WO2010026842A1 - 物品収納設備とその作動方法 - Google Patents
物品収納設備とその作動方法 Download PDFInfo
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- WO2010026842A1 WO2010026842A1 PCT/JP2009/063251 JP2009063251W WO2010026842A1 WO 2010026842 A1 WO2010026842 A1 WO 2010026842A1 JP 2009063251 W JP2009063251 W JP 2009063251W WO 2010026842 A1 WO2010026842 A1 WO 2010026842A1
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- WIPO (PCT)
- Prior art keywords
- pair
- lifting
- traveling
- article
- interference
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
- B66F9/072—Travelling gear therefor
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
Definitions
- an article storage shelf provided with a plurality of storage units for storing articles arranged in the vertical direction and the horizontal direction, and a movement path provided along the lateral width direction on the front side of the article storage shelf is moved.
- a pair of configured stacker cranes are provided, and each of the pair of stacker cranes is guided by a traveling carriage guided by a traveling guide rail along the moving path, and an elevating guide mast erected from the traveling carriage.
- a lifting platform configured to move up and down and a lifting body provided on the lifting platform and including an article transfer device capable of transferring an article to the article storage unit, and each of the traveling carts of the pair of stacker cranes
- a pair of traveling position detection means for detecting the traveling position
- a pair of lifting position detection means for detecting the lifting position of each lifting body of the pair of stacker cranes , Based on the detection information of the pair of travel position detection means and the pair of vertical position detection means, wherein the pair of controlling the operation of the stacker crane control means and the article storage facility is provided for that operating method.
- the goods are stored in the storage section by picking up the article to be transported from the article loading / unloading section such as a load receiving stand and the article stored in the storage section.
- the article conveying operation of the stacker crane here means the operation of the stacker crane accompanied by the traveling operation of the traveling carriage or the raising / lowering operation of the elevating body, and the article transfer device that supports the article to be conveyed is conveyed from the conveying source.
- the article transfer device in a state that does not support the articles is moved to the transport source by the travel operation and the lift operation After completing the empty transfer operation to move and the warehousing work, the article transfer device is set to the home position (end position in the path direction of the moving path and the lower end in the vertical direction, etc.) in preparation for the next warehousing work.
- the origin return operation movement which moves the article transfer apparatus of the state which does not support an article to a home position is included.
- the control means performs the warehousing operation based on the operation instruction. Or to control the operation of the stacker crane in order to perform the unloading work, the goods transport operation of the actual transport operation or the empty transport operation, the operation of picking up the goods at the transport source (the transfer operation for scooping) and the goods at the transport destination
- the article transfer operation is carried out as an operation of wholesale (the transfer operation for wholesale).
- the travel operation and the lift operation in the article transport operation are operations according to the travel speed pattern and the lift speed pattern determined by the positional relationship with the operation start position and the operation end position of the actual transport operation and the idle transport operation based on the operation command.
- the quantity of articles that can be entered and exited per unit time that is, the number of operation instructions that can be processed is indicated. What has a high article processing capability is desired.
- Various techniques have been proposed as techniques for increasing the article processing capacity in the article storage facility. As an example, a stacker that can move along a movement path provided along the width direction of the shelf on the front side of the article storage shelf. It has been proposed to provide a pair of cranes.
- the other stacker crane If another stacker crane that is in the way is located within the planned movement range due to the article transport operation, the other stacker crane is not performing the article transport operation as the assigned stacker crane (that is, waiting)
- the other stacker crane controls the operation of the other stacker crane so that the other stacker crane is located outside the planned movement range, and the other stacker crane performs the article transport operation as the responsible stacker crane. Then, after waiting for the article transport operation for the other stacker crane to be completed, the operation of the other stacker crane is controlled so that the other stacker crane is positioned outside the planned movement range. .
- Patent Document 1 describes that only one common traveling guide rail provided on the moving route is provided, and a pair of stacker cranes are arranged side by side in the moving route direction on this moving guide rail. Yes. Then, the middle part of the movement path is set as a common section where both stacker cranes can travel, and the dedicated section where only one stacker crane can move on both sides in the movement path direction of the common section matches the crane alignment direction. As an avoidance operation, the other stacker crane is driven out along the traveling direction. For example, according to the description of FIG. 7 and paragraphs [0047] and [0048] of the drawing of Patent Document 1, when a driving command is issued, another part is added to the common section side portion belonging to the common section within the planned movement range.
- the dedicated section side part belonging to the dedicated section within the planned movement range must first be moved and dedicated until the other stacker crane that gets in the way is expelled from the common section side part.
- the article conveying operation according to the operation command can be processed as soon as possible after the operation command is issued.
- the present invention has been made paying attention to such a point, and its object is to store articles that can avoid mutual interference between a pair of stacker cranes without performing as much as possible an avoidance operation that is inefficient. It is in providing facilities.
- an article storage facility includes an article storage shelf having a plurality of storage units arranged in the vertical and horizontal directions, and a shelf width on the front side of the article storage shelf.
- a pair of stacker cranes configured to move along a moving path provided along a direction, each of the pair of stacker cranes being guided by a traveling guide rail along the moving path; and the traveling
- a lifting platform configured to be guided up and down by a lifting guide mast erected from a carriage, and a lifting body provided on the lifting platform and including an article transfer device capable of transferring articles to the article storage unit.
- a pair of traveling position detecting means for detecting the traveling position of each traveling carriage of the pair of stacker cranes, and raising and lowering of each of the pair of stacker cranes
- a pair of raising / lowering position detecting means for detecting the raising / lowering position
- a control means for controlling the operation of the pair of stacker cranes based on detection information of the pair of traveling position detecting means and the pair of raising / lowering position detecting means.
- Is configured to control the article conveying operation of the assigned stacker crane, and while controlling the article conveying operation of the assigned stacker crane, based on the detection information of the pair of travel position detecting means,
- the respective traveling positions of the pair of traveling carts of the stacker crane are managed, and the respective traveling positions of the pair of traveling carts are It is determined at each set cycle whether or not the car crane is predicted to interfere with each other, and if the respective traveling positions of the pair of traveling carriages are the mutual approaching positions, the pair of traveling Based on the detection information of the position detection means and the pair of lift position detection means, the pair of traveling carriages and the pair of lift bodies are positioned at the non-interference positions where the pair of stacker cranes do not interfere with each other. An interference avoidance process for controlling the operation of the stacker crane is performed.
- the control means determines whether each traveling position of the pair of traveling carts is a mutual approaching position for each set period while controlling the article conveying operation of the assigned stacker crane. It is possible to monitor whether or not the stacker crane is in the mutually approaching position while operating the article transport. And a control means performs an interference avoidance process in the mutual approach position. Therefore, if it is not a mutual approach position at the start of controlling the article transport operation of the assigned stacker crane, the article transfer operation of the assigned stacker crane is started, and at the same time, monitoring of the respective traveling positions of the pair of traveling carts is started. become.
- the operation for avoiding the interference is performed.
- the article conveying operation is advanced without any change. While the article conveying operation is in progress, it is monitored whether or not the respective traveling positions of the pair of traveling carriages are mutually approaching positions where the pair of stacker cranes are expected to interfere with each other. When each of the travel positions becomes the mutual approach position, the interference avoidance process is started, so that the interference of the pair of stacker cranes can be avoided.
- the temporary braking range of each traveling carriage that moves from the current position before stopping is set.
- the respective traveling positions of the pair of traveling carriages are determined to be mutually approaching positions.
- the virtual braking range of each traveling vehicle that moves from the current position until the vehicle stops is overlapped in the direction of the moving path. Since it is determined that the position is the position, when the traveling carriage is traveling in the article transport operation, it is determined whether or not the position is the mutual approach position for each set period, thereby performing the article transport operation after the determination timing. Regardless of how the travel behavior (acceleration / constant speed / deceleration) changes due to the vehicle, it is determined whether or not a pair of traveling carts reliably overlap in the direction of the travel path after the discrimination timing. be able to.
- both traveling trolleys that are running in opposite directions are separated from each other by longer than the sum of the widths of the virtual braking ranges for the respective traveling trolleys, these traveling trolleys are actually set at the set deceleration.
- both traveling carriages stop without overlapping in the movement path direction, and therefore there is no possibility that the pair of stacker cranes interfere with each other regardless of the trend of the lifting operation by the article conveying operation.
- both of the traveling carts are separated from each other by longer than the sum of the widths of the virtual braking ranges for the respective traveling vehicles, it is not determined that they are in the mutual approach position, and interference avoidance processing is performed. Is not performed, the lifting / lowering operation by the article conveying operation can be advanced.
- Interference avoidance processing can be performed as there is a possibility of interference depending on the movement of the lifting operation due to the transport operation, so it is possible to determine an appropriate time to start the interference avoidance processing and perform the article transport operation Interference avoidance processing can be started at an appropriate time.
- the virtual braking range is also applied when the traveling speed of the traveling carriage is zero, in which case the virtual braking range is a position with a width of zero, and the position is located within the opponent's virtual braking range. What is necessary is just to discriminate
- control means is configured to perform the interference avoidance process in a form that controls the operation of only one of the pair of stacker cranes.
- the control unit when the control unit causes the article conveying operation to be performed as the assigned stacker crane for only one of the pair of stacker cranes, the article conveying operation of the pair of stacker cranes is performed. It is preferable that the interference avoidance process is performed in a form in which the operation of the non-charged stacker crane that has not been performed is controlled.
- the traveling position of the pair of traveling carriages becomes the mutual approach position, and the interference avoidance process is performed.
- the non-charged stacker crane that is not performing the article transport operation is operated by the interference avoidance process, and the charge stacker crane is maintained by the article transport operation.
- interference avoidance processing is performed for the non-charged stacker crane that does not directly contribute to the maintenance or improvement of the article processing capacity without interfering with the article transfer operation of the assigned stacker crane that directly contributes to the maintenance or improvement of the article processing capacity.
- the control means when the control means is configured to perform the article transport operation separately as the assigned stacker crane for both the pair of stacker cranes, the article transport of the pair of stacker cranes. It is preferable that the interference avoiding process is performed in such a manner that the operation of the assigned stacker crane having a long remaining operation time is controlled.
- the interference between stacker cranes can be avoided by operating by the interference avoidance process it can.
- a pair of travel guide rails installed in parallel with each other in the longitudinal direction of the shelf is provided, and as the pair of stacker cranes, the travel carts are the pair of travel guide rails.
- the travel guide rail is guided by one of the travel guide rails, and the lift guide mast is provided on the travel cart, and the travel cart is guided by the other of the pair of travel guide rails, and the lift
- a stacker crane provided on the traveling carriage is provided with a guide mast, and the pair of lifters are arranged so that each of the pair of stacker cranes can move with respect to each other.
- the control means is set as a separation distance in which the pair of lifting bodies can be moved without interference by the pair of stacker cranes as the interference avoidance process. It is preferable that the interference avoiding lifting process for controlling the lifting operation of the pair of lifting bodies is performed in order to move up and down to the passing lifting position separated in the lifting direction over a necessary separation distance.
- each traveling carriage of the pair of stacker cranes travels on a pair of traveling guide rails installed in parallel with each other in the longitudinal direction of the shelf, and each lifting body is a pair of stacker cranes.
- Each of the stacker cranes extends in the longitudinal direction of the shelf so as not to reach the lifting guide mast of the mating stacker crane so that each of the stacker cranes can move between each other. Regardless of the travel position, the front side of the article storage shelf can travel across the entire shelf width in the shelf width direction.
- the traveling movement can be performed over the entire shelf width in the shelf width direction regardless of the position of the other stacker crane. Therefore, it becomes easy to use when providing a pair of stacker cranes to improve the article conveying capability.
- the travel path required by one stacker crane is the longitudinal direction of the shelf.
- the width can be made narrower than that obtained by simply doubling the travel path width for one vehicle. Therefore, the installation space when arranging a pair of stacker cranes side by side in the longitudinal direction of the shelf can be made compact.
- the control means executes an interference avoiding lifting process as an interference avoiding process to control the lifting operation of the pair of lifting bodies.
- T The pair of lifting bodies are moved up and down to a passing lifting position separated in the lifting direction by more than the required separation distance set as a separation distance that can be moved without passing by the pair of stacker cranes, so that the pair of stacker cranes interfere with each other.
- the article conveying operation can be performed by traveling and moving the entire shelf width in the shelf width direction.
- the control means reduces the setting of the traveling cart that is running after the respective traveling positions of the pair of traveling carts are in the mutual approach position in the interference avoidance lifting process. Elevating range in which the elevating body can be moved up and down by the article transporting operation within a grace period until the pair of elevating bodies are assumed to interfere with each other when the travel operation is performed in a mode of decelerating at a speed. Is determined for the lifting body of the assigned stacker crane, and when both the pair of stacker cranes are operated as the assigned stacker crane, the article transport operation is performed.
- the pair of stackers if the maximum lifting range does not overlap each other by being separated from each other longer than the required separation distance
- the article transport operation is performed. If the interference target range that extends on both the upper and lower sides in the up-and-down direction by the required separation distance centered on the up-and-down position does not overlap with the maximum up-and-down range of the lifting body of the assigned stacker crane, the interference-free state And when the interference avoiding lifting process determines that the interference does not occur, the interference avoiding lifting process does not control the lifting operation of the pair of lifting bodies.
- the interference is not generated. Is determined to control the lifting operation of the pair of lifting bodies so as to perform the article conveying operation in a form of controlling the pair of lifting bodies in the interference avoiding lifting process. Is preferred.
- the maximum lifting range which is the lifting range in which the lifting body can be raised and lowered by the article transport operation within the grace period until reaching the assumed travel position, is determined for each lifting body, and both the pair of stacker cranes are in charge of the article transport operation.
- the maximum lifting ranges of the lifting bodies are not overlapped with each other by being separated from each other by longer than the necessary separation distance.
- the upper limit of the maximum lifting range for the lifting body and the lower limit of the maximum lifting range for the other lifting body are separated from each other by longer than the required separation distance, and the pair of lifting bodies are closest to each other in the lifting direction.
- interference between the pair of stacker cranes does not occur, in such a case, it is determined that the interference does not occur.
- the interference target range having a spread on both the upper and lower sides of the direction does not overlap with the maximum lifting range of the lifting body of the assigned stacker crane, it is determined that the interference is not generated.
- the interference target range that spreads in the up and down direction by the required separation distance around the lifting position of the lifting body of the non-serving stacker crane.
- the lifting position of the lifting body of the non-assigned stacker crane is longer than the required separation distance from the upper limit position or the lower limit position of the maximum lifting range. Even if the pair of lifting bodies approaches as much as possible in the lifting direction, no interference occurs between the pair of stacker cranes. In such a case, it is determined that no interference occurs.
- the control means causes the article avoiding operation to control the lifting operation of the pair of lifting bodies in the interference avoiding lifting process.
- the ascending / descending operation of the pair of elevating bodies is based on the article conveying operation.
- the article conveying operation is performed in such a manner that the pair of lifting bodies are controlled by the interference avoiding lifting process.
- the lifting / lowering operation of the lifting / lowering body is controlled, and the lifting / lowering operation different from the article conveying operation is performed so that the pair of lifting / lowering bodies are positioned at the lifting / lowering position for passing.
- JP 2007-015780 A lays one traveling guide rail along the moving route.
- a pair of stacker cranes on which travel guide rails are movable are arranged side by side in the movement path direction.
- Japanese Patent Laid-Open No. 07-125810 discloses another example in which a pair of stacker cranes is provided for one moving route.
- two traveling guide rails along the moving route are spaced apart in the longitudinal direction of the shelf.
- a stacker crane is provided for each of the travel guide rails, and each stacker crane is provided so as to be movable along each of two travel paths adjacent in the longitudinal direction of the shelf.
- each stacker crane has no relation to the position of the other stacker crane with respect to traveling movement, and without activating the other stacker crane, Since it can move over the entire area in the width direction of the shelf, it can be expected that the article processing capacity will be greatly improved.
- the travel paths of each stacker crane are adjacent to each other, the width of the travel path of the pair of stacker cranes Is the sum of the travel path widths of each stacker crane. Therefore, there is a disadvantage that the movement path space is increased and the installation space of the facility is increased.
- the stacker crane that travels on the travel guide rail on the side far from the shelf in the longitudinal direction of the shelf has a longer distance to each storage unit in the article storage shelf, and therefore transfers articles between the storage unit and the stacker crane.
- the article transfer device must be capable of transferring an article to a remote storage unit.
- the article transfer device is used to place and support an article.
- the slide support When the article support base to be constructed is configured with a slide fork mechanism that can be moved back and forth in the longitudinal direction of the shelf, the slide support must be configured with a long slide stroke, which complicates the structure of the article transfer device.
- the traveling guide rail a pair of guide rails installed in parallel with a space in the longitudinal direction of the shelf is provided, and the pair of stackers
- the traveling carriage is guided by one of the pair of traveling guide rails, the lift guide mast is provided on the traveling carriage, and the traveling carriage is the pair of traveling guide rails.
- the pair of lifting bodies is provided on the other side so that each of the pair of stacker cranes can move with respect to each other, and a stacker crane provided with the lifting guide mast is provided on the traveling carriage.
- the lifting plan of the other stacker crane having a portion overlapping with the lifting body of the stacker crane in the longitudinal direction of the shelf Provided in a state extending in the longitudinal direction of the shelf from the lifting guide mast so as not to reach the mast, and when the control means controls the article conveying operation of the pair of stacker cranes, Based on the detection information of the pair of lift position detection means, managing the respective travel positions of the pair of traveling carts of the pair of stacker cranes and the lift positions of the pair of lift bodies of the pair of stacker cranes, Both of the pair of lifts to raise and lower the pair of lifts to a passing lift position spaced apart in the lift direction more than the necessary separation distance set as a separation distance that can be moved by the pair of stacker cranes without interference.
- a mutual avoiding lifting process in which the lifting and lowering operation for avoiding interference is different from the lifting action by the article conveying action, It is preferably configured to perform as a serial interference avoidance process.
- the lifting bodies of the pair of stacker cranes are provided with a portion overlapping with the lifting body of the other stacker crane in the longitudinal direction of the shelf, so that the travel path of each stacker crane is identical in the longitudinal direction of the shelf.
- the width can be made narrower than that obtained by simply doubling the travel path width for one vehicle. Therefore, when the pair of stacker cranes are arranged side by side in the longitudinal direction of the shelf, the movement path width of the pair of stacker cranes can be narrowed and the equipment can be made compact.
- the lifting body has a portion overlapping the lifting and lowering body of the mating stacker crane in the longitudinal direction of the shelf, the lifting body of the stacker crane on the far side in the longitudinal direction of the shelf from the article storage shelf Compared to the case where the elevator body is configured not to have a portion overlapping in the longitudinal direction of the shelf, the article transfer device provided in the elevation body is positioned closer to the shelf side in the longitudinal direction of the shelf. The article may be transferred between the storage section and the stacker crane from a position relatively close to the storage shelf in the longitudinal direction of the shelf. Accordingly, since it is not necessary to provide a long stroke slide fork mechanism or the like in the article transfer device, the complexity of the structure of the article transfer device can be suppressed.
- each traveling carriage of the pair of stacker cranes travels on a pair of traveling guide rails installed in parallel with each other at an interval in the longitudinal direction of the shelf, and each of the lifting bodies passes between each of the pair of stacker cranes. Since it is provided in a state extending from the lifting guide mast in the longitudinal direction of the shelf so as not to reach the lifting guide mast of the other stacker crane, each stacker crane can be moved according to the travel position of the other stacker crane. First, on the shelf front side of the article storage shelf, it can travel and move across the entire width of the shelf in the shelf width direction.
- each stacker crane can be operated without avoiding the other stacker crane as long as the pair of lifters are positioned so as not to interfere with each other regardless of the position of the other stacker crane. Is movable across the entire width of the shelf. Accordingly, since the two stacker cranes can be individually conveyed and operated, the article processing capability is greatly improved.
- a control means will control the article conveyance operation about the charge stacker crane in charge of article conveyance by the said operation command. Based on the detection information of the pair of travel position detection means and the pair of lift position detection means, the travel positions of the pair of travel carts of the pair of stacker cranes and the lift positions of the pair of lift bodies of the pair of stacker cranes Will manage.
- the control means performs a mutual avoiding lifting process in which both the pair of lifting bodies are lifted and lowered by an interference avoiding lifting action different from the lifting action by the article conveying operation, and both the pair of lifting bodies are moved to the pair of stacker cranes. Is lifted up and down to a passing lifting position separated in the lifting direction more than the required separation distance set as a separation distance that can be moved without interfering with each other, so that both of the pair of lifting bodies are moved up and down by mutual avoiding lifting processing, The pair of stacker cranes can move without interfering with each other.
- both lifting and lowering bodies are moved up and down, so both lifting and lowering bodies of the pair of stacker cranes bear the amount of lifting operation required to move up and down to the passing and lowering lifting position.
- the pair of lifting bodies can be quickly moved up and down to the passing lifting position, and the lifting operation of each lifting body is suppressed from being greatly deviated from the article transporting operation. It can suppress that efficiency falls.
- the control means sets the traveling carriage that is in a traveling operation to a set deceleration after the traveling positions of the pair of traveling carriages are in the mutual approach positions in the mutual avoidance raising / lowering process.
- the lift is within a lifting range in which the lift can be raised and lowered by the article conveying operation within a grace period until the pair of lifts are assumed to interfere with each other.
- the maximum lifting range is obtained for the lifting body of the assigned stacker crane, and when both the pair of stacker cranes are operated as the assigned stacker crane, the maximum lifting and lowering of each of the pair of lifting bodies is performed.
- the pair of stacker clays if the ranges do not overlap each other by separating from each other longer than the required separation distance;
- the lifting / lowering of the lifting body of the other stacker crane is determined. It is determined that the interference does not occur unless the interference target range having a spread in the ascending / descending direction with respect to the position as a center overlaps with the maximum ascending / descending range of the elevator body of the assigned stacker crane.
- the mutual avoidance raising / lowering process may perform the article conveying operation in a form that does not control the lifting / lowering operation of the pair of lifting bodies, and If it is determined that the interference avoidance raising / lowering process is not in the mutual avoidance raising / lowering process, both of the pair of raising / lowering bodies are performed so that the pair of lifting bodies are controlled by the mutual avoidance raising / lowering process. It is preferable to be configured to control the lifting operation.
- the maximum lifting range which is the lifting range in which the lifting body can be raised and lowered by the article transport operation within the grace period until reaching the assumed travel position, is determined for each lifting body, and both the pair of stacker cranes are in charge of the article transport operation.
- the maximum lifting ranges of the lifting bodies are not overlapped with each other by being separated from each other by longer than the necessary separation distance.
- the upper limit of the maximum lifting range for the lifting body and the lower limit of the maximum lifting range for the other lifting body are separated from each other by longer than the required separation distance, and the pair of lifting bodies are closest to each other in the lifting direction.
- interference between the pair of stacker cranes does not occur, in such a case, it is determined that the interference does not occur.
- the interference target range having a spread in the direction does not overlap with the maximum lifting range for the lifting body of the assigned stacker crane, it is determined that the interference does not occur.
- the interference target range that extends in the ascending / descending direction around the ascending / descending distance around the ascending / descending position of the lifting / lowering body of the unassigned stacker crane is in charge. If it does not overlap with the maximum lifting range for the stacker crane lifting body, the lifting position of the non-charged stacker crane lifting body is longer than the required separation distance from the upper limit position or the lower limit position of the maximum lifting range, Even if the lifting body approaches as much as possible in the lifting direction, no interference occurs between the pair of stacker cranes. In such a case, it is determined that no interference occurs.
- the mutual avoidance raising / lowering process causes the article conveying operation to be performed without controlling the lifting operation of the pair of lifting bodies.
- the raising / lowering operation of the raising / lowering body is based on the article conveying operation.
- the pair of lifting bodies are controlled by the mutual avoiding raising / lowering process. Both lifting / lowering operations are controlled, and a lifting / lowering operation different from the article conveying operation is performed so that the pair of lifting / lowering bodies are positioned at the lifting / lowering position for passing.
- control means is configured to update and generate the traveling carriage for each set control cycle based on an article transport operation travel pattern and an article transport operation lifting pattern generated in response to the operation command.
- Is configured to control the article conveying operation for the assigned stacker crane by commanding the target travel position for the lifter and the target lift position for the lifting body at each set control cycle, and the mutual avoiding lift
- the processing instead of the target lifting position for the lifting body defined based on the lifting pattern for article conveyance operation, the lifting position and the lifting speed of the lifting body of the pair of stacker cranes as the processing stacker crane And a target lifting position for avoiding interference, which is updated based on the required separation distance,
- By commanding the serial setting control every cycle to raise and lower the pair of vertically movable bodies to the low-beam vertical position, which is preferably configured to control the elevating operation of both of the pair of vertically movable bodies.
- the control means controls the article transport operation for the assigned stacker crane by instructing the target travel position and the target lift position for each set control cycle.
- the target travel position and the target lift position are updated and generated for each set control cycle based on the article transport operation travel pattern and the article transport operation lift pattern generated in response to the operation command, respectively. That is, if the traveling position and traveling speed of the traveling carriage at the control timing are deviated from the article transport operation traveling pattern, the target traveling position is updated and generated so as to correct the deviation.
- the target raising / lowering position will be updated and generated so that the deviation may be corrected. Therefore, in the article transport operation, the travel operation and the lift operation are performed so as to match the travel pattern for the article transport operation and the lift pattern for the article transport operation as much as possible.
- the control means commands a target raising / lowering position for avoiding interference for each set control cycle, thereby controlling both raising / lowering operations of the pair of raising / lowering bodies and passing the pair of raising / lowering bodies. Elevate to the lifting position.
- the target lifting position for avoiding interference is updated and generated based on the lifting position and lifting speed of the lifting body of the pair of stacker cranes, and the necessary separation distance. In other words, depending on the lifting position and the lifting speed of both lifting bodies at the control timing, both of the pair of lifting bodies are appropriate for raising and lowering to the passing lifting position spaced apart in the lifting direction by more than the necessary separation distance.
- the target lift position is updated and generated as a target lift position for avoiding interference. Therefore, in the lifting operation in the mutual avoidance lifting processing, the lifting / lowering operation is performed so as to approach the passing lifting / lowering position by commanding an appropriate lifting / lowering position in consideration of the lifting position and lifting speed of the lifting body at each control timing. Therefore, a useless lifting operation amount can be suppressed as much as possible as an operation amount for moving up and down to the passing lifting position.
- the traveling operation and the raising / lowering operation are performed so as to match the traveling pattern for the article conveying operation and the lifting pattern for the article conveying operation as much as possible, so that the pair of stacker cranes can move without interfering with each other.
- the lifting operation in the mutual avoiding lifting process as the avoiding operation for the purpose is a lifting operation different from the article conveying operation, it can be moved up and down to the passing lifting position with a minimum amount of lifting operation. Therefore, when the pair of lifting bodies are raised and lowered to the passing lifting position in the mutual avoiding lifting process, a time margin can be provided, and the pair of lifting bodies can be reliably raised and lowered to the passing lifting position.
- control means is installed on the ground side, and the first crane control means for controlling the operation of one stacker crane of the pair of stacker cranes, and the operation of the other stacker crane. It is preferable to be provided with the 2nd crane control means to control.
- movement of a pair of stacker cranes is controlled by the 1st crane control means and the 2nd crane control means with which the control means installed in the ground side is each, each of each stacker crane is controlled.
- the control configuration to be provided on the vehicle can be as simple as a control configuration based on simple servo control that moves the traveling carriage and the lifting body of the stacker crane to the target position based on the target position information. Therefore, it is possible to simplify the control configuration provided for each of the pair of stacker cranes.
- the article storage facility is formed between two article storage shelves 1 that are installed at an interval so that the direction of putting in and out the articles is opposed to each other, and the two article storage shelves 1 And a stacker crane 3 that moves along the travel path 2 (corresponding to a travel path).
- the articles 4 that are carried in from the outside are placed and supported on both sides of the article storage shelf 1, and are unloaded from the article storage shelf 1 and carried out to the outside.
- a loading / unloading section 5 for placing and supporting the article 4 to be mounted is provided.
- Each article storage shelf 1 is configured by a plurality of a pair of front and rear support columns 1a standing at an interval in the width direction of the shelf, and connecting the support columns 1a adjacent in the width direction of the shelf with a plurality of upper and lower shelf plates 1b. ing.
- the shelf board 1b is configured to place and support the article 4 in a state in which a part of the article 4 protrudes forward in the front-rear direction of the shelf.
- the shelf board 1b is configured to place and support the plurality of articles 4 in a state where the plurality of articles 4 are arranged in the shelf width direction.
- the storage unit 6 in the article storage shelf 1 is configured to store the article 4 in a state where the article 4 is placed and supported by the shelf board 1b.
- a plurality of the storage units 6 are provided so as to be arranged in the vertical direction and the horizontal direction on both sides of the movement passage 2 in the longitudinal direction of the shelf (the direction orthogonal to the lateral width direction of the shelf).
- a first stacker crane 3 a (hereinafter referred to as “unit 1 3 a”) that moves on one side in the front-rear direction of the shelf around the movement path 2 and a second unit 3 b that moves on the other side in the front-rear direction of the shelf. (Hereinafter referred to as No. 2 machine 3b).
- Two lower rails 7 (corresponding to travel guide rails) are laid in parallel along the shelf width direction on the floor surface of the movement path 2, and the upper rail 8 is located above the movement path 2 in the width direction of the shelf. Are arranged in parallel along the line.
- the one arranged on one side in the shelf front-rear direction is for moving the first machine 3 a along the movement path 2, and the other in the shelf front-rear direction. What is arranged on the side is for moving the No. 2 machine 3 b along the movement path 2.
- Each of the No. 1 machine 3a and No. 2 machine 3b can reciprocate along the moving path 2 over the entire length of the article storage shelf 1 in the width direction of the shelf and the place where the loading / unloading portion 5 is provided by the guidance of the lower rail 7 and the upper rail 8. Is provided.
- the 1st machine 3a and the 2nd machine 3b are demonstrated, the 1st machine 3a and the 2nd machine 3b are the same structurally only in the direction mutually arrange
- the stacker crane 3 includes a traveling carriage 9 that can travel along the lower rail 7, and a lifting platform 11 that can be moved up and down along a lifting guide mast 10 erected on the traveling carriage 9.
- the lifting platform 11 includes an article transfer device 12 that can transfer the article 4 to the storage unit 6 and the carry-in / out unit 5.
- the lifting platform 11 and the article transfer device 12 constitute a lifting body UD.
- the traveling carriage 9 is formed in a flat shape that is long in the width direction of the shelf, and is configured such that the traveling carriage 9 of the first car 3a and the traveling carriage 9 of the second car 3b move along the movement path 2 in a state where they can pass each other. Has been.
- the elevator guide mast 10 of the No. 1 machine 3a is provided on the traveling carriage 9 in a state of being moved toward one side of the shelf in the longitudinal direction (the direction approaching the closer shelf), and the elevator guide mast 10 of the No. 2 machine 3b is provided in the longitudinal direction of the shelf. It is provided in the traveling cart 9 in a state where it is brought closer to the other side (direction approaching the closer shelf).
- the lifting platform 11 of the first machine 3a is cantilevered by the lifting guide mast 10 so as not to contact the lifting guide mast 10 of the second machine 3b so as to extend in the longitudinal direction of the shelf from the lifting guide mast 10 of the first machine 3a.
- the elevator 11 of the second machine 3b is also cantilevered by the elevator guide mast 10 in a state extending from the elevator guide mast 10 of the second machine 3b in the longitudinal direction of the shelf so as not to contact the elevator guide mast 10 of the first machine 3b. Yes.
- first machine 3a and the second machine 3b are configured to reciprocate in the movement path 2 in a state where they can pass each other.
- the elevating guide mast 10 is formed in a flat shape that is long in the shelf width direction, and one elevating guide mast 10 is erected on one end side of the traveling carriage 9 in the shelf width direction.
- the lifting guide mast 10 is erected on the traveling carriage 9 at a position that is biased toward the side approaching the article storage shelf 1 from the lower rail 7 when viewed in the width direction of the shelf.
- the lifting guide mast 10 is configured such that its upper end is higher than the lower end of the upper rail 8.
- Two upper guide rollers 14 provided in a state of sandwiching the upper rail 7 are supported by a support body 13 extending in the longitudinal direction of the shelf at the upper end portion of the lifting guide mast 10. The contact between the two upper guide rollers 14 and the upper rail 7 restricts the movement of the stacker crane 3 in the longitudinal direction of the shelf.
- the lifting platform 11 is fitted to two lifting rails 15 provided on the lifting guide mast 10 and is supported by the single lifting guide mast 10 so as to be vertically movable.
- One end of a lifting / lowering chain 16 for lifting and lowering the lifting / lowering base 11 is connected to the lifting / lowering base 11.
- the raising / lowering chain 16 is wound around an upper sprocket 17 provided at the upper part of the raising / lowering guide mast 10, and is wound around a lower sprocket 18 provided at the traveling carriage 9, and the other end thereof is taken up by the lifting platform 11. It is connected to.
- a drive sprocket 20 that is rotationally driven by an elevating electric motor MV is provided so as to engage with the elevating chain 16.
- the lifting platform 11 is configured to move up and down by moving the lifting chain 16 in the longitudinal direction thereof by forward and reverse rotation driving of the lifting electric motor MV.
- other known members such as a wire can be used.
- the traveling carriage 9 is provided with traveling wheels 21 that can rotate on the lower rail 7.
- One of the pair of front and rear traveling wheels 21 is configured as a driving wheel 21a that is rotationally driven by a traveling electric motor MH, and the other is configured as a driven wheel 21b that can freely rotate.
- the traveling carriage 9 of the first car 3a is provided with a first lifting laser distance meter 23 (for the second car 3b, the second lifting laser distance meter 27) that detects the lifting position of the lifting body UD in the lifting path.
- the first elevating laser rangefinder 23 is used for distance measurement along the vertical direction toward the first elevating reflector 24 (the second elevating reflector 28 for the second machine 3b) provided on the elevating platform 11. By projecting light (laser light) and receiving the light reflected by the first lifting / lowering reflector 24, the distance to the lifting / lowering body UD is measured.
- the first lift laser distance meter 23 is configured to detect the lift position of the lift body UD from the measured distance to the lift body UD.
- the first lift laser distance meter 23 and the second lift laser distance meter 27 correspond to a pair of lift position detecting means.
- the lift position detection means it is engaged with a rotation sensor that measures the rotation of a gear that is attached to the lift body UD and is engaged with the linear gear teeth provided on the lift guide mast 10 or the lift chain 16. It is possible to use a well-known sensor such as a rotation sensor that measures the rotation of the gear to be moved or a contact sensor attached to the lifting body UD.
- the traveling carriage 9 is provided with a first traveling laser distance meter 25 (for the second machine 3b, a second traveling laser distance meter 29) that detects the traveling position of the traveling carriage 9 in the movement path 2.
- the first traveling laser rangefinder 25 emits distance measuring light (laser light) toward the first traveling reflector 26 (second traveling reflector 30 for the second machine 3b) along the shelf width direction.
- the first traveling laser distance meter 25 (for No. 2 machine 3b) in the horizontal direction of the shelf is measured by receiving the light reflected and reflected by the first traveling reflector 26 and measuring the elapsed time.
- the distance between the second traveling laser distance meter 29) and the traveling carriage 9 is measured.
- the first traveling reflector 26 is provided on the ground side at the end of the moving path 2, and its installation position is used as a reference position for detecting the traveling position of the traveling carriage 9 of the first car 3a.
- the first travel laser distance meter 25 measures the distance from the reference position, which is the installation position of the first travel reflector 26, to the travel bogie 9 of the first car 3a, and the travel position of the travel bogie 9 of the first car 3a. Is configured to detect.
- the second traveling reflector 30 is provided on the ground side of the end of the moving path 2 opposite to the end where the first traveling reflector 26 is provided, and the installation position thereof is set to the second machine 3b. It is set as a reference position for detecting the traveling position of the traveling carriage 9.
- the second traveling laser distance meter 29 measures the distance from the reference position, which is the installation position of the second traveling reflector 30, to the traveling carriage 9 of the second machine 3b, and the traveling position of the traveling carriage 9 of the second machine 3b. Is configured to detect.
- the first traveling laser distance meter 25 and the second traveling laser distance meter 29 correspond to a pair of traveling position detection means.
- the article transfer device 12 includes a placement conveyance unit that places and conveys the article 4 in the article transfer direction along the shelf front-rear direction, and a base that supports the placement conveyance unit in a freely movable manner in the article transfer direction. And a retreat drive means for retreating the retraction position for retreating the placement transport unit toward the base in the article transfer direction and a protrusion position for projecting outward from the base 28 in the article transfer direction. I have. It is also possible to use a known structure having a robot arm having a joint as the article transfer device 12.
- a ground side controller H is provided as a control means for controlling the operation of the first machine 3a and the second machine 3b.
- the various control means, controllers, or other members having control functions described in this specification include a CPU, a memory, and a communication unit, and an algorithm for executing the functions described in this specification is stored. ing.
- the ground-side controller H is configured to be communicable with each of the travel and lift laser distance meters and the travel and lift servo amplifiers provided on the stacker crane 3 side. Communication between the ground side controller H and each laser distance meter and each servo amplifier on the stacker crane 3 side is performed by wireless communication devices 19 and 22 using infrared rays.
- the wireless communication devices 19 and 22 will be described by taking the first wireless communication device 19 that performs infrared communication between the first vehicle 3a and the ground-side controller H as an example.
- the ground side communication unit 19a installed on the ground side and wiredly connected to the ground side controller H, and the up / down laser distance meter 23 and the traveling laser distance meter of the first unit 3a installed in the traveling carriage 9 of the first unit 3a.
- Each of the ground side communication unit 19a and the terminal communication unit 19b includes an infrared transmitter and a receiver, and the ground side communication unit 19a has various control information such as target travel position information and target lift position information about the first unit 3a. Is transmitted to the terminal communication unit 19b by infrared rays.
- the terminal communication unit 19b demodulates the received infrared signal and outputs various control information such as target travel position information and target lift position information to the lift servo amplifier SV1 and the travel servo amplifier SH1.
- the terminal communication unit 19b is based on the lifting position information about the lifting body UD detected by the lifting laser distance meter 23 and the traveling position information about the traveling carriage 9 of the first machine 3a detected by the traveling laser distance meter 25.
- the carrier signal modulated as a band signal is transmitted to the ground side communication unit 19a by infrared rays.
- the ground side communication unit 19a demodulates the received infrared signal, and outputs to the ground side controller H the lift position information about the lift body UD of the first car 3a and the travel position information about the traveling carriage 9 of the first car 3a.
- the two-way communication is performed between the ground side communication unit 19a and the terminal communication unit 19b, so that the ground side controller H can control the operation of the first unit 3a.
- two-way communication is performed between the ground side communication unit 22a and the terminal communication unit 22b of the No. 2 radio communication device 22, so that the ground side controller H can control the operation of the No. 2 machine 3b.
- the modulation / demodulation period of the wireless communication devices 19 and 22 is sufficiently shorter than the control period of the ground-side controller H.
- the transportation source and the transportation designated by the operation instruction are issued.
- the ground-side controller H controls the traveling operation of the traveling carriage 9 of the first unit 3a and the second unit 3b and the lifting operation of the lifting body UD. Then, the article transfer device 12 is moved on the front side of the shelf to a preset target stop position for each of the storage unit 6 and the carry-in / out unit 5.
- the target stop position is when the article 4 is wholesaled (that is, handed over) to the storage section 6 or the loading / unloading section 5 rather than when the article 4 is dropped (that is, acquired) from the storage section 6 or the loading / unloading section 5.
- the ground-side controller H should transfer the article 4 between the article transfer device 12 and the target storage unit 6 or the loading / unloading unit 5 with the article transfer device 12 positioned at the target stop position.
- the operation of the exit / retreat driving means and the loading / conveying unit of the article transfer device 12 is controlled.
- the stacker crane 3 receives the operation command, and the article transfer device up to the conveyance source designated by the operation command.
- the transfer operation for scooping the article 4 from the transfer source is performed.
- the article transfer device 12 performs an actual transfer operation (corresponding to an article transfer operation) in which the article 4 is placed and supported on the article 4, and when the article arrives at the transfer destination, the article 4 is unloaded to the transfer destination.
- the transfer operation for wholesale is performed, and the warehousing work and the warehousing work are performed.
- the command standby home position HP in this embodiment, the traveling carriage 9 is positioned at the end of the movement path 2 in the lateral width direction of the shelf, and the lifting body UD is set at the lower limit of lifting.
- an origin return operation is performed to return to a position located at a position (see FIG. 1).
- the ground controller H searches for a stacker crane that is not in charge of the article transport operation (hereinafter referred to as a non-charge crane). If both No. 1 unit 3a and No. 2 unit 3b are non-charge cranes, based on the transfer source position information specified by the operation command and the current position of No. 1 unit 3a and No. 2 unit 3b, The stacker crane is set as a responsible stacker crane in charge of the operation command (hereinafter referred to as a responsible crane). If either No. 1 machine 3a or No. 2 machine 3b is a non-charge crane, the non-charge crane is set as a charge crane in charge of the operation command. If both No. 1 machine 3a and No.
- the ground-side controller H transmits the target lifting position information and the target lifting position information to the crane in charge every control cycle (10 [ms] in this embodiment). Controls the article transport operation of the crane in charge.
- control of the article conveyance operation of the stacker crane 3 by the ground controller H will be described.
- the ground-side controller H performs target transport position information on the traveling carts of the first car 3a and the second car 3b and the first car for each control cycle while performing the goods transport operation of the empty transport operation and the actual transport operation.
- the article transfer device 12 In order to move the article transfer device 12 from the operation start position to the operation end position by instructing the target elevator position information about the elevator bodies of the 3a and 2 machine 3b to the 1st machine 3a and the 2nd machine 3b. 3 is controlled.
- the operation start position is the transfer source for the operation command if the article transfer operation is an actual transfer operation, and the destination of the operation command processed most recently by the stacker crane if it is an empty transfer operation or an origin return operation. It is.
- the operation end position is a transfer destination for the operation command if the article transfer operation is an actual transfer operation, a transfer source for the operation command if the article transfer operation is an empty transfer operation, and a home position if the origin return operation is performed. It is.
- the travel distance DH required to move from the operation start position to the operation end position is as short as possible under the restrictions of the set travel acceleration ⁇ H, the set maximum travel speed VHmax, and the set travel deceleration ⁇ H.
- This is a target value for the travel position for each control cycle for controlling the travel position change of the travel carriage 9 so as to change the speed according to the travel speed change pattern (see FIG. 5A). .
- the target lift position information is a lift operation from the operation start position to the operation end position
- the lift distance DV required to rise from the operation start position to the operation end position is set as the set increase acceleration ⁇ up
- the speed change along the lift speed change pattern (see Fig. 5 (b).
- the solid line is the lift speed change pattern during the lift operation) that can be increased as quickly as possible under the restrictions of the lift speed Vupmax and the set lift deceleration ⁇ up.
- the required elevating distance DV is reduced as quickly as possible under the restrictions of the set descent acceleration ⁇ dw, the set maximum descent speed Vdwmax, and the set up / down deceleration ⁇ dw.
- Ascending / descending speed change pattern (refer to FIG. 5 (b). Ascending / descending speed change pattern when dashing operation is performed), the elevating position change of elevating body UD is controlled for each control cycle. This is the target value for the lift position.
- the traveling position information of the traveling carriage 9 of the first unit 3a by the first traveling laser distance meter 25 and the elevation position information of the lifting body UD of the first unit 3a by the first lifting laser distance meter 23 are obtained. It is transmitted to the ground-side controller H every control cycle via the wireless communication device 19, and the ground-side controller H causes the traveling vehicle 9 of the first car 3a to change the speed according to the traveling speed change pattern. In addition, based on the traveling position information of the traveling carriage 9 of the first car 3a and the lifting position information of the lifting body UD so that the lifting body UD of the first car 3a changes in speed according to the lifting speed change pattern.
- the target travel position information and the target lift position information for the first car 3a are updated and generated, and the lift servo amplifier SV1 for the first car 3a and the travel are transmitted via the first car wireless communication device 19. To send to use the servo amplifier SH1.
- the traveling position information of the traveling carriage 9 of the second machine 3b by the second traveling laser distance meter 29 and the lifting position information of the lifting body UD of the second machine 3b by the second lifting laser distance meter 27 are obtained from the second machine 3b. It is transmitted to the ground side controller H at every control cycle via the No. 2 wireless communication device 22, and the ground side controller H indicates that the traveling carriage 9 of the No. 2 machine 3b follows the above traveling speed change pattern.
- the traveling position information of the traveling carriage 9 of the second machine 3b and the lifting position of the lifting body UD so that the speed changes, and the lifting body UD of the second machine 3b changes the speed according to the lifting speed change pattern.
- the target travel position information and the target lift position information for the second machine 3b are updated and generated, and the lift servo amplifier SV for the second machine 3b is transmitted via the second machine wireless communication device 22. And sending to the running servo amplifier SH2.
- the ground-side controller H includes first crane control means 31, second crane control means 32, interference avoidance control means 33, and communication control means 34 configured by a program.
- traveling servo amplifier SH1 traveling position information of the traveling carriage 9 detected by the first traveling laser rangefinder 25 and motor rotational speed information by the rotary encoder provided in the traveling motor MH1, and in the lifting servo amplifier SV1, The lift position information of the lift body UD detected by the first lift laser distance meter 23 and the motor rotational speed information by the rotary encoder provided in the lift motor MV1 are input.
- These servo amplifiers are operated in the position control mode, and the traveling servo amplifier SH1 is configured so that the traveling position of the traveling carriage 9 detected by the first traveling laser rangefinder 25 becomes the set target position.
- the motor drive output for the traveling motor MH1 of the first machine 3a is controlled.
- the lift servo amplifier SV1 is configured so that the lift position of the lift body UD detected by the first lift laser distance meter 23 is the set target position. In this manner, the motor drive output for the lift motor MV1 of the first machine 3a is controlled.
- the first crane control means 31 Based on the target travel position information transmitted from the No. 1 machine 3a, the first crane control means 31 has a travel servo amplifier SH1 that operates in the position control mode so that the travel position of the travel carriage 9 becomes the target travel position.
- Target travel position information as target position information is generated for each control cycle.
- the generated target travel position information is output from the communication port controlled by the communication control means 34 to the ground side communication unit 19a of the No. 1 wireless communication device 19.
- the traveling motor MH1 of the first car 3a is driven to rotate so that the traveling carriage 9 is located at the traveling position indicated by the target traveling position information.
- the first crane control means 31 is a lifting servo that operates in the position control mode so that the lifting position of the lifting body UD becomes the target lifting position based on the target lifting position information transmitted from the No. 1 machine 3a.
- Target travel position information as target position information of the amplifier SV1 is generated for each control cycle.
- the generated target lift position information is output from the communication port controlled by the communication control means 34 to the ground side communication unit 19a of the No. 1 wireless communication device 19.
- the lifting motor MV1 of the first machine 3a is rotationally driven so that the lifting body UD is positioned at the lifting position indicated by the target lifting position information.
- the ground-side controller H transmits the target travel position information and the target lift position information to the travel servo amplifier SH1 and the lift servo amplifier SV1 of the No. 1 machine 3a every control cycle, so that the travel of the No. 1 machine 3a is performed.
- the carriage 9 travels so as to be positioned at the travel position indicated by the target travel position information, and the lifting body UD of the first car 3a moves up and down so as to be positioned at the lift position indicated by the target lift position information.
- the ground side controller H performs the traveling servo amplifier SH2 of the second machine 3b and the elevator for every control cycle.
- the travel cart 9 of the second machine 3b travels to be located at the travel position indicated by the target travel position information, and the lift body of the second machine 3b.
- the UD moves up and down so as to be positioned at the lift position indicated by the target lift position information.
- the ground-side controller H sets the travel position of the traveling carriage 9 of the stacker crane 3 and the lift position of the lifting body UD in the width direction of the article placement surface in the placement transfer section of the article transfer device 12 (the path of the movement path 2).
- the center in the direction and the traveling direction of the traveling carriage 9) is managed as the representative position P (see FIG. 10) of the stacker crane 3 as the position of the representative position P as viewed in the longitudinal direction of the shelf.
- the horizontal direction of the shelf (traveling direction of the traveling carriage 9) is the horizontal axis (x-axis)
- the vertical direction of the shelf (lifting direction of the lifting body UD) is the vertical axis (y-axis).
- the traveling position of the traveling carriage 9 is managed as the x coordinate of the representative position P in the orthogonal coordinate system that is set, and the lifting position of the lifting body UD is managed as the y coordinate.
- the origin of this virtual orthogonal coordinate system is when the traveling carriage 9 is located at one end of the moving path 2 and the lifting body UD is located at the lower limit position, that is, the stacker crane at the home position HP.
- the coordinates of the representative position P when 3 is located are set.
- the traveling position of the traveling carriage 9 and the ascending / descending position of the elevating body UD will be expressed using the crane center coordinates P (x, y), and the crane center coordinates of the first machine 3a will be expressed as P1 (x1, y1).
- the crane center coordinate of Unit 3b is represented as P2 (x2, y2). That is, the traveling position of the traveling carriage 9 of the first car 3a is represented by x1, the raising / lowering position of the lifting body UD of the first car 3a is represented by y1, the traveling position of the traveling carriage 9 of the second machine 3b is x2, and the lifting body UD of the second machine 3b.
- the raising / lowering position of can be represented by y2.
- the crane center coordinates P (x, y) may be simply referred to as the position of the stacker crane 3.
- the control means of the crane in charge (one of the first crane control means 31 and the second crane control means 32). Or both) is the target travel position information based on the travel speed pattern for the article transport operation determined from the operation start position and the operation end position of the article transport operation for the crane in charge, and the target lift position information based on the lift speed pattern for the article transport operation. Is written to the output buffer.
- the interference avoidance control means 33 determines whether or not the first car 3a and the second car 3b are in a mutually approaching position where it is predicted that they will interfere with each other. In this process, when it is assumed that the traveling carriage 9 of the first car 3a and the traveling carriage 9 of the second car 3b at the current control timing are stopped at the set travel deceleration ⁇ H, the current position P1 (x1, y1 ), When there is an overlapping portion in the temporary braking range of each traveling carriage 9 moving from P2 (x2, y2), it is determined that the respective traveling positions of the pair of traveling carriages 9 are mutually approaching positions.
- the first unit 3a carries the article at the position P1 (x1, y1) and the operating speed V1 (Vx1, Vy1).
- the traveling carriage 9 of the No. 1 machine 3a is set at the set travel deceleration ⁇ H.
- the vertically movable body UD of the first mobile body 3a and second mobile body 3b may interfere with each other. Therefore, depending on whether or not the No. 1 temporary braking range VBW1 and the No. 2 temporary braking range VBW2 have portions that overlap each other, there is a possibility that the No. 1 3a and No. 2 3b may interfere in the subsequent article transport operation. In this case, the interference avoidance process described later can be executed without omission. Conversely, if there is a possibility that the No. 1 machine 3a and the No. 2 machine 3b do not interfere in the subsequent article transport operation, it is premature to perform the interference avoidance process, and at this control timing, the interference avoidance process is performed. Do not execute.
- FIGS. 7B and 7C in addition to FIG. 7A
- the temporary braking of No. 1 machine 3a and No. 2 machine 3b respectively.
- FIG. 7 (b) when both No. 1 machine 3a and No. 2 machine 3b carry out article conveyance operation as the cranes in charge and are running in the same direction, the temporary braking ranges of No. 1 machine 3a and No.
- FIG. 7C when only the No. 1 machine 3a performs the article conveying operation as the responsible crane and the No. 2 machine 3b is in the standby state as the non-in charge crane, that is, when the operating speed V2 of the No. 2 machine 3b is zero.
- Fig. 5 shows a case where the second machine 3b is located in the temporary braking range VBW1 of the first machine 3a.
- the first crane control means 31 of the ground side controller H calculates the traveling speed Vx1 of the traveling carriage 9 of the first unit 3a from the time change rate of the detection information of the first traveling laser rangefinder 25, and the first crane 3a of the first unit 3a.
- the lifting speed Vy1 of the lifting body UD is calculated from the time change rate of the detection information of the first traveling laser rangefinder 23, and the second crane control means 32 of the ground side controller H determines the traveling speed of the traveling carriage 9 of the second machine 3b.
- Vx2 is calculated from the time change rate of the detection information of the second traveling laser distance meter 29, and the lifting speed Vy2 of the lifting body UD of the second machine 3b is calculated from the time change rate of the detection information of the second traveling laser distance meter 27.
- the interference avoidance control means 33 determines whether or not it is the mutual approach position, the travel speed information of the traveling carriage 9 of the first car 3a calculated by the first crane control means 31 and the second crane control means 32. Calculate You can refer to the travel speed information of the traveling carriage 9 of No. 2 3b.
- step # 02 If it is determined that the positions are not close to each other in # 02, it is determined that it is not necessary to perform interference avoidance processing by the interference avoidance control means 33 at that control timing, the process proceeds to # 04, and the communication control means 34 waits for the control timing.
- step # 01 the first crane control unit 31 and the second crane control unit 32 output the target travel position information and the target lift position information about the crane in charge prepared in advance.
- the process proceeds to # 03, and the interference avoidance control unit 33 executes interference avoidance processing.
- the interference avoidance process a crane to be avoided is selected as necessary, and a target lifting position for the avoidance action for the avoidance operation target crane is calculated, and the first crane control means 31 and the first crane The target lift position information written in the output buffer by the crane control means 32 in # 01 is overwritten and changed. Since the amount of calculation in this interference avoidance process is an amount of calculation that can be completed by the next control timing, it can be returned to # 04 by the next control timing.
- the communication control means 34 causes the avoidance operation target lift position information for the avoidance operation target crane in the output buffer and the other stacker also in the output buffer.
- Target lift position information for the article transport operation for the crane 3 is output to the first machine 3a and the second machine 3b.
- step # 11 it is determined whether or not a passing of the traveling carriage 9 occurs after the current control timing.
- the current position P1 and operation end position P1e of No. 1 machine 3a and the current position P2 and operation end position P2e of No. 2 machine 3b are discriminated. If the order of the No. 1 machine 3a and No. 2 machine 3b in the traveling direction is switched when the article transport operation is completed, that is, if (x1-x2) ⁇ (x1e-x2e) ⁇ 0, a passing occurs. If the order of the No. 3a machine and the No. 2 machine 3b in the traveling direction does not change even when the article conveying operation is finished, that is, if (x1-x2) ⁇ (x1e-x2e)> 0, no passing occurs.
- the operation end position of each article transport operation is the storage section 6 or the loading / unloading section 5 at a position facing each other across the movement path 2, so that the operation end positions P1e and 2 of the first machine 3a
- the operation end position of the machine 3b overlaps as coordinates, or when the operation end position is located in a region in the coordinate plane occupied by a structure such as a motor cover provided in the traveling carriage 9 of the other crane in the standby state, etc. Since there is room for interference between Units 3a and 2b, verification processing for the presence or absence of interference between both cranes is subsequently performed in the processing of # 12 and subsequent steps.
- the representative dimensions of each part centered on the crane center coordinate P (x, y) of the stacker crane 3 used for setting the occupation area are stored in advance, and the crane center coordinate P With respect to (x, y), for example, the occupied width (XA + XB) and the occupied height (YA + YB) in the x direction of the elevating body UD, the occupied width (XE + XD) in the x direction of the traveling carriage 9 and The occupied height (YC) in the y direction is set.
- step # 101 it is determined whether the lifting bodies UD interfere with each other. If so, the process proceeds to # 104, and the interference determination value is set to “1”.
- step # 102 it is determined whether or not the lifting body UD interferes with the motor cover in the traveling truck 9 of the counterpart crane. If so, the process proceeds to step # 105 and the interference determination value is set to “2”.
- # 103 it is determined whether or not the lifting body UD interferes with the lifting guide mast 10 of the counterpart crane in the article transfer operation after the article transporting operation. If so, the process proceeds to # 106, and the interference determination value is “3. "Is set. If none of the interference modes apply, the interference judgment value is set to “0”, assuming that no interference occurs.
- the presence / absence of interference is determined based on the interference determination value set in the interference determination process of # 13. If the interference discrimination value is “0”, the interference avoidance control means 33 does not rewrite the target travel position information and the target lift position information for the No. 1 machine 3a and No. 2 machine 3b in the output buffer to those for avoidance operation. The interference avoidance process is terminated, and the control operation of the ground controller H returns to the main routine of FIG.
- both the first machine 3a and the second machine 3b are the cranes in charge, or one of them. It is determined whether only the crane is in charge. If both of the two units carry out the article transport operation as the responsible crane, the remaining operation time of each stacker crane 3 is calculated in # 16. That is, the longer one of the remaining travel operation time and the remaining lift operation time up to the operation end position P1e (x1e, y1e) of the first unit 3a is set as the remaining operation time of the first unit 3a.
- the remaining travel time is the time required to travel the remaining travel distance x1e-x1 from the current position P1 (x1, y1) of Unit 1 3a to the operation end position P1e (x1e, y1e). It is calculated based on V1 (Vx1, Vy1), set travel acceleration ⁇ H, and set travel deceleration ⁇ H.
- the remaining lifting operation time is the time required to lift and lower the remaining lifting distance y1e-y1 from the current position P1 (x1, y1) of Unit 1 3a to the operation end position P1e (x1e, y1e).
- the remaining operation time of Unit 1 3a is compared with the remaining operation time of Unit 2 3b, and the longer responsible crane is set as the crane to be avoided.
- the crane in charge of the short remaining conveyance time due to the article conveyance operation can advance the article conveyance operation, and the crane in charge of the long remaining operation time of the article conveyance operation is at least that of the counterpart crane in charge.
- the apparatus waits at the eviction position calculated in # 19.
- the ground controller H is configured to perform the interference avoidance process in such a manner that the operation of only one of the pair of stacker cranes 3 is controlled.
- the ground-side controller H performs the article transport operation as the responsible stacker crane for only one of the pair of stacker cranes 3
- the non-responsible stacker crane that is not performing the article transport operation of the pair of stacker cranes 3. 3 is configured to perform the interference avoidance processing in a form that controls the operation of No. 3.
- the ground-side controller H performs the article transport operation separately as the responsible stacker crane for both the pair of stacker cranes 3, the remaining operation time of the article transport operation is long among the pair of stacker cranes 3. Interference avoidance processing is performed in a form that controls the operation of the stacker crane.
- the crane center coordinate P of the avoidance operation target crane is positioned so as to be out of the occupation area of the opponent stacker crane 3.
- the eviction position for the avoidance operation target crane is set.
- No. 1 machine 3a and No. 2 machine 3b are in the positional relationship shown in FIGS. 1 and 2, and No. 1 machine 3a is operating an article transport as a responsible crane, and No. 2 machine 3b.
- the operation end position P1e (x1e, y1e) of No. 1 unit 3a is located in the occupied area of the lifting body UD of No. 2 unit 3b in the standby state as a non-charged crane
- No. 2 machine 3b which is a non-charged crane, is set as the avoidance operation target crane.
- the displacement position P2m (x2m, y2m) of the second machine 3b is calculated so that the distance in the x direction between the crane center coordinate P1e at the end position and the crane center coordinate P2 of the second machine 3b is separated by “XB + XB”.
- the avoidance operation target crane only moves in the traveling direction from the standby state, and thus P2m (x1e + 2 * XB, y2).
- the operation end position P1e (x1e, y1e) of the No. 1 machine 3a is the operation end position P2e (x2e, y2e).
- the displacement position P1m (x1m, y1m) of the first unit 3a is calculated so that the distance in the x direction (traveling direction of the traveling carriage 9, lateral direction of the shelf) with respect to the crane center coordinate P2e is separated by “XB + XE”.
- the movement trajectory including the portion drawn by the dotted line in the figure is the movement trajectory when the first unit 3a does not perform the operation for avoiding interference and advances the operation by the article conveying operation to the end.
- the ground-side controller H performs the first traveling laser distance meter 25, the second traveling laser distance meter 29, and the first lifting / lowering. Based on the detection information of the laser range finder 23 and the second lift laser range finder 27, in order to position the pair of traveling carts 9 and the pair of lifting bodies UD at non-interfering positions where the pair of stacker cranes 3 do not interfere, An interference avoidance process for controlling the operation of the pair of stacker cranes 3 is performed.
- the kicking position calculated in # 19 is actually a position where the stacker crane 3 to be avoided can be moved, specifically, the x coordinate of the kicking position. Is within the range of the moving path 2. If the x-coordinate of the eviction position is within the range of the movement path 2, the evasion position is set as the operation end position in order to avoid the evasion operation target crane to the eviction position, and then the process exits from the interference avoidance process. Return to the main routine.
- the first crane control means 31 or the second crane control means 32 performs the avoidance operation for the avoidance operation target crane as the target travel position information and the target lift position information at # 01 in FIG. (The target travel position information and the target lift position information to be output at the control timing in order to position the avoidance operation target crane at the eviction position) are generated.
- This process is a process of setting a pseudo operation end position for causing the avoidance operation target crane to travel in a direction opposite to the traveling direction toward the eviction position calculated in # 19.
- the first crane control means 31 or the second crane control means 32 performs the avoidance operation as the target travel position information and the target lift position information of the avoidance operation target crane.
- the target travel position information and the target lift position information to be output at the control timing in order to position the avoidance operation target crane at the operation end position set in the temporary operation end position setting process).
- the avoidance operation target crane performs a temporary article transport operation that is not based on the operation command. In this way, the avoidance operation target crane can avoid interference with the other stacker crane by moving toward the operation end position different from the initially calculated displacement position.
- the lifting position of the lifting body UD of the No. 1 machine 3a and the lifting position of the lifting body UD of the No. 2 machine 3b are set as a separation distance in which the pair of stacker cranes 3 can move without interference. If they are not separated in the ascending / descending direction by y_CL or more, the elevators UD interfere with each other when the first machine 3a and the second machine 3b pass each other.
- the interference avoidance control means 33 performs a postponement time T from when the traveling positions of the traveling carriages 9 of the first car 3a and the second car 3b become the mutual approaching position after the traveling position of the first car 3a and the second car 3b.
- the maximum ascending / descending range Z in which each elevating body UD can be ascended / descended is obtained, and the maximum ascending / descending ranges Z of the traveling carriages 9 of the first car 3a and the second car 3b overlap each other by being longer than the necessary separation distance y_CL.
- the interference target range that spreads in the up and down direction by the required separation distance y_CL around the lifting position of the lifting body UD of the non-charged crane is the maximum lifting range Z for the lifting body UD of the assigned stacker crane
- the lifting / lowering operation of the lifting / lowering body UD after the traveling positions of the traveling carriages 9 are different from each other is different from that of the article conveying operation.
- a and second mobile body 3b is to allow passing move without interfering with each other.
- the necessary separation distance y_CL is set to a constant value “YA + YB” without distinguishing whether the article transfer device 12 supports the article 4 (height dimension is YB or less).
- the crane in charge calculates the maximum lifting range Z in which the lifting body UD can move up and down within the grace period T from the current control timing.
- the grace time T is the travel operation in a mode in which the travel cart 9 that is running after the travel positions of the travel carts 9 of the first car 3a and the second car 3b are close to each other is decelerated at the set travel deceleration ⁇ H. It is time until it becomes an interference assumption traveling position where it is assumed that a pair of raising / lowering body interferes when it is made to do.
- the interference assumed traveling position a different position is adopted depending on how the first and second machines 3a and 3b pass.
- the traveling carts 9 of the No. 1 machine 3a and the No. 2 machine 3b are shown in FIG.
- Each traveling carriage when the relative traveling position relationship, that is, the x-coordinate x2 of the crane center coordinate P2 of the second machine 3b is larger by “XB + XB” than the x-coordinate x1 of the crane center coordinate P1 of the first machine 3a
- Nine running positions are assumed interference running positions.
- each of the first machine 3a and the second machine 3b are shifted from the arrangement order opposite to the arrangement order shown in FIGS. 1 and 2 and become the arrangement order shown in FIGS. 1 and 2, each of the first machine 3a and the second machine 3b
- the relative position of the traveling carriage 9 shown in FIG. 11A that is, the x coordinate x1 of the crane center coordinate P1 of the first machine 3a is larger by “XA + XA” than the x coordinate x2 of the crane center coordinate P2 of the second machine 3b.
- the traveling position of each traveling carriage 9 when the traveling position relationship is established is the interference assumed traveling position.
- the grace time T is a time when the vehicle is operated in a mode in which the vehicle is decelerated at the set travel deceleration ⁇ H as a time from the mutual approach position to the assumed interference travel position, thereby becoming the mutual approach position.
- the maximum lift range Z is estimated to be as large as possible, assuming a travel operation mode in which the time required to reach the interference assumed travel position is the longest among the travel operations by the article transport operation.
- step # 23 it is determined whether or not the interference between the pair of stacker cranes 3 does not occur. That is, it is determined whether the elevator UD of the first machine 3a and the second machine 3b does not interfere even if the article conveying operation for the assigned crane proceeds as it is.
- the interference avoidance control means 33 is: If the maximum lifting range Z1 of the lifting body UD of the No. 1 machine 3a and the maximum lifting range Z2 of the lifting body UD of the No. 2 machine 3b are separated from each other by longer than the necessary separation distance y_CL, a pair of stacker cranes It is determined that no interference occurs and no interference occurs.
- the interference avoidance control means 33 The interference target range that extends in the up and down direction by the required separation distance y_CL centering on the lifting position of the lifting body UD of the stacker crane 3 must overlap the maximum lifting range Z for the lifting body UD of the crane in charge. For example, it is determined that no interference occurs.
- both the No. 1 machine 3a and the No. 2 machine 3b operate to carry goods as the cranes in charge.
- the No. 1 machine 3a is located at the position P1 (x1, y1), Maximum lift range Z1 of the lifting body UD of Unit 1 3a when operating at speed V1 (Vx1, Vy1) and Unit 2 3b operating at position P2 (x2, y2) and speed V2 (Vx2, Vy2)
- the lower limit position yT1_min which is the lower end of the elevator, is located above the upper limit position yT2_max, which is the upper end of the maximum lift range Z2 of the lift body UD of the No. 2 machine 3b.
- lower limit position yT2_min which is the lower end of the maximum lifting range Z2 of the lifting body UD of the No. 2 machine 3b, is the upper limit position of lifting, which is the upper end of the maximum lifting range Z1 of the lifting body UD of the No. 1 machine 3a.
- yT1_max When located above yT1_max by more than the required separation distance y_CL (When yT2_min> yT1_max + y_CL is satisfied), it is determined that no interference occurs.
- the lower limit lower limit position yT1_min which is the lower end of the maximum lift range Z1 of the lift body UD, is located above the target upper limit position y2 + y_CL, which is the upper end of the interference target range for the lift body UD of the second machine 3b (yT1_min > Y2 + y_CL), and although not shown, the upper limit position yT1_max, which is the upper end of the maximum lifting range Z1 of the lifting body UD of the first machine 3a, is the interference target range for the lifting body UD of the second machine 3b.
- the target lower limit position y2-y_CL which is the lower end (yT1_max ⁇ y2-y_C If L is established), it is determined that no interference occurs.
- step # 23 If it is determined in step # 23 that no interference has occurred, the interference avoidance control means 33 terminates the interference avoidance process without rewriting the target lift position information for the No. 1 machine 3a and No. 2 machine 3b to those for avoidance operation.
- the control operation of the ground side controller H returns to the main routine of FIG.
- the interference avoiding process may perform the article transport operation without controlling the lifting operation of the pair of lifting bodies UD. If it is determined in the avoidance process that no interference has occurred, the lifting / lowering operation of the pair of lifting bodies UD is controlled so that the article conveying operation is performed in the form of controlling the pair of lifting bodies UD in the interference avoidance process. Has been.
- # 24 to # 26 are executed, and either one of the first machine 3a or the second machine 3b is set as the avoidance operation target crane. Note that the processing of # 24 to # 26 is the same as the processing of # 16 to # 18 that has already been described, and thus the description thereof is omitted.
- the avoidance elevating position is generated by the interference avoidance control means 33 in order to generate avoidance elevating position information for elevating the elevating body UD of the target crane by the elevating operation for avoidance operation in # 28.
- a calculation process is executed.
- the interference avoidance control means 33 overwrites the output buffer with the avoidance raising / lowering position information about the avoidance operation target crane obtained by this calculation process as the target raising / lowering position information about the stacker crane, and then ends the interference avoidance processing.
- the control operation of the side controller H returns to the main routine of FIG.
- the lifting position at the current control timing of the lifting body UD of the avoidance operation target crane is close to the lifting upper limit position yT_max, which is the upper end of the maximum lifting range of the counterpart stacker crane 3, or the lower limit lifting position yT_min It is determined whether it is close to. If it is close to the lifting upper limit position yT_max, the process proceeds to # 202, and the target lifting position of the lifting body UD of the avoidance operation target crane is set to “yT_max + y_CL”. When it is close to the lower limit position yT_min, the process proceeds to # 203, and the target lifting position of the lifting body UD of the avoidance operation target crane is set to “yT_min-y_CL”.
- the No. 1 machine 3a is operating to carry articles as the crane in charge
- the No. 2 machine 3b is set as the avoidance operation target crane
- the No. 1 machine 3a is located at the position P1 ( x1, y1), when operating at a speed V1 (Vx1, Vy1)
- the lift position y2 of the lift body UD of the second machine 3b is the lift that is the upper end of the maximum lift range Z1 of the lift body UD of the first machine 3a
- the target lifting position of the lifting body UD of the second machine 3b is set to “yT_max + y_CL”.
- the lifting body of the No. 2 machine 3b is close to the lifting lower limit position yT1_min which is the lower end of the maximum lifting range Z1 of the lifting body UD of the No. 1 machine 3a, the lifting body of the No. 2 machine 3b
- the target elevating position of UD is set to “yT_min-y_CL”.
- the stacker crane 3 set as the avoidance action target performs the running action and the lifting action for avoiding interference.
- each elevator UD is raised and lowered to a passing lifting position separated in the raising and lowering direction more than the required separation distance y_CL set as a separation distance that can be moved without passing by the No. 1 machine 3a and the No. 2 machine 3b, Interference between the first machine 3a and the second machine 3b can be avoided. That is, the ground side controller H is configured to execute the interference avoidance lifting process as the interference avoidance process.
- the No. 1 machine 3a and the No. 2 machine 3b operate as article cranes from the operation start positions P1s and P2s to the operation end positions P1e and P2e
- the movement trajectory including the portion drawn with a dotted line in the figure is a movement trajectory when the second machine 3b performs only the lifting / lowering operation by the article conveying operation and does not perform the lifting / lowering operation for avoiding interference.
- the interference avoidance process including the mutual avoidance raising / lowering process executed by the interference avoidance control means 33 will be described with reference to the flowchart shown in FIG. Since # 1 to # 23 in FIG. 17 are the same as the corresponding ones in FIG. 8, they will not be described here.
- the process proceeds to # 24, and avoidance for each lifting body UD for lifting and lowering both the lifting bodies UD by the lifting operation for avoiding operation.
- the interference avoidance control means 33 performs a mutual avoidance lift position calculation process.
- the required separation distance y_CL that is set as a separation distance that allows the pair of stacker cranes 3 to move without the interference between the elevator body UD of the first machine 3a and the elevator body UD of the second machine 3b.
- both the pair of lifting bodies UD are lifted and lowered by an interference avoiding lifting action different from the lifting action by the article transporting action.
- the ground-side controller H is configured to perform the mutual avoidance raising / lowering process.
- a difference G12 between the upper limit elevating position yT1_max in the maximum elevating range Z1 for the elevating body UD of the No. 1 machine 3a and the lower limit elevating position yT2_min in the maximum elevating range Z2 for the elevating body UD of the No. 2 machine 3b is calculated.
- the difference G21 between the lower limit lower limit position yT1_min in the maximum lift range Z1 for the lift body UD of the No. 1 machine 3a and the upper limit lift position yT2_max in the maximum lift range Z2 for the lift body UD of the No. 2 machine 3b is calculated.
- # 303 G12 and G21 are compared, and in # 304 and # 305, the target lift position of each of the first car 3a and the second car 3b is calculated based on the larger lift position difference. That is, when G12 is larger than G21, it is determined as Yes in # 303, and the process proceeds to # 304, where the target lifting position of the lifting body UD of the first unit 3a is set to “yT1_max ⁇ (G12 ⁇ y_CL) / 2” Then, the target lifting position of the lifting body UD of the second machine 3b is set to “yT2_min + (G12 ⁇ y_CL) / 2”.
- the interference avoidance control means 33 ends the mutual avoidance lift position calculation process and ends the interference avoidance process when the target lift position for each lifting body UD of the first car 3a and the second car 3b is set for the avoidance operation. Then, the control operation of the ground controller H returns to the main routine of FIG.
- the target lift position for the lift body UD of the No. 1 machine 3a and the target lift position for the lift body UD of the No. 2 machine 3b are set, whereby both the No. 1 machine 3a and the No. 2 machine 3b are set.
- the lifting / lowering operation of the pair of lifting bodies UD is controlled so as to ensure the necessary separation distance y_CL by the lifting / lowering operation. Therefore, the lifting operation amount for avoiding the interference that should be borne by each of the lifting bodies UD of the No. 1 unit 3a and the No. 2 unit 3b can be uniformly distributed, so that the No. 1 unit 3a and the No. 2 unit 3b are driven by a pure article transport operation.
- the degree of deviation from the planned movement trajectory is made as small as possible, and the elevators UD are separated from each other as soon as possible after the traveling positions of the traveling carriages 9 of the first car 3a and the second car 3b become close to each other. It can be moved up and down to a passing lifting position separated by a distance higher than the distance.
- both the No. 1 machine 3a and the No. 2 machine 3b operate to carry goods as the cranes in charge, and at this control timing, the No. 1 machine 3a has a position P1 (x1, y1), a speed V1 ( Vx1, Vy1), and when Unit 2 3b is operating at position P2 (x2, y2) and speed V2 (Vx2, Vy2), at the lower end of the maximum lift range Z1 of the elevator UD of Unit 1 3a More than the difference G21 between a certain lift lower limit position yT1_min and the lift upper limit position yT2_max which is the upper end of the maximum lift range Z2 of the lift body UD of the No.
- the lift upper limit which is the upper end of the maximum lift range Z1 of the lift body UD of the No. 1 machine 3a
- the difference G12 between the position yT1_max and the lift lower limit position yT2_min that is the lower end of the maximum lift range Z2 of the lift body UD of the second machine 3b is larger, the remaining amount obtained by subtracting the required separation distance y_CL from the lift position difference G12 Is the upper end of the maximum lift range Z1 of Unit 1a.
- the position on both lower sides divided from the upper / lower upper limit position yT1_max is set as the target lifting position for the lifting body UD of the first unit 3a, and is divided into two from the lower limit position yT2_min which is the lower end of the maximum lifting range Z2 of the second unit 3b.
- the positions above both of them are set as the target lifting position for the lifting body UD of the second machine 3b.
- ground side controller H updates and sets the target lifting position information for each lifting body UD according to the operating state (position and operating speed) of the stacker crane 3 at that time, for each control timing, Both UDs can be accurately moved up and down to the passing up and down position, and a useless amount of lifting operation can be suppressed as much as possible.
- the No. 1 machine 3a operates as the crane in charge from the operation start position P1s to the operation end position P1e, and the No. 2 machine 3b stops in the standby state as the non-charge crane.
- the traveling positions of the traveling carriages 9 of the first car 3a and the second car 3b become the mutual approaching position, the lifting bodies UD of the first car 3a and the second car 3b are avoided to the passing lift position (P2n for the second car 3b).
- movement is performed and interference with the 1st machine 3a and the 2nd machine 3b is avoided.
- the movement trajectory including the portion depicted by the dotted line in the figure is a movement trajectory when the first car 3a performs only the lifting / lowering operation by the article conveying operation and does not perform the lifting / lowering operation for avoiding interference.
- both the No. 1 machine 3a and the No. 2 machine 3b operate as article cranes from the operation start positions P1s and P2s to the operation end positions P1e and P2e, the No. 1 machine 3a and When the traveling position of the traveling carriage 9 of the No. 2 machine 3b becomes a mutual approaching position, both the elevator bodies UD of the No. 1 machine 3a and the No. 2 machine 3b perform the raising / lowering action different from the raising / lowering action by the article conveying action, and the raising / lowering position for passing. By moving up and down so as to be located, interference between the first machine 3a and the second machine 3b is avoided.
- the movement trajectory including the portion drawn by the dotted line in the figure is a movement trajectory when the first car 3a and the second car 3b perform only the lifting / lowering operation by the article conveying operation and do not perform the lifting / lowering operation for avoiding interference.
- the ground-side controller H performs the first traveling laser distance meter 25, the second traveling laser distance meter 29, and the first lifting / lowering.
- the pair of stacker cranes 3 in order to position the pair of lifting bodies UD at the non-interfering positions where the pair of stacker cranes 3 do not interfere based on the detection information of the laser distance meter 23 for use and the second laser rangefinder 27 for raising and lowering.
- Interference avoidance raising / lowering processing for controlling the raising / lowering operation of the raising / lowering body UD is performed.
- the ground-side controller H manages whether it is an actual conveyance operation or an empty conveyance operation, and in the interference avoidance process, as the value of the required separation distance y_CL, the first machine 3a and the second machine 3b Different values may be used depending on the type of transport operation (depending on the presence or absence of an article).
- the interference avoiding process is described for controlling the operation of only one of the No. 1 machine 3a or the No. 2 machine 3b.
- both the No. 1 machine 3a and the No. 2 machine 3b are controlled. It may control the operation.
- an inter-vehicle distance detection means for detecting an inter-vehicle distance between the traveling carriages of the pair of stacker cranes is provided on both or only one of the pair of stacker cranes.
- the means may determine whether or not it is a mutual approach position based on the inter-vehicle distance information detected by the inter-vehicle distance detection means.
- the control unit is configured by the ground-side controller H.
- the present invention is not limited thereto, and the control unit is installed on the ground side and the operation start position information based on the operation command and
- the management controller that transmits the operation end position information to the No. 1 machine 3a and the No. 2 machine 3b, and the operation of the No. 1 machine 3a based on the operation start position information and the operation end position information mounted on the No. 1 machine 3a from the management controller.
- a first crane controller to be controlled, and a second crane controller 32 which is mounted on the second machine 3b and controls the operation of the second machine 3b based on the operation start position information and the operation end position information from the management controller.
- the specific configuration of the control means may be changed as appropriate.
- control unit instructs the target travel position information and the target lift position information to control the operation of the pair of stacker cranes.
- the travel speed information and the target lifting speed information may be commanded to control the operation of the pair of stacker cranes, and various command information commanded by the control means can be applied.
- the first and second machines 3a and 3b are caused to travel after the raising and lowering positions of the pair of raising and lowering bodies UD are previously positioned at the raising and lowering positions for passing.
- the timing for performing the mutual avoidance raising / lowering process can be appropriately changed, such as starting the raising / lowering operation by the article conveying operation after the second machine 3b passes.
- the present invention can be used for an article storage facility in which a stacker crane is used.
- UD Lifting body H Control means ⁇ H Set deceleration VBW1, VBW2 Temporary braking range P1m (x1m, y1m) Non-interference position P2m (x2m, y2m) Non-interference position P2n (x2, y2n) Passing lift position, non-interference position y_CL Necessary separation distance T Grace time Z Maximum lifting range 1 Article storage shelf 2 Movement path 3 Stacker crane 4 Article 6 Storage section 7 Traveling guide rail 9 Traveling carriage 10 Lifting guide mast 11 Lifting base 12 Article transfer device 23, 27 Lifting position Detection means 25, 29 Traveling position detection means 31 First crane control means 32 Second crane control means
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Abstract
Description
前記相互回避昇降処理において前記干渉不発生状態であると判別した場合は、前記相互回避昇降処理では前記一対の昇降体の昇降作動を制御しない形態で前記物品搬送作動を行わせるべく、かつ、前記相互回避昇降処理において前記干渉不発生状態でないと判別した場合は、前記相互回避昇降処理で前記一対の昇降体を制御する形態で前記物品搬送作動を行わせるべく、前記一対の昇降体の双方の昇降作動を制御するように構成されていることが好ましい。
#11で今回の制御タイミング以降に、走行台車9のすれ違いが発生するか否かが判別される。1号機3a及び2号機3bの双方が担当クレーンである場合は、1号機3aの現在位置P1及び作動終了位置P1eと2号機3bの現在位置P2及び作動終了位置P2eとから判別する。1号機3a及び2号機3bの走行方向での並び順が、物品搬送作動が終了すると入れ替わる場合、すなわち、(x1-x2)・(x1e-x2e)<0であれば、すれ違いが発生し、1号機3a及び2号機3bの走行方向での並び順が、物品搬送作動が終了しても入れ替わらない場合すなわち、(x1-x2)・(x1e-x2e)>0であればすれ違いは発生しない。
図17において、#23で干渉不発生状態であると判別されなれければ、#24へ移行し、昇降体UDの双方を回避作動用の昇降作動で昇降させるための各昇降体UDについての回避昇降位置情報を生成するべく、干渉回避制御手段33は相互回避昇降位置算出処理を実行する。
(1)上記実施形態において、地上側コントローラHが実搬送作動であるか空搬送作動であるかを管理し、干渉回避処理において、必要離間距離y_CLの値として、1号機3a及び2号機3bの搬送作動種別に応じて(物品の有無に応じて)異なる値を用いてもよい。
H 制御手段
βH 設定減速度
VBW1,VBW2 仮制動範囲
P1m(x1m,y1m) 非干渉位置
P2m(x2m,y2m) 非干渉位置
P2n(x2,y2n) すれ違い用昇降位置、非干渉位置
y_CL 必要離間距離
T 猶予時間
Z 最大昇降範囲
1 物品収納棚
2 移動経路
3 スタッカークレーン
4 物品
6 収納部
7 走行案内レール
9 走行台車
10 昇降案内マスト
11 昇降台
12 物品移載装置
23、27 昇降位置検出手段
25、29 走行位置検出手段
31 第1クレーン制御手段
32 第2クレーン制御手段
Claims (23)
- 物品を収納する複数の収納部を上下方向及び左右方向に並べて備えた物品収納棚と、
前記物品収納棚の前面側において棚横幅方向に沿って設けられた移動経路を移動するよう構成されたスタッカークレーンが一対設けられ、
前記一対のスタッカークレーンの夫々が、前記移動経路に沿う走行案内レールによって案内される走行台車と、前記走行台車から立設された昇降案内マストによって案内されて昇降するよう構成された昇降台及びこの昇降台に設けられて前記物品収納部に物品を移載可能な物品移載装置からなる昇降体とを備え、
前記一対のスタッカークレーンの夫々の走行台車の走行位置を検出する一対の走行位置検出手段と、
前記一対のスタッカークレーンの夫々の昇降体の昇降位置を検出する一対の昇降位置検出手段と、
前記一対の走行位置検出手段及び前記一対の昇降位置検出手段の検出情報に基づいて、前記一対のスタッカークレーンの作動を制御する制御手段とが設けられた物品収納設備であって、
前記制御手段が、前記収納部に対する入出庫を行う物品搬送についての運転指令が指令されると、前記運転指令に基づいて、前記運転指令による物品搬送を担当する担当スタッカークレーンについての物品搬送作動を制御するように構成され、かつ、前記担当スタッカークレーンの物品搬送作動を制御する間は、前記一対の走行位置検出手段の検出情報に基づいて、前記一対のスタッカークレーンの一対の走行台車の夫々の走行位置を管理して、前記一対の走行台車の夫々の走行位置が、前記一対のスタッカークレーンが干渉することが予測される相互接近位置であるか否かを設定周期毎に判別し、前記一対の走行台車の夫々の走行位置が前記相互接近位置である場合は、前記一対の走行位置検出手段及び前記一対の昇降位置検出手段の検出情報に基づいて、前記一対の走行台車及び前記一対の昇降体を、前記一対のスタッカークレーンが干渉しない非干渉位置に位置させるべく、前記一対のスタッカークレーンの作動を制御する干渉回避処理を行なうように構成されている物品収納設備。 - 前記制御手段が、前記一対の走行台車の夫々を設定減速度にて停止させたと仮定した場合に停止するまでに現在位置から移動する各走行台車の仮制動範囲に重複する部分がある場合に、前記一対の走行台車の夫々の走行位置が相互接近位置であると判別するように構成されている請求項1記載の物品収納設備。
- 前記制御手段が、前記一対のスタッカークレーンのうち何れか一方のみの作動を制御する形態で前記干渉回避処理を行うように構成されている請求項1又は2記載の物品収納設備。
- 前記制御手段が、前記一対のスタッカークレーンの一方のみについて前記担当スタッカークレーンとして前記物品搬送作動を行わせている場合は、前記一対のスタッカークレーンのうち前記物品搬送作動を行っていない非担当スタッカークレーンの作動を制御する形態で前記干渉回避処理を行うように構成されている請求項3記載の物品収納設備。
- 前記制御手段が、前記一対のスタッカークレーンの双方について前記担当スタッカークレーンとして各別に前記物品搬送作動を行わせている場合は、前記一対のスタッカークレーンのうち前記物品搬送作動の残作動時間が長い前記担当スタッカークレーンの作動を制御する形態で前記干渉回避処理を行うように構成されている請求項3記載の物品収納設備。
- 前記走行案内レールとして、棚前後方向で間隔を隔てて互いに並行に設置された一対の走行案内レールが設けられ、
前記一対のスタッカークレーンとして、前記走行台車が前記一対の走行案内レールのうちの一方にて案内され、前記昇降案内マストが前記走行台車に設けられたスタッカークレーンと、前記走行台車が前記一対の走行案内レールのうちの他方にて案内され、前記昇降案内マストが前記走行台車に設けられたスタッカークレーンとが設けられ、
前記一対のスタッカークレーンの夫々が互いにすれ違い移動できるように、前記一対の昇降体は、相手側のスタッカークレーンの前記昇降体と棚前後方向で重複する部分を備えかつ相手方のスタッカークレーンの前記昇降案内マストに達しないように前記昇降案内マストから棚前後方向に延びる状態で設けられ、
前記制御手段が、前記干渉回避処理として、前記一対の昇降体を、前記一対のスタッカークレーンが干渉することなくすれ違い移動できる離間距離として設定される必要離間距離以上昇降方向で離間したすれ違い用昇降位置に昇降させるべく、前記一対の昇降体の昇降作動を制御する干渉回避用昇降処理を実行するように構成されている請求項1又は2記載の物品収納設備。 - 前記制御手段が、前記干渉回避用昇降処理において、前記一対の走行台車の夫々の走行位置が前記相互接近位置になってから走行作動中の前記走行台車を設定減速度にて減速させる態様で走行作動させた場合に前記一対の昇降体が干渉すると仮定される干渉仮定走行位置になるまでの猶予時間内に前記物品搬送作動により前記昇降体が昇降し得る昇降範囲である最大昇降範囲を前記担当スタッカークレーンの前記昇降体について求め、前記一対のスタッカークレーンの双方を前記担当スタッカークレーンとして前記物品搬送作動させているときは、前記一対の昇降体の夫々についての前記最大昇降範囲が相互に前記必要離間距離よりも長く離れることにより互いに重複していなければ、前記一対のスタッカークレーンの干渉が発生しない干渉不発生状態であると判別し、前記一対のスタッカークレーンの一方のみを前記担当スタッカークレーンとして前記物品搬送作動させているときは、他方の前記スタッカークレーンの前記昇降体の昇降位置を中心として前記必要離間距離だけ昇降方向の上下両側に広がりをもつ干渉対象範囲が、前記担当スタッカークレーンの前記昇降体についての前記最大昇降範囲と重複していなければ、前記干渉不発生状態であると判別するように構成され、且つ、
前記干渉回避用昇降処理において前記干渉不発生状態であると判別した場合は、前記干渉回避用昇降処理では前記一対の昇降体の昇降作動を制御しない形態で前記物品搬送作動を行わせるべく、かつ、前記干渉回避用昇降処理において前記干渉不発生状態でないと判別した場合は、前記干渉回避用昇降処理で前記一対の昇降体を制御する形態で前記物品搬送作動を行わせるべく、前記一対の昇降体の昇降作動を制御するように構成されている請求項6記載の物品収納設備。 - 前記走行案内レールとして、棚前後方向で間隔を隔てて互いに並行に設置された一対の案内レールが設けられ、
前記一対のスタッカークレーンとして、前記走行台車が前記一対の走行案内レールのうちの一方にて案内され、前記昇降案内マストが前記走行台車に設けられたスタッカークレーンと、前記走行台車が前記一対の走行案内レールのうちの他方にて案内され、前記昇降案内マストが前記走行台車に設けられたスタッカークレーンとが設けられ、
前記一対のスタッカークレーンの夫々が互いにすれ違い移動できるように、前記一対の昇降体は、相手側のスタッカークレーンの前記昇降体と棚前後方向で重複する部分を備えかつ相手方のスタッカークレーンの前記昇降案内マストに達しないように前記昇降案内マストから棚前後方向に延びる状態で設けられ、
前記制御手段が、
前記一対のスタッカークレーンの物品搬送作動を制御する場合に、前記一対の走行位置検出手段及び前記一対の昇降位置検出手段の検出情報に基づいて、前記一対のスタッカークレーンの一対の走行台車の夫々の走行位置及び前記一対のスタッカークレーンの一対の昇降体の夫々の昇降位置を管理して、前記一対の昇降体を、前記一対のスタッカークレーンが干渉することなくすれ違い移動できる離間距離として設定される必要離間距離以上昇降方向で離間したすれ違い用昇降位置に昇降させるべく、前記一対の昇降体の双方を、前記物品搬送作動による昇降作動とは異なる干渉回避用の昇降作動にて昇降させる相互回避昇降処理を、前記干渉回避処理として行なうように構成されている請求項1記載の物品収納設備。 - 前記制御手段が、前記一対の走行台車の夫々を設定減速度にて停止させたと仮定した場合に停止するまでに現在位置から移動する各走行台車の仮想制動範囲に移動経路方向で重複する部分がある場合に、前記一対の走行台車の走行位置が前記相互接近位置であると判別するように構成されている請求項8記載の物品収納設備。
- 前記制御手段が、前記相互回避昇降処理において、前記一対の走行台車の夫々の走行位置が前記相互接近位置になってから走行作動中の前記走行台車を設定減速度にて減速させる態様で走行作動させた場合に前記一対の昇降体が干渉すると仮定される干渉仮定走行位置になるまでの猶予時間内に前記物品搬送作動により前記昇降体が昇降し得る昇降範囲である最大昇降範囲を前記担当スタッカークレーンの前記昇降体について求め、前記一対のスタッカークレーンの双方を前記担当スタッカークレーンとして前記物品搬送作動させているときは、前記一対の昇降体の夫々についての前記最大昇降範囲が相互に前記必要離間距離よりも長く離れることにより互いに重複していなければ、前記一対のスタッカークレーンの干渉が発生しない干渉不発生状態であると判別し、前記一対のスタッカークレーンの一方のみを前記担当スタッカークレーンとして前記物品搬送作動させているときは、他方の前記スタッカークレーンの前記昇降体の昇降位置を中心として前記必要離間距離だけ昇降方向に広がりをもつ干渉対象範囲が、前記担当スタッカークレーンの前記昇降体についての前記最大昇降範囲と重複していなければ、前記干渉不発生状態であると判別するように構成され、且つ、
前記相互回避昇降処理において前記干渉不発生状態であると判別した場合は、前記相互回避昇降処理では前記一対の昇降体の昇降作動を制御しない形態で前記物品搬送作動を行わせるべく、かつ、前記相互回避昇降処理において前記干渉不発生状態でないと判別した場合は、前記相互回避昇降処理で前記一対の昇降体を制御する形態で前記物品搬送作動を行わせるべく、前記一対の昇降体の双方の昇降作動を制御するように構成されている請求項8又は9項記載の物品収納設備。 - 前記制御手段が、
前記運転指令に対応して生成される物品搬送作動用走行パターン及び物品搬送作動用昇降パターンに基づいて設定制御周期毎に更新生成される前記走行台車についての目標走行位置及び前記昇降体についての目標昇降位置を前記設定制御周期毎に指令することで、前記担当スタッカークレーンについての前記物品搬送作動を制御するように構成され、かつ、
前記相互回避昇降処理として、前記担当スタッカークレーンについて、前記物品搬送作動用昇降パターンに基づいて規定される前記昇降体についての前記目標昇降位置に代えて、前記一対のスタッカークレーンの前記昇降体の昇降位置及び昇降速度、並びに、前記必要離間距離に基づいて更新生成される干渉回避用の目標昇降位置を前記設定制御周期毎に指令することで、前記一対の昇降体を前記すれ違い用昇降位置に昇降させるべく、前記一対の昇降体の双方の昇降作動を制御するように構成されている請求項8又は9記載の物品収納設備。 - 前記制御手段が、地上側に設置され、かつ、前記一対のスタッカークレーンのうち一方のスタッカークレーンの作動を制御する第1クレーン制御手段と、他方のスタッカークレーンの作動を制御する第2クレーン制御手段とを備えて構成されている請求項8又は9記載の物品収納設備。
- 物品を収納する複数の収納部を上下方向及び左右方向に並べて備えた物品収納棚と、
前記物品収納棚の前面側において棚横幅方向に沿って設けられた移動経路を移動するよう構成されたスタッカークレーンが一対設けられ、
前記一対のスタッカークレーンの夫々が、前記移動経路に沿う走行案内レールによって案内される走行台車と、前記走行台車から立設された昇降案内マストによって案内されて昇降するよう構成された昇降台及びこの昇降台に設けられて前記物品収納部に物品を移載可能な物品移載装置からなる昇降体とを備え、
前記一対のスタッカークレーンの夫々の走行台車の走行位置を検出する一対の走行位置検出手段と、
前記一対のスタッカークレーンの夫々の昇降体の昇降位置を検出する一対の昇降位置検出手段と、
前記一対の走行位置検出手段及び前記一対の昇降位置検出手段の検出情報に基づいて、前記一対のスタッカークレーンの作動を制御する制御手段とが設けられた物品収納設備の作動方法であって、
前記収納部に対する入出庫を行う物品搬送についての運転指令を生成するステップと、
前記運転指令に基づいて、前記運転指令による物品搬送を担当する担当スタッカークレーンについての物品搬送作動を制御するステップと、
前記担当スタッカークレーンの物品搬送作動を制御する間は、前記一対の走行位置検出手段の検出情報に基づいて、前記一対のスタッカークレーンの一対の走行台車の夫々の走行位置を管理して、前記一対の走行台車の夫々の走行位置が、前記一対のスタッカークレーンが干渉することが予測される相互接近位置であるか否かを設定周期毎に判別するステップと、
前記一対の走行台車の夫々の走行位置が前記相互接近位置である場合は、前記一対の走行位置検出手段及び前記一対の昇降位置検出手段の検出情報に基づいて、前記一対の走行台車及び前記一対の昇降体を、前記一対のスタッカークレーンが干渉しない非干渉位置に位置させるべく、前記一対のスタッカークレーンの作動を制御する干渉回避処理を行なうステップが含まれる物品収納設備の作動方法。 - 前記相互接近位置であるか否かを設定周期毎に判別するステップは、前記一対の走行台車の夫々を設定減速度にて停止させたと仮定した場合に停止するまでに現在位置から移動する各走行台車の仮制動範囲に重複する部分がある場合に、前記一対の走行台車の夫々の走行位置が相互接近位置であると判別するステップを含む請求項13記載の物品収納設備の作動方法。
- 前記干渉回避処理を行なうステップでは、前記一対のスタッカークレーンのうち何れか一方のみの作動が制御される形態で前記干渉回避処理が行われる請求項13又は14記載の物品収納設備の作動方法。
- 前記干渉回避処理を行なうステップでは、
前記一対のスタッカークレーンの一方のみを前記担当スタッカークレーンとして前記物品搬送作動を行わせている場合は、前記一対のスタッカークレーンのうち前記物品搬送作動を行っていない非担当スタッカークレーンの作動を制御する形態で前記干渉回避処理が行われる請求項15記載の物品収納設備の作動方法。 - 前記干渉回避処理を行なうステップでは、
前記一対のスタッカークレーンの双方を前記担当スタッカークレーンとして各別に前記物品搬送作動を行わせている場合は、前記一対のスタッカークレーンのうち前記物品搬送作動の残作動時間が長い前記担当スタッカークレーンの作動を制御する形態で前記干渉回避処理が行われる請求項15記載の物品収納設備の作動方法。 - 前記走行案内レールとして、棚前後方向で間隔を隔てて互いに並行に設置された一対の走行案内レールが設けられ、
前記一対のスタッカークレーンとして、前記走行台車が前記一対の走行案内レールのうちの一方にて案内され、前記昇降案内マストが前記走行台車に設けられたスタッカークレーンと、前記走行台車が前記一対の走行案内レールのうちの他方にて案内され、前記昇降案内マストが前記走行台車に設けられたスタッカークレーンとが設けられ、
前記一対のスタッカークレーンの夫々が互いにすれ違い移動できるように、前記一対の昇降体は、相手側のスタッカークレーンの前記昇降体と棚前後方向で重複する部分を備えかつ相手方のスタッカークレーンの前記昇降案内マストに達しないように前記昇降案内マストから棚前後方向に延びる状態で設けられ、
前記干渉回避処理を行なうステップには、
前記一対の昇降体を、前記一対のスタッカークレーンが干渉することなくすれ違い移動できる離間距離として設定される必要離間距離以上昇降方向で離間したすれ違い用昇降位置に昇降させるべく、前記一対の昇降体の昇降作動を制御する干渉回避用昇降処理を行うステップが含まれる請求項13又は14記載の物品収納設備の作動方法。 - 前記干渉回避用昇降処理を行うステップは、
前記一対の走行台車の夫々の走行位置が前記相互接近位置になってから走行作動中の前記走行台車を設定減速度にて減速させる態様で走行作動させた場合に前記一対の昇降体が干渉すると仮定される干渉仮定走行位置になるまでの猶予時間内に前記物品搬送作動により前記昇降体が昇降し得る昇降範囲である最大昇降範囲を前記担当スタッカークレーンの前記昇降体について求めるステップと、
前記一対のスタッカークレーンの双方を前記担当スタッカークレーンとして前記物品搬送作動させているときは、前記一対の昇降体の夫々についての前記最大昇降範囲が相互に前記必要離間距離よりも長く離れることにより互いに重複していなければ、前記一対のスタッカークレーンの干渉が発生しない干渉不発生状態であると判別するステップと、
前記一対のスタッカークレーンの一方のみを前記担当スタッカークレーンとして前記物品搬送作動させているときは、他方の前記スタッカークレーンの前記昇降体の昇降位置を中心として前記必要離間距離だけ昇降方向の上下両側に広がりをもつ干渉対象範囲が、前記担当スタッカークレーンの前記昇降体についての前記最大昇降範囲と重複していなければ、前記干渉不発生状態であると判別するステップとを含み、
前記干渉回避用昇降処理を行うステップにおいて、
前記干渉不発生状態であると判別した場合は、前記干渉回避用昇降処理では前記一対の昇降体の昇降作動を制御しない形態で前記物品搬送作動を行わせるべく、かつ、前記干渉回避用昇降処理において前記干渉不発生状態でないと判別した場合は、前記干渉回避用昇降処理で前記一対の昇降体を制御する形態で前記物品搬送作動を行わせるべく、前記一対の昇降体の昇降作動が制御される請求項18記載の物品収納設備の作動方法。 - 前記走行案内レールとして、棚前後方向で間隔を隔てて互いに並行に設置された一対の案内レールが設けられ、
前記一対のスタッカークレーンとして、前記走行台車が前記一対の走行案内レールのうちの一方にて案内され、前記昇降案内マストが前記走行台車に設けられたスタッカークレーンと、前記走行台車が前記一対の走行案内レールのうちの他方にて案内され、前記昇降案内マストが前記走行台車に設けられたスタッカークレーンとが設けられ、
前記一対のスタッカークレーンの夫々が互いにすれ違い移動できるように、前記一対の昇降体は、相手側のスタッカークレーンの前記昇降体と棚前後方向で重複する部分を備えかつ相手方のスタッカークレーンの前記昇降案内マストに達しないように前記昇降案内マストから棚前後方向に延びる状態で設けられ、
前記作動方法には、
前記一対のスタッカークレーンの物品搬送作動を制御する場合に、前記一対の走行位置検出手段及び前記一対の昇降位置検出手段の検出情報に基づいて、前記一対のスタッカークレーンの一対の走行台車の夫々の走行位置及び前記一対のスタッカークレーンの一対の昇降体の夫々の昇降位置を管理するステップが含まれ、
前記干渉回避処理を行なうステップには、
前記一対の昇降体を、前記一対のスタッカークレーンが干渉することなくすれ違い移動できる離間距離として設定される必要離間距離以上昇降方向で離間したすれ違い用昇降位置に昇降させるべく、前記一対の昇降体の双方を、前記物品搬送作動による昇降作動とは異なる干渉回避用の昇降作動にて昇降させる相互回避昇降処理を行うステップが含まれる請求項13記載の物品収納設備の作動方法。 - 前記相互接近位置であるか否かを設定周期毎に判別するステップは、
前記一対の走行台車の夫々を設定減速度にて停止させたと仮定した場合に停止するまでに現在位置から移動する各走行台車の仮想制動範囲に移動経路方向で重複する部分がある場合に、前記一対の走行台車の走行位置が前記相互接近位置であると判別するステップを含む請求項20記載の物品収納設備の作動方法。 - 前記相互回避昇降処理を行うステップは、
前記一対の走行台車の夫々の走行位置が前記相互接近位置になってから走行作動中の前記走行台車を設定減速度にて減速させる態様で走行作動させた場合に前記一対の昇降体が干渉すると仮定される干渉仮定走行位置になるまでの猶予時間内に前記物品搬送作動により前記昇降体が昇降し得る昇降範囲である最大昇降範囲を前記担当スタッカークレーンの前記昇降体について求めるステップと、
前記一対のスタッカークレーンの双方を前記担当スタッカークレーンとして前記物品搬送作動させているときは、前記一対の昇降体の夫々についての前記最大昇降範囲が相互に前記必要離間距離よりも長く離れることにより互いに重複していなければ、前記一対のスタッカークレーンの干渉が発生しない干渉不発生状態であると判別するステップと、
前記一対のスタッカークレーンの一方のみを前記担当スタッカークレーンとして前記物品搬送作動させているときは、他方の前記スタッカークレーンの前記昇降体の昇降位置を中心として前記必要離間距離だけ昇降方向に広がりをもつ干渉対象範囲が、前記担当スタッカークレーンの前記昇降体についての前記最大昇降範囲と重複していなければ、前記干渉不発生状態であると判別するステップとを含み、
前記相互回避昇降処理を行うステップにおいて、
前記干渉不発生状態であると判別した場合は、前記相互回避昇降処理では前記一対の昇降体の昇降作動を制御しない形態で前記物品搬送作動を行わせるべく、かつ、前記相互回避昇降処理において前記干渉不発生状態でないと判別した場合は、前記相互回避昇降処理で前記一対の昇降体を制御する形態で前記物品搬送作動を行わせるべく、前記一対の昇降体の双方の昇降作動が制御される請求項20又は21項記載の物品収納設備の作動方法。 - 前記担当スタッカークレーンについての物品搬送作動を制御する前記ステップには、
前記運転指令に対応して生成される物品搬送作動用走行パターン及び物品搬送作動用昇降パターンに基づいて設定制御周期毎に更新生成される前記走行台車についての目標走行位置及び前記昇降体についての目標昇降位置を前記設定制御周期毎に指令するステップが含まれ、かつ、
前記相互回避昇降処理を行うステップには、
前記担当スタッカークレーンについて、前記物品搬送作動用昇降パターンに基づいて規定される前記昇降体についての前記目標昇降位置に代えて、前記一対のスタッカークレーンの前記昇降体の昇降位置及び昇降速度、並びに、前記必要離間距離に基づいて更新生成される干渉回避用の目標昇降位置を前記設定制御周期毎に指令することで、前記一対の昇降体を前記すれ違い用昇降位置に昇降させるべく、前記一対の昇降体の双方の昇降作動を制御するステップが含まれる請求項20又は21記載の物品収納設備の作動方法。
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Also Published As
Publication number | Publication date |
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ES2568524T3 (es) | 2016-04-29 |
DK2332859T3 (en) | 2016-03-29 |
TWI462861B (zh) | 2014-12-01 |
EP2332859A4 (en) | 2013-08-07 |
US9221604B2 (en) | 2015-12-29 |
US20110276175A1 (en) | 2011-11-10 |
CN102143899B (zh) | 2013-12-04 |
EP2332859A1 (en) | 2011-06-15 |
TW201022105A (en) | 2010-06-16 |
KR101489718B1 (ko) | 2015-02-04 |
EP2332859B1 (en) | 2016-01-06 |
KR20110050650A (ko) | 2011-05-16 |
CN102143899A (zh) | 2011-08-03 |
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