JP7209188B2 - Communication method, communication system, transmitter and receiver - Google Patents

Description

The present invention relates to communication methods, communication systems, transmitters and receivers.

2. Description of the Related Art Conventionally, there has been known a communication system capable of operating industrial machines using wireless communication. Patent Literature 1 discloses this type of automatic driving equipment system.

The automatic driving equipment system of Patent Literature 1 includes a control device and an operation terminal. The control device and the operation terminal can transmit and receive information via wireless communication. The control device is a device that controls the operation of the stacker crane. A mobile device used for remote control of the stacker crane is communicably connected to the operation terminal. The operation terminal also has an emergency stop button for emergency stopping the stacker crane.

In this automatic operation equipment system, wireless communication between the control device and the operation terminal is stopped when the operator presses the emergency stop button. The control device then stops the operation of the stacker crane.

JP 2018-39625 A

In the configuration of Patent Document 1, when the emergency stop button is pressed by the operator, the wireless connection between the control device and the operation terminal is lost. Therefore, after the emergency stop button is pressed, the control device and the operating terminal cannot confirm each other's states. Therefore, at this time, it is difficult for the operator to check the states of the control device and the operating terminal.

The present invention has been made in view of the above circumstances, and its object is to allow one of the transmitter and the receiver to check the status of the other after the emergency stop input operation section is operated.

Means and Effects for Solving Problems

The problems to be solved by the present invention are as described above. Next, the means for solving the problems and the effects thereof will be described.

A first aspect of the present invention provides the following communication method. That is, this communication method takes place between a transmitter and a receiver. The transmitter can wirelessly transmit a predetermined instruction signal. The receiver is capable of receiving the instruction signal and operating the industrial machine according to the instruction signal. Wireless communication between the transmitter and the receiver is repeatedly performed before and after the emergency stop input operation section provided in the transmitter is operated.

Thereby, the wireless connection between the transmitter and the receiver is maintained even after the emergency stop input operation section is operated. Therefore, even after the emergency stop input operation unit is operated, wireless communication can be performed between the transmitter and the receiver, and at least one of them can confirm the status of the other. Also, after operating the emergency stop input operation section, when it is desired to restart the industrial machine by canceling the operation of the emergency stop input operation section, there is no need to reconnect the transmitter and the receiver.

In the above communication method, it is preferable to do as follows. That is, this communication method includes a confirmation signal transmission step, an emergency stop non-operation transmission step, and an emergency stop operation transmission step. In the confirmation signal transmission step, the receiver repeatedly wirelessly transmits to the transmitter a confirmation signal for confirming whether or not an emergency stop input operation unit provided in the transmitter has been operated. In the emergency stop non-operation transmitting step, when the emergency stop input operation section is not operated, each time the transmitter receives the confirmation signal, the emergency stop input operation section is notified that the emergency stop input operation section is not operated. wirelessly transmit a signal to the receiver. In the emergency stop operation transmitting step, when the emergency stop input operation unit is operated, the transmitter transmits a signal indicating that the emergency stop input operation unit has been operated each time the confirmation signal is received. Wirelessly transmit to the receiver.

Accordingly, wireless communication can be properly performed between the transmitter and the receiver.

In the above communication method, it is preferable to do as follows. That is, the communication method includes a transmitter state change transmitting step. In this transmitter state change transmission step, when the state of the transmitter changes from a normal state to an abnormal state after the emergency stop input operation unit is operated, the transmitter notifies the receiver of the state change. wirelessly to

This allows the receiver to recognize that the state of the transmitter has changed to an abnormal state.

In the communication method, it is preferable that the receiver transitions to a prohibited state for prohibiting operation of the industrial machine after receiving the notification.

As a result, the industrial machine can be prevented from operating even if the abnormal transmitter returns to normal. Unintended movements of the industrial machine can thus be avoided.

In the above communication method, it is preferable to do as follows. That is, the communication method includes a receiver state change transmitting step. In this receiver state change transmission step, when the state of the receiver changes from a normal state to an abnormal state after the emergency stop input operation unit is operated, the receiver notifies the transmitter of the state change. wirelessly to

This allows the transmitter to recognize that the state of the receiver has changed to an abnormal state.

In the communication method, it is preferable that the receiver shifts to a prohibited state that prohibits operation of the industrial machine in response to a state change of the receiver.

As a result, the industrial machine can be prevented from operating even if the receiver in the abnormal state returns to the normal state. Unintended movements of the industrial machine can thus be avoided.

In the above communication method, it is preferable to do as follows. That is, the prohibition state is not canceled by canceling the state in which the emergency stop input operation section is operated.

This makes it possible to avoid unintended movements of the industrial machine.

In the above communication method, it is preferable to do as follows. That is, the prohibited state is released by restarting the communication system including the transmitter and the receiver.

This makes it possible to reliably avoid unintentional movements of the industrial machine.

In the above communication method, it is preferable to do as follows. That is, when the transmitter is in a normal state and the receiver receives a signal indicating that the emergency stop input operation unit has been operated, the receiver prohibits the operation of the industrial machine. Transition to a safe state.

This makes it possible to prevent the industrial machine from operating when the emergency stop input operation unit is operated. Unintentional movements of the industrial machine can thus be avoided in this case.

In the above communication method, it is preferable to do as follows. That is, the safe state is obtained by canceling the state in which the emergency stop input operation unit provided in the transmitter is operated and inputting a signal for canceling the safe state of the industrial machine to the receiver. be released.

This makes it possible to reliably avoid unintentional movements of the industrial machine.

A second aspect of the present invention provides the following communication system. That is, this communication system comprises a transmitter and a receiver. The transmitter can wirelessly transmit a predetermined instruction signal. The receiver is capable of receiving the instruction signal and operating the industrial machine according to the instruction signal. The communication system includes an emergency stop input operation section. This emergency stop input operation section can be operated to bring the industrial machine to an emergency stop. Wireless communication between the transmitter and the receiver is repeatedly performed before and after the emergency stop input operation section is operated.

Thereby, the wireless connection between the transmitter and the receiver is maintained even after the emergency stop input operation section is operated. Therefore, even after the emergency stop input operation unit is operated, wireless communication can be performed between the transmitter and the receiver, and at least one of them can confirm the status of the other. Also, after operating the emergency stop input operation section, when it is desired to restart the industrial machine by canceling the operation of the emergency stop input operation section, there is no need to reconnect the transmitter and the receiver.

The communication system described above preferably has the following configuration. That is, in this communication system, the receiver repeatedly wirelessly transmits to the transmitter a confirmation signal for confirming whether or not the emergency stop input operation unit provided in the transmitter has been operated. When the emergency stop input operation unit is not operated, the transmitter wirelessly transmits to the receiver a signal indicating that the emergency stop input operation unit is not operated each time the confirmation signal is received by the transmitter. do. When the emergency stop input operation section is operated, the transmitter wirelessly transmits to the receiver a signal indicating that the emergency stop input operation section has been operated each time the confirmation signal is received.

Accordingly, wireless communication can be properly performed between the transmitter and the receiver.

The communication system described above preferably has the following configuration. That is, when the state of the transmitter changes from a normal state to an abnormal state after the emergency stop input operation unit is operated, the transmitter wirelessly transmits a notification regarding the state change to the receiver.

This allows the receiver to recognize that the state of the transmitter has changed to an abnormal state.

The communication system described above preferably has the following configuration. That is, after receiving the notification, the receiver transitions to a prohibited state that prohibits the operation of the industrial machine.

This makes it possible to prevent the industrial machine from operating even if the abnormal transmitter returns to its normal state. Unintended movements of the industrial machine can thus be avoided.

The communication system described above preferably has the following configuration. That is, when the state of the receiver changes from a normal state to an abnormal state after the emergency stop input operation section is operated, the receiver wirelessly transmits a notification regarding the state change to the transmitter.

This allows the transmitter to recognize that the state of the receiver has changed to an abnormal state.

The communication system described above preferably has the following configuration. That is, according to the state change of the receiver, the receiver shifts to a prohibited state that prohibits the operation of the industrial machine.

This makes it possible to prevent the industrial machine from operating even if the abnormal receiver returns to normal. Unintended movements of the industrial machine can thus be avoided.

The communication system described above preferably has the following configuration. That is, the prohibition state is not canceled by canceling the state in which the emergency stop input operation section is operated.

This makes it possible to avoid unintended movements of the industrial machine.

The communication system described above preferably has the following configuration. That is, the prohibited state is released by restarting the communication system.

This makes it possible to reliably avoid unintentional movements of the industrial machine.

In the above communication system, it is preferable to do as follows. That is, when the transmitter is in a normal state and the receiver receives a signal indicating that the emergency stop input operation unit has been operated, the receiver prohibits the operation of the industrial machine. Transition to a safe state.

This makes it possible to prevent the industrial machine from operating when the emergency stop input operation unit is operated. Unintentional movements of the industrial machine can thus be avoided in this case.

In the above communication system, it is preferable to do as follows. That is, the safe state is obtained by canceling the state in which the emergency stop input operation unit provided in the transmitter is operated and inputting a signal for canceling the safe state of the industrial machine to the receiver. be released.

This makes it possible to reliably avoid unintentional movements of the industrial machine.

A third aspect of the present invention provides the following transmitter. That is, the transmitter is capable of wirelessly transmitting an instruction signal to a receiver capable of operating an industrial machine according to the predetermined instruction signal. The transmitter includes an emergency stop input operation section. This emergency stop input operation section can be operated to bring the industrial machine to an emergency stop. The transmitter repeatedly performs wireless communication with the receiver both before and after the emergency stop input operation section is operated.

Thereby, the wireless connection between the transmitter and the receiver is maintained even after the emergency stop input operation section is operated. Therefore, even after the emergency stop input operation unit is operated, wireless communication can be performed between the transmitter and the receiver, and at least one of them can confirm the status of the other. Also, after operating the emergency stop input operation section, when it is desired to restart the industrial machine by canceling the operation of the emergency stop input operation section, there is no need to reconnect the transmitter and the receiver.

A fourth aspect of the present invention provides the following receiver. That is, the receiver can receive a predetermined instruction signal wirelessly transmitted by the transmitter and operate the industrial machine according to this instruction signal. The receiver repeatedly performs wireless communication with the transmitter both before and after an emergency stop input operation unit provided in the transmitter is operated.

Thereby, the wireless connection between the transmitter and the receiver is maintained even after the emergency stop input operation section is operated. Therefore, even after the emergency stop input operation unit is operated, wireless communication can be performed between the transmitter and the receiver, and at least one of them can confirm the status of the other. Also, after operating the emergency stop input operation section, when it is desired to restart the industrial machine by canceling the operation of the emergency stop input operation section, there is no need to reconnect the transmitter and the receiver.

1 is a plan view schematically showing the configuration of an automated warehouse in which a communication method according to one embodiment of the present invention is performed; FIG. FIG. 2 is a diagram for explaining the configuration of one stacker crane that constitutes an automated warehouse; FIG. 2 is a block diagram showing the configuration of a stacker crane control system; The block diagram which shows the structure of a safety signal system. FIG. 4 is a perspective view showing the configuration of a second receiver; FIG. 2 is a front view of an indication transmitter configured with a tablet attached to a handheld remote control; Side view of the indicating transmitter. FIG. 10 is a sequence diagram for explaining communication between the portable remote controller and the second receiving unit regarding permission and non-permission of operation in the manual operation mode of the stacker crane by operating the emergency stop button. FIG. 10 is a sequence diagram for explaining communication between the portable remote controller and the second receiving unit regarding cancellation of disapproval of operation in the manual operation mode of the stacker crane by operating the emergency stop button. When an emergency stop button is operated to disallow operation of the stacker crane in manual operation mode and an abnormal state occurs in the portable remote controller, communication between the portable remote controller and the second receiving unit is prevented. Sequence diagram for explanation.

Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a plan view schematically showing the configuration of an automated warehouse 1 in which a communication method according to one embodiment of the present invention is performed. FIG. 2 is a diagram illustrating the configuration of one stacker crane 12 that constitutes the automated warehouse 1. As shown in FIG. FIG. 3 is a block diagram showing the configuration of the control system 10 of the stacker crane 12. As shown in FIG. FIG. 4 is a block diagram showing the configuration of the safety signal system 70. As shown in FIG.

The communication method of this embodiment is performed in the communication system provided in the automated warehouse 1 shown in FIG. The automated warehouse 1 has multiple stacker racks 11 and multiple stacker cranes (industrial machines) 12 . The stacker rack 11 is formed with a large number of storage spaces capable of storing loads such as parts and materials. The stacker crane 12 automatically loads/unloads the cargo into/from the storage space of the stacker rack 11 . When the communication system of the present embodiment is activated, the automated warehouse 1 automatically stores packages in the stacker racks 11 using the stacker cranes 12, and automatically unloads packages stored in the stacker racks 11. can be

As shown in FIG. 2, each stacker crane 12 includes a traveling carriage 13 that travels along a track, an elevator 14 that can move up and down, and a crane controller 2 that controls the operations of the traveling carriage 13 and the elevator 14. And prepare.

The stacker crane 12 can be operated by selecting one of the automatic operation mode and the manual operation mode. In the automatic mode of operation, the stacker crane 12 operates automatically according to pre-programmed rules. In the manual operation mode, the stacker crane 12 operates according to the operator's operation instructions.

The crane controller 2 shown in FIGS. 2, 3 and 4 is composed of a known control unit including, for example, a CPU, a ROM, a RAM, an input/output section, and the like. The ROM stores various programs and data (rules) related to automatic driving. The CPU can read various programs from the ROM and execute them.

When the automatic operation mode is selected as the operation mode of the stacker crane 12, the crane controller 2 controls the operations of the traveling carriage 13 and the platform 14 based on stored data related to automatic operation.

When the manual operation mode is selected as the operation mode of the stacker crane 12, the crane controller 2 receives the operation instruction signal from the operator via the first receiver 21 and the operation instruction signal received via the second receiver 22. The operation of the traveling carriage 13 and the elevator 14 is controlled according to the state signals of each switch and the like.

In order to prevent contact with cargo, etc., the area including the operation area of the stacker crane 12 in the automated warehouse 1 is partitioned by a fence 9 or the like as shown in FIG. A sensor is provided, for example, on a door provided on the fence 9 in order to detect when an operator enters the operation area to perform maintenance or the like. Note that the doors and sensors are omitted in FIG. Operation of the stacker crane 12 is automatically stopped when the sensor detects that the door is opened while the stacker crane 12 is operating in the automatic operation mode.

An instruction receiver (receiver) 20 is provided in the automated warehouse 1 . The instruction receiver 20 can receive a predetermined instruction signal from an instruction transmitter (transmitter) 30, which will be described later, and operate the stacker crane 12 according to this instruction signal. In this embodiment, the instruction receiver 20 has a first receiver 21 and a second receiver 22 . The first receiving unit 21 and the second receiving unit 22 are each configured as a communication device and installed near the crane controller 2 in the stacker crane 12 . The first receiver 21 and the second receiver 22 are electrically connected to the crane controller 2 .

The first receiver 21 wirelessly communicates with the tablet 5 of the instruction transmitter 30 via a wireless LAN. A wireless LAN has a plurality of wireless communication channels and transmits data using radio waves or the like. In this embodiment, Wi-Fi (Wi-Fi is a registered trademark) is used as the wireless LAN. Through this wireless communication, the first receiving unit 21 receives an operation instruction signal indicating an operation instruction input to the tablet 5 by the operator operating the tablet 5 . Examples of operation instructions include an instruction to run the traveling carriage 13 and an instruction to raise and lower the platform 14 . The first receiver 21 outputs a signal indicating an operation instruction to the crane controller 2 as a control signal for controlling the operation of the stacker crane 12 .

The second receiver 22 wirelessly communicates with the portable remote controller 6 of the instruction transmitter 30 via a wireless LAN. Through this wireless communication, the second receiver 22 receives various status signals. Examples of the status signal include a status signal of the instruction transmitter 30, a status signal of the stop switch for emergency stopping the stacker crane 12, and a status signal of the enable switch for validating the operation instruction from the tablet 5. can be mentioned. The second receiver 22 outputs the received status signal to the crane controller 2 as a control signal for controlling the operation of the stacker crane 12 . The first receiver 21 and the second receiver 22 perform wireless communication using frequency bands or channels different from each other.

Next, the second receiver 22 will be described in detail with reference to FIGS. 4 and 5. FIG. FIG. 5 is a perspective view showing the configuration of the second receiver 22. As shown in FIG.

The second receiver 22 includes a second receiver status display section 23 and a second receiver power connector 24, as shown in FIG.

The second receiver state display section 23 has three lamps, a power lamp, a status lamp, and a WLAN lamp. Each lamp is configured as an LED. The second receiving unit state display unit 23 indicates various operating states of the second receiving unit 22 by combinations of lighting colors and lighting states (lighting/blinking) of the respective LEDs.

A power cable 91 is connected to the second receiver power connector 24 . Via this power cable 91, power necessary for the operation of the second receiver 22 is supplied. The power cable 91 includes a plurality of electric wires, and functions not only as a power supply but also as a signal cable for signal input/output.

The second receiver 22 is provided with a connector (not shown) for electrically connecting the antenna cable 93 in addition to the second receiver power connector 24 . A wireless antenna (not shown) for transmitting and receiving radio waves is connected to the antenna cable 93 .

As shown in FIG. 4 , the second receiver 22 is provided with a second receiver radio section 28 , a second receiver safety section 29 , and a second receiver abnormality detector 35 . The second receiver radio section 28 and the second receiver safety section 29 are connected by UART, for example, and perform serial communication. UART is an abbreviation for Universal Asynchronous Receiver/Transmitter.

The second receiver radio section 28 is configured as a computer (specifically, a radio communication module) and includes a CPU, a ROM, a RAM, and the like. The second receiver wireless unit 28 wirelessly communicates with the portable remote controller 6 of the instruction transmitter 30 as described above.

The second receiver safety section 29 is configured as a computer and includes a CPU, a ROM, a RAM, and the like. The second receiver safety section 29 is used as a functional safety section. Specifically, the second receiver safety section 29 determines whether the stacker crane 12 is in a safe state in which the stacker crane 12 does not operate or in which the stacker crane 12 operates, based on the result of the communication between the second receiver wireless section 28 and the portable remote controller 6 . and output a safe state request signal to the crane controller 2 as necessary.

As will be described in more detail below, the inhibited state can be said to be a special case of the safe state. In both the safe state and the prohibited state, the safe state request signal is output from the second receiver safety section 29 to the crane controller 2, so the stacker crane 12 does not operate.

The second receiver abnormality detection section 35 can detect that an abnormality has occurred in the instruction receiver 20 . Examples of this anomaly include hardware failures of the indication receiver 20, communication timeouts, and safety protocol errors. The second receiver abnormality detection section 35 outputs a signal indicating which of a normal state in which an abnormality has occurred in the instruction receiver 20 and an abnormal state in which an abnormality has occurred, to the second receiver safety section. 29.

The automated warehouse 1 includes a control system 10 for controlling a stacker crane 12, as shown in FIG. Control system 10 includes an instruction transmitter (transmitter) 30 for an operator to instruct stacker crane 12 . One or more instruction transmitters 30 are provided. Each instruction transmitter 30 performs wireless LAN communication with the crane controller 2 via the first receiving section 21 and the second receiving section 22 in order to give instructions to the crane controller 2 .

The indication transmitter 30 will be described in detail with reference to FIGS. 3, 6 and 7. FIG. FIG. 6 is a front view showing the instruction transmitter 30 configured by attaching the tablet 5 to the portable remote controller 6. As shown in FIG. FIG. 7 is a side view of the indication transmitter 30. FIG.

As shown in FIGS. 3, 6 and 7, the instruction transmitter 30 is composed of a tablet 5 as a portable terminal and a portable remote controller 6. FIG. Remote control is an abbreviation for remote controller.

The tablet 5 is a known tablet-type computer including a CPU, a ROM, a RAM, an input/output unit, and the like. The tablet 5 is provided with a touch panel display 51 . The touch panel display 51 has a configuration in which an operation section (touch panel) that an operator touches with a finger and a display section (display) that displays various information are integrated.

The tablet 5 has a built-in wireless antenna (not shown), and can wirelessly communicate with the first receiver 21 as shown in FIG. The tablet 5 outputs signals indicating various instructions such as an instruction to switch the operation mode of the stacker crane 12 and an instruction to operate the stacker crane 12 in the manual operation mode of the stacker crane 12 according to the operator's operation. 1 is transmitted to the receiver 21 by radio.

Portable remote control 6 is used in combination with tablet 5 to control the operation of stacker crane 12 in manual operation mode of stacker crane 12 . The portable remote controller 6 has a built-in wireless antenna (not shown), and can wirelessly communicate with the second receiver 22 as shown in FIG.

6 and 7, the portable remote controller 6 includes a portable remote controller status display unit 60, a power button 61, a remote controller power connector 62, a USB cable 64, an enable switch 65, and an emergency stop switch ( an emergency stop input operation unit) 66;

The portable remote controller status display unit 60 has three lamps: a power lamp, a charging lamp, and a status lamp. Each lamp is configured as an LED. The portable remote controller status display unit 60 indicates various operation statuses of the portable remote controller 6 by combining the lighting color and lighting status (lighting/blinking) of each LED.

The power button 61 is configured as a push button switch. By pressing the power button 61, it is possible to switch whether or not to supply power from a rechargeable battery (not shown) provided in the portable remote controller 6. FIG. As a result, ON/OFF of the portable remote controller 6 is realized.

A cable (not shown) for charging the rechargeable battery can be connected to the remote control power connector 62 .

A USB cable 64 is pulled out from the housing of the portable remote controller 6 . The USB cable 64 is configured as a wired cable for data communication and can be connected to the tablet 5 . By attaching the tablet 5 to a holder of the portable remote controller 6 and connecting the USB cable 64 to the tablet 5, the tablet 5 and the portable remote controller 6 can be linked to function as an instruction transmitter 30. - 特許庁

The enable switch 65 is composed of, for example, a push button switch. The enable switch 65 is provided on the side of the portable remote controller 6 so that the operator can press it while holding the portable remote controller 6 with one hand. The enable switch 65 is pushed with a certain operating force to indicate that the operation of the stacker crane 12 is permitted when the stacker crane 12 is in the manual operation mode. Even after the enable switch 65 is once pressed, it returns from the pressed state when the operating force is released. Therefore, when an unexpected situation such as overturning occurs to the operator, the operation of the stacker crane 12 can be immediately disallowed.

In this embodiment, the enable switch 65 is configured as a three-position switch. When the operator pushes the enable switch 65 with a strong force, it is handled in the same way as when the enable switch 65 is not pushed. As a result, even if the operator does not remove his finger from the enable switch 65 in an emergency and instead pushes it strongly reflexively, the operation of the stacker crane 12 can be appropriately stopped.

Hereinafter, the enable state means a state in which the enable switch 65 is pushed with an appropriate operating force. The dis-enable state means a state in which the enable switch 65 is not pressed or a state in which it is strongly pressed.

The emergency stop switch 66 is configured as a switch that can be pushed, such as a push button switch. An emergency stop switch 66 is provided in front of the portable remote controller 6 . The emergency stop switch 66 is pushed when the stacker crane 12 is to be brought to an emergency stop in the manual operation mode of the stacker crane 12 . Once the emergency stop switch 66 is pushed, it remains pushed even if the operating force is released. The pressed state is canceled by turning or pulling the emergency stop switch 66 to the right.

Hereinafter, the state in which the emergency stop switch 66 is pushed may be referred to as an emergency stop operation state. A state in which the emergency stop switch is not pushed in is sometimes called a state without emergency stop operation.

The portable remote controller 6 is provided with a portable remote controller radio unit 67, a portable remote controller safety unit 68, and a portable remote controller abnormality detection unit 69, as shown in FIG. The portable remote control radio unit 67 and the portable remote control safety unit 68 are connected by, for example, UART, and perform serial communication.

Portable remote controller radio unit 67 is configured as a computer (specifically, a radio communication module) and includes a CPU, ROM, RAM, and the like. Portable remote control radio section 67 wirelessly communicates with second reception section radio section 28 provided in second reception section 22 .

The portable remote controller safety unit 68 is configured as a computer and includes a CPU, ROM, RAM, and the like. Portable remote control security 68 is used as a functional security. Specifically, the portable remote controller safety unit 68 is electrically connected to the enable switch 65, the emergency stop switch 66, and the like.

Then, the portable remote controller safety section 68 outputs a safe state cancel signal, a safe state request signal, or a A prohibited state request signal can be output to portable remote controller radio section 67 .

A safe state means a state in which the operation of the stacker crane 12 is stopped, and is a state required in an emergency. Cancellation of the safe state means a state in which the operation of the stacker crane 12 is permitted. The prohibited state is a special case of the safe state. The prohibited state and the safe state are the same in that the stacker crane 12 does not operate, but the operation for returning the stacker crane 12 to the operable state differs between the prohibited state and the safe state.

Portable remote controller abnormality detection unit 69 can detect that an abnormality has occurred in instruction transmitter 30 . Examples of this anomaly include a hardware failure of the indication transmitter 30, a communication timeout, and a safety protocol error. The portable remote controller abnormality detection unit 69 sends a signal indicating whether the instruction transmitter 30 is in a normal state in which no abnormality has occurred or an abnormal state in which an abnormality has occurred to the portable remote controller safety unit 68 . Output.

When the enable switch 65 is pressed with an appropriate operating force and the emergency stop switch 66 is not pressed, the portable remote control safety section 68 outputs a safety state release signal to the portable remote control radio section. output to 67. In response to this, portable remote controller radio section 67 transmits a safe state release signal to second reception section radio section 28 of second reception section 22 .

The portable remote controller safety section 68 outputs a safe state request signal to the portable remote controller radio section 67 when the enable switch 65 is not pushed or is pushed strongly. In addition, when the emergency stop switch 66 is pressed, the portable remote control safety section 68 outputs a safe state request signal (a signal indicating that the emergency stop switch 66 has been pushed) to the portable remote control radio section 67. do. In response, portable remote control radio section 67 transmits a safe state request signal to second reception section radio section 28 of second reception section 22 .

Regardless of whether the emergency stop switch 66 is pressed or not, when an abnormal state occurs in the instruction transmitter 30, the portable remote controller safety section 68 detects an abnormality based on the detection result of the portable remote controller abnormality detection section 69. It grasps the state and outputs a prohibition state request signal to portable remote controller radio section 67 . In response, portable remote control radio section 67 transmits a prohibition state request signal to second reception section radio section 28 of second reception section 22 . The prohibited state request signal transmitted by the portable remote controller radio unit 67 can be said to be a signal for notifying the instruction receiver 20 from the instruction transmitter 30 that the instruction transmitter 30 has changed from the normal state to the abnormal state. The second receiver radio section 28 outputs the prohibited state request signal to the second receiver safety section 29 . As a result, the second receiver safety section 29 (in other words, the instruction receiver 20) is in the prohibited state. The second receiver safety section 29 outputs a safe state request signal to the crane controller 2 .

In addition, when the second receiver radio section 28 outputs a prohibited state request signal, the second receiver safety section 29 notifies that the instruction transmitter 30 is in an abnormal state in response to the prohibited state request signal. . This notification can be performed, for example, by operating an unillustrated notification unit (lamp or the like) provided in the instruction receiver 20 .

In this embodiment, when an abnormal state occurs in the instruction receiver 20 after the emergency stop switch 66 is pressed, the second receiver safety section 29 detects a The abnormal state is grasped and the prohibited state is entered. The second receiver safety section 29 continues to output the safe state request signal to the crane controller 2 .

Also, at this time, the second receiver safety section 29 outputs to the second receiver radio section 28 a notification that the instruction receiver 20 has changed from the normal state to the abnormal state. Second receiver radio section 28 transmits a signal corresponding to this notification to portable remote control radio section 67 . Portable remote controller radio section 67 outputs this signal to portable remote controller safety section 68 . Upon receiving the signal, portable remote control safety section 68 notifies that instruction receiver 20 is in an abnormal state. This notification can be performed, for example, by operating a notification unit (such as the touch panel display 51 of the tablet 5) provided in the instruction transmitter 30. FIG.

As described above, the communication system of the present embodiment enables operation instructions to the stacker crane 12 separately from the operation instruction signal transmission/reception system (the first receiving unit 21 and the tablet 5) for operating the stacker crane 12. A safety signal system 70 is provided for transmitting and receiving a signal, a signal to stop the stacker crane 12 in an emergency, and a signal to inhibit operation of the stacker crane 12 . The safety signal system 70 is composed of the second receiver 22 and the portable remote controller 6, as shown in FIG.

Focusing on wireless communication paths, when the stacker crane 12 is operated in the manual operation mode, signals are exchanged between the crane controller 2 and the instruction transmitter 30 operated by the operator through two wireless communication paths. It will be. A first wireless communication path is established between the first receiver 21 and the tablet 5 . A second wireless communication path is established between the second receiver 22 and the portable remote controller 6 .

In this way, since the radio communication paths for the operation instruction signal for controlling the operation of the stacker crane 12 and the signal for realizing the safe state of the stacker crane 12 are separated, these signals can be transmitted simultaneously. It becomes possible. Therefore, the signal for realizing the safe state of the stacker crane 12 can be transmitted regardless of the transmission status of the operation instruction signal. Therefore, in an emergency, the safe state request signal can be transmitted to the second receiving section 22 without delay, and the stacker crane 12 can be reliably and immediately stopped.

Next, a communication flow regarding the safe state cancellation signal, the safe state request signal, or the prohibited state request signal will be described with reference to FIGS. 8, 9 and 10. FIG. FIG. 8 is a sequence diagram for explaining communication between the portable remote controller 6 and the second receiving unit 22 regarding permission and non-permission of operation in the manual operation mode of the stacker crane 12 by operating the emergency stop switch. be. FIG. 9 is a sequence diagram for explaining communication between the portable remote controller 6 and the second receiver 22 regarding cancellation of disapproval of operation in the manual operation mode of the stacker crane 12 by operating the emergency stop switch. be. FIG. 10 shows the operation of the portable remote controller 6 and the second receiver 22 when an abnormality occurs in the portable remote controller 6 when operation in the manual operation mode of the stacker crane 12 is not permitted due to operation of the emergency stop switch. is a sequence diagram for explaining communication performed between.

After the wireless connection is established between the portable remote controller 6 of the instruction transmitter 30 and the second receiver 22 of the instruction receiver 20, as shown in FIG. The safety section 29 outputs a request for state confirmation to the second receiver radio section 28 (sequence number 1). Checking the status means checking the status of the enable switch 65 and the emergency stop switch 66 in the portable remote controller 6 and the status of the instruction transmitter 30 . In response, the second receiver radio section 28 radio-transmits a state confirmation signal (confirmation signal) to the portable remote controller radio section 67 (sequence number 2).

Upon receiving the status confirmation signal, portable remote controller radio section 67 outputs a status confirmation request to portable remote controller safety section 68 (sequence number 3).

The portable remote control safety section 68 checks the states of the enable switch 65 and the emergency stop switch 66 and the state of the indication transmitter 30 accordingly. At this time, the instruction transmitter 30 is in a normal state, the enable switch 65 is pressed with an appropriate operating force (enable state), and the emergency stop switch 66 is not pressed (no emergency stop operation). state).

In this case, the portable remote controller safety section 68 outputs a request to cancel the safe state to the portable remote controller radio section 67 (sequence number 4). In response to this, the portable remote control radio section 67 radio-transmits a safe state release signal to the second reception section radio section 28 (sequence number 5).

Upon receiving the safe state cancellation signal, the second receiver radio section 28 outputs a request to cancel the safe state to the second receiver safety section 29 (sequence number 6). In response to this, the second receiver safety section 29 outputs a signal to the crane controller 2 to release the safe state of the stacker crane 12 and permit operation of the stacker crane 12 (sequence number 7).

The second receiver safety section 29 repeatedly requests the second receiver radio section 28 to confirm the status at predetermined time intervals (sufficiently short time intervals). Therefore, the same processing as sequence numbers 1 to 7 is repeated (sequence numbers 8 to 14, . . . ).

When the second receiver safety section 29 issues a request for state confirmation with sequence number 51, the second receiver radio section 28 transmits a state confirmation signal (sequence number 52) in the same manner as described above. Upon receiving the status confirmation signal, portable remote controller radio section 67 requests portable remote controller safety section 68 to confirm the status (sequence number 53).

Portable remote control safety section 68 checks the status of enable switch 65 and emergency stop switch 66 and the status of indicator transmitter 30 . At this time, it is assumed that the instruction transmitter 30 is in a normal state, but the emergency stop switch 66 is pushed (an emergency stop operation state). Note that FIG. 8 illustrates an example in which the emergency stop switch 66 is pressed, but instead, when the enable switch 65 is not pressed or is strongly pressed (disable state) But it's the same.

In this case, portable remote controller safety unit 68 requests portable remote controller radio unit 67 to request a safe state (sequence number 54). In response to the request for the safe state request, the portable remote controller radio section 67 radio-transmits a safe state request signal (emergency stop signal) to the second receiver radio section 28 (sequence number 55).

Upon receiving the safe state request signal, the second receiver radio section 28 outputs a request for a safe state request to the second receiver safety section 29 (sequence number 56). In response to this, the second receiver safety section 29 outputs a signal to the crane controller 2 to stop the operation of the stacker crane 12 and put it in a safe state (sequence number 57).

The meaning of the signal output by the second receiving section safety section 29 to the stacker crane 12 at the sequence number 57 includes prohibiting the operation of the stacker crane 12 thereafter in addition to immediately stopping the operation of the stacker crane 12. . The stacker crane 12 transitions to the safe state when a signal requesting the safe state is input. Once the stacker crane 12 is in a safe state, the stacker crane 12 will not operate as long as this safe state continues.

After that, while the wireless connection is maintained between the portable remote controller 6 and the second receiver 22, the second receiver safety section 29 requests the second receiver wireless section 28 to confirm the state for a predetermined time. Do it repeatedly at intervals (short enough time intervals). Therefore, the same processing as sequence numbers 51 to 57 is repeated (sequence numbers 58 to 64, . . . ).

After pressing the emergency stop switch 66, as shown in FIG. A status confirmation signal is sent (sequence number 102). Upon receiving the status confirmation signal, portable remote controller radio section 67 requests portable remote controller safety section 68 to confirm the status (sequence number 103).

Portable remote control safety section 68 checks the status of enable switch 65 and emergency stop switch 66 and the status of indicator transmitter 30 . At this time, it is assumed that the instruction transmitter 30 is in a normal state and that the state in which the emergency stop switch 66 is pressed has been cancelled.

In this case, the portable remote controller safety section 68 outputs a request to cancel the safe state to the portable remote controller radio section 67 (sequence number 104). In response to this, the portable remote controller radio section 67 radio-transmits a safe state cancellation signal (emergency stop cancellation signal) to the second reception section radio section 28 (sequence number 105).

Upon receiving the safe state cancellation signal, the second receiver radio section 28 outputs a request to cancel the safe state to the second receiver safety section 29 (sequence number 106). Regardless of this request, the second receiver safety section 29 outputs a signal to the crane controller 2 indicating that the operation of the stacker crane 12 is to be stopped and placed in a safe state (sequence number 107). That is, after the emergency stop switch 66 is pressed once, the second receiving section safety section 29 stops the operation of the stacker crane 12 and puts the stacker crane 12 into a safe state even if a request to cancel the safe state is received from the portable remote controller 6 side. A signal to that effect is output to the crane controller 2 .

In this embodiment, the safe state is not canceled only by canceling the pressed state of the emergency stop switch 66 . When the same processing as sequence numbers 101 to 106 is performed (sequence numbers 131 to 136), an operator or the like on the stacker crane 12 side performs an operation to cancel the safe state of the stacker crane 12, and the crane controller 2 cancels the safe state by outputting a signal to the second receiver safety section 29 (sequence number 137).

Also, after pressing the emergency stop switch 66, before the release of the safe state is realized, as shown in FIG. A status confirmation signal is transmitted from the second receiver radio section 28 (sequence number 162). Upon receiving the status confirmation signal, the portable remote controller radio section 67 requests the portable remote controller safety section 68 to confirm the status in the same manner as described above (sequence number 163).

Portable remote control safety section 68 checks the status of enable switch 65 and emergency stop switch 66 and the status of indicator transmitter 30 . At this time, it is assumed that the emergency stop switch 66 is pressed and the portable remote controller abnormality detection section 69 detects an abnormal state of the instruction transmitter 30 .

In this case, portable remote controller safety section 68 outputs a request for a prohibited state to portable remote controller radio section 67 (sequence number 164). In response, portable remote controller radio section 67 radio-transmits a prohibited state request signal to second receiver radio section 28 (sequence number 165).

Upon receiving the prohibited state request signal, the second receiver radio section 28 outputs a request for the prohibited state request to the second receiver safety section 29 (sequence number 166). In response, the second receiver safety section 29 enters a prohibited state in which the operation of the stacker crane 12 is prohibited. The second receiver safety section 29 outputs a safe state request signal to the crane controller 2 (sequence number 167). At this time, the abnormal state of the instruction transmitter 30 is reported by the aforementioned notification section in the instruction receiver 20 .

In this embodiment, the prohibited state of the second receiving section safety section 29 is canceled only when the state in which the emergency stop switch 66 is pressed is canceled and the stacker crane 12 side is operated to cancel the safe state. not. In order to cancel the prohibited state of the second receiver safety section 29, the above is not enough, and the communication system needs to be restarted. That is, by temporarily turning off and then on the power of both the instruction receiver 20 and the instruction transmitter 30, the prohibition state of the second receiver safety section 29 is cancelled.

After the emergency stop switch 66 is pressed, if an abnormality of the instruction receiver 20 is detected by the second receiver abnormality detection section 35 before the safety state is canceled, the second receiver 20 In response to this, the receiver safety section 29 enters a prohibited state in which the operation of the stacker crane 12 is prohibited. A safe state request signal is continuously output from the second receiver safety section 29 to the crane controller 2 . At this time, the abnormal state of the instruction receiver 20 is notified by the instruction transmitter 30 using the touch panel display 51 of the tablet 5 or the like.

As described above, in this embodiment, even after the emergency stop switch 66 of the instruction transmitter 30 is pressed, wireless communication between the instruction transmitter 30 and the instruction receiver 20 is repeatedly performed in the same manner as before the pressing. will be Therefore, both the instruction transmitter 30 and the instruction receiver 20 can confirm the other party's status even after the emergency stop switch 66 is pressed. Therefore, in addition to the emergency stop of the stacker crane 12, even if, for example, a failure occurs in the communication system, it is possible to quickly notice and respond.

Also, after the emergency stop switch 66 is pressed, if the surrounding safety is confirmed and the stacker crane 12 is to be operated again, the communication between the instruction transmitter 30 and the instruction receiver 20 is restarted from the beginning. Since the connection is maintained, the predetermined work of wirelessly connecting the instruction transmitter 30 and the instruction receiver 20 is not required. Therefore, it is possible to improve the convenience when recovering from the emergency stop state.

As described above, in this embodiment, communication is performed between the instruction transmitter 30 and the instruction receiver 20 by the following method. The instruction transmitter 30 can wirelessly transmit a predetermined instruction signal. The instruction receiver 20 can receive the instruction signal and operate the stacker crane 12 according to the instruction signal. Wireless communication between the instruction transmitter 30 and the instruction receiver 20 is repeatedly performed before and after the emergency stop switch of the instruction transmitter 30 is pressed.

Thereby, the wireless connection between the instruction transmitter 30 and the instruction receiver 20 is maintained even after the emergency stop switch 66 is operated. Therefore, even after the emergency stop switch 66 is operated, wireless communication can be performed between the instruction transmitter 30 and the instruction receiver 20, and at least one of them can confirm the status of the other. Also, after the emergency stop switch 66 is operated, when the operation of the emergency stop switch 66 is released and the stacker crane 12 is to be operated again, the instruction transmitter 30 and the instruction receiver 20 do not need to be reconnected. . Therefore, convenience can be improved.

The communication method of this embodiment includes a confirmation signal transmission step, an emergency stop non-operation transmission step, and an emergency stop operation transmission step. In the confirmation signal transmission step, the instruction receiver 20 repeatedly wirelessly transmits to the instruction transmitter 30 a confirmation signal for confirming whether or not the emergency stop switch 66 provided in the instruction transmitter 30 has been pressed. In the emergency stop non-operating transmission step, when the emergency stop switch 66 is not pushed, the instruction transmitter 30 receives the confirmation signal every time it receives a safe state indicating that the emergency stop switch 66 is not pushed. A release signal is wirelessly transmitted to the instruction receiver 20 . In the emergency stop operation transmission step, when the emergency stop switch 66 is pushed, the instruction transmitter 30 transmits a safe state request signal indicating that the emergency stop switch 66 has been pushed each time the confirmation signal is received. Radio transmission to the instruction receiver 20 .

Thereby, wireless communication between the instruction transmitter 30 and the instruction receiver 20 can be appropriately performed.

The communication method of this embodiment includes a transmitter state change transmission step. In this transmitter state change transmission step, when the state of the instruction transmitter 30 changes from the normal state to the abnormal state after the emergency stop switch 66 is pressed, the instruction transmitter 30 notifies the instruction receiver of the state change. 20.

Accordingly, the instruction receiver 20 can recognize that the state of the instruction transmitter 30 has changed to an abnormal state.

In the communication method of the present embodiment, after the instruction receiver 20 receives the notification regarding the state change of the instruction transmitter 30, the operation of the stacker crane 12 is switched to the prohibited state.

As a result, the operation of the stacker crane 12 can be prevented even if the instruction transmitter 30 in the abnormal state returns to the normal state. Therefore, unintended movement of the stacker crane 12 can be avoided.

The communication method of this embodiment includes a receiver state change transmission step. In this receiver state change transmission step, when the state of the instruction receiver 20 changes from the normal state to the abnormal state after the emergency stop switch 66 is pressed, the instruction receiver 20 notifies the instruction transmitter of the state change. 30.

Thereby, the instruction transmitter 30 can grasp that the state of the instruction receiver 20 has changed to an abnormal state.

In the communication method of the present embodiment, the instruction receiver 20 shifts to the prohibited state in which the operation of the stacker crane 12 is prohibited in accordance with the state change of the instruction receiver 20 from the normal state to the abnormal state.

This makes it possible to prevent the operation of the stacker crane 12 even when the instruction receiver 20 in the abnormal state returns to the normal state. Therefore, unintended movement of the stacker crane 12 can be avoided.

In the communication method of the present embodiment, the prohibited state is not canceled by canceling the pressed state of the emergency stop switch 66 .

Unexpected movement of the stacker crane 12 can thereby be avoided.

In the communication method of this embodiment, the prohibited state is released by restarting the communication system including the instruction transmitter 30 and the instruction receiver 20 .

As a result, once an abnormal condition occurs, the task of restarting the communication system becomes a condition for substantially restarting the operation of the stacker crane 12 . Therefore, unexpected movement of the stacker crane 12 can be reliably avoided.

In the communication method of the present embodiment, when the instruction transmitter 30 is in a normal state and the instruction receiver 20 receives a signal indicating that the emergency stop switch 66 has been operated, the instruction receiver 20 operates as a stacker. Transition to a safe state that prohibits crane 12 operation.

As a result, the stacker crane 12 can be prevented from operating when the emergency stop switch 66 is operated. Unexpected movement of the stacker crane 12 can thus be avoided in this case.

In the communication method of the present embodiment, the safe state is obtained by canceling the operation of the emergency stop switch 66 in the command transmitter 30 and inputting a signal to cancel the safe state of the stacker crane 12 to the command receiver 20. is canceled by

As a result, unexpected movement of the stacker crane 12 can be reliably avoided.

The communication system of this embodiment also includes an instruction transmitter 30 and an instruction receiver 20 . The instruction transmitter 30 can wirelessly transmit a predetermined instruction signal. The instruction receiver 20 can receive the instruction signal and operate the stacker crane 12 according to the instruction signal. The instruction transmitter 30 has an emergency stop switch 66 . The emergency stop switch 66 can be operated to bring the stacker crane 12 to an emergency stop. Wireless communication between the instruction transmitter 30 and the instruction receiver 20 is repeated before and after the emergency stop switch 66 is pushed.

Thereby, the wireless connection between the instruction transmitter 30 and the instruction receiver 20 is maintained even after the emergency stop switch 66 is pressed. Therefore, even after the emergency stop switch 66 is pressed, wireless communication is performed between the instruction transmitter 30 and the instruction receiver 20, and one of the instruction transmitter 30 and the instruction receiver 20 is in the state of the other. can be confirmed. After the emergency stop switch 66 is pressed, the instruction transmitter 30 and the instruction receiver 20 are reconnected when the safety state is canceled by canceling the operation of the emergency stop switch 66 or the like and the communication system is used. You don't have to.

In the communication system of the present embodiment, the instruction receiver 20 repeatedly wirelessly transmits to the instruction transmitter 30 a confirmation signal for confirming whether or not the emergency stop switch 66 of the instruction transmitter 30 has been pressed. When the emergency stop switch 66 is not pushed, the instruction transmitter 30 wirelessly transmits a safe state release signal indicating that the emergency stop switch 66 is not pushed to the instruction receiver 20 each time the confirmation signal is received. Send. When the emergency stop switch 66 is pushed, the instruction transmitter 30 wirelessly transmits a safe state request signal indicating that the emergency stop switch 66 has been pushed to the instruction receiver 20 each time the confirmation signal is received. .

Thereby, wireless communication between the instruction transmitter 30 and the instruction receiver 20 can be appropriately performed.

In the communication system of this embodiment, when the state of the instruction transmitter 30 changes from the normal state to the abnormal state after the emergency stop switch 66 is pressed, the instruction transmitter 30 notifies the instruction receiver 20 of the state change. wirelessly to

Accordingly, the instruction receiver 20 can recognize that the state of the instruction transmitter 30 has changed to an abnormal state.

In the communication system of the present embodiment, the instruction receiver 20 shifts to a prohibited state in which operation of the stacker crane 12 is prohibited after receiving the notification.

As a result, the operation of the stacker crane 12 can be prevented even if the instruction transmitter 30 in the abnormal state returns to the normal state. Therefore, unintended movement of the stacker crane 12 can be avoided.

In the communication system of this embodiment, when the state of the instruction receiver 20 changes from the normal state to the abnormal state after the emergency stop switch 66 is pressed, the instruction receiver 20 notifies the instruction transmitter 30 of the state change. wirelessly to

Thereby, the instruction transmitter 30 can grasp that the state of the instruction receiver 20 has changed to an abnormal state.

In the communication system of the present embodiment, the instruction receiver 20 shifts to a prohibition state that prohibits operation of the stacker crane 12 in accordance with the state change of the instruction receiver 20 from the normal state to the abnormal state.

This makes it possible to prevent the operation of the stacker crane 12 even when the instruction receiver 20 in the abnormal state returns to the normal state. Therefore, unintended movement of the stacker crane 12 can be avoided.

In the communication system of the present embodiment, the prohibition state is not canceled by canceling the pressed state of the emergency stop switch 66 .

Unexpected movement of the stacker crane 12 can thereby be avoided.

In the communication system of this embodiment, the prohibited state is released by restarting the communication system.

As a result, unexpected movement of the stacker crane 12 can be reliably avoided.

In the communication system of the present embodiment, when the instruction transmitter 30 is in a normal state and the instruction receiver 20 receives a signal indicating that the emergency stop switch 66 has been operated, the instruction receiver 20 operates as a stacker. Transition to a safe state that prohibits crane 12 operation.

As a result, the stacker crane 12 can be prevented from operating when the emergency stop switch 66 is operated. Unexpected movement of the stacker crane 12 can thus be avoided in this case.

In the communication system of the present embodiment, the safe state is obtained by canceling the operation of the emergency stop switch 66 in the command transmitter 30 and inputting a signal to cancel the safe state of the stacker crane 12 to the command receiver 20. is canceled by

As a result, unexpected movement of the stacker crane 12 can be reliably avoided.

Although the preferred embodiments of the present invention have been described above, the above configuration can be modified, for example, as follows.

A wireless communication system may also include multiple indicator transmitters 30 . When the portable remote controller abnormality detection unit 69 detects an abnormality of the instruction transmitter 30, the instruction transmitter 30 notifies only the instruction receiver 20 of the state change of the instruction transmitter 30 from the normal state to the abnormal state. Instead, it may be wirelessly transmitted to another instruction transmitter 30 . This notification is wirelessly transmitted from the instruction transmitter 30 to the other instruction transmitters 30 via the instruction receiver 20, for example. The control for notifying the other instruction transmitters 30 of the abnormality detection can be performed either before or after the emergency stop switch 66 is pressed, or can be performed both.

Both before and after the emergency stop switch 66 is pressed, the indicator transmitter 30 voluntarily outputs a safe state release signal, a safe state request signal, or an inhibited state, rather than in response to a status confirmation signal. The request signal can also be repeatedly sent to the indication receiver 20 .

Abnormalities detected by the portable remote controller abnormality detection unit 69 are not limited to those described above. The portable remote controller abnormality detection unit 69 can also detect an abnormality in which, for example, the remaining amount of the rechargeable battery provided in the portable remote controller 6 is less than or equal to a predetermined value. When the normal state changes to an abnormal state due to the occurrence of this abnormality, the instruction transmitter 30 wirelessly transmits the fact to the instruction receiver 20 .

The instruction receiver 20 is currently not communicating a notification regarding a state change of the instruction receiver 20 from a normal state to an abnormal state when the second receiver abnormality detection unit 35 detects an abnormality of the instruction receiver 20. It is also possible to wirelessly transmit to other instruction transmitters 30 in addition to the existing instruction transmitter 30 . This control can be performed either before or after the emergency stop switch 66 is pressed, or both.

When the second receiver abnormality detection unit 35 detects an abnormality of the instruction receiver 20, the instruction receiver 20 notifies the instruction receiver 20 of a state change from a normal state to an abnormal state at a predetermined timing. It can be wirelessly transmitted to the instruction transmitter 30 . This control can be performed either before or after the emergency stop switch 66 is pressed, or both.

Only one of the instruction transmitter 30 and the instruction receiver 20 may be configured to confirm the state of the other party.

As industrial machines, machines other than the stacker crane 12 of the automated warehouse 1 (for example, tracked or trackless automated guided vehicles) can be used.

Obviously, many modifications and variations of the present invention are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims, the invention may be practiced otherwise than as described herein.

3 Indication transmitter (transmitter)
12 Stacker crane (industrial machine)
20 indication receiver (receiver)
66 Emergency stop switch (emergency stop input operation unit)

Claims (22)

A communication method performed between a transmitter capable of wirelessly transmitting a predetermined instruction signal and a receiver capable of receiving the instruction signal and operating an industrial machine according to the instruction signal,
A communication method, wherein wireless communication between the transmitter and the receiver is repeatedly performed before and after an emergency stop input operation unit provided in the transmitter is operated. A communication method according to claim 1,
a confirmation signal transmission step in which the receiver repeatedly wirelessly transmits a confirmation signal for confirming whether or not the emergency stop input operation unit has been operated to the transmitter;
When the emergency stop input operation unit is not operated, the transmitter wirelessly transmits to the receiver a signal indicating that the emergency stop input operation unit is not operated each time the confirmation signal is received by the transmitter. an emergency stop non-operation transmission step for
When the emergency stop input operation unit is operated, the transmitter wirelessly transmits a signal indicating that the emergency stop input operation unit has been operated to the receiver each time the confirmation signal is received. a stop operation sending step;
A communication method comprising: A communication method according to claim 2,
A transmitter that wirelessly transmits a notification regarding the state change of the transmitter to the receiver when the state of the transmitter changes from a normal state to an abnormal state after the emergency stop input operation unit is operated. A communication method, comprising a state change transmission step. A communication method according to claim 3,
The communication method, wherein the receiver transitions to a prohibited state for prohibiting operation of the industrial machine after receiving the notification. A communication method according to any one of claims 1 to 4,
A receiver that wirelessly transmits a notification regarding a state change of the receiver to the transmitter when the state of the receiver changes from a normal state to an abnormal state after the emergency stop input operation unit is operated. A communication method, comprising a state change transmission step. A communication method according to claim 5,
A communication method, wherein the receiver transitions to a prohibited state for prohibiting operation of the industrial machine in response to a state change of the receiver. The communication method according to claim 4 or 6,
The communication method according to claim 1, wherein the prohibited state is not canceled by canceling the state in which the emergency stop input operation section is operated. A communication method according to claim 7,
A communication method, wherein the prohibited state is released by restarting a communication system including the transmitter and the receiver. A communication method according to any one of claims 2 to 8,
When the transmitter is in a normal state and the receiver receives a signal indicating that the emergency stop input operation unit has been operated, the receiver prohibits operation of the industrial machine. A communication method characterized by transitioning to A communication method according to claim 9,
The safe state is canceled when the state in which the emergency stop input operation unit provided in the transmitter is operated is canceled and a signal for canceling the safe state of the industrial machine is input to the receiver. A communication method characterized by: A communication system comprising: a transmitter capable of wirelessly transmitting a predetermined instruction signal; and a receiver capable of receiving the instruction signal and operating an industrial machine according to the instruction signal,
The transmitter includes an emergency stop input operation unit capable of operating to emergency stop the industrial machine,
A communication system, wherein wireless communication between the transmitter and the receiver is repeatedly performed before and after the emergency stop input operation section is operated. A communication system according to claim 11, wherein
The receiver repeatedly wirelessly transmits to the transmitter a confirmation signal for confirming whether or not an emergency stop input operation unit provided in the transmitter is operated,
When the emergency stop input operation unit is not operated, the transmitter wirelessly transmits to the receiver a signal indicating that the emergency stop input operation unit is not operated each time the confirmation signal is received by the transmitter. death,
When the emergency stop input operation unit is operated, the transmitter wirelessly transmits to the receiver a signal indicating that the emergency stop input operation unit has been operated each time the confirmation signal is received. A communication system characterized by: A communication system according to claim 12,
When the state of the transmitter changes from a normal state to an abnormal state after the emergency stop input operation unit is operated, the transmitter wirelessly transmits a notification regarding the state change of the transmitter to the receiver. A communication system characterized by: A communication system according to claim 13, wherein
A communication system according to claim 1, wherein said receiver transitions to a prohibited state for prohibiting operation of said industrial machine after receiving said notification. A communication system according to any one of claims 11 to 14,
When the state of the receiver changes from a normal state to an abnormal state after the emergency stop input operation unit is operated, the receiver wirelessly transmits a notification regarding the state change of the receiver to the transmitter. A communication system characterized by: A communication system according to claim 15, wherein
A communication system, wherein the receiver shifts to a prohibited state for prohibiting the operation of the industrial machine according to a state change of the receiver. A communication system according to claim 14 or 16,
The communication system according to claim 1, wherein the prohibited state is not canceled by canceling the state in which the emergency stop input operation section is operated. A communication system according to claim 17, wherein
A communication system, wherein the prohibited state is released by restarting the communication system. A communication system according to any one of claims 12 to 18,
When the transmitter is in a normal state and the receiver receives a signal indicating that the emergency stop input operation unit has been operated, the receiver prohibits operation of the industrial machine. A communication system characterized by transitioning to A communication system according to claim 19, wherein
The safe state is canceled when the state in which the emergency stop input operation unit provided in the transmitter is operated is canceled and a signal for canceling the safe state of the industrial machine is input to the receiver. A communication system characterized by: A transmitter capable of wirelessly transmitting an instruction signal to a receiver capable of operating an industrial machine according to the predetermined instruction signal,
comprising an emergency stop input operation unit capable of operating the industrial machine to make an emergency stop,
A transmitter that repeatedly performs wireless communication with the receiver both before and after the emergency stop input operation section is operated. A receiver capable of receiving a predetermined instruction signal wirelessly transmitted by a transmitter and operating an industrial machine according to the instruction signal,
A receiver that repeatedly performs wireless communication with the transmitter both before and after an emergency stop input operation unit provided in the transmitter is operated.

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