on the warehousing conveyor 12, the article W is loaded and travels toward the warehousing conveyor 12 based on the next conveyance instruction, and the article W is moved to the article storage shelf 16. Accommodate.
After the article W is accommodated, when there is no article W to be handled next, the tracked carriage 20 returns to the standby position HP and stands by.
After that, if no conveyance instruction is received from the ground controller 26 even after a predetermined time has elapsed, the ground controller 26 controls the power source 19 so that the output of the power source 19 is changed from the normal output to the power saving output.

  Thus, in this embodiment, when the article W is detected by the first in-stock sensor 13 at the first article detection position S1 on the warehousing conveyor 12, the ground controller 26 instructs the tracked carriage 20 to carry it. Before the power supply 19 is given, the power supply 19 is controlled to change the output of the power supply 19 to the power supply line 18 from the power saving output to the normal output based on the detection of the article W by the first in-stock sensor 13.

According to this embodiment, the following effects can be obtained.
Even if an instruction to change the output of the power source 19 by the ground controller 26 and a conveyance instruction to the tracked carriage 20 are simultaneous, a certain article W is placed between the first load sensor 13 and the second load sensor 14. Therefore, the conveyance time of the article W by the warehousing conveyor 12 is sufficiently secured, and the output of the power source 19 is changed from the power saving output to the normal output during the conveyance of the article W. The time required for changing the output of the power source 19 is not lost in time.
That is, since a certain conveyance distance of the article W is set between the first inventory sensor 13 and the second inventory sensor 14, the second inventory sensor is detected from the detection of the article W by the first inventory sensor 13. The conveyance time of the article W up to the detection of the article W by 14 can be used for the time required for changing the output of the power source 19.

(Another example 1 of the first embodiment)
In this embodiment, when the output of the power source 19 is completed from the power saving output to the normal output, a conveyance instruction is given to the tracked carriage 20. As another example, for example, FIG. As shown, the article W may be detected by the second in-stock sensor 14 until the tracked carriage 20 is ready to travel.
In this case, when the tracked carriage 20 is in a state in which it cannot travel, a transfer instruction is given from the ground controller 26 to the tracked carriage 20. Is changed to the normal output, and it is necessary to wait until the tracked carriage 20 becomes ready to travel.
However, since the article W continues to be conveyed by the warehousing conveyor 12 while the tracked carriage 20 is on standby, the article W does not cause a time loss due to a change in the output of the power source 19.
In addition, what is necessary is just to use the timer set beforehand corresponding to the waiting time as the time for which the tracked vehicle 20 waits, for example.
Alternatively, the communication result between the ground controller 26 and the power supply 19 is sequentially transmitted from the ground controller 26 to the tracked vehicle 20 so that the point in time when the tracked vehicle 20 becomes ready to travel is grasped based on the communication data. It may be.

(Another example 2 of the first embodiment)
As another example 2, as shown in FIG. 4B, the article W may be detected by the second in-stock sensor 14 after the tracked carriage 20 is ready to travel.
In this case, when the second inventory sensor 14 detects the article W, the electric power of the feeder 18 has already corresponded to the normal output, and the tracked carriage 20 is already in a state where it can travel, so that the ground controller 26 has the presence. If a conveyance instruction is given to the track carriage 20, the tracked carriage 20 can travel immediately.

However, the second in-stock sensor 14 needs to detect the article W while the article W is being conveyed by the warehousing conveyor 12.
This is because when the tracked carriage 20 is run after the conveyance of the article W is completed, the article W is in a standby state while the tracked carriage 20 reaches the warehousing conveyor 12, and the time due to the standby of the article W is increased. This is because loss occurs.

  In the traveling control method of the tracked carriage 20 according to the different examples 1 and 2, the output of the power source 19 is changed from the power saving output to the normal output during the conveyance of the article W, as in the first embodiment. Therefore, the conveyance time of the article W from the detection of the article W by the first inventory sensor 13 to the detection of the article W by the second inventory sensor 14 is allocated to the time necessary for changing the output of the power source 19. The time required for changing the output of the power source 19 is not lost in time.

( Reference embodiment)
Next, a travel control method for the tracked vehicle 20 according to the reference embodiment will be described.
In the reference embodiment, the configuration of the traveling control system 10 is the same as that of the first embodiment except that the second cargo sensor 14 does not constitute the article detection means of the present invention as the second article detector. Therefore, the code is used in common.
In this embodiment, only the first inventory sensor 13 constitutes the article detection means, and in this embodiment, the second inventory sensor does not constitute the article detection means.
Therefore, the position where the first stock sensor 13 detects the article W corresponds to the article detection position.
Incidentally, in this embodiment, the second in-stock sensor 14 is a sensor that is used only to determine whether or not the article W can be transferred to the tracked carriage 20, and issues a conveyance instruction to the tracked carriage 20. It is not a sensor used to get out.
In FIG. 5, when only the first in-stock sensor 13 is configured as the article detection means, the conveyance instruction is given to the tracked carriage 20 based on the detection of the article W from the detection of the article W by the first in-stock sensor 13. The time chart until it is made is shown.

5 (a) to 5 (c), the first inventory sensor detects the article W, and the ground controller 26 outputs the power output based on the detection signal of the first inventory sensor 13 as a power-saving output. This is common to the control to change from the normal output to the normal output and the point of giving the conveyance instruction to the tracked carriage 20.
However, FIG. 5A to FIG. 5C are different in the point in time when the ground controller 26 gives the conveyance instruction to the tracked carriage 20.
In the case of FIG. 5A, when the article W is detected by the first inventory sensor 13 at the article detection position, the ground controller 26 outputs to the power source 19 based on the detection signal of the first inventory sensor 13. The power source 19 is controlled so that the power saving output is changed from the power saving output to the normal output, and a conveyance instruction is immediately given to the tracked carriage 20.
Based on the detection signal from the first in-stock sensor 13, the control of the output of the power source 19 by the ground controller 26 and the transfer instruction to the tracked carriage 20 are simultaneously performed.
For this reason, when the conveyance instruction is given to the tracked carriage 20, the power supply line 18 is in a state corresponding to the power saving output and not in a state corresponding to the normal output, and the tracked carriage 20 is immediately ready to travel. Absent.

Therefore, in the example of FIG. 5A, the ground controller 26 controls the power source 19 so as to change the output of the power source 19, and the same length of time is required until the power supply line 18 becomes a state corresponding to the normal power. The waiting time is set for the tracked carriage 20.
Specifically, the time for which the tracked carriage 20 waits may be set by a timer set in advance corresponding to the waiting time.
Alternatively, the communication result between the ground controller 26 and the power source 19 may be sequentially transmitted from the ground controller 26 to the tracked vehicle 20 so as to grasp the time point when the tracked vehicle 20 is ready to travel.
As a result, even if the tracked carriage 20 receives a conveyance instruction from the ground controller 26, the tracked truck 20 does not travel immediately, waits until the change from the power saving output to the normal output is completed, and immediately after the output change is completed, the tracked truck 20 The carriage 20 travels.
While the tracked carriage 20 is on standby, the article W is continuously conveyed by the warehousing conveyor 12.
Thereby, the time required for changing the output of the power source 19 is used for transporting the article W by the warehousing conveyor 12.

Next, the example of FIG. 5B will be described.
In the case of FIG. 5B, when the article W is detected by the first inventory sensor 13, the ground controller 26 outputs the power to the power supply 19 based on the detection signal of the first inventory sensor 13. The power source 19 is controlled so as to change from normal output to normal output.
However, even if the ground controller 26 recognizes the detection signal, the ground controller 26 does not immediately give the transport instruction to the tracked carriage 20, but gives the transport instruction to the tracked truck 20 after a predetermined time has elapsed.
This predetermined time is a time for which the ground controller 26 waits until the transportation instruction is given to the tracked carriage 20, and in this case, a time necessary for the power in the power supply line 18 to correspond to the normal output from the power saving output. Has become a shorter time.
The standby time in the ground controller 26 may be set in advance by a timer, for example.

Further, in FIG. 5B, even when the ground controller 26 gives a conveyance instruction to the tracked carriage 20, the running of the tracked carriage 20 is on standby.
That is, the tracked carriage 20 is set with a standby time corresponding to the time required for the power on the feeder line 18 to correspond to the normal output after the conveyance instruction is given.
The standby time of the tracked vehicle 20 may be set by a timer, or the state of the feeder line 18 is transmitted by sequentially transmitting the communication result between the ground controller 26 and the power supply 19 from the ground controller 26 to the tracked vehicle 20. There was know whether the vehicle is operable to track guided vehicle 20, it may be set in a travelable time points a track guided vehicle 20.

Next, the example of FIG. 5C will be described.
In the case of FIG. 5C, when the article W is detected by the first inventory sensor 13, the ground controller 26 outputs the power to the power supply 19 based on the detection signal of the first inventory sensor 13. The power source 19 is controlled so as to change from normal output to normal output.
However, even if the ground controller 26 recognizes the detection signal, the ground controller 26 does not immediately give the transport instruction to the tracked carriage 20, but gives the transport instruction to the tracked truck 20 after a predetermined time has elapsed.
This predetermined time is a time for which the ground controller 26 waits until the transportation instruction is given to the tracked carriage 20, and in this case, a time necessary for the power in the power supply line 18 to correspond to the normal output from the power saving output. It has been a longer time.
The standby time in the ground controller 26 may be set in advance by a timer, for example.

In this example, after the standby of the ground controller 26, the tracked carriage 20 can travel, that is, the power in the power supply line 18 has already corresponded from the power saving output to the normal output.
Accordingly, when a conveyance instruction is given to the tracked vehicle 20 by the ground controller 26, the tracked vehicle 20 immediately travels.
It should be noted that the power loss can be reduced when the time difference between the time when the power in the feeder line 18 corresponds from the power saving output to the normal output and the time when the ground controller 26 gives the transport instruction is small.
Therefore, it is preferable that the time when the power in the power supply line 18 corresponds from the power saving output to the normal output and the time when the ground controller 26 gives the conveyance instruction are simultaneous.

Thus, in the reference embodiment, based on the detection of the article W by only the first in-stock sensor 13 provided on the upstream end side of the warehousing conveyor 12, an instruction to change the output of the power source 19 by the ground controller 26 is provided. A conveyance instruction for the tracked carriage 20 can be performed.
Even when the instruction to change the output of the power supply 19 by the ground controller 26 and the timing of the conveyance instruction to the tracked carriage 20 are not simultaneous or simultaneous, the conveyance of the article W is continued after the detection of the article W.
For this reason, the output of the power source 19 is changed from the power saving output to the normal output during the conveyance of the article W, and the time required for the change of the output of the power source 19 does not become a time loss.

(Second Embodiment)
Next, the traveling control system 30 of 2nd Embodiment is demonstrated.
The second embodiment is an example applied to an automatic warehouse equipped with a stacker crane.
As shown in FIG. 6, along a traveling track 31 of a stacker crane 40 having a pair of left and right article storage shelves 36, a feeder line 38, a stacker crane 40 as a traveling body traveling on the traveling track 31, and the traveling track 31. Connected to the warehousing conveyor 32 as the article conveying means, the tracked carriage 33 as the article transfer means that travels as desired to the upstream end of the warehousing conveyor 32, the ground controller 46 as the control means, and the power supply line 38 Power supply 39.

The article storage shelf 36 has a large number of accommodating portions 37 that are partitioned and formed in a multi-stage shape, and the accommodating portion 37 faces the traveling track 31.
The traveling track 31 is laid so as to pass between the article storage shelves 36, and is provided with a power supply line 38 to which a high-frequency current is supplied along the traveling track 31.
Stacker crane 40 includes a traveling carriage 41 which includes a mast (not shown), a carriage 42 which moves up and down along the mast, a fork provided on the carriage 42 (not shown), by advancing and retracting the fork The article W is taken in and out of the storage portion 37.
The stacker crane 40 of this embodiment is a stacker crane for a clean room and has a power feeding mechanism.
Although not shown, the power supply mechanism is provided in the traveling carriage 41, and basically has the same configuration as that of the first embodiment, and includes a pickup core and the like.

The stacker crane 40 includes a crane control unit 44 and a transmission / reception unit 43 that wirelessly communicates with the ground controller 46. The stacker crane 40 receives a conveyance instruction from the ground controller 46 and travels on the traveling track 31 under the control of the crane control unit 44.
The ground controller 46 includes a transmission / reception unit 47 that wirelessly communicates with the stacker crane 40, and in addition to giving a transport instruction to the stacker crane 40, the power supply 39 can be controlled to change the output of the power supply 39.
Further, the ground controller 46 includes another transmission / reception unit 48 and can communicate wirelessly with the tracked carriage 33.
The power source 39 is connected to the power supply line 38 and is configured to selectively output either power saving output or normal output according to the status of the stacker crane 40, and when the stacker crane 40 is not run for a long time. Is a power-saving output, and is a normal output when the stacker crane 40 travels.

The warehousing conveyor 32 is a conveyor that conveys the articles W to be warehousing toward the stacker crane 40 side.
The warehousing conveyor 32 includes a conveyor control unit and a sensor (not shown), and the conveyor control unit and the sensor are elements that control the warehousing conveyor 32 for transporting an article W to be warehousing.
The article W is mounted on the stacker crane 40 at the downstream end of the warehousing conveyor 32.
The upstream end of the warehousing conveyer 32 is facing the travel path 34 of the track guided vehicle 33, the article W is transferred from the track guided vehicle 33 to the goods receipt conveyor 3 2.

The tracked carriage 33 corresponds to an article transfer means, and is an automatic guided vehicle that travels along a predetermined travel route 34. The carriage 35 that carries the article W, and a transfer mechanism that sends the article W to the warehousing conveyor 32 (see FIG. Not shown).
Accordingly, the transmission / reception unit 48 in the ground controller 46 and the transmission / reception unit 45 in the tracked carriage 33 constitute a communication unit between the control unit and the article transfer unit.
The tracked carriage 33 includes a transmission / reception unit 45 so that it can communicate with the ground controller 46 wirelessly.
In this embodiment, the first article sensing member as an article detecting means, that are provided in a track guided vehicle 33.
Specifically, the first article detector is a transfer mechanism in the tracked carriage 33 and transmits the detection signal to the ground controller 46 when the transfer mechanism is activated to transfer the article W. It is said.
For this reason, the vicinity of the upstream end of the warehousing conveyor 32 corresponds to the article detection position.

In the travel control system 30 of this embodiment, when the tracked carriage 33 transfers the article W to the warehousing conveyor 32, a signal based on the operation of the transfer mechanism is transmitted to the ground controller 46 as a detection signal, and the ground controller In 46, the presence of the article W to be received is recognized.
At this time, the ground controller 46 controls the power supply 39 to change the output of the power supply 39 from the power saving output to the normal output.
While the power of the feeder line 38 corresponds to the normal output from the power saving output, the article W is conveyed by the warehousing conveyor 32, and the ground controller 46 gives a conveyance instruction to the stacker crane 40 at the time corresponding to the normal output.
That is, the ground controller 46 waits for the power of the power supply line 38 to correspond to the normal output from the power saving output, and gives a transport instruction to the stacker crane 40.

In this embodiment, the ground controller 46 presets a waiting time after recognizing the article W by a timer or the like, and the ground controller 46 gives a conveyance instruction after the set time has elapsed.
Accordingly, the power of the feeder line 38 corresponds to the normal output from the power saving output so that the stacker crane 40 can run while the warehousing conveyor 32 is transporting the article W. There is no time loss associated with changes.
When the ground controller 46 gives a conveyance instruction, the warehousing conveyor 32 continues to convey the article W, and then the article W is conveyed when the stacker crane 40 reaches near the downstream end of the warehousing conveyor 32. If it complete | finishes, it will also become possible to reduce or eliminate the time loss that the article W waits for the arrival of the stacker crane 40.

In this embodiment, a signal based on the operation of the transfer mechanism in the tracked carriage 33 is used as a detection signal, the ground controller 46 is made to recognize the presence of the article W based on the detection signal, and the output of the power source 39 is changed. The transport instruction is given to the stacker crane 40 after the elapse of the time, but the timing of giving the transport instruction to the stacker crane 40 may be simultaneous with the output change of the power source 39. In this case, the stacker crane that has received the transport instruction 40 needs to wait until the electric power of the feeder line 38 corresponds to the normal output from the power saving output.
Alternatively, the ground controller 46 may give a transport instruction to the stacker crane 40 after the power of the feeder line 38 corresponds from the power saving output to the normal output.
In this case, the time from when the power of the feeder line 38 corresponds from the power saving output to the normal output until the conveyance instruction is given to the stacker crane 40 is preferably short in order to suppress power loss.

Further, a stock sensor as a second article detector as an article detector is provided on the downstream end side of the warehousing conveyor 32, and the power supply 39 is changed so that the output of the power source 39 is changed by a detection signal based on the operation of the transfer mechanism. 39 may be controlled to give a transport instruction to the stacker crane 40 based on the detection signal of the article W by the second article detector while the article W is being transported by the warehousing conveyor 32.
That is, in this case, the transfer mechanism corresponds to the first article detector, and the article detector is composed of the first article detector and the second article detector.
In this case, a configuration is required in which the ground controller 46 recognizes the article W based on the detection signal of the second article detector. For example, electrical connection between the warehousing conveyor 32 and the ground controller 46 may be achieved.

The present invention is not limited to the above-described first to second embodiments (including other examples) and can be variously modified within the scope of the invention. For example, as follows You may change to
In the first and second embodiments, the ground controller as the control unit gives the transport instruction to the traveling body. However, the transport instruction may be input from a host computer or directly input by the operator.
○ In the first embodiment, the track guided vehicle as the running body was one, it may be used a plurality of the track guided vehicle, in this case, by setting the standby position corresponding to the number of a track guided vehicle Good.
In the second embodiment, the case where the tracked carriage as the article transfer means is used has been described. However, the article transfer means may be a forklift, and when the article transfer means is a forklift, the forklift and the ground controller Provide a communication means for performing communication so that the forklift handling device outputs a detection signal when the article is transferred to the warehousing conveyor as a transfer mechanism, and the ground controller recognizes the article based on the detection signal. That's fine.
In the second embodiment, the signal indicating the operation of the transfer mechanism in the article transfer means played a role as a detection signal. For example, position data indicating the position of the tracked carriage as the article transfer means May be provided with a function as a detection signal. For example, when the tracked carriage reaches a specific position near the warehousing conveyor, the specific position data is transmitted to the ground controller, and the ground controller recognizes the presence of an article to be stored by the specific position data. As described above, the article detection means may use not only a means for directly confirming the presence of an article, but also an indirect means for confirming the presence of an article.

It is a top view which shows the traveling control system of the traveling body which concerns on 1st Embodiment. (A) is a schematic block diagram which shows the principal part of the traveling control system of the traveling body which concerns on 1st Embodiment, (b) is sectional drawing which shows the principal part of an electric power feeding mechanism. It is a time chart figure explaining the traveling control of the traveling object concerning a 1st embodiment. It is a time chart figure explaining the traveling control of the traveling object concerning examples 1 and 2 of a 1st embodiment. It is a time chart explaining the traveling control of the traveling object concerning a reference embodiment. It is a top view which shows the traveling control system of the traveling body which concerns on 2nd Embodiment. (A) is a schematic block diagram which shows the principal part of the traveling control system of the conventional traveling body, (b) is a top view which shows the traveling control system of the conventional traveling body. It is a time chart explaining the traveling control of the conventional traveling body.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10, 30 Travel control system 11, 31, 51 Travel track 12, 32, 52 Warehousing conveyor 13 1st stock sensor 14 2nd stock sensor 15 Conveyor control part 16, 36 Article storage shelf 18 (18a, 18b), 38 Power supply line 19, 39, 59 Power source 20, 33, 60 Tracked carriage 22, 62 Cart control unit 23, 45, 63 Transmission / reception unit (tracked cart side)
24, 64 Pickup core 24a Center protrusion 25 Coils 26, 46, 66 Ground controllers 27, 47, 48, 67 Transceiver (ground controller side)
40 Stacker crane 41 Traveling carriage 43 Transmitter / receiver (stacker crane side)
53 Stock sensor HP Standby position LP Article mounting position S1 First article detection position S2 Second article detection position W Article

Claims (5)

A traveling body carrying an article and traveling on a predetermined traveling track, a power supply line laid along the traveling track of the traveling body, a power source for supplying a high-frequency current to the power supply line, and the traveling from the power supply line A power feeding mechanism for non-contact power feeding of a high-frequency current to the body; an article conveying means provided in the vicinity of the traveling track for conveying the article to be mounted on the traveling body; and detecting the presence or absence of the article in the article conveying means And a control unit that controls the traveling body to travel based on a conveyance instruction, and the control unit travels the traveling body that gives a transportation instruction to the traveling body based on a detection signal of the article detection unit. A control system,
The article detection means includes a first article detector for detecting an article necessary for controlling the output of the power source, and a second article detector for detecting an article necessary for a conveyance instruction. A body is provided on the upstream side of the article conveying means, and the second article detector is provided on the downstream side of the article conveying means,
The control means saves the output of the power supply to the power supply line based on the detection signal of the first article detection body before giving a conveyance instruction to the traveling body based on the detection signal of the second article detection body. A traveling control system for a traveling body, wherein the power source is controlled to change from power output to normal output. A traveling body carrying an article and traveling on a predetermined traveling track, a power supply line laid along the traveling track of the traveling body, a power source for supplying a high-frequency current to the power supply line, and the traveling from the power supply line A power feeding mechanism for non-contact power feeding of a high-frequency current to the body; an article conveying means provided in the vicinity of the traveling track for conveying the article to be mounted on the traveling body; and detecting the presence or absence of the article in the article conveying means And a control unit that controls the traveling body to travel based on a conveyance instruction, and the control unit travels the traveling body that gives a transportation instruction to the traveling body based on a detection signal of the article detection unit. A control system,
An article transfer means facing the upstream side of the article transfer means; and a communication means for communicating between the article transfer means and the control means, the article transfer means comprising the article detection means. ,
The controller is configured to change the output of the power supply for the power supply line from a power saving output to a normal output based on a detection signal of the article detection means before giving a conveyance instruction to the traveling body. A traveling control system for a traveling body characterized by controlling.   The said control means gives a conveyance instruction | indication with respect to the said traveling body, after the electric power of the said feeder line respond | corresponds to a normal output based on the detection signal of the said article | item detection means. A traveling control system for a traveling body. A traveling body in which a high-frequency current is contactlessly fed from a power supply line laid along the traveling track, an article conveying means provided in the vicinity of the traveling track, for conveying an article to be mounted on the traveling body, and the supply Control means for controlling the power source for supplying a high-frequency current to the electric wire and the traveling body, a first article detector for detecting an article necessary for controlling the output of the power source, and an article necessary for conveying instructions. A second article detector for detecting, the first article detector is provided on the upstream side of the article conveying means, and the second article detector is provided on the downstream side of the article conveying means,
The control means saves the output of the power source to the power supply line based on the detection of the first article detector before giving a conveyance instruction to the traveling body based on the detection of the second article detector. A traveling control method for a traveling body, wherein the power source is controlled to change from an output to a normal output. A traveling body in which a high-frequency current is contactlessly fed from a power supply line laid along the traveling track, an article conveying means provided in the vicinity of the traveling track, for conveying an article to be mounted on the traveling body, and the supply Control of a power source for supplying a high-frequency current to an electric wire, control means for controlling the traveling body, article transfer means facing the conveyance upstream side of the article conveyance means, the article transfer means, and the control means Communication means for communicating between them,
When the article transfer means that the article comprises an object article detection means has been detected by said article detection means,
The control means controls the power supply so as to change the output of the power supply to the power supply line from a power saving output to a normal output based on detection of the article before giving a conveyance instruction to the traveling body. A traveling control method for a traveling body.

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