JP7441367B1 - Method and system for determining abnormalities in trolleys - Google Patents
Method and system for determining abnormalities in trolleys Download PDFInfo
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Abstract
【課題】電気モータで走行する牽引車に牽引される、搬送荷物を積載できる台車の異常を簡単に判定することができる方法を提供する。【解決手段】正常な台車を牽引したときの牽引車の走行速度と台車に積載される搬送荷物の重量と牽引車の電気モータ負荷データ値との数的関係性を予め登録しておき、判定される台車と正常な台車が同じ設計で作られていることを前提条件として、判定される台車を牽引したときの牽引車の走行速度と台車に積載される搬送荷物の重量に基づいて得られた牽引車の電気モータ負荷データ値の取得値と、判定される台車を牽引したときと同じ牽引車の走行速度と台車に積載される搬送荷物の重量の条件に基づいて前記数的関係性から推定される正常な台車を牽引したときの牽引車の電気モータ負荷データ値の推定値とを比較し、取得値が推定値より特定の量以上又は特定の割合以上大きい場合に牽引した台車を異常と判定する。【選択図】図６An object of the present invention is to provide a method that can easily determine an abnormality in a cart that is towed by a towing vehicle driven by an electric motor and can be loaded with conveyed cargo. [Solution] A numerical relationship between the traveling speed of the towing vehicle when towing a normal truck, the weight of the conveyed cargo loaded on the truck, and the electric motor load data value of the towing vehicle is registered in advance, and the determination is made. This is obtained based on the running speed of the towing vehicle when towing the trolley to be judged and the weight of the cargo loaded on the trolley, with the premise that the trolley to be determined and the normal trolley are made with the same design. Based on the above-mentioned numerical relationship, based on the obtained value of the electric motor load data value of the towing vehicle, the traveling speed of the towing vehicle that is the same as when towing the trolley to be determined, and the weight of the transported cargo loaded on the trolley. Compare the estimated value of the electric motor load data value of the towed vehicle when towing an estimated normal trolley, and if the acquired value is greater than the estimated value by a certain amount or more than a certain percentage, the towed trolley is determined to be abnormal. It is determined that [Selection diagram] Figure 6
Description
本発明は、電気モータで走行する牽引車に牽引され、かつ荷物を積載して搬送できる台車の異常を簡単に判定することができる方法及びシステムに関する。 The present invention relates to a method and system that can easily determine an abnormality in a trolley that is towed by a towing vehicle driven by an electric motor and that can be loaded with cargo and transported.
商業施設や物流施設などでは、商品や荷物の搬送のためにそれらを積載可能な様々な台車が使用されている。これらの台車は、日々の運用で繰り返し使用されることによって徐々に劣化し、長期間使用すると異常や故障を発生することが多い。異常や故障が発生した場合は、台車の直進性が失われ、任意の方向にスムーズに移動できなくなったり、車輪の転がり抵抗が増加して移動のために必要とされる力負荷が増大する。こうなると、台車の稼働率が低下するだけではなく、さらに台車のハンドリングが不安定になることによる事故が発生する可能性がある。 BACKGROUND ART In commercial facilities, logistics facilities, etc., various carts that can be loaded with goods and luggage are used to transport goods and luggage. These trolleys gradually deteriorate due to repeated use in daily operations, and often malfunction or break down when used for a long period of time. If an abnormality or failure occurs, the cart loses its ability to move straight, making it unable to move smoothly in any direction, or increasing the rolling resistance of the wheels, increasing the force load required for movement. If this happens, not only will the operating rate of the trolley decrease, but there is also the possibility that an accident may occur due to unstable handling of the trolley.
従来は、台車の移動は、人の手でなされることが一般的であったため、これらの異常や故障は、人の感覚的な部分で判断することができ、異常な台車が発生するとすぐに廃棄又は修理することが可能であった。 In the past, trolleys were generally moved manually, so these abnormalities and breakdowns could be determined using human senses, and immediate action could be taken when an abnormal trolley occurred. It was possible to dispose of it or repair it.
しかしながら、近年、人手不足の解消のために、台車の移動は、電気モータで走行する牽引車（例えば無人の自動搬送車（ＡＧＶ））で牽引して行なわれることが多くなり、台車の劣化の不具合を人の感覚で即座に認識することができなくなっていた。そのため、異常のある台車を荷物の搬送のためにそのまま運用しつづけて、荷物の搬送の効率を低下させたり、大きな労災につながる危険な事故を発生させてしまう問題があった。 However, in recent years, in order to solve the labor shortage, trolleys are often moved by being pulled by tractors (e.g. unmanned automated guided vehicles (AGVs)) driven by electric motors, which has led to the deterioration of the trolleys. It was no longer possible to immediately recognize defects using human senses. Therefore, there is a problem in that a cart with an abnormality continues to be used for transporting cargo, which reduces the efficiency of transporting cargo or causes a dangerous accident that can lead to a serious work accident.
かかる問題に着目して、それを解決しようとした従来技術は全くなく、関連する技術として、走行台車に加速度センサを取り付け、加速度の変化により車体本体に対する荷重を推定する荷重推定装置が提案されているにすぎない（特許文献１参照）。 There is no prior art that has focused on this problem and attempted to solve it.As a related technology, a load estimating device has been proposed that attaches an acceleration sensor to a traveling bogie and estimates the load on the vehicle body based on changes in acceleration. (See Patent Document 1).
本発明は、上記の従来技術の問題を解消するために創案されたものであり、その目的は、電気モータで走行する牽引車に牽引され、かつ搬送荷物を積載できる台車の異常を簡単に判定することができる方法及びシステムを提供することにある。 The present invention was devised to solve the problems of the prior art described above, and its purpose is to easily determine abnormalities in a trolley that is towed by a towing vehicle driven by an electric motor and can be loaded with conveyed cargo. The object of the present invention is to provide a method and system that can do the following.
本発明者は、上記目的を達成するために牽引車に牽引される台車の異常の判定方法について鋭意検討した結果、正常な台車を牽引車で牽引したときの牽引車の走行速度と台車に積載される搬送荷物の重量と牽引車の電気モータ負荷データ値との間に特定の数的関係性があり、同じ牽引車の走行速度で同じ積載搬送荷物の重量の条件で牽引車が同じ設計の台車を牽引した場合、牽引車の電気モータ負荷データ値（例えば電流値又はトルク値）に関して、異常な台車は、正常な台車より明確に大きい値を示すことを見出した。そして、かかる知見に基づいて、正常な台車の前述の数的関係性を異なる設計の台車ごとに予め登録しておき、判定される台車と正常な台車が同じ設計で作られていることを前提条件として、判定される台車を牽引する牽引車の電気モータ負荷データ値の取得値を、同じ牽引車の走行速度で同じ積載搬送荷物の重量の条件で正常な台車を牽引したときの前述の数的関係性から推定された牽引車の電気モータ負荷データ値の推定値と比較し、取得値が推定値より特定の量又は特定の割合以上大きい場合にその台車を異常と判定することにより、人手によらず簡単に異常な台車を判定できることを見出し、本発明の完成に至った。 In order to achieve the above object, the inventor of the present invention has conducted extensive studies on a method for determining abnormality in a trolley being towed by a towing vehicle, and has determined the traveling speed of the towing vehicle and the load on the trolley when a normal trolley is towed by the towing vehicle. There is a certain numerical relationship between the weight of the load to be carried and the electric motor load data value of the towing vehicle, so that at the same towing vehicle speed and the same loaded load weight, the towing vehicle is of the same design. It has been found that when a truck is towed, an abnormal truck exhibits a clearly larger value than a normal truck with respect to the electric motor load data value (for example, current value or torque value) of the towing vehicle. Based on this knowledge, the above-mentioned numerical relationship of normal bogies is registered in advance for each bogie of different design, and it is assumed that the bogie to be determined and the normal bogie are made with the same design. As a condition, the obtained value of the electric motor load data value of the towing vehicle that pulls the trolley to be determined is the above-mentioned number when a normal trolley is towed at the same traveling speed of the towing vehicle and the same weight of loaded conveyance. By comparing the electric motor load data value of the towing vehicle with the estimated value of the electric motor load data value estimated from the The inventors have discovered that it is possible to easily determine an abnormal truck regardless of the vehicle, and have completed the present invention.
即ち、本発明は、上記の知見に基づいて完成したものであり、以下の（１）～（１１）の構成を有するものである。
（１）電気モータで走行する牽引車に牽引される、搬送荷物が積載可能な台車自体の異常を判定する方法であって、正常な台車を牽引したときの牽引車の走行速度と台車に積載される搬送荷物の重量と牽引車の電気モータ負荷データ値との数的関係性を予め登録しておき、判定される台車に積載される搬送荷物の重量を台車に積載される前に計量し、判定される台車と正常な台車が同じ設計で作られていることを前提条件として、判定される台車を牽引したときの牽引車の走行速度と台車に積載される搬送荷物の重量に基づいて得られた牽引車の電気モータ負荷データ値の取得値と、判定される台車を牽引したときと同じ牽引車の走行速度と台車に積載される搬送荷物の重量の条件に基づいて前記数的関係性から推定される正常な台車を牽引したときの牽引車の電気モータ負荷データ値の推定値とを比較し、取得値が推定値より特定の量以上又は特定の割合以上大きい場合に牽引した台車自体を異常と判定することを特徴とする方法。
（２）電気モータ負荷データ値が、電気モータに負荷される電流値又はトルク値であることを特徴とする（１）に記載の方法。
（３）異なる設計の台車が複数存在するときに異なる設計の台車ごとに数的関係性を予め登録し、判定される台車の設計に合わせて牽引車の電気モータ負荷データ値の取得値と推定値を比較し、台車自体の異常を判定することを特徴とする（１）に記載の方法。
（４）牽引車が、無人搬送車であることを特徴とする（１）～（３）のいずれかに記載の方法。
（５）牽引車が、台車包囲バーを有し、台車包囲バーが、台車の両側方及び後方を包囲して台車を牽引するように構成されていることを特徴とする（４）に記載の方法。
（６）牽引車が、台車に直接連結して台車を牽引するように構成されていることを特徴とする（４）に記載の方法。
（７）搬送荷物が、折りたたみコンテナとその中に収納される荷物とからなることを特徴とする（１）～（４）のいずれかに記載の方法。
（８）台車が、平台車、六輪台車、又はカゴ台車であることを特徴とする（１）～（３）のいずれかに記載の方法。
（９）電気モータで走行する牽引車に牽引される、搬送荷物が積載可能な台車自体の異常を判定するシステムであって、前記システムが、判定される台車に積載される搬送荷物の重量を積載前に計量する計量手段、判定される台車を牽引したときの牽引車の走行速度及び電気モータ負荷データ値を計測する計測手段、正常な台車を牽引したときの牽引車の走行速度と台車に積載される搬送荷物の重量と牽引車の電気モータ負荷データ値との数的関係性を登録する記憶手段、判定される台車を牽引したときと同じ牽引車の走行速度と台車に積載される搬送荷物の重量の条件に基づいて記憶手段に登録された数的関係性から正常な台車を牽引したときの牽引車の電気モータ負荷データ値の推定値を推定する推定手段、及び判定される台車と正常な台車が同じ設計で作られていることを前提条件として、計測手段から得られた判定される台車を牽引したときの電気モータ負荷データ値の取得値と、取得値を計測したときの牽引車の走行速度と台車に積載される搬送荷物の重量の条件に基づいて推定手段から得られた正常な台車を牽引したときの牽引車の電気モータ負荷データ値の推定値とを比較し、取得値が推定値より特定の量以上又は特定の割合以上大きい場合に台車自体を異常と判定する判定手段を備えることを特徴とするシステム。
（１０）電気モータ負荷データ値が、電気モータに負荷される電流値又はトルク値であることを特徴とする（９）に記載のシステム。
（１１）記憶手段が、異なる設計の台車が複数存在するときに異なる設計の台車ごとに数的関係性を登録するように構成され、判定手段が、判定される台車の設計に合わせて牽引車の電気モータ負荷データ値の取得値と推定値を比較し、台車自体の異常を判定するように構成されることを特徴とする（９）又は（１０）に記載のシステム。
That is, the present invention was completed based on the above knowledge, and has the following configurations (1) to ( 11 ).
(1) A method for determining the abnormality of a trolley itself that is towed by a towing vehicle that runs on an electric motor and that can be loaded with conveyed cargo.The method determines the running speed of the towing vehicle when towing a normal trolley and the load on the trolley. The numerical relationship between the weight of the transported cargo to be transported and the electric motor load data value of the towing vehicle is registered in advance, and the weight of the transported cargo to be loaded on the trolley to be determined is measured before being loaded on the trolley. , based on the traveling speed of the towing vehicle when towing the trolley to be determined and the weight of the cargo loaded on the trolley, with the premise that the trolley to be judged and the normal trolley are made with the same design. The above-mentioned numerical relationship is based on the obtained value of the electric motor load data value of the towing vehicle, the traveling speed of the towing vehicle that is the same as when towing the towed vehicle to be determined, and the weight of the transported cargo loaded on the trolley. Compare the electric motor load data value of the towed vehicle with the estimated value when towing a normal trolley estimated from the characteristics, and if the obtained value is larger than the estimated value by more than a certain amount or by more than a certain percentage, the towed trolley A method characterized by determining itself as abnormal.
(2) The method according to (1), wherein the electric motor load data value is a current value or a torque value loaded on the electric motor.
( 3 ) When there are multiple bogies with different designs, register the numerical relationship in advance for each bogie with a different design, and estimate the obtained electric motor load data value of the towing vehicle according to the determined bogie design. The method according to (1), characterized in that the values are compared and an abnormality in the truck itself is determined.
( 4 ) The method according to any one of (1) to ( 3 ), wherein the towing vehicle is an automated guided vehicle.
( 5 ) The tractor according to ( 4 ), wherein the tow truck has a truck surrounding bar, and the truck surrounding bar is configured to surround both sides and rear of the truck to pull the truck. Method.
( 6 ) The method according to ( 4 ), wherein the towing vehicle is configured to be directly connected to the trolley to tow the trolley.
( 7 ) The method according to any one of (1) to (4), wherein the transported cargo is comprised of a folding container and the cargo stored therein.
( 8 ) The method according to any one of (1) to ( 3 ), wherein the truck is a flat truck, a six-wheeled truck, or a cage truck.
( 9 ) A system for determining an abnormality in a trolley itself that is towed by a towing vehicle driven by an electric motor and that can be loaded with cargo, the system determining the weight of the cargo loaded on the trolley to be determined. A measuring means for measuring before loading , a measuring means for measuring the running speed of the towing vehicle and the electric motor load data value when towing the trolley to be determined, and a measuring means for measuring the running speed of the towing vehicle and the electric motor load data value when towing a normal trolley. A storage means for registering the numerical relationship between the weight of the transported cargo to be loaded and the electric motor load data value of the towing vehicle, and the traveling speed of the towing vehicle that is the same as when towing the trolley to be determined, and the transport loaded on the trolley. Estimating means for estimating an estimated electric motor load data value of a towing vehicle when a normal trolley is towed from a numerical relationship registered in a storage means based on a condition of the weight of the cargo, and a trolley to be determined. On the premise that normal bogies are made with the same design, the electric motor load data value obtained from the measurement means when pulling the judged bogie, and the traction when the obtained value is measured. Compare and obtain the estimated value of the electric motor load data value of the towing vehicle when towing a normal trolley obtained from the estimation means based on the conditions of the traveling speed of the vehicle and the weight of the transported cargo loaded on the trolley. A system characterized by comprising a determination means that determines that the truck itself is abnormal when the value is greater than the estimated value by a specific amount or a specific percentage.
( 10 ) The system according to ( 9 ), wherein the electric motor load data value is a current value or a torque value loaded on the electric motor.
( 11 ) The storage means is configured to register a numerical relationship for each trolley of a different design when a plurality of trolleys of different designs exist, and the determination means selects a towing vehicle according to the design of the trolley to be determined. The system according to ( 9 ) or ( 10 ), characterized in that the system is configured to compare the obtained electric motor load data value with the estimated value and determine an abnormality in the bogie itself .
本発明の方法及びシステムによれば、無人搬送車のような牽引車で台車を牽引する場合でも、判定される台車を牽引する牽引車の電気モータ負荷データ値の取得値を、正常な同じ設計の台車の同じ牽引条件での同データ値の推定値と比較した場合の変化の大きさによって台車の異常を判定できるので、人の感覚で管理していた台車の故障や事故につながる台車の異常を簡単にかつ客観的に判定することができる。従って、本発明の方法及びシステムによれば、異常のある台車を牽引して荷物を搬送することによる稼働率の低下、故障した台車を使い続けてしまうことによる床や壁等の施設の損傷、ドーリ供給機、オリコン段積み機等の他設備の故障、さらには労災を招く危険な事故の発生などを事前に防止することができる。 According to the method and system of the present invention, even when a trolley is towed by a towing vehicle such as an automatic guided vehicle, the obtained value of the electric motor load data value of the towing vehicle that tows the trolley to be determined is changed to the normal design. Trolley abnormalities can be determined based on the magnitude of change when compared with the estimated value of the same data value under the same traction conditions for the trolley, so it is possible to identify trolley abnormalities that could lead to trolley failures or accidents that were previously managed using human intuition. can be determined easily and objectively. Therefore, according to the method and system of the present invention, there is a reduction in the operating rate due to transporting cargo by towing a malfunctioning trolley, damage to facilities such as floors and walls due to continued use of a malfunctioning trolley, and damage to facilities such as floors and walls. It is possible to prevent malfunctions of other equipment such as the feeder and the Oricon stacker, as well as the occurrence of dangerous accidents that may lead to industrial accidents.
本発明の台車の異常を判定するための方法及びシステムの典型的な実施形態を図面に基づいて以下説明するが、本発明は、これらに限定されるものではない。 Typical embodiments of the method and system for determining an abnormality in a truck according to the present invention will be described below based on the drawings, but the present invention is not limited thereto.
本発明の台車は、一般に物品の仕分けや配送を取り扱う業界において、牽引車によって牽引される搬送物品が積載可能な台車である。本発明の台車は、底部に走行車輪を有すれば特に限定されないが、物品を載せる底部が全体として平面形状を有するものが好ましく、例えば平台車、六輪台車、又はカゴ台車が好ましく使用される。平台車としては、例えば図１に示されるものが使用される。 The trolley of the present invention is a trolley that can be loaded with articles towed by a towing vehicle, which is generally used in the industry of sorting and delivering articles. The trolley of the present invention is not particularly limited as long as it has running wheels on the bottom, but it is preferable that the bottom on which the article is placed has an overall planar shape, and for example, a flat trolley, a six-wheeled trolley, or a basket trolley is preferably used. As the flat truck, for example, the one shown in FIG. 1 is used.
本発明の台車に積載される搬送荷物は、安定して積載されやすい形態であれば特に限定されないが、例えば図２（ａ）に示される折りたたみコンテナ（オリコン）や図２（ｂ）に示される容器と、その中に収納される荷物とから構成される搬送荷物であることができる。本発明の台車は、電気モータで走行する牽引車に牽引されることができ、その牽引車は、無人搬送車（ＡＧＶ）であることが好ましい。牽引車としては、例えば図３（ａ）に示すように台車１に直接連結して台車１を牽引するように構成された牽引車３、または図３（ｂ）に示すように牽引車３が台車包囲バー４を有し、台車包囲バー４が台車１の両側方及び後方を包囲して台車１を牽引するように構成された牽引車３が挙げられ、これらのいずれのタイプのものを使用してもよい。 The cargo loaded on the trolley of the present invention is not particularly limited as long as it is in a form that can be easily loaded stably, but for example, the collapsible container (Oricon) shown in FIG. The conveyance baggage can be composed of a container and a baggage stored therein. The trolley of the present invention can be towed by a towing vehicle driven by an electric motor, and the towing vehicle is preferably an automated guided vehicle (AGV). Examples of the towing vehicle include a towing vehicle 3 configured to be directly connected to the trolley 1 and towing the trolley 1 as shown in FIG. 3(a), or a towing vehicle 3 as shown in FIG. 3(b). Examples include a towing vehicle 3 having a truck enclosing bar 4 and configured to tow the truck 1 by surrounding both sides and rear of the truck 1, and any of these types can be used. You may.
本発明の方法では、まず正常な台車を牽引車で牽引したときの牽引車の走行速度と台車に積載される搬送荷物の重量と牽引車の電気モータ負荷データ値との数的関係性を予め把握し、登録しておくことが必要である。牽引車の電気モータ負荷データ値は、電気モータの負荷を客観的に数字で表現できるデータ値であれば特に限定されず、例えば牽引車の電気モータに負荷される電流値又はトルク値を使用することができる。 In the method of the present invention, first, when a normal trolley is towed by a towing vehicle, the numerical relationship between the traveling speed of the towing vehicle, the weight of the transported cargo loaded on the trolley, and the electric motor load data value of the towing vehicle is determined in advance. It is necessary to understand and register. The electric motor load data value of the towing vehicle is not particularly limited as long as it is a data value that can objectively express the load of the electric motor numerically; for example, a current value or a torque value loaded on the electric motor of the towing vehicle may be used. be able to.
本発明の方法における数的関係性は、牽引車の走行速度が一定の場合、台車を牽引するために必要な力（Ｆ）が、台車の重量とそれに積載される搬送荷物の重量の合計（ｍｇ）の増加に従ってほぼ一次関数的に増加するという技術常識に基づくものであり、例えば一次関数を利用した数式や、牽引車の走行速度と台車の積載搬送荷物の重量に基づいて正常な電気モータ負荷データ値が示される対応表のようなものであることができる。この数的関係性は、具体的には牽引車の走行速度が一定の場合、台車の積載搬送荷物の重量の増加により牽引車の電気モータ負荷データ値が増大する傾向を示すものであり、例えば正常な台車の積載搬送荷物の重量や牽引車の走行速度をそれぞれ変化させた場合の牽引車の電気モータ負荷データ値を多数とっておき、それらの各値間の前記傾向から数的関係式又は数的対応表を作成することにより、予め把握することができる。 The numerical relationship in the method of the present invention is that when the traveling speed of the towing vehicle is constant, the force (F) required to pull the truck is the sum of the weight of the truck and the weight of the cargo loaded on it ( This is based on common technical knowledge that the electric motor increases almost linearly with the increase in the number of mg). It can be something like a correspondence table in which load data values are shown. Specifically, this numerical relationship indicates that when the traveling speed of the towing vehicle is constant, the electric motor load data value of the towing vehicle tends to increase due to an increase in the weight of the cargo carried on the trolley. A large number of electric motor load data values of the towing vehicle are obtained when the weight of the cargo carried on the normal trolley and the traveling speed of the towing vehicle are varied, and a numerical relational expression or mathematical By creating a correspondence table, it can be grasped in advance.
判定される台車を牽引する牽引車の走行速度や台車の積載搬送荷物の重量が確定すれば、前述の予め把握された数的関係性から同じ牽引条件で同じ設計の正常な台車を牽引したときの牽引車の電気モータ負荷データ値を推定することができる。判定される台車を牽引したときの牽引車の電気モータ負荷データ値の取得値を、同じ設計の正常な台車を同じ牽引条件で牽引した場合の牽引車の電気モータ負荷データ値の推定値と比較することにより、台車が異常かどうかを簡単に判定することができる。このとき、取得値が推定値より特定の量以上又は特定の割合以上大きい場合に台車を異常と判定する。 Once the running speed of the towing vehicle that pulls the trolley to be determined and the weight of the cargo loaded and transported by the trolley are determined, it is possible to determine if a normal trolley of the same design is towed under the same towing conditions based on the numerical relationships previously understood. The electric motor load data value of the towing vehicle can be estimated. Compare the obtained value of the electric motor load data value of the towing vehicle when towing the determined bogie with the estimated value of the electric motor load data value of the towing vehicle when a normal bogie of the same design is towed under the same traction conditions. By doing so, it is possible to easily determine whether or not the trolley is abnormal. At this time, if the obtained value is greater than the estimated value by a specific amount or a specific percentage, the cart is determined to be abnormal.
この数的関係性は、同じ設計の正常な台車を同じ牽引車で同じ走行速度で牽引すれば、牽引車の電気モータ負荷データ値は、特に走行する床条件などを互いに変えない限り、ほぼ同じであることを利用したものであり、本発明では、異常な台車は、正常な台車のようにスムーズに牽引できず、余計な牽引力（電気モータ負荷）を牽引車に与えることに基づいて台車の異常の判定を行なうようにしている。 This numerical relationship shows that if a normal bogie of the same design is towed by the same towing vehicle at the same running speed, the electric motor load data value of the towing vehicle will be approximately the same unless the floor conditions on which it runs are changed. This invention takes advantage of the fact that an abnormal truck cannot be towed as smoothly as a normal truck, and the truck is controlled by applying extra traction force (electric motor load) to the towing vehicle. We are trying to determine if there is an abnormality.
本発明のシステムでは、この数的関係性を登録する記憶手段を中央管理コンピュータに有することが好ましい。また、この数的関係性から電気モータ負荷データ値を推定する推定手段、電気モータ負荷データ値の取得値と推定値を比較し、その結果により台車の異常を判定する判定手段も中央管理コンピュータに有することが好ましい。 In the system of the present invention, it is preferable that the central management computer has storage means for registering this numerical relationship. In addition, the central management computer also includes an estimation means for estimating the electric motor load data value from this numerical relationship, and a judgment means for comparing the acquired value of the electric motor load data value with the estimated value and determining an abnormality of the bogie based on the results. It is preferable to have.
本発明の方法では、異常かどうかを判定される台車に積載される搬送荷物の重量は、搬送荷物が台車に積載される前に計量されることが好ましい。台車に搬送荷物が積載されるまでの流れとしては、例えば図４に示すものが一般的である。図４に示すように、各台車に積載される例えばオリコンの形の搬送荷物２が計量コンベヤ５のような計量手段に載せられ、そこで搬送荷物２の重量が計量される。計量後、搬送荷物２は、いったん自動倉庫６内に格納される。中央管理コンピュータにより搬送荷物２の出庫を指示されると、搬送荷物２は、自動倉庫６から取り出され、搬送コンベヤ７の上に載せられて移動し、ロボットハンド８で把持されて集積される。所定の数が集積されると、ドーリ供給機（図示せず）から供給された台車１の上に集積した搬送荷物２を載せる。搬送荷物２を積載した台車１は、無人搬送車のような牽引車３に牽引されて運搬される。本発明のシステムでは、この流れの中で搬送荷物２の重量を計量する計量手段、例えば計量コンベヤ５を設けることが好ましい。計量手段で計量された搬送荷物は、行先別に積載される台車と紐付けされており、図４に示すように自動倉庫からの出庫に合わせて行先別に各台車に積載される搬送荷物の総重量を本発明のシステムの中央管理コンピュータに無線通信で知らせることができるようになっている。 In the method of the present invention, it is preferable that the weight of the cargo loaded on the trolley to be determined to be abnormal is measured before the cargo is loaded onto the trolley. For example, the flow shown in FIG. 4 is generally used until cargo is loaded onto a trolley. As shown in FIG. 4, the cargo 2, for example in the shape of an oricon, loaded on each trolley is placed on a weighing means such as a weighing conveyor 5, and the weight of the cargo 2 is weighed there. After being weighed, the transported cargo 2 is temporarily stored in the automated warehouse 6. When the central management computer instructs the delivery of the cargo 2, the cargo 2 is taken out of the automated warehouse 6, placed on a conveyor 7, moved, and grasped by a robot hand 8 to be accumulated. When a predetermined number of cargoes have been accumulated, the accumulated cargos 2 are placed on the trolley 1 supplied from a dolly feeder (not shown). A cart 1 loaded with cargo 2 is towed and transported by a towing vehicle 3 such as an automatic guided vehicle. In the system of the present invention, it is preferable to provide a weighing means, for example a weighing conveyor 5, for weighing the conveyed cargo 2 in this flow. The transported cargo weighed by the weighing means is linked to the trolleys that are loaded by destination, and as shown in Figure 4, the total weight of the transported cargo that is loaded on each trolley by destination as it is unloaded from the automated warehouse. can be notified to the central management computer of the system of the present invention by wireless communication.
図４に示すように行先別に台車１に搬送荷物２が積載された後は、図５に示すように各台車を牽引車（例えば１号機、２号機）が必要な場所まで牽引して走行する。このとき、各牽引車の走行速度と電気モータ負荷データ値が同時に計測される。これらの計測手段としては、従来公知の手段を採用することができ、牽引車自身に設けられていることが好ましい。計測手段によって計測された各牽引車の走行速度と電気モータ負荷データ値は、本発明のシステムの中央管理コンピュータに無線通信で知らせることができるようになっている。例えば１号機の牽引車では、６０ｋｇの総重量の搬送荷物が台車に積載されているが、０．３ｍ／ｓの走行速度で牽引した場合、１０Ａ（アンペア）の電気モータ負荷データ値が牽引車の計測手段で取得され、これらの取得値が中央管理コンピュータに送られる。２号機の牽引車では、２８ｋｇの総重量の搬送荷物が台車に積載されているが、０．５ｍ／ｓの走行速度で牽引した場合、２Ａの電気モータ負荷データ値が計測手段で取得され、これらの取得値が同様に中央管理コンピュータに送られる。 After cargo 2 is loaded onto carts 1 for each destination as shown in Fig. 4, each cart is towed by a towing vehicle (for example, No. 1, No. 2) to the required location as shown in Fig. 5. . At this time, the traveling speed and electric motor load data value of each towing vehicle are measured simultaneously. As these measuring means, conventionally known means can be employed, and it is preferable that the measuring means be provided on the towing vehicle itself. The traveling speed and electric motor load data value of each towing vehicle measured by the measuring means can be communicated by wireless communication to the central management computer of the system of the present invention. For example, in the first towing vehicle, a cargo with a total weight of 60 kg is loaded on the trolley, but when it is towed at a traveling speed of 0.3 m/s, the electric motor load data value of 10 A (ampere) is These values are sent to the central management computer. In the No. 2 towing vehicle, a cargo with a total weight of 28 kg is loaded on the trolley, and when it is towed at a traveling speed of 0.5 m/s, an electric motor load data value of 2 A is acquired by the measuring means, These obtained values are also sent to the central management computer.
中央管理コンピュータでは、異常かどうかを判定される台車（図５，６では１号機，２号機）に関して、台車に積載される搬送荷物の重量の情報は、図４に示すように計量手段から既に取得しており、さらに台車の走行速度と牽引車の電気モータ負荷データ値（取得値）の情報は、図５に示すように牽引車に備えた計測手段から取得できている状態にある。また、中央管理コンピュータでは、判定される台車と同じ設計の正常な台車を牽引したときの牽引車の走行速度と台車に積載される搬送荷物の重量と牽引車の電気モータ負荷データ値との数的関係性を記憶手段に予め登録しており、前述の計量手段から取得した判定される台車の積載搬送荷物の重量と前述の計測手段から取得した牽引車の走行速度の情報に基づいて記憶手段に登録された数的関係性から同じ設計の正常な台車を牽引したときの牽引車の電気モータ負荷データ値（推定値）を推定手段によって推定できている状態にある。そして、これらの状態にあるとき、中央管理コンピュータは、判定される台車を牽引したときの牽引車の電気モータ負荷データ値の取得値と、推定手段から得られた同じ設計の正常な台車を牽引したときの牽引車の電気モータ負荷データ値の推定値とを比較し、この比較結果から特定の判定基準で台車を異常かどうかを判定する。この判定手段は、中央管理コンピュータに備わっていることが好ましい。判定基準は、電気モータ負荷データ値の取得値が推定値より特定の量以上及び／又は特定の割合以上大きい場合に台車を異常と判定することができる。特定の量は、電流値の場合、１Ａ，２Ａ，３Ａ，４Ａ，５Ａ，６Ａ，７Ａ，８Ａ，９Ａ，１０Ａであることができる。また、特定の割合は、例えば１０％，２０％，３０％，４０％，又は５０％であることができる。 In the central management computer, information on the weight of the cargo to be loaded on the trolleys (No. 1 and No. 2 in Figures 5 and 6) that is judged to be abnormal or not is already obtained from the weighing means as shown in Figure 4. Furthermore, information on the traveling speed of the truck and the electric motor load data value (obtained value) of the towing vehicle can be acquired from the measuring means provided on the towing vehicle, as shown in FIG. In addition, the central management computer stores the traveling speed of the towing vehicle when towing a normal trolley of the same design as the trolley to be determined, the weight of the transported cargo loaded on the trolley, and the number of electric motor load data values of the towing vehicle. The relationship is registered in advance in the storage means, and the storage means is based on the weight of the cargo loaded and transported on the trolley to be determined obtained from the above-mentioned measuring means and the traveling speed of the towing vehicle obtained from the above-mentioned measuring means. The estimation means is now able to estimate the electric motor load data value (estimated value) of the towing vehicle when a normal truck of the same design is towed from the numerical relationship registered in . In these conditions, the central management computer uses the obtained value of the electric motor load data value of the towing vehicle when towing the determined truck and the value obtained from the estimation means towing a normal truck of the same design. The estimated value of the electric motor load data value of the towing vehicle at that time is compared with the estimated value of the electric motor load data value of the towing vehicle, and based on the comparison result, it is determined whether or not the trolley is abnormal based on a specific criterion. Preferably, this determining means is provided in the central management computer. The determination criterion is that the truck can be determined to be abnormal if the obtained value of the electric motor load data value is larger than the estimated value by a specific amount or more and/or by a specific percentage or more. The specific amount can be 1A, 2A, 3A, 4A, 5A, 6A, 7A, 8A, 9A, 10A in case of current value. Also, the specific percentage can be, for example, 10%, 20%, 30%, 40%, or 50%.
図６は、中央管理コンピュータにおいて、各台車がどのように異常かどうかを判定することを示す具体例を表わす。図６に示すように、１号機の牽引車に関して、中央管理コンピュータでは、台車の積載搬送荷物の総重量６０ｋｇを計量手段から取得し、牽引車の走行速度０．３ｍ／ｓと電気モータ負荷データ値１０Ａを計測手段から取得する。一方、中央管理コンピュータでは、１号機の牽引車と同じ設計の正常な牽引車の同じ牽引条件での電気モータ負荷データ値の推定値５Ａを記憶手段に登録された数的関係性から推定手段が推定する。 FIG. 6 shows a specific example of how the central management computer determines whether each truck is abnormal. As shown in Fig. 6, regarding the No. 1 towing vehicle, the central management computer obtains the total weight of the cargo carried on the trolley, 60 kg, from the weighing means, the traveling speed of the towing vehicle, 0.3 m/s, and the electric motor load data. A value of 10A is obtained from the measuring means. On the other hand, in the central management computer, the estimation means estimates the electric motor load data value 5A under the same traction conditions for a normal towing vehicle of the same design as the No. 1 towing vehicle from the numerical relationship registered in the storage means. presume.
次に、中央管理コンピュータの判定手段によって、得られた牽引車の電気モータ負荷データ値の取得値と推定値を比較し、台車が異常かどうかを判定する。判定基準が（ｉ）取得値が推定値から５割以上多いとき、又は（ｉｉ）推定値から３Ａ以上多いときに異常と設定される場合、１号機は、推定値５Ａ＋２．５Ａ＝７．５Ａ＜取得値１０Ａであり、推定値５Ａ＋３Ａ＝８Ａ＜取得値１０Ａであるので、（ｉ），（ｉｉ）のいずれの判定基準でも台車は異常と判定される。 Next, the determination means of the central management computer compares the acquired electric motor load data value of the towing vehicle with the estimated value to determine whether or not the truck is abnormal. If the judgment criteria are set to be abnormal when (i) the obtained value is 50% or more higher than the estimated value, or (ii) 3A or more higher than the estimated value, then the No. 1 unit is set to have an estimated value of 5A + 2.5A = 7.5A. <obtained value 10A, and estimated value 5A+3A=8A<obtained value 10A, so the cart is determined to be abnormal under both criteria (i) and (ii).
２号機の牽引車に関しても、中央管理コンピュータによって同様に台車が異常かどうかを判定することができる。中央管理コンピュータは、２号機の牽引車に関しても台車の積載搬送荷物の総重量２８ｋｇ、牽引車の走行速度０．５ｍ／ｓ、電気モータ負荷データ値２Ａの取得値の情報と、数的関係性から推定される電気モータ負荷データ値１．８Ａの推定値の情報を既に持っており、１号機と同様に台車が異常かどうかの判定を行なうことができる。２号機の牽引車を１号機と同じ判定基準で判定すると、２号機は、推定値１．８Ａ＋０．９Ａ＝２．７Ａ＞取得値２Ａであり、推定値１．８Ａ＋３Ａ＝４．８Ａ＞取得値２Ａであるので、（ｉ），（ｉｉ）のいずれの判定基準でも台車は異常なしと判定される。 Regarding the No. 2 tow truck, the central management computer can similarly determine whether or not the truck is abnormal. Regarding the No. 2 towing vehicle, the central management computer also records the information on the total weight of the cargo carried on the trolley, 28 kg, the traveling speed of the towing vehicle, 0.5 m/s, and the obtained electric motor load data value of 2A, as well as the numerical relationship. It already has information on the estimated value of the electric motor load data value of 1.8A estimated from the above, and can determine whether or not the bogie is abnormal in the same way as the first car. If the towing vehicle of No. 2 is judged using the same criteria as No. 1, estimated value 1.8A + 0.9A = 2.7A > acquired value 2A, and estimated value 1.8A + 3A = 4.8A > acquired value. 2A, the truck is determined to have no abnormality based on either criteria (i) or (ii).
判定される台車と推定値の推定に使用される正常な台車は、同じ設計で作られていることが必要である。即ち、牽引車の牽引力及び牽引速度に起因する台車の機械的性質などの設計が同じであることが必要である。異なる設計の台車が複数存在するときは、異なる設計の台車ごとに前述の数的関係性を予め把握して登録し、判定される台車の設計に合わせて牽引車の電気モータ負荷データ値の取得値と推定値を比較し、台車の異常を判定することが好ましい。また、台車を牽引する牽引車は、当然同じ設計であることが必要である。この場合、牽引車は、牽引力や牽引速度に起因する機械的性質の設計が同じであることが必要である。 It is necessary that the truck to be determined and the normal truck used for estimating the estimated value be made with the same design. That is, it is necessary that the designs of the carts, such as the mechanical properties caused by the traction force and traction speed of the towing vehicle, be the same. When there are multiple bogies of different designs, the above-mentioned numerical relationships are understood and registered in advance for each bogie of different design, and the electric motor load data value of the towing vehicle is obtained according to the determined bogie design. It is preferable to compare the value and the estimated value to determine whether there is an abnormality in the truck. Furthermore, it is necessary that the towing vehicles that pull the carts have the same design. In this case, it is necessary that the towing vehicles have the same design of mechanical properties due to traction force and traction speed.
本発明の方法及びシステムについて典型的な例を上で説明したが、本発明の特許請求の範囲の要件を逸脱しない限り、細部の技術の変更や修正、従来技術の追加を適宜行なうことができる。例えば、本発明における積載搬送荷物の計量、牽引車の走行速度及び電気モータ負荷データ値の計測、数的関係性の把握・登録、電気モータ負荷データ値の推定、異常かどうかの判定の手段及び方法は、上記の例や設置場所に限定されず、広く従来技術を利用して実現可能である。また、異常な台車は同じ設計の正常な台車より牽引車の牽引負荷力が増加するということに基づく判定方法を採用する限り、数的関係性の決定方法、正常な台車からの電気モータ負荷データ値の推定値の推定方法、台車の異常の判定方法も上記の例に限定されず、様々な方法を採用することができる。 Although typical examples of the method and system of the present invention have been described above, changes and modifications in detailed technology and addition of prior art may be made as appropriate without departing from the requirements of the claims of the present invention. . For example, in the present invention, there is a method for weighing the loaded cargo, measuring the traveling speed of the towing vehicle and the electric motor load data value, grasping and registering numerical relationships, estimating the electric motor load data value, determining whether or not there is an abnormality, and The method is not limited to the above examples or installation locations, and can be implemented using a wide variety of conventional techniques. In addition, as long as the judgment method based on the fact that the traction load force of the towing vehicle increases for an abnormal bogie compared to a normal bogie of the same design, the method for determining the numerical relationship, the electric motor load data from the normal bogie The method of estimating the estimated value and the method of determining abnormality of the truck are not limited to the above example, and various methods can be adopted.
本発明の方法及びシステムは、商業施設や物流施設で無人搬送車のような牽引車で台車を牽引して運用した場合でも台車の異常を人手によらずに簡単にかつ客観的に判定することができる。従って、本発明の方法及びシステムは、安全性を求められる人手不足の物流業界において極めて有用である。 The method and system of the present invention can easily and objectively determine abnormalities in a trolley without manual intervention even when the trolley is towed by a towing vehicle such as an automatic guided vehicle in a commercial facility or a logistics facility. I can do it. Therefore, the method and system of the present invention are extremely useful in the logistics industry, which requires safety and is understaffed.
１ 台車
２ 搬送荷物
３ 牽引車
４ 台車包囲バー
５ 計量コンベヤ
６ 自動倉庫
７ 搬送コンベヤ
８ ロボットハンド
1 Cart 2 Transport cargo 3 Towing vehicle 4 Car surrounding bar 5 Weighing conveyor 6 Automatic warehouse 7 Transport conveyor 8 Robot hand
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