JP5105182B2 - Article conveying device - Google Patents

Description

  The present invention includes a traveling body that includes article transfer means and moves along a traveling path, traveling driving means that drives the traveling body, and traveling body position detection that detects a traveling position of the traveling body on the traveling path. And a control means for controlling the operation of the traveling drive means. The traveling body position detecting means is provided on one side of the ground side or the traveling body side and on the other side. The light projecting / receiving unit projects light for distance measurement toward the reflector along the traveling path, and receives the light reflected by the reflector, and The distance between the reflector and the traveling body in the direction along the traveling path is measured based on the received light information, and the control means detects the traveling body position detecting means. Based on the information To move the article transfer means to transfer position, an article transport device is configured to control the operation of the traveling drive unit.

  The article transport apparatus as described above moves the traveling body along the travel path so as to move the article transfer means to the article transfer position relative to the article transfer location, and the article transfer means transfers the article. Articles are transferred between locations. Such an article transport device is used in an automatic warehouse provided with a plurality of article storage shelves so that the storage units are arranged in the vertical direction and the horizontal direction. At this time, in addition to the traveling body, the article conveying device is erected on the traveling body. A lifting platform that can be moved up and down along the lifting guide mast is provided, and the lifting platform is provided with article transfer means.

In a conventional article transporting apparatus, a traveling rail is provided along the shelf width direction of the article storage shelf as a traveling path, and the traveling body is configured to be able to travel along the traveling rail. In the traveling position detecting means, the light projecting / receiving means is provided on the traveling body, and the reflector is provided on the ground side at the end of the traveling rail. The light projecting / receiving unit is configured to project distance measuring light (laser light) along the horizontal direction and receive the light reflected by the reflector formed in a plate shape. The control means always knows the travel position of the travel body from the detection information of the travel body position detection means when moving the travel body, and the article transfer means at the article transfer position based on the travel position. The operation of the travel drive means is controlled so as to move the vehicle (for example, see Patent Document 1).
As described above, the control means always keeps track of the traveling position of the traveling body. However, if the light projecting / receiving unit cannot receive the light reflected by the reflector due to some abnormality, the traveling position of the traveling body is determined. It becomes impossible to grasp. Therefore, in such a case, the control means controls the operation of the traveling drive means so as to abnormally stop the traveling body.

JP 2000-229706 A

In the above-mentioned conventional article conveying apparatus, the traveling rail is linearly arranged along the shelf width direction, but due to installation error etc., undulation is caused in the vertical direction or deviation is caused in the horizontal direction. There is. As a result, when the traveling carriage is moving on the traveling rail, the distance measuring light projecting direction of the distance measuring light projected from the light projecting / receiving unit changes in the vertical direction and the horizontal direction. Since the traveling position of the traveling body must be detected while the traveling body is moving, the distance measuring light may be reflected by the reflector even if the distance measuring light projecting direction changes in the vertical direction or the left-right direction. is necessary. Therefore, a large reflector must be provided in the vertical direction and the left-right direction, which increases the size of the reflector and increases the installation space for the reflector.
In particular, if the length of the traveling rail is increased, the distance measuring light that reaches the reflector will change greatly in the vertical and horizontal directions even if the light emitting direction for distance measurement changes slightly in the vertical and horizontal directions. become. Therefore, the size of the reflector in the up-down direction and the left-right direction must be further increased, but there may be a case where a space for installing such a large reflector cannot be secured.

  The present invention has been made paying attention to this point, and an object of the present invention is to provide an article conveying apparatus capable of moving a traveling body while detecting the traveling position of the traveling body while making the reflector compact. The point is to provide.

In order to achieve this object, a first characteristic configuration of an article transporting apparatus according to the present invention includes a traveling body that includes an article transfer means and moves along a traveling route, and a traveling drive means that drives the traveling body. A traveling body position detecting means for detecting a traveling position of the traveling body on the traveling route; and a control means for controlling the operation of the traveling driving means. The traveling body position detecting means is provided on the ground side or the traveling body side. Among the reflectors provided on one side and the light projecting and receiving means provided on the other side. The light projecting and receiving means emits light for distance measurement toward the reflector along the traveling path. The light projected and received by the reflector is received, and the distance between the reflector and the traveling body in the direction along the traveling path is measured based on the received light information. The control means is configured as the running Based on the detection information of the position detecting means, to move the article transfer means to the article transfer position to an article transfer location, the article transporting apparatus that is configured to control the operation of the traveling drive unit,
The light projecting / receiving unit is configured to project distance measuring light toward a central portion of the reflector, and the traveling path is provided on a side of the ground side or the traveling body side where the light projecting / receiving unit is provided. And projecting light toward the reflector so as to be parallel to the distance measuring light projected by the light projecting / receiving unit in a direction orthogonal to the light projecting / receiving unit. Correction light projecting / receiving means for receiving the light reflected by the reflector, distance measuring light projecting direction of the distance measuring light projected from the light projecting / receiving means, and light projected from the correction light projecting / receiving means of the freely projecting direction changing means changes provided the correction light projection direction with respect to the traveling body, whether by receiving the reflected light by the reflector at the correction light emitting and receiving means If it is determined that no light is received, the distance measuring light projection direction and the correction light projecting direction are determined. The light projecting direction changing means for changing the direction of the light projecting and receiving means and the correction light projecting and receiving means in the direction orthogonal to the travel path to the side opposite to the side where the correction light projecting and receiving means is located. There is a light projection direction change control means for controlling the operation.

That is, the correction light projecting / receiving unit disposed at a position different from the light projecting / receiving unit in the direction orthogonal to the travel path is directed toward the reflector so as to be parallel to the distance measuring light projected by the light projecting / receiving unit. Since the light is projected, if the light projecting direction for distance measurement changes in the vertical direction or the left and right direction while the traveling body is moving, the light projecting direction for light projecting by the light projecting / receiving means for correction is also projected for distance measuring. Like the direction, it changes in the vertical direction and the horizontal direction. Since the light projecting / receiving unit projects the distance measuring light toward the center of the reflector, the correction light is projected closer to the end of the reflector than the distance measuring light in the direction orthogonal to the travel path. Will be. As a result, when the correction light projection direction light and the distance measurement light projection direction change in the vertical direction or the left-right direction, the correction light is detached from the reflector before the distance measurement light.
When the light projecting direction change control means determines that the light reflected by the reflector is not received by the correction light projecting and receiving means during movement of the traveling body, the light projecting direction for ranging and the light projecting direction for correction The light projecting direction changing means is actuated so that the light projecting / receiving means and the correcting light projecting / receiving means in the direction orthogonal to the travel path are changed to the side opposite to the side where the correcting light projecting / receiving means is located. I have control. That is, when the correction light deviates from the reflector, the distance measurement light projection direction and the correction light projection direction are set so that the distance measurement light and the correction light are within the range of the reflector in the direction orthogonal to the travel path. Can be changed. As described above, when the correction projection light and the ranging light projection direction change in the vertical direction or the horizontal direction, the correction light is separated from the reflector before the distance measurement light, so that the correction light is reflected. By changing the light projection direction for distance measurement and the light projection direction for correction at the stage where the distance from the body is removed, it is possible to prevent the distance measurement light from coming off the reflector. Therefore, even if the size of the reflector is reduced, it can be prevented that the traveling position of the traveling body cannot be detected while the traveling body is moving.

  From the above, it is possible to realize an article transporting apparatus that can move the traveling body while detecting the traveling position of the traveling body while reducing the size of the reflector.

  According to a second characteristic configuration of the article transporting apparatus according to the present invention, the correction light projecting / receiving unit is provided as a pair with an interval in the vertical direction with the light projecting / receiving unit sandwiched in the vertical direction. When the correction light projecting / receiving unit located on the upper side of the pair of correction light projecting / receiving units does not receive the light reflected by the reflector, the correction light projecting / receiving light located on the upper side Controlling the operation of the light projecting direction changing means to change the light projecting direction for distance measurement and the light projecting direction for correction to the lower side until the light is reflected by the reflector, and When the correction light projecting and receiving unit located on the lower side of the pair of correction light projecting and receiving units does not receive the light reflected by the reflector, the correction light projecting and receiving unit located on the lower side is provided. Until the light reflected by the reflector is received. In order to change the distance measuring light projecting direction and the correction light projection direction upward, in that it is configured to control the operation of the light projection direction changing means.

  That is, since the pair of correction light projecting / receiving units is provided with the light projecting / receiving unit sandwiched in the vertical direction, if the correction light projecting direction light and the ranging light projecting direction change in the vertical direction, the correction light Will be removed from the reflector before the distance measuring light. The light projecting direction change control means, when the upper or lower correction light projecting / receiving means is not receiving light, until the upper or lower correction light projecting / receiving means receives light. Since the operation of the projection direction changing means is controlled so that the correction projection direction is changed to the lower side or the upper side, the correction projection direction light and the distance measurement projection direction are changed in the vertical direction. However, it is possible to accurately prevent distance measuring light from coming off the reflector.

  According to a third characteristic configuration of the article transporting apparatus according to the present invention, the correction light projecting / receiving unit is provided as a pair with a space in the left / right direction with the light projecting / receiving unit sandwiched in the left / right direction. When the correction light projecting / receiving unit located on the left side of the pair of correction light projecting / receiving units does not receive the light reflected by the reflector, the correction light projecting / receiving unit located on the left side thereof The operation of the light projecting direction changing means is controlled so as to change the light projecting direction for distance measurement and the light projecting direction for correction to the right until the light reflected by the reflector is received, and the pair When the correction light projecting / receiving unit located on the right side of the correction light projecting / receiving unit does not receive the light reflected by the reflector, the correction light projecting / receiving unit located on the right side thereof is the reflector. Ranging until the reflected light is received In order to change the light projection direction, and the correction light projection direction to the left, in that it is configured to control the operation of the light projection direction changing means.

  In other words, the pair of correction light projecting / receiving units is provided with the light projecting / receiving unit sandwiched in the left-right direction. Therefore, when the correction light projecting direction light and the distance measuring light projecting direction change to the left / right direction, the correction light Will be removed from the reflector before the distance measuring light. The light projection direction change control means, when the left or right correction light projecting / receiving means is not receiving light, until the left or right correction light projecting / receiving means receives light, the distance measuring light projection direction and the correction light projecting / receiving means. Since the operation of the projection direction changing means is controlled so that the light direction is changed to the right side or the left side, even if the correction projection direction light and the ranging projection direction light are changed in the horizontal direction, the ranging light is changed. Can be accurately prevented from coming off the reflector.

  According to a fourth characteristic configuration of the article transporting apparatus according to the present invention, the light projecting direction changing unit rotates a connecting portion that connects the light projecting / receiving unit and the correcting light projecting / receiving unit around its axis. The distance measuring light projecting direction and the correction light projecting direction are changed.

  That is, when changing the ranging light projecting direction and the correcting light projecting direction, for example, the light projecting / receiving unit and the correcting light projecting / receiving unit can be provided so as to be slidable in the vertical and horizontal directions. However, in this case, a rail member or the like for guiding each of the light projecting / receiving unit and the correcting light projecting / receiving unit in the vertical direction and the horizontal direction must be provided, which may lead to a complicated configuration. According to this characteristic configuration, the light projecting / receiving unit for correction and the light projecting / receiving unit for correction are connected by the connecting part, and the connecting part is rotated around the axis of the connecting part, thereby the light projecting direction for distance measurement and the correction The projection direction is changed. As a result, it is possible to change the ranging projection direction and the correction projection direction while simplifying the configuration.

An embodiment in which an article transporting apparatus according to the present invention is applied to an automatic warehouse will be described with reference to the drawings.
As shown in FIG. 1, the automatic warehouse has two article storage shelves 1 installed at an interval so that the article insertion / removal directions face each other, and the two article storage shelves 1 along the shelf width direction. And a stacker crane 3 that moves the traveling rail 2 arranged in the above manner. In the lateral direction of the shelf, on the side of the article storage shelf 1, the articles 4 that are carried in from the outside are placed and supported, and the carry-in / out section 5 that places and supports the articles 4 that are unloaded from the article storage shelf 1 and carried out to the outside. Is provided.

  Each of the article storage shelves 1 includes a plurality of front and rear support columns 1a spaced apart in the width direction of the shelf, and each of the pair of front and rear support columns 1a has a mounting support portion 1b extending in the left-right direction spaced in the vertical direction. A plurality are arranged with a gap therebetween. The storage section 6 in the article storage shelf 1 is configured to store the article 4 in a form in which both ends of the article 4 are placed and supported by the pair of placement support portions 1b. A plurality of storage units 6 are provided so as to be arranged in the vertical direction and the horizontal direction.

  As shown in FIG. 2, the stacker crane 3 moves up and down along a traveling carriage 7 (corresponding to a traveling body) that can travel along the traveling rail 2, and a lifting guide mast 8 that stands on the traveling carriage 7. It is configured to include a free lifting platform 9 and an article transfer device 10 (corresponding to article transfer means) provided on the lifting platform 9. Although not described in detail, the article transfer device 10 is provided with a fork that can freely place and support an article at a retracted position where the fork is retracted toward the lifting platform 9 and a protruding position where the fork protrudes toward the storage section 6. This type of article transfer device is used.

  One lifting guide mast 8 is erected on each of the front end portion and the rear end portion of the traveling carriage 7 in the shelf width direction. The upper and lower ends of the pair of front and rear lifting guide masts 8 are connected by an upper frame 11. In the upper frame 11, the upper guide roller 12 is provided so as to be guided by the upper guide rail 13 by abutting against the upper guide rail 13 disposed along the shelf width direction.

  The lifting platform 9 is guided and supported by a pair of front and rear lifting guide masts 8 so as to freely move up and down, and is supported by being suspended by lifting chains 14 connected to the left and right sides thereof. The elevating chain 14 is wound around a first guide sprocket 15 provided on the upper frame 11 and a second guide sprocket 16 provided on one elevating guide mast 8, and is wound on one end of the traveling carriage 7. It is connected to the drum 17. The take-up drum 9 is moved up and down by an electric motor 18 for raising and lowering, and the raising and lowering base 9 is moved up and down by performing a feeding operation and a winding operation of the raising and lowering chain 14.

  The traveling carriage 5 is provided with a pair of front and rear traveling wheels 30 that are rotatable on the traveling rail 2. One of the pair of front and rear traveling wheels 30 is configured as a driving traveling wheel 30a that is rotationally driven by a traveling electric motor 31 (corresponding to traveling driving means), and the other is a driven traveling that is freely rotatable. It is comprised by the wheel 30b.

  The traveling carriage 7 is provided with a lift distance measuring sensor 19 that detects the lift position of the lift base 9 in the lift path. The elevating distance measuring sensor 19 projects distance measuring light (laser light) along the vertical direction toward the elevating reflector 20 provided on the elevating platform 9 and is reflected by the elevating reflector 20. By measuring the distance to the lifting platform 9 by receiving the received light, the lifting position of the lifting platform 9 is detected.

The traveling carriage 7 is provided with a traveling distance measuring sensor 21 (corresponding to a light projecting / receiving unit) that detects the traveling position of the traveling carriage 7 on the traveling rail 2. The traveling distance measuring sensor 21 projects distance measuring light (laser light) toward the traveling reflector 22 (corresponding to the reflector) along the traveling rail 3 and reflects it by the traveling reflector 22. By receiving the emitted light, the distance between the traveling reflector 22 and the traveling carriage 7 in the direction along the traveling rail 3 is measured. As a result, the travel distance detecting means 21 and the travel reflector 22 constitute a travel position detecting means.
The traveling reflector 22 is provided on the ground side of the end of the traveling rail 3, and the installation position is set as a reference position for detecting the traveling position of the traveling carriage 7. The travel distance measuring sensor 21 is based on the elapsed time (light information received) from when the distance measurement light is projected until the light reflected by the travel reflector 22 is received. The distance from the reference position as the installation position 22 to the traveling carriage 7 is measured, and the traveling position of the traveling carriage 7 is detected.

  As shown in FIGS. 2 and 3, the traveling carriage 7 is provided with a correction light projecting / receiving sensor 23 (corresponding to a correction light projecting / receiving unit) in addition to the travel distance measuring sensor 21. The sensor 21 and the correcting light projecting / receiving sensor 23 are unitized and provided as a distance measuring unit Y. The correction light projecting / receiving sensor 23 is disposed in a position different from the distance measuring sensor 21 for traveling in a direction orthogonal to the traveling rail 2 in a state of being close to the distance measuring sensor 21 for traveling. The correction light projecting and receiving sensor 23 projects light (laser light) toward the traveling reflector 22 so as to be parallel to the distance measuring light projected by the traveling distance measuring sensor 21 and travels. The light reflected by the reflector 22 is configured to receive light.

A pair of first light projecting / receiving sensors 24 provided in the vertical direction with a distance in the vertical direction sandwiching the distance measuring sensor 21 in the vertical direction as the correction light emitting / receiving sensor 23, and the distance measurement in the horizontal direction A pair of second correction light projecting / receiving sensors 25 provided at intervals in the left-right direction with the sensor 21 interposed therebetween are provided. That is, a total of four correction light projecting / receiving sensors 23 are provided, one on each of the top, bottom, left, and right, with the traveling distance measuring sensor 21 as the center.
The pair of first correction light projecting / receiving sensors 24 and the travel distance measuring sensor 21 are connected by a first connecting shaft 26 extending in the vertical direction, and the first axis P1 of the first connecting shaft 26 is connected. It is configured to be rotatable around. Here, the first connecting shaft 26 connects the end portion on the light projecting / receiving side and the center position in the vertical direction in each of the pair of first correction light projecting / receiving sensor 24 and traveling distance measuring sensor 21. It is configured as follows.
The pair of second correction light projecting / receiving sensors 25 and the travel distance measuring sensor 21 are connected by a second connecting shaft 27 extending in the left-right direction, and the second axis P2 of the second connecting shaft 27 is connected. It is configured to be rotatable around. Here, the second connecting shaft 27 connects an end portion on the light projecting / receiving side and a central position in the left-right direction in each of the pair of second correction light projecting / receiving sensors 25 and the travel distance measuring sensor 21. It is configured as follows.

Although not shown in FIG. 3, a first rotation motor 28 (corresponding to the light projecting direction changing means) that rotates the first connection shaft 26 and a second connection motor 27 (second projection motor 29) (light projection). Corresponding to the direction changing means) (see FIG. 4). Then, by rotating the first connecting shaft 26 by the first rotary motor 28, the travel distance measuring sensor 21 and the four correction light projecting / receiving sensors 23 are rotated around the first axis P1, and the travel measurement is performed. The distance measuring light projection direction of the distance measuring light projected from the distance sensor 21 and the correction light projecting direction of the correction light projected from the four correction light projecting / receiving sensors 23 can be changed in the vertical direction. Has been. Further, by rotating the second connecting shaft 27 by the second rotary motor 29, the distance measuring sensor 21 for traveling and the four light projecting / receiving sensors 23 for correction are rotated around the second axis P2, thereby measuring distance. Each of the light projecting direction and the correction light projecting direction can be changed in the left-right direction.
In this way, the light projecting direction for distance measurement in the distance measuring sensor 21 for travel and the light projecting direction for correction in the light projecting / receiving sensor 23 for correction are configured so as to be integrally changeable in the vertical direction and the horizontal direction.

  As shown in FIG. 4, the stacker crane 3 includes a crane control device 33 (corresponding to a control unit) that controls the operation of the stacker crane 3 based on a command from a ground-side controller 32 provided on the ground side. Is provided. When transporting the article 4, the crane control device 33 moves the traveling carriage 7 and the lifting platform 9 to move the article transfer device 10 to the article transfer position corresponding to the storage unit 6 or the loading / unloading unit 5. And then the operation of the article transfer device 10 is controlled to transfer the article 4 to / from the storage section 6 or the loading / unloading section 5.

The ground side controller 32 stores all the article transfer positions corresponding to the storage unit 6 and the carry-in / out unit 5. The ground-side controller 32 is configured to manage the storage state of which articles are stored in which storage units for each of the plurality of storage units 6.
When the article 4 is carried into the carry-in / out section 5, the ground-side controller 32 is configured to select a storage section 6 in which the article 4 is to be stored and issue a storage instruction to the crane control device 33. Further, when there is the exit request information, the ground-side controller 32 is configured to select an article 4 to be exited based on the exit request information and issue an exit instruction to the crane control device 37.
The crane control device 33 is configured to store the article 4 carried into the carry-in / out section 5 in the selected storage section 6 based on the entry command or the output instruction from the ground-side controller 32, or to store the selected article 4 in the storage section. 6 is configured to control the operation of the stacker crane 3 so as to be delivered to the loading / unloading unit 5.

  Regarding the control of the traveling operation of the traveling carriage 7, the crane control device 33 grasps the traveling position of the traveling carriage 7 based on the detection information of the traveling distance measuring sensor 21, and the grasped traveling position is the target traveling position. It is comprised so that the action | operation of the electric motor 31 for driving | running | working may be controlled. Here, the target travel position is the same in the horizontal direction with respect to the article transfer position in the storage unit 6 or the loading / unloading unit 5 to be transferred among the plurality of storage units 6 and the loading / unloading unit 5. Is the traveling position of the traveling carriage 7 when is positioned.

  Regarding the control of the lifting operation of the lifting platform 9, the crane control device 33 grasps the lifting position of the lifting platform 9 based on the detection information of the lifting distance measuring sensor 19, and the grasped lifting position is the target lifting position. Thus, the operation of the lifting electric motor 18 is controlled. Here, the target ascending / descending position is the same in the vertical direction with respect to the article transfer position in the storage unit 6 or the loading / unloading unit 5 to be transferred among the plurality of storage units 6 and the loading / unloading unit 5. It is the raising / lowering position of the raising / lowering stand 9 when it is located.

When picking up the article 4 placed and supported on the storage unit 6 or the loading / unloading unit 6, the crane control device 33 causes the fork of the article transfer device 10 to project from the retracted position to the protruding position. After controlling the operation, the operation of the lifting electric motor 18 is controlled so as to raise the lifting platform 9 by a set distance. Thereby, the article 4 is placed and supported by the fork of the article transfer device 10. Thereafter, the crane control device 33 is configured to retract from the protruding position to the retracted position with the article 4 placed and supported by the fork. In this manner, the article 4 placed and supported on the storage unit 6 and the carry-in / out unit 5 is scooped up.
By the way, when the article 4 is unloaded from the storage unit 6 and the carry-in / out unit 5, the elevator 4 is moved from the retracted position to the protruding position while the article 4 is placed and supported by the fork, and then the elevator 9 is lowered by a set distance. However, the other operations are the same as when the article 4 is scooped up.

  When the crane control device 33 controls the traveling operation of the traveling carriage 7, it determines whether or not the correcting light projecting / receiving sensor 23 receives the light reflected by the traveling reflector 22, and correcting light projecting / receiving. When the sensor 23 does not receive the light reflected by the traveling reflector 22, the first rotary motor 28 and the correction light projecting / receiving sensor 23 receive the light reflected by the traveling reflector 22. The operation of the second rotary motor 29 is controlled. Thereby, the crane control apparatus 33 is comprised as a light projection direction change control means.

  When the correction light projecting / receiving sensor 23 does not receive the light reflected by the traveling reflector 22, the crane control device 33 performs the distance measuring light projecting direction and the correction light emitting / receiving sensor 23 in the traveling distance measuring sensor 21. The light projecting direction for correction in the direction opposite to the side where the distance measuring sensor for traveling 21 is located in the direction in which the distance measuring sensor for traveling 21 and the light emitting / receiving sensor for correction 23 are aligned in the direction orthogonal to the traveling rail 2 The operation of the first rotary motor 28 and the second rotary motor 29 is controlled to be changed.

  Based on FIG. 5, a description will be given of changes in the distance measuring light projecting direction in the travel distance measuring sensor 21 and the correction light projecting direction in the correcting light projecting / receiving sensor 23. FIG. 5 shows a reflection position at which the light projected from each of the travel distance measuring sensor 21 and the correction light projecting / receiving sensor 23 is reflected on the travel reflector 22. The reflection position of the travel distance measuring sensor 21 is H, the reflection position of the second correction light projecting / receiving sensor 25 located on the left side is T1, and the reflection position of the first correction light projecting / receiving sensor 24 located on the upper side. Is T2, the reflection position of the second correction light projecting / receiving sensor 25 located on the right side is T3, and the reflection position of the first correction light projecting / receiving sensor 24 located on the lower side is T4.

As shown in FIG. 5A, when the correction light from the second correction light projecting / receiving sensor 25 located on the left side is separated from the traveling reflector 22, the second correction light projecting / receiving light located on the left side thereof. The sensor 25 does not receive the light reflected by the traveling reflector 22. Therefore, the crane control device 33 determines the ranging light projecting direction and the correction light projecting direction until the second correction light projecting / receiving sensor 25 located on the left side receives the light reflected by the traveling reflector 22. In order to change to the right side, the operation of the second rotary motor 29 is controlled (the right side of the arrow in the figure).
Conversely, when the second correction light projecting / receiving sensor 25 located on the right side of the pair of second correction light projecting / receiving sensors 25 does not receive the light reflected by the traveling reflector 22, the crane control device 33 The second correction light projecting / receiving sensor 25 located on the right side changes the second light projecting direction for distance measurement and the light projecting direction for correction to the left side until the light reflected by the traveling reflector 22 is received. The operation of the rotary motor 29 is controlled.

As shown in FIG. 5B, when the correction light from the first correction light projecting / receiving sensor 24 located on the upper side is separated from the traveling reflector 22, the first correction use located on the upper side. The light projecting / receiving sensor 24 does not receive the light reflected by the traveling reflector 22. Therefore, the crane control device 33 determines the light projecting direction for distance measurement and the light projecting direction for correction until the first light projecting / receiving sensor 24 located above the light sensor receives light reflected by the traveling reflector 22. The operation of the first rotary motor 29 is controlled so as to change the position to the lower side.
Conversely, when the first correction light projecting / receiving sensor 24 positioned on the lower side of the pair of first correction light projecting / receiving sensors 24 does not receive the light reflected by the traveling reflector 22, the crane control device 33 In order to change the light projecting direction for distance measurement and the light projecting direction for correction to the upper side until the first light projecting / receiving sensor 24 located on the lower side receives the light reflected by the traveling reflector 22. The operation of the first rotary motor 29 is controlled.

  As shown in FIG. 5C, the second correction light projecting / receiving sensor 25 located on the left side does not receive the light reflected by the traveling reflector 22, and the first is located on the upper side. When the correcting light projecting / receiving sensor 24 does not receive the light reflected by the traveling reflector 22, the crane control device 33 causes the second correcting light projecting / receiving sensor 25 located on the left side to the traveling reflector 22. Until the received light is reflected, the operation of the second rotary motor 29 is controlled and the first correction light projection located above is controlled so as to change the light projection direction for distance measurement and the light projection direction for correction to the right side. The operation of the first rotation motor 29 is controlled so that the distance measuring light projecting direction and the correction light projecting direction are changed downward until the light receiving sensor 24 receives the light reflected by the traveling reflector 22. It is configured.

  As described above, the distance measuring light emitting direction and the correction light emitting direction are changed when the correction light from the correction light projecting / receiving sensor 23 deviates from the traveling reflector 22, thereby the traveling distance measuring sensor 21. Can be prevented from coming off from the traveling reflector 22. Therefore, even if the size of the traveling reflector 22 is reduced, it is possible to prevent the traveling position of the traveling carriage 7 from being detected while the traveling carriage 7 is moving. As a result, the traveling position of the traveling carriage 7 can be detected and the traveling carriage 7 can be moved while the traveling reflector 22 is made compact.

[Another embodiment]
(1) In the above embodiment, the traveling reflector 22 is provided on the ground side of the end of the traveling rail 3, and the traveling distance measuring sensor 21 and the correction light projecting / receiving sensor 23 are provided on the traveling carriage 7 side. However, conversely, the traveling reflector 22 may be provided on the traveling carriage 7 side, and the traveling distance measuring sensor 21 and the correction light emitting / receiving sensor 23 may be provided on the ground side of the end portion of the traveling rail 3.

(2) In the above-described embodiment, a total of four correction light projecting / receiving sensors 23 are provided in the vertical and horizontal directions with the traveling distance measuring sensor 21 as the center. It is also possible to provide correction light emitting / receiving sensors and to provide a total of six correction light emitting / receiving sensors. That is, how many correction light emitting / receiving sensors are provided and how they are arranged can be appropriately changed.

(3) In the above embodiment, by rotating the connecting portion that connects the distance measuring sensor 21 for travel and the light projecting / receiving sensor 23 for correction around its axis, the light projecting direction for distance measurement and the light projecting direction for correction However, for example, the distance measuring sensor 21 for travel and the light projecting / receiving sensor 23 for correction can be provided so as to be slidable in the vertical direction and the horizontal direction. You may make it change the light projection direction for ranging, and the light projection direction for correction | amendment by a slide movement.

Perspective view of automated warehouse Side view of stacker crane The perspective view which shows the reflector for driving | running | working, the distance measuring sensor for driving | running | working, and the light emitting / receiving sensor for correction Automatic warehouse control block diagram Explanatory drawing when changing the ranging projection direction and the correction projection direction

Explanation of symbols

2 Travel route (travel rail)
7 Traveling body (traveling cart)
10 Article transfer means 21 Light emitting / receiving means (traveling distance measuring sensor)
22 Reflector (Traffic reflector)
23 Correction light emitting / receiving means (correction light emitting / receiving sensor)
26, 27 connecting part (first connecting part, second connecting part)
28, 29 Projection direction changing means (first rotary motor, second rotary motor)
31 Traveling drive means 33 Control means, light projection direction changing means (crane control device)

Claims (4)

A traveling body including article transfer means and moving along the traveling path; a traveling drive means for driving the traveling body; a traveling body position detecting means for detecting a traveling position of the traveling body on the traveling path; Control means for controlling the operation of the travel drive means is provided,
The traveling body position detection means includes a reflector provided on one side of the ground side or the traveling body side, and a light projecting / receiving unit provided on the other side,
The light projecting / receiving unit projects light for distance measurement toward the reflector along the travel route, receives light reflected by the reflector, and based on the received light information Configured to measure a distance between the reflector and the traveling body in a direction along the traveling path;
The control means is configured to control the operation of the travel drive means to move the article transfer means to an article transfer position with respect to an article transfer location based on detection information of the travel body position detection means. An article transport device,
The light projecting / receiving unit is configured to project light for distance measurement toward a central portion of the reflector,
On the side where the light projecting and receiving means is provided on the ground side or the traveling body side,
Light is projected toward the reflector so that it is arranged at a position different from the light projecting / receiving unit in a direction orthogonal to the travel path and parallel to the distance measuring light projected by the light projecting / receiving unit. A light projecting and receiving means for correcting and receiving the light reflected by the reflector;
A light projecting direction in which the light projecting direction for the distance measuring light projected from the light projecting / receiving unit and the light projecting direction for correcting the light projected from the correcting light projecting / receiving unit can be changed with respect to the traveling body. Change means,
It is determined whether or not the light reflected and reflected by the reflector is received by the correction light projecting and receiving means. If it is determined that the light is not received, the distance measuring light projecting direction and the correction light projecting direction are determined. Change the light projecting direction to change the direction of the light projecting / receiving unit and the correcting light projecting / receiving unit in the direction orthogonal to the travel path to the side opposite to the side where the correcting light projecting / receiving unit is located. An article conveying apparatus provided with light projection direction change control means for controlling the operation of the means. The correction light projecting / receiving unit is provided in a pair with an interval in the vertical direction with the light projecting / receiving unit sandwiched in the vertical direction,
The light projecting direction changing control means is arranged so that when the correction light projecting / receiving means positioned above the pair of correction light projecting / receiving means is not receiving the light reflected by the reflector, The light projecting direction changing means is adapted to change the distance measuring light projecting direction and the correction light projecting direction downward until the correction light projecting / receiving means positioned receives the light reflected by the reflector. When the correction light projecting / receiving unit that controls the operation and is positioned below the pair of correction light projecting / receiving units does not receive the light reflected by the reflector, the correction light projecting / receiving unit is positioned below the light projecting / receiving unit. The light projecting direction changing means is actuated so as to change the distance measuring light projecting direction and the correction light projecting direction upward until the correction light projecting / receiving means receives the light reflected by the reflector. The article transport of claim 1 configured to control. Location. A pair of the correction light projecting and receiving means is provided with a gap in the left and right direction with the light projecting and receiving means sandwiched in the left and right direction,
The light projecting direction change control means is located on the left side of the pair of correction light projecting / receiving means when the correction light projecting / receiving means located on the left side does not receive the light reflected by the reflector. Controls the operation of the light projecting direction changing means so that the light projecting direction for distance measurement and the light projecting direction for correction are changed to the right until the light projecting and receiving means for correction receives the light reflected by the reflector. When the correction light projecting / receiving unit located on the right side of the pair of correction light projecting / receiving units does not receive the light reflected by the reflector, the correction light projecting / receiving unit located on the right side thereof. Is configured to control the operation of the light projecting direction changing means so as to change the light projecting direction for distance measurement and the light projecting direction for correction to the left until the light reflected by the reflector is received. The article conveying apparatus according to claim 1 or 2.   The light projecting direction changing unit rotates the connecting portion that connects the light projecting / receiving unit and the correction light projecting / receiving unit around the axis thereof, so that the distance measuring light projecting direction and the correction light projecting direction are rotated. The article conveying apparatus according to any one of claims 1 to 3, wherein the article conveying apparatus is configured to be changed.

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