JP7069789B2 - Transport system - Google Patents

Description

The present invention relates to a transport system for transferring a load between a plurality of mounting portions.

Conventionally, a transport system including a transport device for transporting a load unmanned is known. In such a transport system, when the transport device is displaced with respect to the stop point, a retry operation is executed in which the transport device is once separated from the stop point and then brought closer to the stop point (for example, Patent Document). 1).

Japanese Patent No. 3938879

Here, in the transport device, the retry operation may be repeated a plurality of times in order to stop accurately at the stop point. The greater the number of repetitions, the longer the time required for transportation. Further, even though the retry operation is repeated a predetermined number of times, if the transport device does not stop accurately at the stop point, an abnormal stop may occur.

As described above, the actual situation is that the transfer capacity of the entire transfer system may decrease due to the retry operation.

Therefore, an object of the present invention is to suppress a decrease in transport capacity due to a retry operation.

The transport system according to one aspect of the present invention is a transport device for transferring a load between a plurality of mounting units, and a stop point when a problem occurs in stopping the transport device with respect to a predetermined stop point. When the counting result of the stop control unit that controls the retry operation to approach, the counting unit that counts the operation related to the stop failure in the transport device when executing one transfer command, and the counting result of the counting unit reaches the first predetermined number of times. In addition, when executing at least one of the subsequent transport commands in which the transport command when the retry operation is performed and at least a part of the transport conditions are the same, the change unit that changes the transport conditions of the at least one transport command. And.

According to this configuration, when the operation related to the stop failure (positional deviation of the transfer device, retry operation, etc.) reaches the first predetermined number of times, the transfer command for the retry operation and at least a part of the transfer conditions are the same. When executing at least one of the transport commands, the transport conditions of the at least one transport command are changed. As a result, the retry operation is repeatedly executed under the same conditions until the first predetermined number of times is reached. When the first predetermined number of times is reached, at least one transfer condition of the subsequent transfer command is changed, so that the transfer device can be easily stopped at the stop point. As a result, the frequency of retry operations can be reduced, and the possibility of abnormal stop can be further suppressed.

Therefore, it is possible to suppress a decrease in the carrying capacity due to the retry operation.

Further, the changing unit may change the transport condition of at least one transport command to a condition relaxed from the transport condition before the change.

According to this configuration, since the transport condition of at least one transport command is changed to a condition relaxed from the transport condition before the change, the transport device is likely to stop at the stop point after the transport condition is changed. Therefore, the frequency of retry operations can be further suppressed.

In addition, the counting unit counts the operations related to the stop failure for each of the plurality of mounting units, and the changing unit counts the transfer conditions of at least one transfer command to the mounting unit for which the counting result of the counting unit reaches the first predetermined number of times. May be changed.

According to this configuration, the operation related to the stop failure is counted for each of a plurality of mounting units, and the transport condition of at least one transport command for the mounting section whose counting result reaches the first predetermined number of times is changed. The transport conditions for the retry operation can be appropriately changed for each mounting unit. As a result, the frequency of retry operations for the entire transport system can be reduced.

Further, the changing unit may set the mounting unit where the counting result of the counting unit reaches the second predetermined number of times, which is larger than the first predetermined number of times, as the transfer prohibited place.

According to this configuration, since the mounting unit that has reached the second predetermined number of times is registered as the transfer prohibited place, the transfer is not performed to the mounting unit in which the retry operation frequently occurs thereafter. As a result, the load is transferred to another mounting unit that is not registered as a transfer prohibited place, so that it is possible to suppress a decrease in transport efficiency.

Further, one stop point is set for each of a predetermined number of mounting units, the counting unit counts the operations related to the stop failure for each mounting unit, and the changing unit counts the counting result of the counting unit. (1) The transfer conditions of at least one transfer command for the stop point including the first predetermined number of mounting units that have reached the predetermined number of times are changed, and the counting result of the counting unit becomes the second predetermined number of times larger than the first predetermined number of times. A stop point including a second predetermined number of the reached mounting portions may be used as a transfer prohibited place.

According to this configuration, the transport conditions of the next transport command are changed for the stop points including the first predetermined number of mounting portions whose counting result has reached the first predetermined number of times. In addition, the stop point including the second predetermined number of mounting portions whose counting result has reached the second predetermined number is regarded as a transfer prohibited place. In this way, for example, when the cause of the retry operation is in the track on which the transport device near the stop point travels, the retry operation occurs by changing the transport conditions of all the plurality of mounting portions corresponding to the stop points. Can be efficiently suppressed.

Further, the transport system may be provided with a notification unit that notifies when the number of transfer prohibited places is the first predetermined number or more.

According to this configuration, when the number of transfer prohibited places becomes the first predetermined number or more, the notification unit gives a notification, so that if the worker recognizes the notification, maintenance or the like can be performed promptly.

Further, the changing unit stores a combination of deceleration and speed, which is one of the transport conditions, as a plurality of stop patterns, and the counting result of the counting unit in the predetermined stop pattern reaches the first predetermined number of times. In some cases, it may be changed to another stop pattern.

According to this configuration, when the counting result of the counting unit reaches the first predetermined number of times, the stop pattern included in the transfer condition is relaxed. Therefore, in the subsequent retry operation, the transfer device stops at the stop point. It will be easier to do. As a result, the frequency of retry operations can be reduced, and the possibility of abnormal stop can be further suppressed.

Further, the counting unit counts the operations related to the stop failure for each of the plurality of stop patterns, and the changing unit changes the stop pattern in which the counting result of the counting unit reaches the first predetermined number of times to the other stop pattern. May be good.

According to this configuration, the operation related to the stop failure is counted for each of a plurality of stop patterns, and the stop pattern whose counting result reaches the first predetermined number of times is changed to another stop pattern, so that the stop operation frequently causes the retry operation. You can switch the pattern to another stop pattern. As a result, the frequency of retry operations for the entire transport system can be reduced.

Further, the transport system may include a notification unit that notifies when the number of stop patterns for which the counting result of the counting unit reaches the first predetermined number of times becomes the second predetermined number or more.

According to this configuration, when the counting result of the counting unit reaches the first predetermined number of times and the number of stop patterns reaches the second predetermined number or more, the notification unit gives a notification. Therefore, if the operator recognizes the notification, maintenance is performed. Etc. can be performed quickly.

According to the present invention, it is possible to suppress a decrease in transport capacity due to a retry operation.

FIG. 1 is a perspective view showing an outline of the configuration of the transport system according to the first embodiment. FIG. 2 is a front view schematically showing the rack in the embodiment. FIG. 3 is a block diagram showing a control configuration of the transport system according to the first embodiment. FIG. 4 is an explanatory diagram showing an example of a stop pattern in the first embodiment. FIG. 5 is a flowchart showing a flow of transport processing of the transport system according to the first embodiment. FIG. 6 is a flowchart showing a flow of transport processing of the transport system according to the second embodiment.

Hereinafter, the operation terminal of the automatic driving device according to the embodiment of the present invention will be described with reference to the drawings. In addition, all of the embodiments described below show a preferable specific example of the present invention. Therefore, the numerical values, shapes, materials, components, arrangement of components, connection modes, etc. shown in the following embodiments are examples, and are not intended to limit the present invention. Therefore, among the components in the following embodiments, the components not described in the independent claims indicating the highest level concept of the present invention will be described as arbitrary components.

Further, each figure is a schematic view and is not necessarily exactly illustrated. Further, in each figure, the same components are designated by the same reference numerals.

[Embodiment 1]
FIG. 1 is a perspective view showing an outline of the configuration of the transport system 10 according to the first embodiment.

As shown in FIG. 1, the transport system 10 according to the first embodiment includes a stacker crane 30 and a control device 100 for controlling the operation of the stacker crane 30.

The stacker crane 30 is an example of a transport device, and is a transport device that transports a load 90 and transfers a load 90 to and from a rack 80 according to a control signal transmitted from the control device 100.

In the present embodiment, the stacker crane 30 moves up and down along the lower bogie 32 and the upper bogie (not shown), the two masts 31 connecting the lower bogie 32 and the upper bogie, and the two masts 31. It is provided with a lift 35.

The lower bogie 32 is, for example, a bogie that travels along the lower rail 12 installed on the floor surface, and the upper bogie is, for example, a bogie that travels along the upper rail (not shown) installed on the ceiling surface. .. The lower bogie 32 and the upper bogie move in synchronization with each other, whereby the two masts 31 are maintained in a posture substantially parallel to the vertical direction.

A transfer device 40 for transferring the load 90 is installed on the elevating table 35. The transfer device 40 in the present embodiment is a transfer device that transfers the load 90 by the slide fork 59. The slide fork 59 moves in and out (expands and contracts) in the direction of the rack 80 by a telescopic structure composed of, for example, a top plate, a middle plate, and a base plate. The transfer method of the load 90 executed by the transfer device 40 is not particularly limited, and a scalar arm method or a push-pull method may be adopted as the transfer method.

The elevating table 35 is suspended by a wire rope and elevates while being guided by two masts 31 according to the rotation of the elevating motor of the elevating drive device 60.

The stacker crane 30 travels along the track (lower rail 12 and upper rail), raises and lowers the elevating platform 35, and moves the slide fork 59 of the transfer device 40 back and forth. By such an operation, the stacker crane 30 can transport the load 90 and transfer (transfer) the load 90 between the rack 80, the station 85, and the like.

The station 85 is a temporary storage place for the load 90. That is, the station 85 is an example of a mounting unit. For example, the load 90 housed in the rack 80 is taken out from the rack 80 by the stacker crane 30, transported, temporarily placed in the station 85, and then carried out to a predetermined place.

A plurality of loads 90 are placed on the rack 80. Specifically, the rack 80 is a structure including a plurality of columns 81, and includes a plurality of shelves 82 composed of a pair of support members. This shelf 82 is an example of a mounting portion. Each of the pair of support members is installed in a cross-linked manner on two front and rear columns 81. A plurality of shelves 82 are arranged in both the longitudinal direction (continuous direction) and the vertical direction (stage direction) of the track.

FIG. 2 is a front view schematically showing the rack 80 according to the first embodiment. FIG. 2 illustrates an N × M rack 80. In FIG. 2, N and M are assumed to be integers of 4 or more, but one of N and M may be an integer of 1 or more and the other may be an integer of 2 or more. As shown in FIG. 2, the plurality of shelves 82 are classified into predetermined groups. For example, the plurality of shelves 82 are classified into N groups corresponding to each station. In FIG. 2, reams 1 to N indicate a group of reams.

A load 90 can be placed on each of the plurality of shelves 82. In the present embodiment, a stop point of the stacker crane 30 is provided for each of the stations 1 to N. For the determination of whether or not the load 90 is stopped with respect to the stop point, for example, the following method may be mentioned. The first is a method in which the distance of the transfer device 40 with respect to the reference position is confirmed by the distance sensor, for example, with the station 85 as the reference position. The second method is, for example, to provide a dog for each of the stations 1 to N and detect the dog with a sensor provided in the transfer device 40. By using these methods, it is possible to detect the positional deviation of the transfer device 40 with respect to the stop point.

After the stacker crane 30 stops at a predetermined stop point, the transfer device 40 accommodates the load 90 being transported into the rack 80 from the front surface of the rack 80. Further, after the stacker crane 30 stops at a predetermined stop point, the transfer device 40 takes out the load 90 in the rack 80 from the front surface of the rack 80. More specifically, the slide fork 59 of the transfer device 40 passes vertically between the pair of support members constituting the shelf 82, so that the load 90 can be placed on the shelf 82 or placed on the shelf 82. Lifting of the load 90 for taking out the placed load 90 is performed.

The control device 100 is a device that controls the operation of the stacker crane 30. In the present embodiment, the control device 100 operates the stacker crane 30 for transporting the load 90, for example, according to an instruction transmitted from the management device 200 (see FIG. 3), which is a higher-level computer of the transport system 10. Take control. Further, the control device 100 performs retry control of the stacker crane 30 when a problem occurs in stopping the stacker crane 30 with respect to the stop point. The retry control is a control for causing the stacker crane 30 to perform a retry operation for bringing the stacker crane 30 closer to the stop point again. That is, the control device 100 is a stop control unit that controls the retry operation of the stacker crane 30. The transfer conditions of the retry operation control include the position information of the stop point, the retry path which is the path at the time of retry, the transfer speed at the time of retry, the stop pattern at the time of retry, and the like.

Various types of information processing by the control device 100 are realized by, for example, executing a predetermined program by a computer equipped with a CPU (Central Processing Unit), a storage device such as a memory, an interface for inputting / outputting information, and the like. To.

FIG. 3 is a block diagram showing a control configuration of the transport system 10 according to the first embodiment. As shown in FIG. 3, the transport system 10 includes a stacker crane 30 and a management device 200. The management device 200 is a computer including a CPU, a storage device such as a memory, a display device, a speaker, an interface for input / output of information, and the like, and is freely connected to the control device 100.

Specifically, the management device 200 includes a control unit 210, a counting unit 220, a changing unit 230, and a notification unit 240.

The control unit 210 issues a transfer command to the control device 100 of the stacker crane 30. The transport command is a command for controlling the stacker crane 30 to transfer the load 90 to the shelf 82, which is a predetermined mounting portion. The transport command includes transport conditions for controlling the transfer device 40. The transport conditions include, for example, the position information of the shelf 82 which is the mounting portion, the transport speed of the transfer device 40 at the time of transport, the stop pattern when the transfer device 40 stops at the stop point, and the like. The stop pattern includes the transport speed before the transfer device 40 is stopped, the deceleration during deceleration, and the like.

The counting unit 220 counts the operations related to the stop failure in the stacker crane 30 when executing one transfer command. The operation related to the stop failure is an operation that causes the stop failure or an operation caused by the stop failure. For example, the operation related to the stop failure includes a retry operation and a positional deviation of the stacker crane 30 with respect to the stop point. The counting unit 220 counts at least one of the retry operation and the positional deviation when executing one transfer command.

The changing unit 230 changes the transport conditions of the transport command. Specifically, when the counting result of the counting unit 220 reaches the first predetermined number of times, the changing unit 230 changes to the caution mode and performs a retry operation. Then, when executing the next transfer command in which at least a part of the transfer conditions are the same as the transfer command when the retry operation is performed, the changing unit 230 sets the transfer condition of the next transfer command as a caution mode. Change to.

The "next transfer command in which at least a part of the transfer conditions are the same as the transfer command when the retry operation is performed" is, for example, the stop point at the transfer command that caused the retry operation and the next transfer. The stop point in the command is the same, and so on. For example, the change unit 230 registers the same stop point as a place requiring attention. The transport conditions other than the stop point may be the same.

The caution mode is a mode for increasing the certainty of stopping at a stop point where the counting result of the counting unit 220 reaches the first predetermined number of times or a stop point registered as a place requiring attention. In the caution mode during the retry operation, the transfer condition of the retry operation control before the change is relaxed from the transfer condition of the retry operation control after the change. Further, in the caution mode for the stop point registered as the caution location, the transport condition of the transport command after the change is relaxed as compared with the transport condition of the transport command before the change.

Specifically, in the caution mode, the stop pattern is relaxed. That is, in the caution mode, at least one of the transport speed before the stop and the deceleration during deceleration included in the stop pattern is relaxed as compared with the transport condition of the transport command before the change. Here, "relaxation" means to reduce the transport conditions of the transport command before the change. Specifically, the transport speed included in the transport conditions is weakened, or at least one of the transport speed and the deceleration in the stop pattern is weakened. Specifically, the changing unit 230 stores a combination of deceleration and speed as a plurality of stop patterns, and changes to another stop pattern when the caution mode is set. Further, the changing unit 230 may slow down the currently set speed and deceleration by a predetermined amount when the mode requiring attention is set.

FIG. 4 is an explanatory diagram showing an example of a stop pattern in the first embodiment. In FIG. 4, a plurality of stop patterns are graphed in a speed-time diagram. Assuming that the pattern P1 is a stop pattern at the time of the retry operation before the change, the deceleration of the pattern P2 is slower than that of the pattern P1. Further, the pattern P3 has the same deceleration as the pattern P2, but the transport speed before stopping is lower than that of the pattern P1. Further, the pattern P4 has a lower transfer speed and a deceleration before the stop than the pattern P1. That is, in the caution mode, if any one of the patterns P2, P3, and P4 is adopted, the certainty of the stop at the stop point is higher than that of the pattern P1. Further, in terms of high certainty, the order is pattern P4> pattern P3> pattern P2. In the following description, a case where the normal stop pattern is changed to the stop pattern in the caution mode will be illustrated. However, the stop pattern may be changed in stages to increase certainty over time.

Further, the changing unit 230 executes the prohibition mode when a stop point occurs in which the counting result of the counting unit 220 reaches the second predetermined number of times, which is larger than the first predetermined number of times. In the prohibited mode, the stop point that has reached the second predetermined number of times is registered as a transfer prohibited place. The registered stop points will be prohibited from being transferred until maintenance is performed. For example, when a stop point that reaches the second predetermined number of times occurs during the retry operation, the change unit 230 registers the stop point as a transfer prohibited place of the destination of the next transport command. Then, the changing unit 230 changes the shelf 82 on which the load 90 is transferred, or cancels the executing transport command.

The notification unit 240 notifies from at least one of the display device and the speaker. Specifically, the notification unit 240 notifies when the number of stop points registered as the transfer prohibited place is the first predetermined number or more.

Next, the transport process of the transport system 10 according to the first embodiment will be described. FIG. 5 is a flowchart showing the flow of the transport process of the transport system 10 according to the first embodiment.

In step S1, the control unit 210 of the management device 200 creates a transfer command for the control device 100 of the stacker crane 30.

In step S2, the control unit 210 determines whether or not the stop point including the shelf 82 specified by the transport command is registered in the transfer prohibited place, and if it is registered in the transfer prohibited place, the step. The process proceeds to S17, and if not registered, the process proceeds to step S3.

In step S3, the control unit 210 determines whether or not the stop point including the shelf 82 specified by the transport command is registered as a place requiring attention, and if it is not registered in the place requiring attention, the step S5 is performed. If it is migrated and registered, it proceeds to step S4.

In step S4, the control unit 210 outputs the transfer command created in step S1 to the control device 100 of the stacker crane 30. As a result, the control device 100 controls the stacker crane 30 based on the transport command.

In step S5, the control unit 21 changes the transport command for the stop point, which is a caution location, to the caution mode by controlling the change unit 230, and outputs the transport command to the control device 100 of the stacker crane 30. .. This change results in a transport command with a relaxed stop pattern than the previous transport command. The control device 100 controls the stacker crane 30 based on the changed transfer command.

In step S6, when the stacker crane 30 is displaced with respect to a predetermined stop point and cannot be transferred, the positional displacement information indicating that fact is output to the counting unit 220. The control unit 210 proceeds to step S11 if the position deviation information is output, and proceeds to step S7 if it is not output.

In step S7, the counting unit 220 counts the operations related to the stop failure in the transfer device 40 for each shelf 82 associated with the stop point. Specifically, the counting unit 220 counts the number of times the retry operation command is output, and counts the number of times the position shift information received from the transfer device 40 is acquired.

In step S8, the control unit 210 determines whether or not the counting result is less than the second predetermined number of times, and if it is less than the second predetermined number of times, the process proceeds to step S9, and when the second predetermined number of times is reached. To step S14.

In step S9, the control unit 210 determines whether or not the counting result is less than the first predetermined number of times, shifts to step S6 if it is less than the first predetermined number of times, and reaches the first predetermined number of times. Goes to step S10.

In step S10, the changing unit 230 registers the shelf 82 that has reached the first predetermined number of times as a place requiring attention, and proceeds to step S5.

In step S11, the control unit 210 determines whether or not a predetermined number of shelves 82 associated with the stop points are registered in the places requiring attention, and if the number is less than the predetermined number, the process proceeds to step S5. If the number is equal to or greater than the predetermined number, the process proceeds to step S12.

In step S12, the control unit 210 registers all of the plurality of shelves 82 associated with the stop points in the places requiring attention, and proceeds to step S5.

In step S13, the transfer device 40 transfers the load 90 to the shelf 82 associated with the predetermined stop point. After the transfer, the transport process is completed.

In step S14, the change unit 230 executes the prohibition mode and registers the shelf 82 that exceeds the second predetermined number of times as the transfer prohibited place. The transfer of the load 90 is prohibited on the shelf 82 registered as the transfer prohibited place until the registration is canceled.

In step S15, the control unit 210 determines whether or not the total number of shelves 82 registered as the transfer prohibited place is the first predetermined number or more, and if it is less than the first predetermined number, the process proceeds to step S17. Then, if the number is the first predetermined number or more, the process proceeds to step S16.

In step S16, the control unit 210 controls the notification unit 240 to notify that the number of shelves 82 registered as the transfer prohibited place is the first predetermined number or more. Based on this notification, the worker performs maintenance on the shelf 82, which has become a transfer prohibited place, and the track on which the transport device (stacker crane 30) runs near the stop point, and when the problem is resolved, the worker moves. Cancel the registration as a prohibited place.

In step S17, the control device 100 determines whether or not the transfer device 40 has before loading the load 90, and outputs the determined result to the control unit 210. The control unit 210 proceeds to step S18 when the result indicates that the result has been accumulated, and proceeds to step S19 when the result indicates that the result has not been accumulated.

In step S18, the control unit 210 changes to another shelf 82 and proceeds to step S1. As a result, the changed shelf 82 is reflected in the subsequent transport commands.

In step S19, the control unit 210 cancels the transport command and ends the transport process.

As described above, in the transfer system 10 of the present embodiment, the transfer device 40 for transferring the load 90 between the plurality of mounting portions (shelves 82) and the transfer device 40 for a predetermined stop point. The stop control unit (control device 100) that controls the retry operation to approach the stop point when a problem occurs in the stop, and the operation related to the stop failure in the transfer device 40 when one transfer command is executed. When the counting unit 220 for counting and the counting result of the counting unit 220 reach the first predetermined number of times, the next transfer command in which at least a part of the transfer conditions are the same as the transfer command when the retry operation is performed is executed. A changing unit 230 for changing the transport conditions of the next transport command is provided.

According to this, when the operation related to the stop failure (positional deviation of the stacker crane 30 or the retry operation) reaches the first predetermined number of times, the transfer command for the retry operation and at least a part of the transfer conditions are the same as the following. When the transport command is executed, the transport conditions of the next transport command are changed. As a result, the retry operation is repeatedly executed under the same conditions until the first predetermined number of times is reached. When the first predetermined number of times is reached, the transport conditions of the subsequent transport commands are changed, so that the transport device can be easily stopped at the stop point. As a result, the frequency of retry operations can be reduced, and the possibility of abnormal stop can be further suppressed.

Therefore, it is possible to suppress a decrease in the carrying capacity due to the retry operation.

Further, the changing unit 230 changes the transport condition of the next transport command to a condition relaxed from the transport condition before the change.

According to this, since the transport condition of the next transport command is changed to a condition relaxed from the transport condition before the change, the transport device is likely to stop at the stop point after the transport condition is changed. Therefore, the frequency of retry operations can be further suppressed.

Further, the changing unit 230 stores a combination of deceleration and speed, which is one of the transport conditions, as a plurality of stop patterns, and the counting result of the counting unit 220 in the predetermined stop pattern is the first predetermined number of times. When is reached, change to another stop pattern.

According to this, when the counting result of the counting unit 220 reaches the first predetermined number of times, the stop pattern included in the transport condition is changed to another stop pattern. Therefore, in the subsequent retry operation, the transfer device 40 is easy to stop at the stop point. As a result, the frequency of retry operations can be reduced, and the possibility of abnormal stop can be further suppressed.

Further, in the present embodiment, the counting unit 220 counts the operations related to the stop failure for each of the plurality of mounting units (shelf 82), and the changing unit 230 reaches the first predetermined number of times the counting result of the counting unit 220. Change the transport conditions of the next transport command for the mounted unit.

According to this, the operation related to the stop failure is counted for each of a plurality of mounting units, and the transport condition of the next transport command for the mounting section whose counting result reaches the first predetermined number of times is changed. The transport conditions for the retry operation can be appropriately changed for each unit. As a result, the frequency of retry operations for the entire transport system can be reduced. In addition, since counting can be performed for each mounting unit and relaxed conditions can be set for each mounting unit, the frequency of retry operations for the entire transport system can be reduced.

Further, the transport system 10 is provided with a notification unit 240 that notifies when the number of transfer prohibited places becomes the first predetermined number or more.

According to this, when the number of transfer prohibited places becomes the first predetermined number or more, the notification unit 240 gives a notification, so that if the worker recognizes the notification, maintenance or the like can be performed promptly.

In this embodiment, the counting unit 220 counts the operations related to the stop failure for each of the plurality of mounting units (shelves 82) associated with the stop points, and evaluates the stop points based on the counting results. The case of deciding is illustrated. However, stop points are provided for each mounting unit, and a predetermined number of adjacent stop points may be grouped (stop points). For example, stop points are provided for each mounting portion of each stage in one station, and these stop points may be treated as one group.

Further, one stop point is set for each of a predetermined number of mounting units, the counting unit 220 counts the operation related to the stop failure for each of the plurality of mounting units, and the changing unit 230 counts the operation related to the stop failure. The transfer condition of the next transfer command for the stop point including the first predetermined number of mounting units whose counting result has reached the first predetermined number of times is changed, and the counting result of the counting unit 220 is larger than the first predetermined number of times. The transfer prohibited place may be a stop point including the second predetermined number of mounting portions that have reached the second predetermined number of times.

According to this, the transport conditions of the next transport command are changed for the stop points including the first predetermined number of mounting portions whose counting result has reached the first predetermined number of times. In addition, the stop point including the second predetermined number of mounting portions whose counting result has reached the second predetermined number is regarded as a transfer prohibited place. In this way, for example, when the cause of the retry operation is in the track on which the transport device near the stop point travels, the retry operation occurs by changing the transport conditions of all the plurality of mounting portions corresponding to the stop points. Can be efficiently suppressed.

When counting the operations related to the stop failure for each mounting unit, the mounting unit can be set as one stop point. In this case, it is possible to carry out the transfer process in consideration of the installation error of the shelf 82, which is the mounting portion, and the deterioration over time.

Further, in the present embodiment, the transfer prohibited place is also registered for each loading unit. That is, the changing unit 230 uses the mounting unit where the counting result of the counting unit 220 reaches the second predetermined number of times, which is larger than the first predetermined number of times, as the transfer prohibited place.

According to this, since the mounting unit that has reached the second predetermined number of times is registered as the transfer prohibited place, the transfer is not performed to the mounting unit in which the retry operation frequently occurs thereafter. As a result, the load 90 is transferred to another mounting unit that is not registered as a transfer prohibited place, so that it is possible to suppress a decrease in transport efficiency.

[Embodiment 2]
In the above embodiment, the operation related to the stop failure is counted for each shelf 82 associated with the stop point, and the case where the transport condition of the transport command is changed based on the counting result is exemplified. In the second embodiment, the case where the operation related to the stop failure is counted for each stop pattern and the stop pattern included in the transport command is changed based on the counting result will be described.

In the following description, the same parts as those in the above embodiment may be designated by the same reference numerals and the description thereof may be omitted.

In the second embodiment, the counting unit 220 counts the operations related to the stop failure for each of the plurality of stop patterns. When the counting result of the counting unit 220 in the predetermined stop pattern reaches the first predetermined number of times, the changing unit 230 registers the stop pattern that has reached the first predetermined number of times as a caution pattern. Then, if another stop pattern can be selected, the other stop pattern is changed.

Hereinafter, the transfer process of the transfer system 10 according to the second embodiment will be described. FIG. 6 is a flowchart showing the flow of the transport process of the transport system 10 according to the second embodiment.

In step S21, the control unit 210 of the management device 200 creates a transfer command for the control device 100 of the stacker crane 30.

In step S22, the control unit 210 determines whether or not the stop pattern included in the transport command is registered in the caution pattern, and if it is registered in the caution pattern, the process proceeds to step S30 and is registered. If not, the process proceeds to step S23.

In step S23, when the stacker crane 30 is displaced with respect to a predetermined stop point and cannot be transferred, the positional displacement information indicating that fact is output to the counting unit 220. The control unit 210 proceeds to step S24 if the position deviation information is output, and proceeds to step S27 if it is not output.

In step S24, the counting unit 220 counts the operations related to the stop failure in the transfer device 40 for each stop pattern. Specifically, the counting unit 220 counts the number of times the retry operation command is output, and counts the number of times the position deviation information received from the stacker crane 30 is acquired.

In step S25, the control unit 210 determines whether or not the counting result for the predetermined stop pattern is less than the first predetermined number of times, and if it is less than the first predetermined number of times, the process proceeds to step S23, and the first predetermined number of times is reached. When the number of times is reached, the process proceeds to step S26.

In step S26, the changing unit 230 registers the stop pattern that has reached the first predetermined number of times as a caution pattern, and proceeds to step S28.

In step S27, the transfer device 40 transfers the load 90 to the shelf 82 associated with the predetermined stop point. After the transfer, the transport process is completed.

In step S28, the control unit 210 determines whether or not the total number of stop patterns registered as caution patterns is the second predetermined number or more, and if it is less than the second predetermined number, the process proceeds to step S30. If the number is the second predetermined number or more, the process proceeds to step S29.

In step S29, the control unit 210 controls the notification unit 240 to notify that the number of stop patterns registered as caution patterns has reached the first predetermined number or more. Based on this notification, the operator performs maintenance on the stop pattern that has become a caution pattern, and cancels the registration as a caution pattern when the problem can be resolved.

In step S30, the changing unit 230 determines whether or not there is another stop pattern that is not registered as a caution pattern in the plurality of stored stop patterns, and if there is another stop pattern, the step. The process proceeds to S31, and if not, the process proceeds to step S32.

In step S31, the changing unit 230 selects another stop pattern. When changing to another stop pattern in the retry operation, the stop point is once separated from the stop point and then approaches the stop point based on the changed stop pattern.

In step S32, since all of the plurality of stop patterns stored in the change unit 230 are caution patterns, the control unit 210 terminates the transfer process as an abnormal stop.

As described above, in the transfer system 10 of the present embodiment, the counting unit 220 counts the operations related to the stop failure for each of the plurality of stop patterns, and the changing unit 230 first determines the counting result of the counting unit 220. Change the stop pattern that has reached the number of times to another stop pattern.

According to this, it seems that the operation related to the stop failure is counted for each of a plurality of stop patterns, the stop pattern whose counting result reaches the first predetermined number of times is registered as a caution pattern, and another stop pattern can be selected. If there is, the stop pattern is changed to another stop pattern, so that the stop pattern that frequently causes the retry operation can be switched to another stop pattern. As a result, the frequency of retry operations for the entire transport system can be reduced.

Further, the transport system 10 includes a notification unit 240 that notifies when the number of caution patterns is the second predetermined number or more.

According to this, when the number of caution patterns, which is the stop pattern in which the counting result of the counting unit 220 reaches the first predetermined number of times, becomes the second predetermined number or more, the notification unit 240 gives a notification, so that the notification is performed. If a person recognizes it, maintenance and the like can be performed promptly.

In addition, the process exemplified in the first embodiment and the process exemplified in the second embodiment may be used in combination.

[others]
The operation terminal of the present invention has been described above based on the embodiment. However, the present invention is not limited to the above embodiment. As long as it does not deviate from the gist of the present invention, various modifications that can be conceived by those skilled in the art are also included in the scope of the present invention.

For example, in the above embodiment, the stacker crane 30 is exemplified as a transport device, but any device that can transfer a load between a plurality of mounting portions can be adopted as a transport device. It is possible. Other examples of the transport device include an automatic guided vehicle (AGV), a ceiling traveling vehicle, and the like. In addition, the transfer device includes a traveling carriage that does not move up and down and is provided with a transfer device.

Further, in the above embodiment, the case where the management device 200 includes a counting unit 220, a changing unit 230, and a notification unit 240 is exemplified. However, the stacker crane may be provided with a counting unit, a changing unit, and a notification unit. That is, the stacker crane may perform counting of operations related to defects, change of transport conditions of transport commands, registration of transfer prohibited places, and notification. Further, these operations may be performed in combination by the management device and the stacker crane.

Further, in the above embodiment, the case where the operation related to the stop failure is counted by the counting unit 220 is illustrated, but the control unit 210 of the management device 200 may record the information of the operation related to the stop failure as a history. Specifically, the recorded information includes the occurrence time, the number of occurrences, the occurrence location (ream, stage, column), the occurrence position (coordinates from the reference position), the distance to the mounting part, the stop pattern, and the time of stop. Speed, deceleration, loading information (information indicating whether or not the load is on the transfer device) and the like.

Further, the control unit 210 may also record information regarding communication retries as a history. Examples of the information related to the communication retry include the occurrence time of the communication retry, the number of occurrences, the movement pattern, the communication partner (the IP and port of the communication partner), and the communication content. Regarding the state of the communication partner, when the communication partner is a mobile body, the operation status of the communication partner, the position of the communication partner, the movement pattern of the communication partner, and the like may be recorded as information related to the communication retry. By recording this history, it is possible to investigate the cause of the communication retry.

Further, in the above embodiment, when the counting result of the counting unit 220 reaches the first predetermined number of times, the changing unit 230 has at least a part of the same transfer conditions as the transfer command when the retry operation is performed. An example is shown in which the transport conditions of the next transport command are changed when the next transport command is executed. However, when the counting result of the counting unit 220 reaches the first predetermined number of times, the changing unit 230 is at least a transfer command after the transfer command when the retry operation is performed and at least a part of the transfer conditions are the same. When executing one, the transport conditions of the at least one transport command may be changed.

In this case, the normal transport command can be executed as much as possible. As an example, when the retry operation exceeds three times with one transport command, the retry operation is executed in the caution mode. After that, it will be newly executed under normal transport conditions, but at that time, a transport command may be issued in which the retry operation exceeds three times again for the same stop point. In this way, when five transport commands with more than three retry operations are generated, all subsequent transport commands are set to the caution mode. In this way, even if the normal transport command is executed as much as possible, the transport condition of the transport command is finally changed by executing the caution mode. Therefore, the possibility of abnormal stop can be suppressed. The same applies when measuring for each stop pattern.

Further, in the above embodiment, a case where a stop point is provided for each of the stations 1 to N is illustrated. However, each shelf 82 may be provided with a stop point. Further, the station 85 may be used as a stop point. That is, the stop point may be a place where the transfer device can be moved and transferred.

In addition, it is realized by arbitrarily combining the components and functions in the embodiment and the modified examples within the range obtained by applying various modifications to the embodiment and the gist of the present invention. The form to be used is also included in the present invention.

The transfer system according to the present invention is useful as a transfer system capable of controlling the retry operation of the transfer device.

10 Transport system 12 Lower rail 30 Stacker crane (conveyor)
31 Mast 32 Lower trolley 35 Elevating platform 40 Transfer device 59 Slide fork 60 Elevating drive device 80 Rack 81 Strut 82 Shelf (mounting part)
85 stations (mounting part)
90 Load 100 Control device (stop control unit)
200 Management device 210 Control unit 220 Counting unit 230 Changing unit 240 Notification unit

Claims (6)

A transport device that transfers loads between multiple mounting units, and
A stop control unit that controls a retry operation to approach the stop point when a problem occurs in the stop of the transport device with respect to a predetermined stop point.
When executing one transfer command, a counting unit that counts the operations related to the stop failure in the transfer device, and
When the counting result of the counting unit reaches the first predetermined number of times, at least one of the subsequent transport commands is executed when at least a part of the transport conditions are the same as the transport command when the retry operation is performed. At that time, it is provided with a change unit that changes the transfer conditions of at least one transfer command .
The counting unit counts the operations related to the stop failure for each of the plurality of mounting units.
The change unit changes the transfer condition of the at least one transfer command to the previously described placement unit whose counting result of the counting unit reaches the first predetermined number of times to a condition relaxed from the transfer condition before the change. At the same time, the pre-described place where the counting result of the counting unit reaches the second predetermined number of times, which is larger than the first predetermined number of times, is designated as the transfer prohibited place.
Transport system. A transport device that transfers loads between multiple mounting units, and
A stop control unit that controls a retry operation to approach the stop point when a problem occurs in the stop of the transport device with respect to a predetermined stop point.
When executing one transfer command, a counting unit that counts the operations related to the stop failure in the transfer device, and
When the counting result of the counting unit reaches the first predetermined number of times, at least one of the subsequent transport commands is executed when at least a part of the transport conditions are the same as the transport command when the retry operation is performed. At that time, it is provided with a change unit that changes the transfer conditions of at least one transfer command.
One stop point is set for each of a predetermined number of previously described placement portions.
The counting unit counts the operations related to the stop failure for each of the plurality of mounting units.
The change unit changes the transfer condition of the at least one transfer command to the previously described placement unit whose counting result of the counting unit reaches the first predetermined number of times to a condition relaxed from the transfer condition before the change. At the same time, the stop point including the second predetermined number of the previously described placement units in which the counting result of the counting unit reaches the second predetermined number of times, which is larger than the first predetermined number of times, is set as the transfer prohibited place.
Transport system. The transport system according to claim 1 or 2 , further comprising a notification unit that notifies when the number of transfer prohibited places becomes the first predetermined number or more. The changing unit stores a combination of deceleration and speed, which is one of the transport conditions, as a plurality of stop patterns.
The transport system according to any one of claims 1 to 3 , wherein when the counting result of the counting unit in the predetermined stop pattern reaches the first predetermined number of times, the system is changed to another stop pattern. The counting unit counts the operations related to the stop failure for each of the plurality of stop patterns.
The transfer system according to claim 4 , wherein the changing unit changes the stop pattern in which the counting result of the counting unit reaches the first predetermined number of times to the other stop pattern. A transport device that transfers loads between multiple mounting units, and
A stop control unit that controls a retry operation to approach the stop point when a problem occurs in the stop of the transport device with respect to a predetermined stop point.
When executing one transfer command, a counting unit that counts the operations related to the stop failure in the transfer device, and
When the counting result of the counting unit reaches the first predetermined number of times, at least one of the subsequent transport commands is executed when at least a part of the transport conditions are the same as the transport command when the retry operation is performed. A transport system including a changing unit that changes the transport conditions of at least one transport command.
The changing unit changes the transport conditions of the at least one transport command to conditions that are relaxed from the transport conditions before the change.
The changing unit stores a combination of deceleration and speed, which is one of the transport conditions, as a plurality of stop patterns, and the counting result of the counting unit in the predetermined stop pattern is the first predetermined number of times. When it reaches, change to another stop pattern and
The transport system is
The counting unit is provided with a notification unit that notifies when the counting result reaches the first predetermined number of times and the number of the stop patterns reaches the second predetermined number or more.
Transport system.

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