JP5834569B2 - Article transport device management system - Google Patents

Description

  The present invention provides an article transport apparatus management provided with an article transport apparatus capable of transporting articles, a management means for managing the operating status of the article transport apparatus, and a display means for displaying the operating status of the article transport apparatus. About the system.

  As a conventional article transport device management system, for example, Patent Document 1 discloses an abnormality detection unit that detects an abnormality, character data such as recovery work contents related to an abnormality that the abnormality detection unit should detect, and a portion where an abnormality is detected. A data storage unit that stores image data in a normal state in advance, and when an abnormality is detected, the article transport device management system displays the abnormality data and the image data corresponding to the abnormality on a display screen as a display unit Is disclosed.

  Thereby, when an abnormality occurs in the article transport device management system, the display unit displays normal image data about the portion where the abnormality has occurred, and character data indicating a recovery method of the abnormality is displayed. By referring to the display content of the display means, it is possible to understand the abnormal part and the recovery method of the abnormality, and to perform the recovery work quickly.

JP 2003-72910 A

  However, in the article transport device management system described in Patent Document 1, when an abnormality occurs, image data at the time of normality of the abnormality detection target portion stored in advance and abnormal data indicating a method for recovering the abnormality are displayed on the display screen. However, it has been difficult to accurately grasp the current status of parts and the like at abnormal locations only by displaying these data. In other words, the display screen shows whether the abnormal part is not seriously damaged but can be repaired, or the damaged part is serious and cannot be repaired and needs to be replaced. It was impossible to make a judgment from the display, and it was necessary for the operator to move directly to the abnormal location and check it directly in order to accurately grasp the damage status. As described above, in the conventional article transport device management system, there is a problem that it takes time to confirm the content of the abnormality, and for this reason, the identification of the part causing the abnormality is delayed, for example, replacement of the part However, there is a problem that it takes time to recover from the abnormality because the order of parts is delayed.

  The present invention has been made in view of such circumstances, and is capable of accurately grasping the state of an abnormality and the component causing the abnormality and quickly performing an abnormality recovery operation. The purpose is to provide a system.

In order to achieve the above object, the first characteristic configuration of the article transport apparatus management system according to the present invention is:
An article conveying apparatus management system provided with an article conveying apparatus capable of conveying an article, a management means for managing an operation status of the article conveying apparatus, and a display means for displaying the operating status of the article conveying apparatus. ,
An abnormality detecting means for detecting an abnormality of the article conveying apparatus;
From the abnormality detection result detected by the abnormality detection unit, an abnormal component identification unit that identifies a component that may be the cause of the abnormality of the article transport device as an abnormal component;
A camera device that captures an abnormal image that is an image after the occurrence of an abnormality of the abnormal component;
Component data storage means for storing in advance component data relating to components of the article transporting device,
The abnormal part specifying means, in correspondence with each of the abnormalities, identifies a plurality of abnormal parts that may be the cause of the abnormality, and registered the abnormal parts in order of the high possibility of causing the abnormality. Remember table,
When the abnormality detection unit detects an abnormality of the article transporting device, the management unit acquires the component data of the abnormal component specified by the abnormal component identification unit from the component data storage unit, and the abnormality It is configured to acquire the abnormal video about an abnormality caused by a part from the camera device, and display the part data of the abnormal part and the abnormal video on the display unit,
A plurality of the camera devices are provided,
At least a part of the plurality of camera devices is provided in a single or a plurality of the article conveying devices,
The management means includes position determining means for determining a position where the abnormal part is disposed,
Based on the position determination information of the position determination means , configured to select the camera device that acquires the abnormal video ,
Further, the abnormal part specifying means specifies a plurality of abnormal parts corresponding to the abnormality by referring to the abnormal part specifying table based on the detection result of the abnormality detecting means,
The management means displays the part data and the abnormal video of the abnormal parts in order from the abnormal part that is likely to cause an abnormality for the plurality of abnormal parts specified by the abnormal part specifying means. The point is to display on the means .

According to the above characteristic configuration, when the abnormality detection unit detects an abnormality in the article transporting device, the management unit acquires an abnormal video about the abnormality caused by the abnormal part from the camera device, and displays the abnormal video. Therefore, it is possible to confirm the damage status of the abnormal part in which an abnormality has occurred, based on the abnormal image of the abnormal part displayed on the display means. As a result, it is possible to judge from the display screen whether the damaged condition is not a serious condition and the abnormal part can be repaired or whether the damaged condition is serious and the part needs to be replaced. it can. Further, according to the above-described feature configuration, the part data of the abnormal part is also displayed on the display means. Therefore, particularly in the case of a breakage situation that requires replacement of the abnormal part, the displayed part data of the abnormal part is displayed. Based on this, parts can be ordered quickly. In this way, it is possible to accurately grasp the situation of the abnormality and the parts that are the cause of the abnormality, and quickly perform the recovery operation of the abnormality.
Moreover, according to the said characteristic structure, since the camera apparatus is provided in the article conveyance apparatus, the abnormal image which is an abnormal image | video which generate | occur | produces in an article conveyance apparatus can be image | photographed in detail by a camera apparatus. In addition, the management unit includes a position determination unit that determines a position where the abnormal part is disposed, and selects a camera device that acquires the abnormal video based on the position determination information of the position determination unit, so that an abnormality occurs. The camera device installed at a position suitable for photographing the abnormal part and its periphery is selected by the position discriminating means, and the abnormal image in which the abnormal state is shown in detail by the selected camera device is photographed. Therefore, it is possible to grasp the component causing the abnormality more accurately.

According to a second characteristic configuration of the article transport apparatus management system according to the present invention, the part data storage unit includes a normal video data storage unit that stores a normal video that is a video before the abnormality of the abnormal part occurs.
The management means is to display the normal video on the display means in addition to the part data of the abnormal part and the abnormal video.

  According to the above characteristic configuration, since the abnormal video and the normal video are displayed on the display unit, it is easy to grasp the damage status of the component causing the abnormality by comparing the abnormal video with the normal video.

  A third characteristic configuration of the article transport apparatus management system according to the present invention is that the part data includes at least one of a price of the part or a delivery date of the part.

  According to the above characteristic configuration, the part data displayed on the display means includes at least one of the price of the part or the delivery date of the part, so the price of the abnormal part or the delivery date of the part is confirmed from the display by the display means. This makes it easier to quickly formulate a recovery plan for abnormalities.

According to a fourth characteristic configuration of the article transport device management system according to the present invention, the camera device includes a camera drive unit that changes an imaging direction of the camera device, and the management unit is a position where the abnormal part is disposed. The operation of the camera driving means is controlled so as to change the imaging direction of the camera device in the direction facing the camera.

  According to the above characteristic configuration, since the camera device includes the camera driving unit that changes the imaging direction of the camera device, the imaging direction of the camera device is directed to a direction suitable for photographing the position where the abnormal part is arranged. be able to. In addition, the management means is configured to control the operation of the camera driving means so as to change the imaging direction of the camera device in a direction facing the position where the abnormal part is arranged. Since an abnormal image in which the state of the abnormality is shown in more detail can be taken, the component causing the abnormality can be grasped more accurately.

Schematic of the article conveyance apparatus management system of an embodiment. The control block diagram of the article conveyance apparatus management system of embodiment. Schematic of a stacker crane. The control block diagram of a stacker crane. The figure which shows an abnormal component specific table. The figure which shows the display screen of the display means at the time of abnormality occurrence. The flowchart which shows the operation | movement procedure which copes with the abnormality which generate | occur | produced.

Embodiments of an article transport device management system according to the present invention will be described below with reference to the drawings.
The article transport apparatus management system 1 in the present embodiment shown in FIG. 1 includes an article transport apparatus D that can transport an article, a management means A that manages the operating status of the article transport apparatus D, and an operating status of the article transport apparatus D. Display means E is provided so that the article can be stored and stored in the desired storage section 3 of the storage shelf 2 and can be taken out from the storage section 3 of the desired storage shelf 2 as appropriate. It is configured.

  The storage shelves 2 are arranged in a state of being paired with a passage W in a state where the openings of the storage unit 3 face each other. Further, as the article transport device D, while traveling on the storage shelf entry conveyor 4a and the storage shelf exit conveyor 4b provided on the side surface of the storage shelf 2, and the passage W between the pair of storage shelves 2, A stacker crane that moves along the passage W between the storage shelf entry conveyor 4a and the storage shelf delivery conveyor 4b on the storage shelf 2 side and the storage units 3 of the storage shelf 2 to convey articles. 5, a warehousing conveyor 6 a for newly warehousing goods into the warehousing apparatus management system 1, a warehousing conveyor 6 b for carrying out the stored goods to the outside, and the warehousing conveyor 6 a or warehousing conveyor 6 b A transport carriage 7 is provided for transporting articles between the storage shelf entry conveyor 4a or the storage shelf exit conveyor 4b.

  Further, in each of the stacker crane 5, the conveyors 4a, 4b, 6a, 6b, and the transport carriage 7 as the article transport device D, an abnormality detection means S that detects whether or not the operation state of the article transport device D is appropriate (see FIG. 3 and FIG. 4). The abnormality detection means S is composed of various sensors that can detect the operating state of the article transport device D. For example, the elevator detection position 52 (see FIGS. 3 and 4) in the stacker crane 5 or the like. Composed.

  In addition, when an abnormality occurs in the article transport apparatus D, a camera device T is provided that captures an abnormal video T1 that is a video after the occurrence of an abnormality at a location where the abnormality has occurred. Specifically, as shown in FIG. 1, the stacker crane 5 and the transport carriage 7 are provided with a stacker crane camera 9a and a transport cart camera 9b, respectively. Furthermore, a camera 9c and an exit conveyor camera 9d for capturing an entrance conveyor 6a and an exit conveyor 6b, an entrance conveyor camera 9e and an entrance conveyor conveyor 4a and an exit conveyor conveyor 4b, respectively. An exit conveyor camera 9f is provided. In addition, the cameras 9c-9f for conveyors are installed in the place away from the main body of the conveyors 4a, 4b, 6a, 6b.

  In addition, the article transport device management system 1 is provided with an operation stand P that allows an operator to monitor and operate the article transport device D. The operation base P is provided with a management means A for managing the operation status of the article conveying apparatus D, and is provided with a display means E composed of a liquid crystal display device or the like. In addition, an operation unit (not shown) including a keyboard or the like capable of operating the article transport device D, operating the camera device T, and operating information displayed on the display unit E is provided.

  Based on FIG. 2, the connection state of the management means A, the display means E, the article conveyance device D, and the camera device T will be described. FIG. 2 is a control block diagram of the article transport apparatus management system in the present embodiment. The management means A that manages the operation status of the article transport device D is provided in each conveyor 4a, 4b, 6a, 6b, and is provided in the conveyor control device K that controls the operation thereof and the transport carriage 7, and its operation Is connected to a stacker crane control device M which is provided in the stacker crane 5 and controls its operation, and the management means A is a stacker crane 5 as an article transfer device D, a conveyor. It is comprised so that operation | movement of 4a, 4b, 6a, 6b and the conveyance trolley | bogie 7 can be controlled.

In addition, the transport cart control device L and the stacker crane control device M include a stacker crane camera 9a and a transport cart camera as a camera device T that captures an abnormal image T1 that is a video after the occurrence of an abnormality at a location where an abnormality has occurred. 9b is connected, and the stacker crane camera 9a and the transport cart camera 9b are configured to receive control commands from the management means A via the stacker crane control device M and the transport cart control device L, respectively. .
On the other hand, as described above, the conveyor cameras 9c to 9f as the camera device T are installed at locations away from the main bodies of the conveyors 4a, 4b, 6a, and 6b, and thus are not connected to the conveyor control device K. Instead, it is configured to be directly connected to the management means A and receive a control command directly from the management means A. The camera driving unit 10 provided in the camera device T is a driving unit for changing the imaging direction of the camera device T, and is controlled by the management unit A.

  Then, the management means A determines the part that is causing the abnormality of the article conveyance device D from the abnormality detection result detected by the abnormality detection means S (see FIGS. 3 and 4) provided in the article conveyance device D. Abnormal part specifying means B for specifying as an abnormal part, position determining means C for determining the position where the abnormal part specified by the abnormal part specifying means B is arranged, and part data G1 related to the parts of the article conveying device D are stored in advance. A stored component data storage means G is provided. Here, the component data storage means G includes a normal video data storage means H in which a normal video H1, which is a video before the occurrence of an abnormality of an abnormal component, is stored.

  In addition, when the abnormality detection unit S detects an abnormality in the article conveyance device D, the management unit A acquires the component data G1 for the abnormal component specified by the abnormal component specification unit B from the component data storage unit G. An abnormal image T1 regarding an abnormality caused by an abnormal component is acquired from the camera device T, and the component data G1 and the abnormal image T1 are displayed on the display means E. At that time, the management means A is configured to display the normal image H1 of the abnormal part on the display means E in addition to the part data G1 and the abnormal picture T1 for the abnormal part. Here, the part data G1 displayed on the display means E is composed of data such as the number of parts in stock, delivery date, price, time required for replacement, etc., and is data including the price of the part or the delivery date of the part. (See FIG. 6). Here, as a delivery date of a part displayed on the display means E, a delivery date predicted based on an average period required from the time when the part was ordered to delivery in the past is displayed.

  The management unit A is configured to select the camera device T that acquires the abnormal video T1 based on the position determination information of the position determination unit C. For example, when an abnormality occurs in the stacker crane 5, the position determination means C determines that the position where the abnormality is occurring is the stacker crane 5, and the management means A determines the stacker crane camera according to the determination result. 9a is selected as the camera device T that acquires the abnormal video T1.

  Further, the management means A controls the operation of the camera driving means 10 so as to change the imaging direction of the camera device T in the direction facing the position where the abnormal part is arranged, and the size and the abnormal part of the abnormal part are controlled. The zoom mechanism of the camera device T is controlled so as to change the imaging magnification of the camera device T in accordance with the arrangement position.

  Next, the details of the article conveying device D will be described with reference to FIG. 3 using the stacker crane 5 as an example. The stacker crane 5 is erected at a lower frame 13 that travels along a single traveling rail 12 installed on the floor along the path W, and at the front and rear end portions of the lower frame 13 in the traveling direction. And a pair of front and rear columns 15F and 15R for guiding the lifting platform 14 so as to be movable up and down, and an upper frame 16 that connects upper ends of the columns 15F and 15R, and a pair of front and rear columns 15F and 15R. A pair of left and right guide rollers 18f and 18r that are in contact with the lateral side surface of the guide rail 17 installed on the ceiling side of the passage W are provided on each of the upper end side portions of the guide W. Therefore, the stacker crane 5 is configured to travel in the passage W in a state guided by the travel rail 12 and the guide rail 17 and perform an operation of loading and unloading articles to and from the storage rack 2.

  The lower frame 13 includes a traveling electric motor (not shown) on one end side in the front-rear direction of the traveling direction, and a driving wheel 19 and a traveling rail as traveling wheels placed on the upper surface of the traveling rail 12. A pair of left and right guide wheels 20 that contact the lateral side surface of the traveling wheel 12, and a free wheel 21 and a traveling rail 12 as traveling wheels placed on the upper surface of the traveling rail 12 on the other end in the front-rear direction. A pair of left and right guide wheels 22 that contact the lateral side of the vehicle are provided so as to travel along the traveling rail 12. Here, a component part of the stacker crane 5 that is necessary for traveling on the traveling rail 12 including the lower frame body 13, the drive wheel 19, and the idle wheel 21 is referred to as a traveling carriage.

  In addition, on the upper side of the lower frame 13, a lifting platform position detection sensor 52 that detects the position of the lifting platform 14 on the lifting path is provided. The lifting platform position detection sensor 52 projects distance measuring light (laser light) along the vertical direction toward the lifting reflector 28 provided on the lower surface of the lifting platform 14. By receiving the reflected light, the distance to the lifting platform 14 is measured, and the lifting position of the lifting platform 14 on the lifting path is detected from the measured distance to the lifting platform 14. .

  Incidentally, in the following description, it is assumed that the side on which the drive wheels 19 are located is the front side of the stacker crane 5, and the side on which the idle wheels 21 are located is the rear side of the stacker crane 5. Therefore, in the pair of front and rear columns 15F and 15R described above, the front column 15F is disposed on the drive wheel 19 existing side, and the rear column 15R is disposed on the idle wheel 11 existing side. It will be. In the following description, the front-rear direction of the stacker crane 5 is simply described as the vehicle body front-rear direction, and the lateral width direction of the stacker crane 5 is simply described as the vehicle body lateral direction.

  As shown in FIG. 3, the lifting platform 14 is supported by being suspended by connecting lifting wires 23 </ b> A and 23 </ b> B as lifting cords at both front and rear ends. Two fork devices F that can be moved back and forth with respect to the unit 3 and that can freely store and collect articles in the storage unit 3 and collect articles from the storage unit 3 are provided side by side in the longitudinal direction of the vehicle body. . As shown in FIG. 1, the installation interval of the two fork devices F is the same as the interval in which the storage portions 3a in the storage shelf 2 are arranged in the lateral width direction of the shelf corresponding to the longitudinal direction of the vehicle body. With F, the transfer operation can be performed simultaneously on the two storage units 3 arranged in the shelf width direction.

  Of the pair of elevating wires 23A and 23B that suspend and support the elevating table 14, the elevating wire 23A connected to the front side of the elevating table 14 extends upward from the elevating table 14. The first wire guide pulley 24 attached to the vehicle body front side portion of the upper frame 16 and the second wire guide pulley 25 attached to the upper end portion of the front column 15F are guided downward. It is wound around a winding drum 26 disposed at a front side portion of the lower end side portion of the front column 15F.

  Of the pair of lifting wires 23A and 23B that suspend and support the lifting platform 14, the lifting wire 23B connected to the rear side of the lifting platform 14 extends upward from the lifting platform 14. After that, first, the third wire guide pulley 27 attached to the vehicle body rear side portion of the upper frame body 16 is guided toward the vehicle body front side, and then the second frame attached to the upper end portion of the front column 15F. It is guided by 4 guide bodies (not shown) so as to be directed downward, and is wound around the winding drum 26 described above.

  Accordingly, the winding drum 26 is driven and rotated in the forward / reverse direction by the lifting / lowering electric motor 26 </ b> A so that the lifting / lowering wires 23 </ b> A and 23 </ b> B are fed from the winding drum 26 and wound on the winding drum 26. The elevator 14 is configured to be raised and lowered. Further, the lift electric motor 26A is provided with a lift motor rotation speed detection sensor 51. The lift table motor rotation speed detection sensor 51 is composed of a rotary encoder or the like, and can accurately detect not only the rotation speed of the lift electric motor 26A but also the rotation angle of the lift electric motor 26A. .

  In addition, a stacker crane camera 9a that captures an abnormal image T1 of an abnormality occurring in the stacker crane 5 is provided at the center of the upper frame 16 in the longitudinal direction of the vehicle body. The stacker crane camera 9a is provided with camera driving means 10 for changing the shooting direction under the control of the management means A. The stacker crane camera 9a can shoot a still image and a moving image, and has a zoom mechanism. The management mechanism A automatically adjusts the zoom mechanism according to the shooting state.

  In addition, the vehicle body front side end of the lifting platform 14 is in contact with both lateral lateral surfaces of the lateral position restricting wheel body 29 that contacts the lateral sides of the front column 15F and the rear column 15R. A lateral position regulating ring 30 is provided. As a result, the lifting platform 14 is raised and lowered along the front and rear columns 15R and 15F while being guided by the front and rear columns 15R and 15F so that the position in the vehicle body width direction and the vehicle body longitudinal direction is regulated. It is comprised so that. Further, an elevator base fall prevention device 31 is provided at an end of the elevator base 14 on the front side of the vehicle body to prevent the elevator base 14 from falling when the lifting wires 23A and 23B are cut.

  FIG. 4 is a diagram illustrating a control block of the stacker crane 5. A traveling cart control unit 40, a lifting platform control unit 50, a fork control unit 60, and a stacker crane camera 9a are connected to a stacker crane control device M that exchanges data with the management means A.

  As the abnormality detection means S, the traveling vehicle controller 40 includes a traveling vehicle motor rotational speed detection sensor 41 that detects the rotational speed of a traveling electric motor (not shown), and the position of the traveling vehicle on the passage W. A traveling carriage position detecting sensor 42 for detecting the number of revolutions is provided, and a lifting platform controller 50 includes a lifting platform motor rotation number detection sensor 51 for detecting the number of rotations of the lifting motor, and a lifting platform in the stacker crane 5. The fork control unit 60 further includes a fork motor rotational speed detection sensor 61 for detecting the rotational speed of the fork retracting motor, and a fork. A fork position detection sensor 62 that detects the protruding position and the retracted position of the apparatus F is provided.

  Further, as the abnormality detection means S, the stacker crane control device M has an elevator platform abnormality determination that detects the occurrence of an abnormality in the traveling vehicle based on detection signals from the traveling vehicle motor rotational speed detection sensor 41 and the traveling vehicle position detection sensor 42. Unit M1, elevator platform abnormality detection unit M2 that detects the occurrence of an abnormality in elevator 14 based on detection signals from elevator table motor rotation number detection sensor 51 and elevator table position detection sensor 52, and fork motor rotation number detection sensor 61 and a fork abnormality determination unit M3 for detecting the occurrence of an abnormality in the fork device F based on detection signals from the fork position detection sensor 62, respectively, are provided in a program format. Is determined based on the detection results of the motor rotation speed detection sensor 51 for the lifting platform and the position detection sensor 52 for the lifting platform. Is configured to be determined by the base abnormality determination unit M2, when an abnormality is determined to have occurred, the abnormality detection signal corresponding to the abnormality is transmitted to the management unit A from the elevation frame abnormality judgment unit M2.

FIG. 5 shows an abnormal part specifying table 70 stored in a storage unit (not shown) of the management means A. As described above, when the abnormality detection signal is sent from the lifting platform abnormality determination unit M2 to the management unit A, the management unit A determines the abnormality code from the abnormality detection signal, and executes the abnormal part identification process, thereby detecting the abnormality. With reference to the component identification table 70, the abnormal component is identified from the type of abnormality corresponding to the abnormal code. As described above, the management unit A includes the abnormal part specifying unit B in a program format. In the abnormal part identification table 70, abnormal parts are listed in order from the part that is likely to cause an abnormality.
Therefore, for example, the position of the elevator 14 detected by the elevator position detection sensor 52 when the elevator motor rotation speed detection sensor 51 detects that the elevator electric motor 26A is operating normally. When the situation does not change, the elevator platform abnormality determination unit M2 determines that the state is abnormal and transmits an abnormality detection signal corresponding to the abnormality to the management means A.

Then, when the abnormality of the “abnormality code 1” is generated by the management means A from the abnormality detection signal received by the management means A from the elevator platform abnormality determination unit M2 based on the abnormal component identification table 70 shown in FIG. At the same time, it is determined that the type of abnormality is “elevation abnormality”, and the “elevating wire” is identified as an abnormal part with the highest possibility of abnormality. Subsequently, “wire winding drum, lifting motor, lifting distance sensor” are specified as abnormal parts, and part data G1 for these abnormal parts is acquired from the part data storage means G. Then, the position where the abnormal parts identified by the position discriminating means C “lifting wire, wire take-up drum, lifting electric motor, lifting distance measuring sensor” are determined, and the position determination information includes Based on this, the camera 9a for the stacker crane is selected as the camera device T for acquiring the abnormal video T1, and the abnormal video T1 for the abnormal part is acquired by the stacker crane camera 9a to display the part data G1 and the abnormal video T1. It is comprised so that it may display on the means E.
At that time, the management means A receives the normal video H1 in addition to the component data G1 and the abnormal video T1 about the abnormal parts “elevating wire, wire take-up drum, elevating electric motor, elevating distance measuring sensor”. Obtained from the normal video data storage means H and displayed on the display means E.

  An example of a screen displayed on the display means E when an abnormality occurs is shown in FIG. The display means E has two upper and lower display configurations, and information on two abnormal parts is displayed on the display means E so that the part data G1 and the abnormal picture T1 and the normal picture H1 are displayed on the upper and lower parts, respectively. Is displayed.

The first part information display unit 80 displayed in the upper part of the display means E displays the part data G1 of the lifting wires 23A and 23B, which are abnormal parts that are most likely to be abnormal. Here, as the component data G1 displayed on the first component information display unit 80, data such as the inventory quantity, delivery date, price, time required for replacement of the lifting wires 23A and 23B, which are abnormal components, are displayed. The first abnormal image display unit 82 displays an abnormal image T1 of the lifting wires 23A and 23B. Further, the normal video H1 of the lifting wires 23A and 23B acquired from the normal video data storage means H is displayed on the first normal video display unit 81.
Further, in the lower part of the display means E, the part data G1 of the wire take-up drum 26, which is an abnormal part that is estimated to be the second most likely to be abnormal, is displayed in the second part information display unit 90. The abnormal video T1 of the wire winding drum 26 is displayed on the second abnormal video display unit 92, and the wire winding acquired from the normal video data storage means H is displayed on the second normal video display unit 91. A normal image H1 of the drum 26 is displayed.

  Furthermore, the operator operates the operation unit of the operation base P (see FIG. 1), and information on the lifting electric motor 26A, which is an abnormal part that is estimated to be third most likely to be abnormal, The information on the lifting platform position detection sensor 52, which is an abnormal part that is estimated to be the fourth most likely to be abnormal, can be displayed on the display means E.

  The management means A controls the operation of the camera driving means 10 so as to change the imaging direction of the stacker crane camera 9a in the direction facing the position where the abnormal parts are arranged, and the size and abnormality of the abnormal parts. Since the zoom mechanism of the stacker crane camera 9a is controlled to change the imaging magnification of the stacker crane camera 9a according to the position where the parts are arranged, the abnormal image T1 that makes it easy to observe abnormal parts is displayed as an abnormal image. Displayed on the sections 82 and 92. In addition, the operator can operate the camera device T in the operation unit of the operation base P provided with the display means E in order to observe the abnormal part in more detail. For example, the zoom function of the camera device T can be further enlarged to observe an abnormal part, and the camera device T can be freely rotated to check the state around the abnormal part.

Then, the operator examines the cause of the abnormality based on the information displayed on the display means E. As a result, for example, the first abnormality in the screen display displayed on the display means E shown in FIG. By checking the abnormal video T1 of the lifting wires 23A and 23B displayed on the video display unit 82 and the normal video H1 displayed on the first normal video display unit 81, the lifting wires 23A and 23B are cut. Can be confirmed. In this state, the lifting platform drop prevention device 31 that prevents the lifting platform 14 from falling works to prevent the lifting platform 14 from falling.
Further, by confirming the abnormal video T1 of the wire winding drum 26 displayed on the second abnormal video display unit 92 and the normal video H1 displayed on the second normal video display unit 91, the wire winding drum 26 is Can confirm that no abnormality has occurred. Thereby, for example, the operator can quickly determine that it is necessary to replace the cut lifting wires 23 </ b> A and 23 </ b> B, and at the same time, the lifting and lowering displayed on the first component information display unit 80. From the component data G1 of the wires 23A and 23B, the inventory number, the component price, and the component delivery date of the lifting wires 23A and 23B can be confirmed.

  Next, based on FIG. 7, an example of the operation | movement procedure at the time of coping with the abnormality which generate | occur | produced is shown. When an abnormality is detected in the abnormality detection means S and an abnormality detection signal is transmitted to the management means A (# 100), the management means A makes an emergency stop of the article transport apparatus management system 1 (# 101). Based on the abnormality detection signal, the abnormal component specifying means B specifies the abnormal component with reference to the abnormal component specifying table 70 (# 102). Then, the management unit A acquires the part data G1 of the specified abnormal part from the part data storage unit G, and the normal video H1 when the abnormal part is normal is acquired from the normal video data storage unit H. (# 103).

  On the other hand, the component position information of the identified abnormal component is acquired by the position determination means C (# 104). Based on the acquired component position information, the camera device T is selected (# 105). Next, the abnormal image T1 of the abnormal part after the occurrence of abnormality is acquired by the selected camera device T (# 106).

  Then, the abnormal image T1, the normal image H1, and the component data G1 of the abnormal part are simultaneously displayed on the display means E as shown in FIG. 6 (# 107). Then, the worker confirms the information of the abnormal part displayed on the display means E, and finally identifies the abnormal part causing the abnormality.

  Then, for the abnormal part that is finally identified as the cause of the abnormality, it is determined from the state of the part whether it is necessary to replace the part (# 108). If it is determined that the parts can be recovered without repair, the worker moves to the abnormal part and repairs the abnormal part (# 110). On the other hand, when it is determined that the replacement of the abnormal part is necessary, the presence / absence of the part in stock is confirmed (# 109), and if there is no stock, the part is ordered (# 111). On the other hand, when the parts are in stock, the parts are procured and moved to the location where the abnormality has occurred in the article transport apparatus management system 1 to perform the part replacement work (# 112).

[Another embodiment]
(1) In the above embodiment, the stacker crane camera 9a and the transport cart camera 9b are installed on the main body of the stacker crane 5 and the transport cart 7. However, the present invention is not limited to this, and You may install the camera 9b in the place away from the main body of the stacker crane 5 and the conveyance trolley 7.

(2) In the said embodiment, although the cameras 9c-9f for conveyors were installed in the place away from the main body of the conveyors 4a, 4b, 6a, 6b, not only this but the cameras 9c-9f for conveyors are conveyors You may install in the main body of 4a, 4b, 6a, 6b.

(3) In the above embodiment, one stacker crane camera 9a is provided in the stacker crane 5. However, the stacker crane 5 may be provided with a plurality of stacker crane cameras 9a. In this case, the stacker crane camera 9a installed at a more suitable position for photographing the abnormal part and its periphery is selected as the camera device T for photographing the abnormal image T1 by the position determination means C. For example, in the case where the stacker crane camera 9a is provided at the center part of the upper frame 16 in the longitudinal direction of the vehicle body and the central part of the lower frame 13 in the longitudinal direction of the vehicle body, When the lifting / lowering abnormality relating to the cord 1 occurs, the abnormal image T1 of the wire take-up drum 26 displayed on the second abnormal image display unit 92 displayed on the display means E is the central portion of the lower frame 13 in the longitudinal direction of the vehicle body. Is taken by a stacker crane camera 9a provided in As a result, the abnormal video T1 in which the state of the abnormality is shown in detail can be taken, so that it is possible to more accurately grasp the damage status of the component that is causing the abnormality.

(4) In the above embodiment, the display screen displayed on the display means E is configured to display the component data G1, abnormal video T1, and normal video H1 of the abnormal component at the same time. The component data G1, the abnormal image T1, and the normal image H1 of the component are configured so that the component data G1, the abnormal image T1, and the normal image H1 are sequentially switched by an operation on the operation unit, and each of them is displayed on the display means E independently. It doesn't matter if it is done.

(5) In the above embodiment, the abnormal part specifying unit B uses the table reference method for specifying the abnormal part with reference to the abnormal part specifying table 70. However, in addition to this table reference method, the abnormality detecting unit S The abnormal information may be directly identified from the detection information. For example, when an abnormality that the ranging light (laser light) is not emitted from the elevator table position detection sensor 52, an abnormality detection signal corresponding to the abnormality is sent from the elevator table abnormality determination unit M2 to the management means A. Then, the management means A may be configured to directly specify that the elevator platform position detection sensor 52 is an abnormal part without referring to a table such as the abnormal part specifying table 70.

(6) In the above embodiment, the part data G1 displayed on the display means E includes the delivery date of the parts. However, the present invention is not limited to this, and the management means A displays the part data G1 of abnormal parts. A configuration may be adopted in which the number of parts in stock is confirmed based on the part data G1 before being displayed in E, and if there is no parts in stock, the part data G1 including the delivery date of the abnormal part may be displayed.

A management means B abnormal part identification means C position determination means D article conveying device E display means G part data storage means G1 part data H normal video data storage means H1 normal video S abnormality detection means T camera device T1 abnormal video 10 camera drive unit

Claims (4)

An article conveying apparatus management system provided with an article conveying apparatus capable of conveying an article, a management means for managing an operation status of the article conveying apparatus, and a display means for displaying the operating status of the article conveying apparatus. ,
An abnormality detecting means for detecting an abnormality of the article conveying apparatus;
From the abnormality detection result detected by the abnormality detection unit, an abnormal component identification unit that identifies a component that may be the cause of the abnormality of the article transport device as an abnormal component;
A camera device that captures an abnormal image that is an image after the occurrence of an abnormality of the abnormal component;
Component data storage means for storing in advance component data relating to components of the article transporting device,
The abnormal part specifying means, in correspondence with each of the abnormalities, identifies a plurality of abnormal parts that may be the cause of the abnormality, and registered the abnormal parts in order of the high possibility of causing the abnormality. Remember table,
When the abnormality detection unit detects an abnormality of the article transporting device, the management unit acquires the component data of the abnormal component specified by the abnormal component identification unit from the component data storage unit, and the abnormality It is configured to acquire the abnormal video about an abnormality caused by a part from the camera device, and display the part data of the abnormal part and the abnormal video on the display unit,
A plurality of the camera devices are provided,
At least a part of the plurality of camera devices is provided in a single or a plurality of the article conveying devices,
The management means includes position determining means for determining a position where the abnormal part is disposed,
Based on the position determination information of the position determination means , configured to select the camera device that acquires the abnormal video ,
Further, the abnormal part specifying means specifies a plurality of abnormal parts corresponding to the abnormality by referring to the abnormal part specifying table based on the detection result of the abnormality detecting means,
The management means displays the part data and the abnormal video of the abnormal parts in order from the abnormal part that is likely to cause an abnormality for the plurality of abnormal parts specified by the abnormal part specifying means. Article conveying apparatus management system for displaying on means The component data storage means includes normal video data storage means for storing a normal video that is a video before occurrence of an abnormality of the abnormal component,
2. The article transport apparatus management system according to claim 1, wherein the management unit displays the normal video on the display unit in addition to the component data of the abnormal component and the abnormal video.   The article conveyance device management system according to claim 1, wherein the part data includes at least one of a price of the part or a delivery date of the part. The camera device includes a camera driving unit that changes an imaging direction of the camera device,
The said management means is comprised so that the operation | movement of the said camera drive means may be controlled so that the imaging direction of the said camera apparatus may be changed to the direction which faces the position where the said abnormal component is arrange | positioned. Any one item in the article conveyance device management system.

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