WO2011155001A1 - Conveyor system - Google Patents

Conveyor system Download PDF

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Publication number
WO2011155001A1
WO2011155001A1 PCT/JP2010/003890 JP2010003890W WO2011155001A1 WO 2011155001 A1 WO2011155001 A1 WO 2011155001A1 JP 2010003890 W JP2010003890 W JP 2010003890W WO 2011155001 A1 WO2011155001 A1 WO 2011155001A1
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WO
WIPO (PCT)
Prior art keywords
conveyor
speed
value
control unit
target value
Prior art date
Application number
PCT/JP2010/003890
Other languages
French (fr)
Japanese (ja)
Inventor
冨永忠正
Original Assignee
ムラテックオートメーション株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ムラテックオートメーション株式会社 filed Critical ムラテックオートメーション株式会社
Priority to JP2012519141A priority Critical patent/JP5573948B2/en
Priority to PCT/JP2010/003890 priority patent/WO2011155001A1/en
Publication of WO2011155001A1 publication Critical patent/WO2011155001A1/en

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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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0297—Wafer cassette
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0291—Speed of the load carrier

Definitions

  • the present invention relates to the speed control of a conveyor in a conveyor system for conveying a load.
  • a plurality of stations for delivering packages are arranged along the conveyor. At each of these stations, luggage is delivered as needed. As a result, work for moving the luggage from one point to another point (hereinafter referred to as “conveying work”) is executed.
  • the transfer device provided in the station operates in synchronization with the speed of the conveyor. By doing so, it is possible to receive a package from a conveyor operating at a constant speed.
  • the conveyor provided in the conveyor system has, for example, a band forming a loop, and the band has, for example, a plurality of hooks for suspending a plurality of loads.
  • the band is driven by a plurality of driving units that rotate, for example, a roller pressed against the band by a motor. Thereby, a plurality of packages are transported.
  • each of the plurality of drive units is controlled by the upper control unit so as to send out the band at an intended speed determined in consideration of the efficiency and safety of the transfer work. Therefore, the moving speed of the band, that is, the speed of the conveyor is basically maintained at the intended speed.
  • delivery of packages at each station is scheduled on the assumption that the speed of the conveyor is the expected speed.
  • a control unit that controls the conveyor sends a control signal to the conveyor to instruct the motor to rotate at a rotation speed corresponding to the target value so that the speed of the conveyor becomes the target value.
  • each drive unit receives the control signal and rotates the motor according to the control signal.
  • the package a arrives at the station A that should receive the package a earlier than the scheduled time. Therefore, the luggage a may pass through the station A, and the station A may fail to receive the luggage a.
  • one of the necessary items for preventing the occurrence of such a situation is to accurately measure the speed of the conveyor.
  • an encoder for measuring the speed of the conveyor may be installed on the conveyor.
  • the present invention has been made in consideration of the above-described conventional problems, and an object of the present invention is to provide a conveyor system including a conveyor for transporting a load, and effectively improving the efficiency of the transport operation.
  • a conveyor system acquires a conveyor for transporting cargo and the speed of the conveyor, and the speed of the conveyor is set to a target value based on the acquired speed.
  • a control unit that controls the conveyor so as to approach, and when the acquired speed is lower than a reference value lower than the target value, the speed of the conveyor is equal to or higher than the reference value and lower than the target value.
  • the speed of the conveyor when the speed of the conveyor is lower than the reference value, instead of increasing the speed of the conveyor to the target value by one instruction, the speed of the conveyor gradually increases with the target value as an upper limit.
  • a plurality of instructions are given from the control unit to the conveyor. In other words, the speed of the conveyor is improved until it is included in an appropriate range (above the reference value and below the target value) by a plurality of instructions from the control unit.
  • the improvement amount of the conveyor speed in each instruction by the control unit is a value smaller than the difference between the most recently acquired conveyor speed and the target value.
  • the difference between the reference value and the target value is made as small as possible in consideration of the error of the conveyor speed acquired by the control unit, etc., so that the efficiency of the conveyance work is not unnecessarily lowered.
  • the drive unit of the conveyor cannot receive a single instruction due to some trouble. Even in such a case, since the instruction for increasing the speed until the speed of the conveyor reaches the appropriate range is repeatedly transmitted from the control unit, the speed of the conveyor is optimized.
  • the conveyor system which concerns on 1 aspect of this invention WHEREIN:
  • the said control part is m (0 ⁇ m ⁇ ) in the difference of (a) acquisition of the speed of the said conveyor, and (b) acquired speed and the said target value. 1)
  • the speed of the conveyor may be improved to the reference value or more and the target value or less. Good.
  • the amount of increase in the speed of the conveyor by one instruction from the control unit changes according to the difference between the acquired speed and the target value. Therefore, the speed of the conveyor can be brought close to the target value efficiently without exceeding the target value.
  • the conveyor system which concerns on 1 aspect of this invention WHEREIN:
  • the said conveyor conveys the said load with the conveyance body which moves the said load
  • the speed of the said conveyor is the moving speed of the said conveyance body
  • a conveyor system is further
  • the first transfer device that receives the load from the conveyor or delivers the load to the conveyor by performing an operation synchronized with the movement of the transfer body, and the transfer body by the first transfer device
  • a first movement amount detection unit that detects a movement amount of the transport body used for an operation synchronized with the movement, and the control unit obtains the movement amount detected by the first movement amount detection unit.
  • the speed of the conveyor to be obtained may be acquired.
  • the first movement amount detection unit used for the first transfer device to operate in synchronization with the conveyor can be used to acquire the speed of the conveyor. Therefore, it is not necessary to newly arrange an encoder or the like for actually measuring the speed of the conveyor.
  • the speed of the conveyor at the position of the first transfer device where the load is actually transferred is acquired, the optimum value from the viewpoint of improving the reliability of the transfer of the load is the speed control. Obtained as the value to be used.
  • the conveyor system further includes a second transfer device that receives the load from the conveyor by performing an operation synchronized with the movement of the transport body, and the second transfer device.
  • a second movement amount detection unit that detects a movement amount of the conveyance body, which is used for an operation synchronized with the movement of the conveyance body, and the control unit includes a movement amount detected by the first movement amount detection unit and You may acquire the speed of the said conveyor calculated
  • the control unit obtains an average value, a maximum value, a minimum value, or the like of the conveyor speed in all or a part of the plurality of transfer apparatuses as the conveyor speed used for the conveyor speed control. Can do. Thereby, for example, the accuracy of the speed control of the conveyor is improved, and as a result, the transfer operation is made more efficient.
  • the conveyor system which concerns on 1 aspect of this invention WHEREIN:
  • the said control part performs speed
  • the speed of the conveyor when the speed of the conveyor exceeds the target value due to, for example, a sudden decrease in luggage transported by the conveyor or a malfunction of some driving units, the speed of the conveyor immediately exceeds the reference value. Reduced to a small value.
  • the speed of the conveyor is gradually improved and optimized by a plurality of instructions from the control unit.
  • the conveyor system which concerns on 1 aspect of this invention WHEREIN:
  • the said control part is after after giving the instruction
  • FIG. 1 is a diagram showing an outline of the configuration of a conveyor system according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing a control system in the conveyor system according to the embodiment of the present invention.
  • FIG. 3 is a diagram showing an outline of the operation of the first transfer apparatus in the embodiment of the present invention.
  • FIG. 4 is a flowchart showing an example of the flow of speed control of the conveyor in the embodiment of the present invention.
  • FIG. 5 is a diagram showing a specific example of the speed control of the conveyor in the embodiment of the present invention.
  • FIG. 1 is a diagram showing an outline of the configuration of a conveyor system 100 according to an embodiment of the present invention.
  • the conveyor system 100 includes a conveyor 101 and a control unit 150 that controls the operation of the conveyor 101.
  • the control unit 150 acquires the speed of the conveyor 101, and controls the conveyor 101 based on the acquired speed so that the speed of the conveyor 101 approaches the target value.
  • the target value is a value determined in advance in consideration of the efficiency and safety of the transport operation in the conveyor system 100, and is, for example, “1.5 m / sec”.
  • the control unit 150 is realized by, for example, a computer having a CPU (Central Processing Unit), a storage device, and an interface for inputting and outputting information.
  • a CPU Central Processing Unit
  • the conveyor 101 is a device that conveys luggage, and includes a plurality of driving units 105 and bands 104 driven by the plurality of driving units 105.
  • the plurality of driving units 105 are connected to the control unit 150 via a network.
  • the control unit 150 sends an instruction to control the speed of the conveyor 101 by transmitting a control signal to the plurality of driving units 105 via the network.
  • Each drive unit 105 includes, for example, a roller pressed against the band 104 with a predetermined force and a motor that rotationally drives the roller.
  • the drive unit 105 rotates the motor at a rotation speed corresponding to the received control signal. Thereby, the band 104 is driven to rotate in a predetermined direction (clockwise in FIG. 1).
  • the band 104 is an example of a carrier in the conveyor system of the present invention.
  • the band 104 is made of resin, for example, and forms one loop.
  • the band 104 holds a load with each of a plurality of hooks to be described later and is driven by a plurality of driving units 105 to convey these loads.
  • first station 110, the second station 120, the third station 130, and the fourth station 140 are arranged along the cargo conveyance path formed by the band 104.
  • Each of these stations includes a transfer device that operates in synchronization with the conveyor 101, and can deliver a package to the conveyor 101 while the conveyor 101 is in operation.
  • the operation of the transfer device will be described later with reference to FIG.
  • each of these stations is connected to the control unit 150 via a network, and can receive, for example, information on a package to be received from the control unit 150.
  • the specifications of the conveyor system 100 are shown in FIG. It is not limited to. What is necessary is just to be determined according to the number, the kind, etc. of the load which the conveyor system 100 handles.
  • FIG. 2 is a block diagram showing a control system in the conveyor system 100 according to the embodiment of the present invention.
  • the first station 110 includes a first transfer device 111 and a first movement amount detection unit 115.
  • the second station 120 includes a second transfer device 121 and a second movement amount detection unit 125.
  • Each of the first transfer device 111 and the second transfer device 121 performs an operation synchronized with the conveyor 101, thereby receiving the package from the operating conveyor 101 and delivering the package to the operating conveyor 101. be able to.
  • the first transfer device 111 performs an operation synchronized with the conveyor 101 by referring to the movement amount of the band 104 detected by the first movement amount detection unit 115.
  • the second transfer device 121 performs an operation synchronized with the conveyor 101 with reference to the output value from the second movement amount detection unit 125.
  • Each of the first movement amount detection unit 115 and the second movement amount detection unit 125 is, for example, an encoder that outputs the movement amount of the band 104 based on the number of rotations of a roller pressed against the band 104 with a predetermined force. It is.
  • each of the first movement amount detection unit 115 and the second movement amount detection unit 125 is also used for speed control of the conveyor 101 by the control unit 150.
  • each of the first movement amount detection unit 115 and the second movement amount detection unit 125 calculates the movement amount of the band 104 per unit time, that is, the speed of the conveyor 101, from the detected movement amount of the band 104. And transmitted to the control unit 150.
  • control unit 150 can acquire the speed of the conveyor 101 at each position of the first station 110 and the second station 120.
  • each of the first movement amount detection unit 115 and the second movement amount detection unit 125 may transmit the detected movement amount of the band 104 to the control unit 150.
  • the control unit 150 can calculate the speed of the conveyor 101 at each position of the first station 110 and the second station 120 from each received movement amount.
  • the 3rd station 130 and the 4th station 140 also have a transfer apparatus and a movement amount detection part, and transmit the speed of the conveyor 101 in each position to the control part 150.
  • the control unit 150 determines the speed of the conveyor 101 to be used for controlling the conveyor 101 using the measured values of the speed of the conveyor 101 at these four points. For example, the average value of the measured values at these four points is calculated.
  • control unit 150 controls the speed of the conveyor 101 using the calculated result and the target value Va and the reference value Vb stored in a storage medium such as a memory.
  • the reference value Vb is a value lower than the target value Va, and is a value used as a criterion for determining whether or not the control unit 150 gives an instruction to improve the speed of the conveyor 101.
  • FIG. 3 is a diagram showing an outline of the operation of the first transfer apparatus 111 in the embodiment of the present invention.
  • the first transfer device 111 has a transfer unit 112 as a mechanism unit for delivering and receiving a package.
  • the transfer unit 112 transfers the load while holding the load from below.
  • the transfer unit 112 is put on standby at a predetermined position.
  • the luggage 160 has a flange portion 161 as shown in FIG. A plurality of hooks 106 are attached to the band 104. The load 160 is suspended from the band 104 by the flange portion 161 engaging with one hook 106 and is transported toward the first station 110.
  • the hook 106 has a groove that vertically penetrates the connecting rod below the flange portion 161, and the groove is open at the rear (the direction opposite to the moving direction of the band 104). .
  • the first transfer device 111 refers to the movement amount of the band 104 output from the first movement amount detection unit 115, and thereby moves the transfer unit 112 of the band 104. It moves in synchronization with the movement, that is, the movement of the luggage 160 (S1).
  • the transfer unit 112 lifts the load 160 by moving up in synchronization with the load 160. Thereby, engagement with the flange part 161 and the hook 106 is cancelled
  • the transfer unit 112 moves downward, for example, to place the load 160 on a shelf disposed below the band 104 (S3).
  • the first transfer device 111 performs an operation synchronized with the conveyor 101, whereby the first station 110 receives the package. Moreover, although description is abbreviate
  • FIG. 1 is abbreviate
  • the transfer device included in each station performs an operation synchronized with the conveyor 101, so that it is possible to deliver the package to the operating conveyor 101.
  • the first transfer device 111 uses the output value from the first movement amount detection unit 115 for the synchronized operation with the conveyor 101.
  • the output value is also used for speed control of the conveyor 101 by the control unit 150 as described above.
  • the control unit 150 notifies each transfer device of the time T until the package to be received arrives, for example.
  • This T is a value calculated by the control unit 150 on the assumption that the speed of the conveyor 101 matches the target value.
  • the transfer unit is put on standby at a predetermined position at a timing corresponding to T.
  • each transfer device may cause a transfer error that the package cannot be received.
  • control unit 150 in the present embodiment controls the speed of the conveyor 101 so as not to exceed the target value when controlling the speed of the conveyor 101.
  • FIG. 4 is a flowchart showing an example of the flow of speed control of the conveyor 101 in the embodiment of the present invention.
  • the control unit 150 acquires the speed Cv of the conveyor 101 (S10). Specifically, the control unit 150 receives the measured value of the speed of the conveyor 101 at each point transmitted from each of the first station 110 to the fourth station 140.
  • the control unit 150 obtains the speed Cv of the conveyor 101 used for speed control of the conveyor 101 by calculating an average value of the received four measured values.
  • the control unit 150 compares the speed Cv of the conveyor 101 with the reference value Vb (S11). As a result of the comparison, when the speed Cv of the conveyor 101 is lower than the reference value Vb (Yes in S11), the conveyor 101 is instructed to improve the speed Cv of the conveyor 101 (S12).
  • the control unit 150 acquires the speed Cv of the conveyor 101 (S13), and it is confirmed whether or not Vb ⁇ Cv ⁇ Va is satisfied (S14). If the speed Cv of the conveyor 101 does not satisfy Vb ⁇ Cv ⁇ Va (No in S14), an instruction to increase the speed Cv of the conveyor 101 until it is confirmed that Vb ⁇ Cv ⁇ Va is satisfied (Yes in S14). The process from (S12) to confirmation (S14) of whether or not Vb ⁇ Cv ⁇ Va is satisfied is repeated.
  • control unit 150 is smaller than the difference between the acquired speed and the target value Va until it is confirmed that the speed Cv of the conveyor 101 is within the appropriate range, which is equal to or higher than the reference value Vb and equal to or lower than the target value Va.
  • the instruction for improving the speed Cv of the conveyor 101 by the value is repeated. Thereby, the speed Cv of the conveyor 101 can be surely reached within an appropriate range, and the speed Cv of the conveyor 101 is prevented from exceeding the target value.
  • the control unit 150 compares the speed Cv of the conveyor 101 with the target value Va. As a result of the comparison, if the speed Cv of the conveyor 101 is equal to or lower than the target value Va (No in S15), that is, if Vb ⁇ Cv ⁇ Va is satisfied, the processing after the acquisition of the speed Cv (S10) of the conveyor 101 is performed again. Is called.
  • control unit 150 reduces the speed Cv of the conveyor 101 to a value smaller than the reference value Vb by one instruction (S16).
  • the speed Cv of the conveyor 101 converges to an appropriate range by repeating from the instruction to improve the speed Cv of the conveyor 101 (S12) to the confirmation of whether or not Vb ⁇ Cv ⁇ Va is satisfied (S14).
  • FIG. 5 is a diagram showing a specific example of speed control of the conveyor 101 in the embodiment of the present invention.
  • control unit 150 instructs the conveyor 101 to improve Cv by D1. Specifically, a control signal corresponding to the speed (V1 + D1) is transmitted to each of the plurality of driving units 105 included in the conveyor 101.
  • D1 is a value obtained by multiplying the difference between the speed V1 acquired by the control unit 150 at t1 and the target value Va by m (0 ⁇ m ⁇ 1).
  • m is, for example, “1/2”, “2/3”, “3/4”, or the like.
  • m may be changed each time the control unit 150 gives an instruction to the conveyor 101. That is, m may be constant or variable.
  • the value of m may be decreased as the difference between the speed acquired by the control unit 150 and the target value decreases.
  • a plurality of values corresponding to the difference between the speed acquired by the control unit 150 and the target value may be stored in the storage medium.
  • the control unit 150 may generate a control signal using a value obtained by reading a value corresponding to the difference from the storage medium.
  • control unit 150 transmits a control signal corresponding to the speed (V2 + D2) to each of the plurality of driving units 105 included in the conveyor 101.
  • D2 is a value calculated in the same manner as D1. Specifically, D2 is a value obtained by multiplying the difference between the speeds V2 and Va by m.
  • V4 is a value satisfying Vb ⁇ V4 ⁇ Va. Therefore, the control unit 150 confirms that the speed Cv of the conveyor 101 acquired at time t4 is not less than the reference value Vb and not more than the target value Va.
  • control unit 150 temporarily stops an instruction for improving the speed Cv of the conveyor 101 and continuously transmits a control signal corresponding to the speed (V3 + D3).
  • the control unit 150 transmits a control signal corresponding to, for example, “980” to each of the plurality of driving units 105 included in the conveyor 101 so as to reliably reduce the speed Cv of the conveyor 101 to a value lower than Vb.
  • control part 150 when giving the instruction
  • the control unit 150 instructs the conveyor 101 to improve Cv by D1.
  • the control unit 150 acquires Cv after the instruction and before the speed of the conveyor 101 reaches (V1 + D1), and is smaller than the difference between the acquired Cv and the target value Va. Only the following instruction for improving Cv may be given.
  • the speed improvement may be calculated, and the next instruction may be performed using the calculation result.
  • the speed of the conveyor 101 reaches between the reference value and the target value by giving each instruction at an earlier timing. The period until is shortened.
  • the speed of the conveyor 101 when the speed of the conveyor 101 falls below the reference value lower than the target value, the speed of the conveyor 101 is increased to the target value with a single instruction. Instead, the speed of the conveyor 101 is increased in small increments while checking the speed of the conveyor 101. As a result, the speed of the conveyor 101 reliably reaches the appropriate range, and the speed of the conveyor 101 does not exceed the target value.
  • control unit 150 controls the speed of the conveyor 101 using a plurality of measured values of the speed of the conveyor 101, highly accurate speed control is realized.
  • highly accurate speed control is realized.
  • using the measured values of the speed of the conveyor 101 at multiple points for speed control improves the accuracy of speed control. Useful from the point of view.
  • control unit 150 transmitting a plurality of instructions to each of the plurality of driving units 105. Specifically, even if a part or all of the plurality of driving units 105 fail to receive any instruction, the part or all of the driving units 105 in accordance with the subsequent instruction Operates so that the speed reaches the proper range.
  • each station (110, 120, 130, 140) can surely receive the package to be received and can reliably deliver the package to be delivered to the conveyor 101.
  • control unit 150 uses the movement amount detection unit for synchronization with the conveyor 101, which each station has, for acquiring the speed of the conveyor 101. Therefore, it is not necessary to newly arrange an encoder or the like for acquiring the speed of the conveyor 101 on the conveyor 101.
  • the conveyor system 100 according to the present embodiment can effectively improve the conveyance work.
  • the conveyor system 100 has been described above based on the embodiment. However, the present invention is not limited to these embodiments. Unless it deviates from the gist of the present invention, various modifications conceived by those skilled in the art have been made in the present embodiment, or forms constructed by combining a plurality of the above-described constituent elements are within the scope of the present invention. include.
  • control unit 150 obtains the speed of the conveyor 101 used for speed control of the conveyor 101 by averaging the measured values of the speeds at four points.
  • speed of the conveyor 101 used for speed control may be determined by other methods.
  • an average of the measurement values at the remaining two points excluding the maximum and minimum values among the measurement values at the four points may be handled as the speed of the conveyor 101.
  • the speed of the conveyor 101 measured at the station having the largest number of packages to be delivered among the four stations may be handled as the speed of the conveyor 101 used for speed control.
  • the band 104 included in the conveyor 101 is made of resin.
  • the band 104 may be made of metal, for example.
  • the conveyor 101 conveys a plurality of packages with a plurality of hooks 106 attached to the band 104.
  • the conveyor 101 may be a belt conveyor that conveys loads by a belt.
  • the conveyor system 100 it is also possible to apply the conveyor system 100 according to the embodiment to a system that performs a transport operation by delivering a package in synchronization with the movement of the belt while operating the belt conveyor.
  • the target value Va is 100
  • the reference value Vb is 98. That is, the reference value Vb is a value obtained by subtracting 2% from the target value Va.
  • the difference between the target value Va and the reference value Vb is not limited to a specific value or ratio.
  • the difference between the target value Va and the reference value Vb may be set according to, for example, variations in the speed of the conveyor 101 measured at a plurality of points.
  • the difference between the target value Va and the reference value Vb can be further reduced. By doing so, it is possible to maintain the speed of the conveyor 101 in a range closer to the target value. As a result, the transfer work is made more efficient.
  • the difference between the target value Va and the reference value Vb may be increased as the variation in the speed of the conveyor 101 measured at a plurality of points is larger. By doing so, for example, the actual speed of the conveyor 101 is prevented from exceeding the target value.
  • control unit 150 may calculate the degree of variation in the speed of the conveyor 101 measured at a plurality of points, and calculate Vb from the calculation result and the target value Va. That is, Vb may be automatically determined by the control unit 150.
  • the conveyor system of the present invention controls the conveyor speed so as to surely reach an appropriate range by gradually increasing the target value as an upper limit. Therefore, it is useful as a conveyor system or the like in a place such as a factory or a warehouse where safe and efficient transportation of cargo is required.

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  • Control Of Conveyors (AREA)

Abstract

Disclosed is a conveyor system (100) comprising: a conveyor (101) that conveys cargo; and a control unit (150) that obtains the speed of the conveyor (101) and, based on the obtained speed, controls the conveyor (101) such that the speed of the conveyor (101) approaches a target value. When the obtained speed is lower than a reference value that is less than the target value, the control unit (150) repeatedly issues instructions to make the speed of the conveyor (101) increase by a value smaller than the difference between the obtained speed and the target value, until the speed of the conveyor (101) is confirmed to be at or greater than the reference value and at or below the target value.

Description

コンベアシステムConveyor system
　本発明は、荷物を搬送するコンベアシステムにおけるコンベアの速度制御に関する。 The present invention relates to the speed control of a conveyor in a conveyor system for conveying a load.
　従来、クリーンルーム、工場、病院、図書館、または、野外などに設置され、荷物をコンベヤにより搬送するシステムであるコンベアシステムが存在する。 Conventionally, there is a conveyor system that is installed in a clean room, a factory, a hospital, a library, or the outdoors, and is a system that conveys luggage by a conveyor.
　このようなコンベアシステムでは、例えば、荷物の受け渡しを行う複数のステーションがコンベアに沿って配置される。これらステーションのそれぞれでは、必要に応じて荷物の受け渡しが行われる。これにより、ある地点から他の地点への荷物の移動のための作業（以下、「搬送作業」という。）が実行される。 In such a conveyor system, for example, a plurality of stations for delivering packages are arranged along the conveyor. At each of these stations, luggage is delivered as needed. As a result, work for moving the luggage from one point to another point (hereinafter referred to as “conveying work”) is executed.
　また、このようなコンベアシステムにおいて搬送作業を効率化するためには、例えば、コンベアによる一定速度での複数の荷物の搬送を継続させながら、コンベアとステーションとの間での荷物の受け渡しを行うことが望ましい。 Further, in order to improve the efficiency of the transport operation in such a conveyor system, for example, it is possible to deliver a package between the conveyor and the station while continuing to transport a plurality of packages at a constant speed by the conveyor. Is desirable.
　そこで、稼働中のコンベアからステーションに荷物を移載するための技術も開示されている（例えば、特許文献１参照）。 Therefore, a technique for transferring a load from an operating conveyor to a station is also disclosed (for example, see Patent Document 1).
　この従来技術によれば、ステーションに備えられた移載装置がコンベアの速度に同期して動作する。こうすることで、一定速度で稼働中のコンベアから荷物を受け取ることができる。 According to this conventional technique, the transfer device provided in the station operates in synchronization with the speed of the conveyor. By doing so, it is possible to receive a package from a conveyor operating at a constant speed.
特開２００４－１３４７６５号公報JP 2004-134765 A
　ここで、コンベアシステムが備えるコンベアは、例えばループを形成するバンドを有し、バンドは例えば複数の荷物を吊り下げるための複数のフックを有する。また、バンドは、例えばバンドに押し当てられたローラをモータにより回転させる複数の駆動部により駆動される。これにより、複数の荷物が搬送される。 Here, the conveyor provided in the conveyor system has, for example, a band forming a loop, and the band has, for example, a plurality of hooks for suspending a plurality of loads. The band is driven by a plurality of driving units that rotate, for example, a roller pressed against the band by a motor. Thereby, a plurality of packages are transported.
　また、複数の駆動部のそれぞれは、搬送作業の効率性および安全性等を考慮して決定された所期の速度でバンドを送り出すよう上位の制御部により制御される。そのため、バンドの移動速度、つまりコンベアの速度は、基本的には当該所期の速度に保たれる。 In addition, each of the plurality of drive units is controlled by the upper control unit so as to send out the band at an intended speed determined in consideration of the efficiency and safety of the transfer work. Therefore, the moving speed of the band, that is, the speed of the conveyor is basically maintained at the intended speed.
　また、コンベアの速度が当該所期の速度であることを前提に、各ステーションにおける荷物の受け渡しがスケジューリングされる。 Also, delivery of packages at each station is scheduled on the assumption that the speed of the conveyor is the expected speed.
　しかしながら、コンベアが有するバンドに掛かる負荷の変動、環境温度の変動、バンド自体の経年変化、または、駆動部が有するローラの磨耗等に起因して、コンベアの速度が所期の速度から低下することもある。 However, due to fluctuations in the load on the band that the conveyor has, fluctuations in the environmental temperature, aging of the band itself, or wear of the rollers of the drive unit, etc., the speed of the conveyor will decrease from the intended speed. There is also.
　このため、例えばコンベアの速度が低下した場合、効率のよい搬送作業を継続するためには、コンベアの速度を目標値（＝所期の速度）まで向上させる必要がある。 For this reason, for example, when the speed of the conveyor is lowered, it is necessary to increase the speed of the conveyor to a target value (= the desired speed) in order to continue efficient conveyance work.
　この場合、コンベアを制御する制御部が、コンベアの速度が当該目標値になるように、当該目標値に対応する回転数でモータを回転させることを指示する制御信号をコンベアに送る。コンベアでは、各駆動部が当該制御信号を受けとり、当該制御信号に従ってモータを回転させる。 In this case, a control unit that controls the conveyor sends a control signal to the conveyor to instruct the motor to rotate at a rotation speed corresponding to the target value so that the speed of the conveyor becomes the target value. In the conveyor, each drive unit receives the control signal and rotates the motor according to the control signal.
　しかしながら、このようにコンベアの速度を目標値まで向上させる指示をコンベアに行った場合、各駆動部が有するモータの特性上、当該指示の直後にコンベアの速度が当該目標値を超えてしまう場合がある。 However, when an instruction to increase the conveyor speed to the target value is given to the conveyor in this way, the speed of the conveyor may exceed the target value immediately after the instruction due to the characteristics of the motor of each drive unit. is there.
　この場合、例えば荷物ａを受け取るべきステーションＡに、予定された時刻よりも早く荷物ａが到着することになる。そのため、荷物ａがステーションＡを通過してしまい、ステーションＡが荷物ａの受け取りを失敗する場合がある。 In this case, for example, the package a arrives at the station A that should receive the package a earlier than the scheduled time. Therefore, the luggage a may pass through the station A, and the station A may fail to receive the luggage a.
　１つのステーションにおける荷物の移載ミスの発生は、搬送作業の全体の効率の低下に直結するため、可能な限り防止することが求められる。 発 生 The occurrence of a package transfer error at one station is directly related to a decrease in the overall efficiency of the transport operation, and therefore it is required to prevent it as much as possible.
　さらに、このような事態の発生の防止のための必要事項の一つとして、コンベアの速度を精度よく測定することが挙げられる。そのためには、例えば、コンベアの速度の測定用のエンコーダを当該コンベアに設置することが考えられる。 Furthermore, one of the necessary items for preventing the occurrence of such a situation is to accurately measure the speed of the conveyor. For this purpose, for example, an encoder for measuring the speed of the conveyor may be installed on the conveyor.
　しかしながらこの様な方策は、コンベアの速度の測定用のエンコーダの設置に掛かる手間および費用を考慮すると、問題解決のための最適な方策とは言い難い。 However, such a measure is not an optimal measure for solving the problem, considering the labor and cost of installing an encoder for measuring the conveyor speed.
　本発明は、上記従来の課題を考慮し、荷物を搬送するコンベアを備えるコンベアシステムであって、搬送作業を効果的に効率化させるコンベアシステムを提供することを目的とする。 The present invention has been made in consideration of the above-described conventional problems, and an object of the present invention is to provide a conveyor system including a conveyor for transporting a load, and effectively improving the efficiency of the transport operation.
　上記従来の課題を解決するため、本発明の一態様に係るコンベアシステムは、荷物を搬送するコンベアと、前記コンベアの速度を取得し、取得した速度に基づいて、前記コンベアの速度が目標値に近づくように前記コンベアを制御する制御部とを備え、前記制御部は、取得した速度が前記目標値よりも低い基準値を下回る場合、前記コンベアの速度が前記基準値以上かつ前記目標値以下になったことを確認するまで、取得した速度と前記目標値との差分よりも小さな値だけ前記コンベアの速度を向上させるための指示を繰り返すことで、前記コンベアの速度を、前記基準値以上かつ前記目標値以下まで向上させる。 In order to solve the above-described conventional problems, a conveyor system according to an aspect of the present invention acquires a conveyor for transporting cargo and the speed of the conveyor, and the speed of the conveyor is set to a target value based on the acquired speed. A control unit that controls the conveyor so as to approach, and when the acquired speed is lower than a reference value lower than the target value, the speed of the conveyor is equal to or higher than the reference value and lower than the target value. By repeating the instruction for improving the speed of the conveyor by a value smaller than the difference between the acquired speed and the target value, the speed of the conveyor is set to the reference value or more and Improve to below target value.
　この構成によれば、コンベアの速度が基準値より低い場合、一回の指示でコンベアの速度を目標値まで向上させるのではなく、コンベアの速度が目標値を上限として徐々に向上するように、複数回の指示が制御部からコンベアになされる。言い換えると、コンベアの速度は、制御部からの複数回の指示により、適正範囲（基準値以上かつ目標値以下）に含まれるまで向上される。 According to this configuration, when the speed of the conveyor is lower than the reference value, instead of increasing the speed of the conveyor to the target value by one instruction, the speed of the conveyor gradually increases with the target value as an upper limit. A plurality of instructions are given from the control unit to the conveyor. In other words, the speed of the conveyor is improved until it is included in an appropriate range (above the reference value and below the target value) by a plurality of instructions from the control unit.
　つまり、制御部によるそれぞれの指示におけるコンベアの速度の向上量は、直近に取得したコンベアの速度と目標値との差分より小さな値である。 That is, the improvement amount of the conveyor speed in each instruction by the control unit is a value smaller than the difference between the most recently acquired conveyor speed and the target value.
　これにより、コンベアの速度は適正範囲まで確実に到達し、かつ、コンベアの速度が目標値を超えることが防止される。そのため、コンベアの速度が目標値を超えることに起因して発生する荷物の移載ミスの発生が防止される。 This prevents the conveyor speed from reaching the proper range and prevents the conveyor speed from exceeding the target value. For this reason, it is possible to prevent a load transfer error occurring due to the conveyor speed exceeding the target value.
　また、基準値と目標値との差を、制御部が取得するコンベアの速度の誤差等を考慮したうえで、できるだけ小さくすることで、搬送作業の効率を不要に低下させることもない。 Also, the difference between the reference value and the target value is made as small as possible in consideration of the error of the conveyor speed acquired by the control unit, etc., so that the efficiency of the conveyance work is not unnecessarily lowered.
　また、何らかの不具合により、コンベアが有する駆動部が一回の指示を受け取れなかった場合を想定する。このような場合であっても、コンベアの速度が適正範囲に達するまで速度を向上させる指示が制御部より繰り返して送信されるため、コンベアの速度は適正化される。 Suppose also that the drive unit of the conveyor cannot receive a single instruction due to some trouble. Even in such a case, since the instruction for increasing the speed until the speed of the conveyor reaches the appropriate range is repeatedly transmitted from the control unit, the speed of the conveyor is optimized.
　このように、当該コンベアシステムによれば、搬送作業を効果的に効率化させることができる。 Thus, according to the conveyor system, it is possible to effectively improve the conveyance work.
　また、本発明の一態様に係るコンベアシステムにおいて、前記制御部は、（ａ）前記コンベアの速度の取得、および、（ｂ）取得した速度と前記目標値との差分にｍ（０＜ｍ＜１）を乗算して得られた値だけ前記コンベアの速度を向上させるための前記コンベアに対する指示、を繰り返すことで、前記コンベアの速度を、前記基準値以上かつ前記目標値以下まで向上させるとしてもよい。 Moreover, the conveyor system which concerns on 1 aspect of this invention WHEREIN: The said control part is m (0 <m <) in the difference of (a) acquisition of the speed of the said conveyor, and (b) acquired speed and the said target value. 1) By repeating the instruction to the conveyor for improving the speed of the conveyor by the value obtained by multiplying by 1), the speed of the conveyor may be improved to the reference value or more and the target value or less. Good.
　この構成によれば、制御部からの一回の指示によるコンベアの速度の上昇量は、取得した速度と目標値との差分に応じて変化する。そのため、コンベアの速度は、目標値を超えることなく、かつ、効率よく目標値に近づけられる。 According to this configuration, the amount of increase in the speed of the conveyor by one instruction from the control unit changes according to the difference between the acquired speed and the target value. Therefore, the speed of the conveyor can be brought close to the target value efficiently without exceeding the target value.
　また、本発明の一態様に係るコンベアシステムにおいて、前記コンベアは、前記荷物を移動させる搬送体により前記荷物を搬送し、前記コンベアの速度は、前記搬送体の移動速度であり、コンベアシステムはさらに、前記搬送体の移動に同期した動作を行うことで、前記荷物を前記コンベアから受け取る、または、前記荷物を前記コンベアに渡す第一移載装置と、前記第一移載装置による前記搬送体の移動に同期した動作に用いられる、前記搬送体の移動量を検出する第一移動量検出部とを備え、前記制御部は、前記第一移動量検出部により検出された移動量を用いて求められる前記コンベアの速度を取得するとしてもよい。 Moreover, the conveyor system which concerns on 1 aspect of this invention WHEREIN: The said conveyor conveys the said load with the conveyance body which moves the said load, The speed of the said conveyor is the moving speed of the said conveyance body, and a conveyor system is further The first transfer device that receives the load from the conveyor or delivers the load to the conveyor by performing an operation synchronized with the movement of the transfer body, and the transfer body by the first transfer device A first movement amount detection unit that detects a movement amount of the transport body used for an operation synchronized with the movement, and the control unit obtains the movement amount detected by the first movement amount detection unit. The speed of the conveyor to be obtained may be acquired.
　この構成によれば、第一移載装置がコンベアと同期して動作するために用いる第一移動量検出部を、コンベアの速度の取得に利用することができる。そのため、コンベアの速度を実測するためのエンコーダ等を新たに配置する必要はない。 According to this configuration, the first movement amount detection unit used for the first transfer device to operate in synchronization with the conveyor can be used to acquire the speed of the conveyor. Therefore, it is not necessary to newly arrange an encoder or the like for actually measuring the speed of the conveyor.
　また、実際に荷物の移載が行われる第一移載装置の位置におけるコンベアの速度が取得されるため、荷物の移載の確実性を向上させるという観点からは最適な値が、速度制御に用いられる値として取得される。 In addition, since the speed of the conveyor at the position of the first transfer device where the load is actually transferred is acquired, the optimum value from the viewpoint of improving the reliability of the transfer of the load is the speed control. Obtained as the value to be used.
　また、本発明の一態様に係るコンベアシステムは、さらに、前記搬送体の移動に同期した動作を行うことで前記荷物を前記コンベアから受け取る第二移載装置と、前記第二移載装置による前記搬送体の移動に同期した動作に用いられる、前記搬送体の移動量を検出する第二移動量検出部とを備え、前記制御部は、前記第一移動量検出部により検出された移動量および前記第二移動量検出部により検出された移動量を用いて求められる前記コンベアの速度を取得するとしてもよい。 The conveyor system according to an aspect of the present invention further includes a second transfer device that receives the load from the conveyor by performing an operation synchronized with the movement of the transport body, and the second transfer device. A second movement amount detection unit that detects a movement amount of the conveyance body, which is used for an operation synchronized with the movement of the conveyance body, and the control unit includes a movement amount detected by the first movement amount detection unit and You may acquire the speed of the said conveyor calculated | required using the movement amount detected by said 2nd movement amount detection part.
　この構成によれば、制御部は、コンベアの速度制御に用いるコンベアの速度として、複数の移載装置の全部または一部におけるコンベアの速度の平均値、最大値、または最小値等を取得することができる。これにより、例えば、コンベアの速度制御の精度が向上し、その結果、搬送作業がより効率化される。 According to this configuration, the control unit obtains an average value, a maximum value, a minimum value, or the like of the conveyor speed in all or a part of the plurality of transfer apparatuses as the conveyor speed used for the conveyor speed control. Can do. Thereby, for example, the accuracy of the speed control of the conveyor is improved, and as a result, the transfer operation is made more efficient.
　また、本発明の一態様に係るコンベアシステムにおいて、前記制御部は、取得した速度が前記目標値よりも高い場合、前記コンベアの速度を低下させる指示を一回行うことで、前記コンベアの速度を前記基準値よりも小さな値まで低下させるとしてもよい。 Moreover, the conveyor system which concerns on 1 aspect of this invention WHEREIN: When the acquired speed is higher than the said target value, the said control part performs speed | rate of the said conveyor by giving the instruction | indication which reduces the speed of the said conveyor once. It may be lowered to a value smaller than the reference value.
　この構成によれば、例えばコンベアが搬送する荷物の急減または一部の駆動部の不具合などに起因して、コンベアの速度が目標値を超えた場合、コンベアの速度は、即座に基準値よりも小さな値まで低下される。 According to this configuration, when the speed of the conveyor exceeds the target value due to, for example, a sudden decrease in luggage transported by the conveyor or a malfunction of some driving units, the speed of the conveyor immediately exceeds the reference value. Reduced to a small value.
　また、その後、上述のように、制御部からの複数回の指示により、コンベアの速度は徐々に向上され適正化される。 Further, as described above, the speed of the conveyor is gradually improved and optimized by a plurality of instructions from the control unit.
　つまり、コンベアの速度が目標値を超えたことに起因する荷物の移載ミスの発生を可能な限り防止しつつ、搬送作業全体の効率を維持または向上させることができる。 That is, it is possible to maintain or improve the efficiency of the entire transport operation while preventing as much as possible the occurrence of load transfer errors due to the speed of the conveyor exceeding the target value.
　また、本発明の一態様に係るコンベアシステムにおいて、前記制御部は、前記コンベアの速度を向上させるための一回の指示を行った後であって、前記コンベアの速度が前記一回の指示に応じた速度に到達する前に、前記コンベアの速度を取得し、取得した当該速度と前記目標値との差分よりも小さな値だけ前記コンベアの速度を向上させるための次の指示を行うとしてもよい。 Moreover, the conveyor system which concerns on 1 aspect of this invention WHEREIN: The said control part is after after giving the instruction | indication for improving the speed of the said conveyor, Comprising: The speed of the said conveyor becomes the said instruction | indication of one time. Before reaching the corresponding speed, the speed of the conveyor may be acquired, and the next instruction may be given to improve the speed of the conveyor by a value smaller than the difference between the acquired speed and the target value. .
　これにより、コンベアの速度が、ある一回の指示に応じた速度に到達する前に、次の速度補正のため指示がなされる。その結果、コンベアの速度が基準値と目標値との間に到達するまでの期間が短縮される。 This gives an instruction for the next speed correction before the speed of the conveyor reaches the speed according to one instruction. As a result, the period until the speed of the conveyor reaches between the reference value and the target value is shortened.
　本発明によれば、搬送作業を効果的に効率化させるコンベアシステムを提供することができる。 According to the present invention, it is possible to provide a conveyor system that effectively improves the efficiency of transport work.
図１は、本発明の実施の形態のコンベアシステムの構成の概要を示す図である。FIG. 1 is a diagram showing an outline of the configuration of a conveyor system according to an embodiment of the present invention. 図２は、本発明の実施の形態のコンベアシステムにおける制御系統を示すブロック図である。FIG. 2 is a block diagram showing a control system in the conveyor system according to the embodiment of the present invention. 図３は、本発明の実施の形態における第一移載装置の動作の概要を示す図である。FIG. 3 is a diagram showing an outline of the operation of the first transfer apparatus in the embodiment of the present invention. 図４は、本発明の実施の形態におけるコンベアの速度制御の流れの一例を示すフロー図である。FIG. 4 is a flowchart showing an example of the flow of speed control of the conveyor in the embodiment of the present invention. 図５は、本発明の実施の形態における、コンベアの速度制御の具体例を示す図である。FIG. 5 is a diagram showing a specific example of the speed control of the conveyor in the embodiment of the present invention.
　本発明の実施の形態におけるコンベアシステムについて、図面を参照しながら説明する。 The conveyor system according to the embodiment of the present invention will be described with reference to the drawings.
　まず、実施の形態のコンベアシステムの基本的な構成および動作について図１～図３を用いて説明する。 First, the basic configuration and operation of the conveyor system according to the embodiment will be described with reference to FIGS.
　図１は、本発明の実施の形態のコンベアシステム１００の構成の概要を示す図である。 FIG. 1 is a diagram showing an outline of the configuration of a conveyor system 100 according to an embodiment of the present invention.
　図１に示すように、実施の形態のコンベアシステム１００は、コンベア１０１と、コンベア１０１の動作を制御する制御部１５０とを備える。 As shown in FIG. 1, the conveyor system 100 according to the embodiment includes a conveyor 101 and a control unit 150 that controls the operation of the conveyor 101.
　制御部１５０は、コンベア１０１の速度を取得し、取得した速度に基づいて、コンベア１０１の速度が目標値に近づくようにコンベア１０１を制御する。なお、目標値は、予め、コンベアシステム１００における搬送作業の効率性および安全性等を考慮して決定される値であり、例えば“１．５ｍ／ｓｅｃ”等である。 The control unit 150 acquires the speed of the conveyor 101, and controls the conveyor 101 based on the acquired speed so that the speed of the conveyor 101 approaches the target value. The target value is a value determined in advance in consideration of the efficiency and safety of the transport operation in the conveyor system 100, and is, for example, “1.5 m / sec”.
　なお、制御部１５０は、例えば、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、記憶装置、および情報の入出力のためのインタフェース等を備えるコンピュータにより実現される。 The control unit 150 is realized by, for example, a computer having a CPU (Central Processing Unit), a storage device, and an interface for inputting and outputting information.
　コンベア１０１は、荷物を搬送する装置であり、複数の駆動部１０５と、複数の駆動部１０５によって駆動されるバンド１０４とを有する。 The conveyor 101 is a device that conveys luggage, and includes a plurality of driving units 105 and bands 104 driven by the plurality of driving units 105.
　これら複数の駆動部１０５は制御部１５０とネットワーク経由で接続されている。制御部１５０は、これら複数の駆動部１０５にネットワークを介して制御信号を送信することで、コンベア１０１の速度を制御するための指示を行う。 The plurality of driving units 105 are connected to the control unit 150 via a network. The control unit 150 sends an instruction to control the speed of the conveyor 101 by transmitting a control signal to the plurality of driving units 105 via the network.
　各駆動部１０５は、例えばバンド１０４に所定の力で押し当てられたローラと、ローラを回転駆動するモータとを有する。駆動部１０５は、受信した制御信号に応じた回転数でモータを回転させる。これにより、バンド１０４は、所定の方向（図１では時計回り）で回転するように駆動される。 Each drive unit 105 includes, for example, a roller pressed against the band 104 with a predetermined force and a motor that rotationally drives the roller. The drive unit 105 rotates the motor at a rotation speed corresponding to the received control signal. Thereby, the band 104 is driven to rotate in a predetermined direction (clockwise in FIG. 1).
　バンド１０４は、本発明のコンベアシステムにおける搬送体の一例である。バンド１０４は、例えば樹脂製であり、一つのループを形成している。また、バンド１０４は、後述する複数のフックのそれぞれで荷物を保持し、複数の駆動部１０５によって駆動されることで、これら荷物を搬送する。 The band 104 is an example of a carrier in the conveyor system of the present invention. The band 104 is made of resin, for example, and forms one loop. In addition, the band 104 holds a load with each of a plurality of hooks to be described later and is driven by a plurality of driving units 105 to convey these loads.
　また、バンド１０４により形成された荷物の搬送路に沿って第一ステーション１１０、第二ステーション１２０、第三ステーション１３０、および第四ステーション１４０が配置されている。 In addition, the first station 110, the second station 120, the third station 130, and the fourth station 140 are arranged along the cargo conveyance path formed by the band 104.
　これらステーションのそれぞれはコンベア１０１と同期して動作する移載装置を備え、コンベア１０１の稼働中に、コンベア１０１に対する荷物の受け渡しを行うことができる。移載装置の動作については図３を用いて後述する。 Each of these stations includes a transfer device that operates in synchronization with the conveyor 101, and can deliver a package to the conveyor 101 while the conveyor 101 is in operation. The operation of the transfer device will be described later with reference to FIG.
　また、これらステーションのそれぞれは、制御部１５０とネットワーク経由で接続されており、制御部１５０から、例えば受け取るべき荷物の情報を受信することができる。 In addition, each of these stations is connected to the control unit 150 via a network, and can receive, for example, information on a package to be received from the control unit 150.
　なお、コンベアシステム１００の仕様（バンド１０４によって形成されるループの形状および大きさ、駆動部１０５の数および位置、ステーションの数および位置、並びに、通信ネットワークの形態等）は、図１に示す仕様に限定されることはない。コンベアシステム１００が扱う荷物の数および種類等に応じて決定されればよい。 The specifications of the conveyor system 100 (the shape and size of the loop formed by the band 104, the number and position of the driving units 105, the number and position of stations, the form of the communication network, etc.) are shown in FIG. It is not limited to. What is necessary is just to be determined according to the number, the kind, etc. of the load which the conveyor system 100 handles.
　図２は、本発明の実施の形態のコンベアシステム１００における制御系統を示すブロック図である。 FIG. 2 is a block diagram showing a control system in the conveyor system 100 according to the embodiment of the present invention.
　なお、図２では、図示の明確化のため、複数のステーションのうちの第一ステーション１１０および第二ステーション１２０のみを図示している。 In FIG. 2, only the first station 110 and the second station 120 among the plurality of stations are illustrated for clarity of illustration.
　図２に示すように、第一ステーション１１０は、第一移載装置１１１と第一移動量検出部１１５とを有する。また、第二ステーション１２０は、第二移載装置１２１と第二移動量検出部１２５とを有する。 As shown in FIG. 2, the first station 110 includes a first transfer device 111 and a first movement amount detection unit 115. The second station 120 includes a second transfer device 121 and a second movement amount detection unit 125.
　第一移載装置１１１および第二移載装置１２１のそれぞれは、コンベア１０１と同期した動作を行うことで、稼働中のコンベア１０１から荷物を受け取ること、および、稼働中のコンベア１０１に荷物を渡すことができる。 Each of the first transfer device 111 and the second transfer device 121 performs an operation synchronized with the conveyor 101, thereby receiving the package from the operating conveyor 101 and delivering the package to the operating conveyor 101. be able to.
　第一移載装置１１１は、具体的には、第一移動量検出部１１５により検出されたバンド１０４の移動量を参照することで、コンベア１０１と同期した動作を行う。第二移載装置１２１も同様に、第二移動量検出部１２５からの出力値を参照してコンベア１０１と同期した動作を行う。 Specifically, the first transfer device 111 performs an operation synchronized with the conveyor 101 by referring to the movement amount of the band 104 detected by the first movement amount detection unit 115. Similarly, the second transfer device 121 performs an operation synchronized with the conveyor 101 with reference to the output value from the second movement amount detection unit 125.
　なお、第一移動量検出部１１５および第二移動量検出部１２５のそれぞれは、例えば、バンド１０４に所定の力で押し当てられたローラの回転数に基づいてバンド１０４の移動量を出力するエンコーダである。 Each of the first movement amount detection unit 115 and the second movement amount detection unit 125 is, for example, an encoder that outputs the movement amount of the band 104 based on the number of rotations of a roller pressed against the band 104 with a predetermined force. It is.
　また、第一移動量検出部１１５および第二移動量検出部１２５のそれぞれは、制御部１５０によるコンベア１０１の速度制御にも利用される。 Further, each of the first movement amount detection unit 115 and the second movement amount detection unit 125 is also used for speed control of the conveyor 101 by the control unit 150.
　具体的には第一移動量検出部１１５および第二移動量検出部１２５のそれぞれは、検出したバンド１０４の移動量から、バンド１０４の単位時間あたりの移動量、つまり、コンベア１０１の速度を算出し、制御部１５０に送信する。 Specifically, each of the first movement amount detection unit 115 and the second movement amount detection unit 125 calculates the movement amount of the band 104 per unit time, that is, the speed of the conveyor 101, from the detected movement amount of the band 104. And transmitted to the control unit 150.
　これにより、制御部１５０は、第一ステーション１１０および第二ステーション１２０のそれぞれの位置におけるコンベア１０１の速度を取得することができる。 Thereby, the control unit 150 can acquire the speed of the conveyor 101 at each position of the first station 110 and the second station 120.
　なお、第一移動量検出部１１５および第二移動量検出部１２５のそれぞれは、検出したバンド１０４の移動量を、制御部１５０に送信してもよい。この場合、制御部１５０は、受信したそれぞれの移動量から、第一ステーション１１０および第二ステーション１２０のそれぞれの位置におけるコンベア１０１の速度を算出することができる。 Note that each of the first movement amount detection unit 115 and the second movement amount detection unit 125 may transmit the detected movement amount of the band 104 to the control unit 150. In this case, the control unit 150 can calculate the speed of the conveyor 101 at each position of the first station 110 and the second station 120 from each received movement amount.
　なお、第三ステーション１３０および第四ステーション１４０も、移載装置と移動量検出部とを有しており、それぞれの位置におけるコンベア１０１の速度を制御部１５０に送信する。 In addition, the 3rd station 130 and the 4th station 140 also have a transfer apparatus and a movement amount detection part, and transmit the speed of the conveyor 101 in each position to the control part 150.
　制御部１５０は、これら４地点のコンベア１０１の速度の計測値を用いて、コンベア１０１の制御に用いるべき、コンベア１０１の速度を決定する。例えば、これら４地点の計測値の平均値を算出する。 The control unit 150 determines the speed of the conveyor 101 to be used for controlling the conveyor 101 using the measured values of the speed of the conveyor 101 at these four points. For example, the average value of the measured values at these four points is calculated.
　制御部１５０はさらに、算出した結果と、メモリ等の記憶媒体に記憶している目標値Ｖａおよび基準値Ｖｂとを用いて、コンベア１０１の速度を制御する。 Further, the control unit 150 controls the speed of the conveyor 101 using the calculated result and the target value Va and the reference value Vb stored in a storage medium such as a memory.
　なお、基準値Ｖｂは、目標値Ｖａよりも低い値であり、制御部１５０がコンベア１０１の速度を向上させる指示を行うか否かの判断基準として用いる値である。 The reference value Vb is a value lower than the target value Va, and is a value used as a criterion for determining whether or not the control unit 150 gives an instruction to improve the speed of the conveyor 101.
　制御部１５０によるコンベア１０１の速度制御に係る処理については、図４および図５を用いて後述する。 Processing related to the speed control of the conveyor 101 by the control unit 150 will be described later with reference to FIGS. 4 and 5.
　図３は、本発明の実施の形態における第一移載装置１１１の動作の概要を示す図である。 FIG. 3 is a diagram showing an outline of the operation of the first transfer apparatus 111 in the embodiment of the present invention.
　図３を用いて、第一移載装置１１１が荷物を受け取る際の基本的な動作を説明する。 The basic operation when the first transfer device 111 receives a package will be described with reference to FIG.
　第一移載装置１１１は、荷物の受け渡しを行う機構部として移載部１１２を有している。本実施の形態では、移載部１１２は、荷物を下方から保持しながら当該荷物の移載を行う。 The first transfer device 111 has a transfer unit 112 as a mechanism unit for delivering and receiving a package. In the present embodiment, the transfer unit 112 transfers the load while holding the load from below.
　第一移載装置１１１は、例えばＴ秒後に荷物１６０が第一ステーション１１０に到着することを制御部１５０から通知されると、Ｔを用いて求められる到着予定時刻の数秒前（例えば３秒前）までに、所定の位置に移載部１１２をスタンバイさせる。 When the first transfer device 111 is notified from the control unit 150 that the package 160 arrives at the first station 110 after T seconds, for example, several seconds before the estimated arrival time obtained using T (for example, 3 seconds before) ), The transfer unit 112 is put on standby at a predetermined position.
　荷物１６０は、図３に示すようにフランジ部１６１を有する。また、バンド１０４には複数のフック１０６が取り付けられている。荷物１６０は、フランジ部１６１が１つのフック１０６と係合することでバンド１０４に吊り下げられ、第一ステーション１１０に向けて搬送される。 The luggage 160 has a flange portion 161 as shown in FIG. A plurality of hooks 106 are attached to the band 104. The load 160 is suspended from the band 104 by the flange portion 161 engaging with one hook 106 and is transported toward the first station 110.
　具体的には、フック１０６は、フランジ部１６１の下部の連結棒を上下方向に貫通させる溝を有し、当該溝は、後方（バンド１０４の移動方向とは逆の方向）が開放されている。 Specifically, the hook 106 has a groove that vertically penetrates the connecting rod below the flange portion 161, and the groove is open at the rear (the direction opposite to the moving direction of the band 104). .
　荷物１６０が第一ステーション１１０に到着すると、第一移載装置１１１は、第一移動量検出部１１５から出力されるバンド１０４の移動量を参照することで、移載部１１２を、バンド１０４の移動、つまり荷物１６０の移動と同期させて移動させる（Ｓ１）。 When the load 160 arrives at the first station 110, the first transfer device 111 refers to the movement amount of the band 104 output from the first movement amount detection unit 115, and thereby moves the transfer unit 112 of the band 104. It moves in synchronization with the movement, that is, the movement of the luggage 160 (S1).
　移載部１１２は荷物１６０と同期して移動しながら上昇することで、荷物１６０を持ち上げる。これにより、フランジ部１６１とフック１０６との係合が解除される（Ｓ２）。 The transfer unit 112 lifts the load 160 by moving up in synchronization with the load 160. Thereby, engagement with the flange part 161 and the hook 106 is cancelled | released (S2).
　このように、フランジ部１６１とフック１０６との係合が解除された後、フック１０６は下流へ移動し、荷物１６０は移載部１１２上に残される。移載部１１２は、この状態で、例えば下方に移動することで、バンド１０４の下方に配置された棚に荷物１６０を載置する（Ｓ３）。 Thus, after the engagement between the flange portion 161 and the hook 106 is released, the hook 106 moves downstream, and the load 160 is left on the transfer portion 112. In this state, the transfer unit 112 moves downward, for example, to place the load 160 on a shelf disposed below the band 104 (S3).
　このように、第一移載装置１１１がコンベア１０１と同期した動作を行うことで、第一ステーション１１０による荷物の受け取りが実行される。また、説明は省略するが、第一ステーション１１０からのコンベア１０１への荷物の移載も同様に、第一移載装置１１１がコンベア１０１と同期した動作を行うことで実行される。 In this way, the first transfer device 111 performs an operation synchronized with the conveyor 101, whereby the first station 110 receives the package. Moreover, although description is abbreviate | omitted, the transfer of the load from the 1st station 110 to the conveyor 101 is similarly performed when the 1st transfer apparatus 111 performs the operation | movement synchronized with the conveyor 101. FIG.
　なお、第二ステーション１２０等の他のステーションにおいても、それぞれが有する移載装置がコンベア１０１と同期した動作を行うことで、稼働中のコンベア１０１に対する荷物の受け渡しを行うことができる。 Note that, in other stations such as the second station 120, the transfer device included in each station performs an operation synchronized with the conveyor 101, so that it is possible to deliver the package to the operating conveyor 101.
　このように、第一移載装置１１１は、コンベア１０１との同期した動作のために、第一移動量検出部１１５からの出力値を利用している。また、この出力値は、上述のように、制御部１５０によるコンベア１０１の速度制御にも利用される。 As described above, the first transfer device 111 uses the output value from the first movement amount detection unit 115 for the synchronized operation with the conveyor 101. The output value is also used for speed control of the conveyor 101 by the control unit 150 as described above.
　ここで、制御部１５０は、上述のように、各移載装置に、例えば受け取るべき荷物が到着するまでの時間Ｔを通知する。このＴは、コンベア１０１の速度が目標値と一致していることを前提に制御部１５０によって算出される値である。各移載装置では、このＴに応じたタイミングで移載部を所定の位置にスタンバイさせる。 Here, as described above, the control unit 150 notifies each transfer device of the time T until the package to be received arrives, for example. This T is a value calculated by the control unit 150 on the assumption that the speed of the conveyor 101 matches the target value. In each transfer device, the transfer unit is put on standby at a predetermined position at a timing corresponding to T.
　従って、コンベア１０１の速度が目標値を超えている場合、予定より早く、各移載装置にそれぞれが受け取るべき荷物が到着する。そのため、各移載装置では、荷物を受け取れないという移載ミスが発生する可能性が生じる。 Therefore, when the speed of the conveyor 101 exceeds the target value, the cargo to be received by each transfer device arrives earlier than planned. Therefore, there is a possibility that each transfer device may cause a transfer error that the package cannot be received.
　そこで、本実施の形態における制御部１５０は、コンベア１０１の速度を制御する際に、コンベア１０１の速度が目標値を超えないように制御する。 Therefore, the control unit 150 in the present embodiment controls the speed of the conveyor 101 so as not to exceed the target value when controlling the speed of the conveyor 101.
　以下に、コンベアシステム１００におけるコンベア１０１の速度制御に係る処理を説明する。 Hereinafter, processing relating to speed control of the conveyor 101 in the conveyor system 100 will be described.
　図４は、本発明の実施の形態におけるコンベア１０１の速度制御の流れの一例を示すフロー図である。 FIG. 4 is a flowchart showing an example of the flow of speed control of the conveyor 101 in the embodiment of the present invention.
　まず図４を用いて、コンベア１０１の速度制御の一連の流れを説明し、次に図５を用いて、コンベア１０１の速度制御の具体例を示す。 First, a series of flow of speed control of the conveyor 101 will be described with reference to FIG. 4, and then a specific example of speed control of the conveyor 101 will be shown with reference to FIG.
　制御部１５０は、コンベア１０１の速度Ｃｖを取得する（Ｓ１０）。具体的には、制御部１５０は、第一ステーション１１０～第四ステーション１４０のそれぞれから送信される、それぞれの地点におけるコンベア１０１の速度の測定値を受信する。 The control unit 150 acquires the speed Cv of the conveyor 101 (S10). Specifically, the control unit 150 receives the measured value of the speed of the conveyor 101 at each point transmitted from each of the first station 110 to the fourth station 140.
　制御部１５０は、受信した４つの測定値の平均値を算出することで、コンベア１０１の速度制御に用いるコンベア１０１の速度Ｃｖを取得する。 The control unit 150 obtains the speed Cv of the conveyor 101 used for speed control of the conveyor 101 by calculating an average value of the received four measured values.
　制御部１５０は、コンベア１０１の速度Ｃｖと、基準値Ｖｂとを比較する（Ｓ１１）。比較の結果、コンベア１０１の速度Ｃｖが、基準値Ｖｂを下回る場合（Ｓ１１でＹｅｓ）、コンベア１０１にコンベア１０１の速度Ｃｖを向上させる指示を行う（Ｓ１２）。 The control unit 150 compares the speed Cv of the conveyor 101 with the reference value Vb (S11). As a result of the comparison, when the speed Cv of the conveyor 101 is lower than the reference value Vb (Yes in S11), the conveyor 101 is instructed to improve the speed Cv of the conveyor 101 (S12).
　その後、制御部１５０は、コンベア１０１の速度Ｃｖを取得し（Ｓ１３）、Ｖｂ≦Ｃｖ≦Ｖａを満たすか否かが確認される（Ｓ１４）。コンベア１０１の速度Ｃｖが、Ｖｂ≦Ｃｖ≦Ｖａを満たさない場合（Ｓ１４でＮｏ）、Ｖｂ≦Ｃｖ≦Ｖａを満たすことが確認される（Ｓ１４でＹｅｓ）まで、コンベア１０１の速度Ｃｖを向上させる指示（Ｓ１２）から、Ｖｂ≦Ｃｖ≦Ｖａを満たすか否かの確認（Ｓ１４）までが繰り返される。 Thereafter, the control unit 150 acquires the speed Cv of the conveyor 101 (S13), and it is confirmed whether or not Vb ≦ Cv ≦ Va is satisfied (S14). If the speed Cv of the conveyor 101 does not satisfy Vb ≦ Cv ≦ Va (No in S14), an instruction to increase the speed Cv of the conveyor 101 until it is confirmed that Vb ≦ Cv ≦ Va is satisfied (Yes in S14). The process from (S12) to confirmation (S14) of whether or not Vb ≦ Cv ≦ Va is satisfied is repeated.
　つまり、制御部１５０は、コンベア１０１の速度Ｃｖが、適正範囲である、基準値Ｖｂ以上かつ目標値Ｖａ以下になったことを確認するまで、取得した速度と目標値Ｖａとの差分よりも小さな値だけコンベア１０１の速度Ｃｖを向上させるための指示を繰り返す。これにより、確実に、コンベア１０１の速度Ｃｖを適正範囲に到達させることができ、かつ、コンベア１０１の速度Ｃｖが目標値を超えることが防止される。 That is, the control unit 150 is smaller than the difference between the acquired speed and the target value Va until it is confirmed that the speed Cv of the conveyor 101 is within the appropriate range, which is equal to or higher than the reference value Vb and equal to or lower than the target value Va. The instruction for improving the speed Cv of the conveyor 101 by the value is repeated. Thereby, the speed Cv of the conveyor 101 can be surely reached within an appropriate range, and the speed Cv of the conveyor 101 is prevented from exceeding the target value.
　また、コンベア１０１の速度Ｃｖが、基準値Ｖｂ以上である場合（Ｓ１１でＮｏ）、制御部１５０は、コンベア１０１の速度Ｃｖと目標値Ｖａとを比較する。比較の結果、コンベア１０１の速度Ｃｖが目標値Ｖａ以下である場合（Ｓ１５でＮｏ）、つまり、Ｖｂ≦Ｃｖ≦Ｖａを満たす場合、コンベア１０１の速度Ｃｖの取得（Ｓ１０）以降の処理が再度行われる。 Further, when the speed Cv of the conveyor 101 is equal to or higher than the reference value Vb (No in S11), the control unit 150 compares the speed Cv of the conveyor 101 with the target value Va. As a result of the comparison, if the speed Cv of the conveyor 101 is equal to or lower than the target value Va (No in S15), that is, if Vb ≦ Cv ≦ Va is satisfied, the processing after the acquisition of the speed Cv (S10) of the conveyor 101 is performed again. Is called.
　また、コンベア１０１の速度Ｃｖが目標値Ｖａを上回る場合（Ｓ１５でＹｅｓ）、制御部１５０は、一回の指示で、コンベア１０１の速度Ｃｖを基準値Ｖｂより小さな値まで低下させる（Ｓ１６）。 When the speed Cv of the conveyor 101 exceeds the target value Va (Yes in S15), the control unit 150 reduces the speed Cv of the conveyor 101 to a value smaller than the reference value Vb by one instruction (S16).
　その後、コンベア１０１の速度Ｃｖを向上させる指示（Ｓ１２）から、Ｖｂ≦Ｃｖ≦Ｖａを満たすか否かの確認（Ｓ１４）までが繰り返されることで、コンベア１０１の速度Ｃｖは適正範囲に収束する。 Then, the speed Cv of the conveyor 101 converges to an appropriate range by repeating from the instruction to improve the speed Cv of the conveyor 101 (S12) to the confirmation of whether or not Vb ≦ Cv ≦ Va is satisfied (S14).
　以上の処理の流れを、図５を用いて具体的に説明する。 The above processing flow will be specifically described with reference to FIG.
　図５は、本発明の実施の形態における、コンベア１０１の速度制御の具体例を示す図である。 FIG. 5 is a diagram showing a specific example of speed control of the conveyor 101 in the embodiment of the present invention.
　図５に示すグラフの縦軸は、制御部１５０が取得したコンベア１０１の速度Ｃｖであり、横軸は時間である。また、図５では、説明の容易化のために、目標値Ｖａおよび基準値Ｖｂを無次元数（Ｖａ＝１００、Ｖｂ＝９８）で表している。 5 is the speed Cv of the conveyor 101 acquired by the control unit 150, and the horizontal axis is time. In FIG. 5, the target value Va and the reference value Vb are represented by dimensionless numbers (Va = 100, Vb = 98) for ease of explanation.
　例えば時刻ｔ１においてＣｖ＝Ｖ１である場合、ＣｖはＶｂを下回っている。そこで、制御部１５０は、ＣｖをＤ１だけ向上させるための指示をコンベア１０１に行う。具体的には、速度（Ｖ１＋Ｄ１）に対応する制御信号を、コンベア１０１が有する複数の駆動部１０５のそれぞれに送信する。 For example, when Cv = V1 at time t1, Cv is lower than Vb. Therefore, the control unit 150 instructs the conveyor 101 to improve Cv by D1. Specifically, a control signal corresponding to the speed (V1 + D1) is transmitted to each of the plurality of driving units 105 included in the conveyor 101.
　ここで、Ｄ１は、制御部１５０がｔ１で取得した速度Ｖ１と、目標値Ｖａとの差分にｍ（０＜ｍ＜１）を乗算して得られた値である。ｍは例えば“１／２”、“２／３”、または“３／４”などである。 Here, D1 is a value obtained by multiplying the difference between the speed V1 acquired by the control unit 150 at t1 and the target value Va by m (0 <m <1). m is, for example, “1/2”, “2/3”, “3/4”, or the like.
　なお、制御部１５０がコンベア１０１に対する指示を行うごとに、ｍの値を変更してもよい。つまり、ｍは一定であっても可変であってもよい。 Note that the value of m may be changed each time the control unit 150 gives an instruction to the conveyor 101. That is, m may be constant or variable.
　例えば、制御部１５０が取得した速度と目標値との差分が小さくなるほどｍの値を小さくしてもよい。また、例えば、ｍの値として、制御部１５０が取得する速度と目標値との差分に応じた複数の値を記憶媒体に記憶させておいてもよい。この場合、制御部１５０は、指示ごとに、当該差分に応じた値を当該記憶媒体から読み出した値を用いて制御信号を生成してもよい。 For example, the value of m may be decreased as the difference between the speed acquired by the control unit 150 and the target value decreases. Further, for example, as the value of m, a plurality of values corresponding to the difference between the speed acquired by the control unit 150 and the target value may be stored in the storage medium. In this case, for each instruction, the control unit 150 may generate a control signal using a value obtained by reading a value corresponding to the difference from the storage medium.
　速度（Ｖ１＋Ｄ１）に対応する制御信号を受け取った各駆動部１０５は、当該制御信号に従ってモータを回転させる。その結果、Ｃｖは向上し、制御部１５０は、時刻ｔ２においてＣｖ＝Ｖ２を取得する。 Each drive unit 105 that receives the control signal corresponding to the speed (V1 + D1) rotates the motor in accordance with the control signal. As a result, Cv is improved, and the control unit 150 acquires Cv = V2 at time t2.
　Ｖ２はＶｂを下回っているため、制御部１５０は、速度（Ｖ２＋Ｄ２）に対応する制御信号を、コンベア１０１が有する複数の駆動部１０５のそれぞれに送信する。 Since V2 is lower than Vb, the control unit 150 transmits a control signal corresponding to the speed (V2 + D2) to each of the plurality of driving units 105 included in the conveyor 101.
　Ｄ２は、上記Ｄ１と同様に算出される値である。具体的には、Ｄ２は、速度Ｖ２とＶａとの差分にｍを乗算して得られた値である。 D2 is a value calculated in the same manner as D1. Specifically, D2 is a value obtained by multiplying the difference between the speeds V2 and Va by m.
　その後、制御部１５０は、時刻ｔ３において、Ｃｖ＝Ｖ３を取得する。Ｖ３はＶｂを下回っているため、制御部１５０は、速度（Ｖ３＋Ｄ３）に対応する制御信号を、コンベア１０１が有する複数の駆動部１０５のそれぞれに送信する。Ｄ３は、速度Ｖ３とＶａとの差分にｍを乗算して得られた値である。 Thereafter, the control unit 150 acquires Cv = V3 at time t3. Since V3 is lower than Vb, the control unit 150 transmits a control signal corresponding to the speed (V3 + D3) to each of the plurality of driving units 105 included in the conveyor 101. D3 is a value obtained by multiplying the difference between the speeds V3 and Va by m.
　その後、制御部１５０は、時刻ｔ４において、Ｃｖ＝Ｖ４を取得する。Ｖ４は、Ｖｂ≦Ｖ４≦Ｖａを満たす値である。従って、制御部１５０は、時刻ｔ４において取得したコンベア１０１の速度Ｃｖが、基準値Ｖｂ以上かつ目標値Ｖａ以下になったことを確認する。 Thereafter, the control unit 150 acquires Cv = V4 at time t4. V4 is a value satisfying Vb ≦ V4 ≦ Va. Therefore, the control unit 150 confirms that the speed Cv of the conveyor 101 acquired at time t4 is not less than the reference value Vb and not more than the target value Va.
　そのため、制御部１５０は、コンベア１０１の速度Ｃｖを向上させるための指示を一旦停止し、速度（Ｖ３＋Ｄ３）に対応する制御信号を継続して送信する。 Therefore, the control unit 150 temporarily stops an instruction for improving the speed Cv of the conveyor 101 and continuously transmits a control signal corresponding to the speed (V3 + D3).
　その後、例えば、コンベア１０１が搬送する荷物の数が急増したこと、または、いずれかの駆動部１０５のローラが磨耗したことなどに起因し、コンベア１０１の速度ＣｖがＶｂを下回った場合を想定する。 Thereafter, for example, a case is assumed where the speed Cv of the conveyor 101 falls below Vb due to a rapid increase in the number of luggage transported by the conveyor 101 or wear of a roller of any one of the drive units 105. .
　この場合、制御部１５０は、例えば時刻ｔ５において、Ｃｖ＝Ｖ５を取得する。Ｖ５はＶｂを下回っているため、制御部１５０は、速度Ｖ５とＶａとの差分にｍを乗算して得られた値だけ上昇させるための指示をコンベア１０１に行う。これにより、時刻ｔ６において、コンベア１０１の速度Ｃｖ＝Ｖ６となり、Ｃｖは適正範囲（Ｖｂ≦Ｃｖ≦Ｖａ）に到達する。 In this case, the control unit 150 acquires Cv = V5, for example, at time t5. Since V5 is lower than Vb, the control unit 150 instructs the conveyor 101 to increase the value obtained by multiplying the difference between the speeds V5 and Va by m. Thereby, at time t6, the speed Cv of the conveyor 101 becomes V6, and Cv reaches an appropriate range (Vb ≦ Cv ≦ Va).
　さらにその後、例えば、コンベア１０１が搬送する荷物の数が急減したことなどに起因し、コンベア１０１の速度Ｃｖが上昇し、Ｖａを上回った場合を想定する。 Further, it is assumed that the speed Cv of the conveyor 101 increases and exceeds Va due to, for example, a sudden decrease in the number of luggage transported by the conveyor 101.
　この場合、制御部１５０は、例えば時刻ｔ７において、Ｃｖ＝Ｖ７を取得する。Ｖ７はＶａを上回っているため、制御部１５０は、一回の指示で、コンベア１０１の速度ＣｖをＶｂより低い値まで低下させる。 In this case, the control unit 150 acquires Cv = V7, for example, at time t7. Since V7 exceeds Va, the control unit 150 reduces the speed Cv of the conveyor 101 to a value lower than Vb by one instruction.
　制御部１５０は、コンベア１０１の速度Ｃｖを確実にＶｂより低い値まで低下させるように、例えば“９８０”に対応する制御信号を、コンベア１０１が有する複数の駆動部１０５のそれぞれに送信する。 The control unit 150 transmits a control signal corresponding to, for example, “980” to each of the plurality of driving units 105 included in the conveyor 101 so as to reliably reduce the speed Cv of the conveyor 101 to a value lower than Vb.
　その結果、制御部１５０は、例えば時刻ｔ８において、Ｃｖ＝Ｖ８を取得する。Ｖ８は、Ｖｂを下回っている。そのため、制御部１５０は、コンベア１０１の速度Ｃｖが、基準値Ｖｂ以上かつ目標値Ｖａ以下になったことを確認するまで、コンベア１０１の速度Ｃｖを向上させるための指示を繰り返す。 As a result, the control unit 150 acquires Cv = V8, for example, at time t8. V8 is lower than Vb. Therefore, the control unit 150 repeats the instruction for improving the speed Cv of the conveyor 101 until it is confirmed that the speed Cv of the conveyor 101 is equal to or higher than the reference value Vb and equal to or lower than the target value Va.
　なお、制御部１５０は、コンベア１０１の速度Ｃｖ向上のための指示を行う場合、Ｃｖが直前の指示に応じた速度まで到達するのを待たなくてもよい。 In addition, when giving the instruction | indication for the speed Cv improvement of the conveyor 101, the control part 150 does not need to wait for Cv to reach | attain the speed according to the last instruction | indication.
　例えば、図５に示すように、Ｃｖ＝Ｖ１である場合、制御部１５０は、ＣｖをＤ１だけ向上させるための指示をコンベア１０１に行う。この場合、制御部１５０は、当該指示の後であって、コンベア１０１の速度が（Ｖ１＋Ｄ１）に到達する前にＣｖを取得し、取得した当該Ｃｖと、目標値Ｖａとの差分よりも小さな値だけＣｖを向上させるための次の指示を行ってもよい。 For example, as shown in FIG. 5, when Cv = V1, the control unit 150 instructs the conveyor 101 to improve Cv by D1. In this case, the control unit 150 acquires Cv after the instruction and before the speed of the conveyor 101 reaches (V1 + D1), and is smaller than the difference between the acquired Cv and the target value Va. Only the following instruction for improving Cv may be given.
　また、個々の指示の具体的なタイミングとしては、コンベア１０１の速度の向上分が、直前の指示における速度向上分に対する所定の割合に到達した時点が例示される。 Further, specific timing of each instruction is exemplified when the speed increase of the conveyor 101 reaches a predetermined ratio with respect to the speed increase in the immediately preceding instruction.
　例えば、Ｖ１＝８０で、Ｄ１＝１０である場合を想定する。この場合、制御部１５０は、コンベア１０１に速度（Ｖ１＋Ｄ１）に対応する指示を行った後、Ｃｖを監視し、Ｃｖが例えばＤ１の８０％である８だけ増加した時点、つまり、Ｃｖ＝８８になった時点で、次の指示における速度向上分を算出する。 For example, assume that V1 = 80 and D1 = 10. In this case, after giving an instruction corresponding to the speed (V1 + D1) to the conveyor 101, the control unit 150 monitors Cv, and when Cv increases by 8 which is 80% of D1, for example, Cv = 88. At this point, the speed improvement for the next instruction is calculated.
　例えば、制御部１５０は、（目標値Ｖａ－８８）×（３／４）＝９を、次の指示における速度向上分として算出する。つまり、制御部１５０は、速度（８８＋９）に対応する制御信号を、コンベア１０１が有する複数の駆動部１０５のそれぞれに送信する。 For example, the control unit 150 calculates (target value Va−88) × (3/4) = 9 as the speed improvement in the next instruction. That is, the control unit 150 transmits a control signal corresponding to the speed (88 + 9) to each of the plurality of driving units 105 included in the conveyor 101.
　また、制御部１５０は、コンベア１０１の速度の向上分とＤ１との差分が所定の値になったタイミングで次の指示を行ってもよい。例えば、Ｖ１＝８０で、Ｄ１＝１０である場合、制御部１５０は、速度の向上分とＤ１との差分が１になった時点、つまり、Ｃｖ＝８９になった時点で、次の指示における速度向上分を算出し、当該算出結果を用いて次の指示を行ってもよい。 Further, the control unit 150 may perform the next instruction at the timing when the difference between the speed increase of the conveyor 101 and D1 becomes a predetermined value. For example, when V1 = 80 and D1 = 10, the control unit 150 performs the next instruction when the difference between the speed improvement and D1 becomes 1, that is, when Cv = 89. The speed improvement may be calculated, and the next instruction may be performed using the calculation result.
　このように、制御部１５０がコンベア１０１の速度補正のための指示を繰り返す場合に、個々の指示を早めのタイミングで行うことで、コンベア１０１の速度が基準値と目標値との間に到達するまでの期間が短縮される。 Thus, when the control unit 150 repeats the instruction for correcting the speed of the conveyor 101, the speed of the conveyor 101 reaches between the reference value and the target value by giving each instruction at an earlier timing. The period until is shortened.
　以上説明したように、本実施の形態のコンベアシステム１００では、コンベア１０１の速度が目標値より低い基準値を下回った場合、一回の指示で、コンベア１０１の速度を、目標値まで向上させるのではなく、コンベア１０１の速度を確認しながら、小刻みにコンベア１０１の速度を向上させる。これにより、コンベア１０１の速度は確実に適正範囲に到達し、かつ、コンベア１０１の速度が目標値を超えることはない。 As described above, in the conveyor system 100 according to the present embodiment, when the speed of the conveyor 101 falls below the reference value lower than the target value, the speed of the conveyor 101 is increased to the target value with a single instruction. Instead, the speed of the conveyor 101 is increased in small increments while checking the speed of the conveyor 101. As a result, the speed of the conveyor 101 reliably reaches the appropriate range, and the speed of the conveyor 101 does not exceed the target value.
　また、制御部１５０は、複数の、コンベア１０１の速度の測定値を用いて、コンベア１０１の速度を制御するため、精度の高い速度制御が実現される。特に、バンド１０４の全長が例えば１ｋｍを超えるような大規模なコンベアシステム１００を構築する場合、多地点でのコンベア１０１の速度の測定値を速度制御に用いることは、速度制御の精度の向上の観点から有用である。 Further, since the control unit 150 controls the speed of the conveyor 101 using a plurality of measured values of the speed of the conveyor 101, highly accurate speed control is realized. In particular, when constructing a large-scale conveyor system 100 in which the total length of the band 104 exceeds 1 km, for example, using the measured values of the speed of the conveyor 101 at multiple points for speed control improves the accuracy of speed control. Useful from the point of view.
　さらに、制御部１５０が、複数回の指示を複数の駆動部１０５のそれぞれに送信することで、より確実な速度制御が実現される。具体的には、複数の駆動部１０５の一部または全部が、いずれかの指示の受信を失敗した場合であっても、その後の指示により当該一部または全部の駆動部１０５は、コンベア１０１の速度が適正範囲に到達するように動作する。 Furthermore, more reliable speed control is realized by the control unit 150 transmitting a plurality of instructions to each of the plurality of driving units 105. Specifically, even if a part or all of the plurality of driving units 105 fail to receive any instruction, the part or all of the driving units 105 in accordance with the subsequent instruction Operates so that the speed reaches the proper range.
　従って、各ステーション（１１０、１２０、１３０、１４０）では、受け取るべき荷物を確実に受け取ることができ、かつ、コンベア１０１に渡すべき荷物を確実に渡すことができる。 Therefore, each station (110, 120, 130, 140) can surely receive the package to be received and can reliably deliver the package to be delivered to the conveyor 101.
　また、制御部１５０は、各ステーションが有する、コンベア１０１との同期用の移動量検出部を、コンベア１０１の速度の取得に利用する。そのため、コンベア１０１の速度の取得を目的としたエンコーダ等をコンベア１０１に新たに配置する必要がない。 Further, the control unit 150 uses the movement amount detection unit for synchronization with the conveyor 101, which each station has, for acquiring the speed of the conveyor 101. Therefore, it is not necessary to newly arrange an encoder or the like for acquiring the speed of the conveyor 101 on the conveyor 101.
　このように、本実施の形態のコンベアシステム１００は、搬送作業を効果的に効率化させることができる。 As described above, the conveyor system 100 according to the present embodiment can effectively improve the conveyance work.
　以上、本発明の一態様に係るコンベアシステム１００について、実施の形態に基づいて説明した。しかしながら、本発明は、これらの実施の形態に限定されるものではない。本発明の趣旨を逸脱しない限り、当業者が思いつく各種変形を本実施の形態に施したものも、あるいは、上記説明された複数の構成要素を組み合わせて構築される形態も、本発明の範囲内に含まれる。 The conveyor system 100 according to one aspect of the present invention has been described above based on the embodiment. However, the present invention is not limited to these embodiments. Unless it deviates from the gist of the present invention, various modifications conceived by those skilled in the art have been made in the present embodiment, or forms constructed by combining a plurality of the above-described constituent elements are within the scope of the present invention. include.
　例えば、本実施の形態において、制御部１５０は、４地点の速度の計測値を平均することで、コンベア１０１の速度制御に用いるコンベア１０１の速度を取得するとした。しかしながら、他の手法で、速度制御に用いるコンベア１０１の速度を決定してもよい。 For example, in the present embodiment, the control unit 150 obtains the speed of the conveyor 101 used for speed control of the conveyor 101 by averaging the measured values of the speeds at four points. However, the speed of the conveyor 101 used for speed control may be determined by other methods.
　例えば、４地点の計測値うちの、最大と最小とを除外した残り２地点の計測値の平均を、コンベア１０１の速度として扱ってもよい。また、例えば、４つのステーションのうち、受け渡しする荷物の数が最も多いステーションで計測されたコンベア１０１の速度を、速度制御に用いるコンベア１０１の速度として扱ってもよい。 For example, an average of the measurement values at the remaining two points excluding the maximum and minimum values among the measurement values at the four points may be handled as the speed of the conveyor 101. Further, for example, the speed of the conveyor 101 measured at the station having the largest number of packages to be delivered among the four stations may be handled as the speed of the conveyor 101 used for speed control.
　また、コンベア１０１が有するバンド１０４は樹脂製であるとした。しかし、バンド１０４は例えば金属製であってもよい。 In addition, the band 104 included in the conveyor 101 is made of resin. However, the band 104 may be made of metal, for example.
　また、コンベア１０１は、バンド１０４に取り付けられた複数のフック１０６で複数の荷物を搬送するとした。しかし、コンベア１０１の荷物の搬送態様はどのようなものであってもよい。例えば、コンベア１０１が、ベルトにより荷物を搬送するベルトコンベアであってもよい。 In addition, it is assumed that the conveyor 101 conveys a plurality of packages with a plurality of hooks 106 attached to the band 104. However, any manner of carrying the luggage on the conveyor 101 may be used. For example, the conveyor 101 may be a belt conveyor that conveys loads by a belt.
　つまり、実施の形態のコンベアシステム１００を、ベルトコンベアを稼動させながら、ベルトの移動に同期して荷物の受け渡しを行うことで搬送作業を実行するシステムに適用することも可能である。 That is, it is also possible to apply the conveyor system 100 according to the embodiment to a system that performs a transport operation by delivering a package in synchronization with the movement of the belt while operating the belt conveyor.
　また、図５において、目標値Ｖａは１００であり、基準値Ｖｂは９８であるとした。つまり、基準値Ｖｂは、目標値Ｖａから２％だけ減じた値であるとした。 In FIG. 5, the target value Va is 100, and the reference value Vb is 98. That is, the reference value Vb is a value obtained by subtracting 2% from the target value Va.
　しかし、目標値Ｖａと基準値Ｖｂとの差は、特定の値または割合に限定されない。目標値Ｖａと基準値Ｖｂとの差は、例えば複数の地点で測定されたコンベア１０１の速度のばらつき等に応じて設定されればよい。 However, the difference between the target value Va and the reference value Vb is not limited to a specific value or ratio. The difference between the target value Va and the reference value Vb may be set according to, for example, variations in the speed of the conveyor 101 measured at a plurality of points.
　例えば、複数の地点で測定されたコンベア１０１の速度のばらつきが無視できる程度に小さいのであれば、目標値Ｖａと基準値Ｖｂとの差をより少なくすることも可能である。こうすることで、コンベア１０１の速度を、目標値により近い範囲に維持することが可能である。その結果、搬送作業がより効率化される。 For example, if the variation in the speed of the conveyor 101 measured at a plurality of points is small enough to be ignored, the difference between the target value Va and the reference value Vb can be further reduced. By doing so, it is possible to maintain the speed of the conveyor 101 in a range closer to the target value. As a result, the transfer work is made more efficient.
　また、複数の地点で測定されたコンベア１０１の速度のばらつきが大きいほど、目標値Ｖａと基準値Ｖｂとの差を大きくしてもよい。こうすることで、例えば、コンベア１０１の実際の速度が目標値を超えてしまうことが防止される。 Further, the difference between the target value Va and the reference value Vb may be increased as the variation in the speed of the conveyor 101 measured at a plurality of points is larger. By doing so, for example, the actual speed of the conveyor 101 is prevented from exceeding the target value.
　また、制御部１５０が、複数の地点で測定されたコンベア１０１の速度のばらつきの度合いを算出し、算出結果と目標値Ｖａとから、Ｖｂを算出してもよい。つまり、Ｖｂは、制御部１５０により自動的に決定されてもよい。 Further, the control unit 150 may calculate the degree of variation in the speed of the conveyor 101 measured at a plurality of points, and calculate Vb from the calculation result and the target value Va. That is, Vb may be automatically determined by the control unit 150.
　本発明のコンベアシステムは、コンベアの速度を、目標値を上限として徐々に向上させることで、確実に適正範囲に到達させるよう制御する。そのため、工場および倉庫など、安全かつ効率のよい荷物の搬送が要求される場所におけるコンベアシステム等として有用である。 The conveyor system of the present invention controls the conveyor speed so as to surely reach an appropriate range by gradually increasing the target value as an upper limit. Therefore, it is useful as a conveyor system or the like in a place such as a factory or a warehouse where safe and efficient transportation of cargo is required.
　　１００　　コンベアシステム
　　１０１　　コンベア
　　１０４　　バンド
　　１０５　　駆動部
　　１０６　　フック
　　１１０　　第一ステーション
　　１１１　　第一移載装置
　　１１２　　移載部
　　１１５　　第一移動量検出部
　　１２０　　第二ステーション
　　１２１　　第二移載装置
　　１２５　　第二移動量検出部
　　１３０　　第三ステーション
　　１４０　　第四ステーション
　　１５０　　制御部
　　１６０　　荷物
　　１６１　　フランジ部 DESCRIPTION OF SYMBOLS 100 Conveyor system 101 Conveyor 104 Band 105 Drive part 106 Hook 110 1st station 111 1st transfer apparatus 112 Transfer part 115 1st movement amount detection part 120 2nd station 121 2nd transfer apparatus 125 2nd movement amount detection part 130 3rd station 140 4th station 150 Control part 160 Luggage 161 Flange part

Claims (6)

  1. 　荷物を搬送するコンベアと、
    　前記コンベアの速度を取得し、取得した速度に基づいて、前記コンベアの速度が目標値に近づくように前記コンベアを制御する制御部とを備え、
    　前記制御部は、取得した速度が前記目標値よりも低い基準値を下回る場合、前記コンベアの速度が前記基準値以上かつ前記目標値以下になったことを確認するまで、取得した速度と前記目標値との差分よりも小さな値だけ前記コンベアの速度を向上させるための指示を繰り返すことで、前記コンベアの速度を、前記基準値以上かつ前記目標値以下まで向上させる
    　コンベアシステム。     A conveyor for carrying the luggage;
    A controller that acquires the speed of the conveyor and controls the conveyor so that the speed of the conveyor approaches a target value based on the acquired speed;
    When the acquired speed falls below a reference value lower than the target value, the control unit determines that the acquired speed and the target until the conveyor speed is not less than the reference value and not more than the target value. A conveyor system for increasing the speed of the conveyor to the reference value or more and the target value or less by repeating an instruction to improve the speed of the conveyor by a value smaller than a difference from the value.
  2. 　前記制御部は、（ａ）前記コンベアの速度の取得、および、（ｂ）取得した速度と前記目標値との差分にｍ（０＜ｍ＜１）を乗算して得られた値だけ前記コンベアの速度を向上させるための前記コンベアに対する指示、を繰り返すことで、前記コンベアの速度を、前記基準値以上かつ前記目標値以下まで向上させる
    　請求項１記載のコンベアシステム。     The control unit includes (a) acquisition of the speed of the conveyor, and (b) a value obtained by multiplying the difference between the acquired speed and the target value by m (0 <m <1). The conveyor system according to claim 1, wherein the speed of the conveyor is increased to the reference value or more and the target value or less by repeating an instruction to the conveyor for improving the speed of the conveyor.
  3. 　前記コンベアは、前記荷物を移動させる搬送体により前記荷物を搬送し、
    　前記コンベアの速度は、前記搬送体の移動速度であり、
    　コンベアシステムはさらに、前記搬送体の移動に同期した動作を行うことで、前記荷物を前記コンベアから受け取る、または、前記荷物を前記コンベアに渡す第一移載装置と、
    　前記第一移載装置による前記搬送体の移動に同期した動作に用いられる、前記搬送体の移動量を検出する第一移動量検出部とを備え、
    　前記制御部は、前記第一移動量検出部により検出された移動量を用いて求められる前記コンベアの速度を取得する
    　請求項１記載のコンベアシステム。     The conveyor conveys the luggage by a conveying body that moves the luggage,
    The speed of the conveyor is the moving speed of the carrier,
    The conveyor system further includes a first transfer device that receives the load from the conveyor or delivers the load to the conveyor by performing an operation in synchronization with the movement of the carrier.
    A first movement amount detection unit for detecting a movement amount of the carrier, which is used for an operation synchronized with the movement of the carrier by the first transfer device;
    The conveyor system according to claim 1, wherein the control unit acquires the speed of the conveyor that is obtained using the movement amount detected by the first movement amount detection unit.
  4. 　さらに、前記搬送体の移動に同期した動作を行うことで前記荷物を前記コンベアから受け取る第二移載装置と、
    　前記第二移載装置による前記搬送体の移動に同期した動作に用いられる、前記搬送体の移動量を検出する第二移動量検出部とを備え、
    　前記制御部は、前記第一移動量検出部により検出された移動量および前記第二移動量検出部により検出された移動量を用いて求められる前記コンベアの速度を取得する
    　請求項３記載のコンベアシステム。     Furthermore, a second transfer device that receives the load from the conveyor by performing an operation synchronized with the movement of the transport body,
    A second movement amount detection unit for detecting a movement amount of the carrier, which is used for an operation synchronized with the movement of the carrier by the second transfer device;
    4. The conveyor according to claim 3, wherein the control unit acquires the speed of the conveyor obtained by using the movement amount detected by the first movement amount detection unit and the movement amount detected by the second movement amount detection unit. system.
  5. 　前記制御部は、取得した速度が前記目標値よりも高い場合、前記コンベアの速度を低下させる指示を一回行うことで、前記コンベアの速度を前記基準値よりも小さな値まで低下させる
    　請求項１記載のコンベアシステム。     The said control part reduces the speed of the said conveyor to the value smaller than the said reference value by giving the instruction | indication which reduces the speed of the said conveyor once, when the acquired speed is higher than the said target value. The described conveyor system.
  6. 　前記制御部は、前記コンベアの速度を向上させるための一回の指示を行った後であって、前記コンベアの速度が前記一回の指示に応じた速度に到達する前に、前記コンベアの速度を取得し、取得した当該速度と前記目標値との差分よりも小さな値だけ前記コンベアの速度を向上させるための次の指示を行う
    　請求項１記載のコンベアシステム。     The control unit performs the speed of the conveyor after giving a single instruction to improve the speed of the conveyor and before the speed of the conveyor reaches the speed according to the single instruction. The conveyor system according to claim 1, wherein the next instruction for improving the speed of the conveyor by a value smaller than a difference between the acquired speed and the target value is performed.
PCT/JP2010/003890 2010-06-11 2010-06-11 Conveyor system WO2011155001A1 (en)

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JP2000229722A (en) * 1998-12-11 2000-08-22 Nkk Corp Conveyer speed control method and tracking method
JP3084299U (en) * 2001-08-27 2002-03-08 メカテック有限会社 Painting equipment
JP2004028892A (en) * 2002-06-27 2004-01-29 Anritsu Sanki System Co Ltd Article inspection device
JP2007213127A (en) * 2006-02-07 2007-08-23 Toyota Industries Corp Speed control method and speed controller for moving object
JP2008254898A (en) * 2007-04-06 2008-10-23 Murata Mach Ltd Carrying device

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Publication number Priority date Publication date Assignee Title
JP2000229722A (en) * 1998-12-11 2000-08-22 Nkk Corp Conveyer speed control method and tracking method
JP3084299U (en) * 2001-08-27 2002-03-08 メカテック有限会社 Painting equipment
JP2004028892A (en) * 2002-06-27 2004-01-29 Anritsu Sanki System Co Ltd Article inspection device
JP2007213127A (en) * 2006-02-07 2007-08-23 Toyota Industries Corp Speed control method and speed controller for moving object
JP2008254898A (en) * 2007-04-06 2008-10-23 Murata Mach Ltd Carrying device

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