JP2006052046A - Article conveying device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article conveying device capable of realizing enhancement of conveying ability. <P>SOLUTION: The article conveying device is constituted such that a control means 14 transmits traveling speed instruction information for the article conveying truck 3 to a traveling driving means 7 at every speed instruction timing and a traveling driving means 7 travels the article conveying truck 3 at a traveling speed instructed by the traveling speed instruction information based on the traveling speed instruction information from the control means 14 received at the speed instruction timing. The traveling driving means 7 determines speed information for non-receiving based on the traveling speed instruction information received at the former speed instruction timing and the present actual traveling speed information in the receiving abnormality state in which the traveling speed instruction information from the control means 14 is not received at the speed instruction timing; and travels the article conveying truck 3 at the traveling speed of the determined speed information for non-receiving. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

The present invention relates to an article transport cart that travels on a track installed so as to pass through a plurality of article transfer locations, travel drive means for driving the article transport cart, and control for managing the travel of the article transport cart Means are provided,
The control means is configured to transmit travel speed command information about the article transport cart to the travel drive means each time it comes to a speed command timing.
The travel drive means is configured to travel the article transport cart at a travel speed commanded by the travel speed command information based on travel speed command information from the control means received at the speed command timing. The present invention relates to an article conveying apparatus.

  The article transport apparatus as described above is applied to, for example, an automatic warehouse, and reciprocates an article transport carriage on a linear track with a closed end, so that articles can be transferred to a plurality of article transfer locations. The conveyance is performed by the article conveyance carriage.

  As such an article conveying device, the control means transmits travel speed command information to the travel drive means in accordance with the travel pattern, and the travel drive means determines the travel speed command information based on the travel speed command information from the control means. In some cases, the article transport carriage is caused to travel at the travel speed instructed in (1) to adjust the travel speed of the article transport carriage (see, for example, Patent Document 1).

In the article conveying apparatus shown in Patent Document 1, the control means determines, for example, that the speed command timing is reached every time the set time has elapsed, and the control means that the travel drive means receives every time the speed command timing is reached. Based on the traveling speed command information from the vehicle, the article transport carriage is caused to travel.
If the travel drive means is in a reception abnormal state in which the travel speed command information from the control means is not received at the speed command timing due to a communication abnormality or the like, the article transport carriage is based on the travel speed command information from the control means Therefore, the travel driving means conventionally stops the travel of the article transport carriage when the reception driving state is abnormal.

JP 2002-217710 A

However, in the above-described conventional article transport apparatus, when the travel drive unit is in a reception abnormal state, the article transport carriage is always stopped running. As a result, there is a possibility that the conveyance capacity is reduced.
By the way, not only abnormal communication but also communication interruption, such as when the travel speed command information is received normally after that, it will be abnormal reception, so even if such communication interruption occurs, goods The traveling of the transport cart will be stopped.

  The present invention has been made paying attention to this point, and an object thereof is to provide an article conveying apparatus capable of improving the conveying ability.

In order to achieve this object, a first characteristic configuration of an article transporting apparatus according to the present invention includes an article transporting carriage that travels on a track installed so as to pass through a plurality of article transfer locations, and the article transporting carriage. Travel drive means for driving the vehicle, and control means for managing the travel of the article transport carriage,
The control means is configured to transmit travel speed command information about the article transport cart to the travel drive means each time it comes to a speed command timing.
The travel drive means is configured to travel the article transport cart at a travel speed commanded by the travel speed command information based on travel speed command information from the control means received at the speed command timing. In the article transport device
When the travel driving means is in a reception abnormal state in which the travel speed command information from the control means is not received at the speed command timing, the travel speed command information received at the previous speed command timing and the current actual travel speed information The non-reception speed information is obtained based on the above, and the article transport cart is caused to travel at a traveling speed based on the obtained non-reception speed information.

That is, when the travel driving means is in a reception abnormal state, the non-reception speed information can be obtained and the article transport carriage can be caused to travel at the travel speed based on the obtained non-reception speed information. Even in the case of abnormal reception, it is possible to continue traveling the article transport carriage.
The travel drive means obtains the non-reception speed information based on the travel speed command information received at the previous speed command timing and the current actual travel speed information. For example, when the travel speed should be reduced , Non-receiving speed information can be obtained to reduce the traveling speed, and non-receiving speed information can be obtained to keep the traveling speed constant when the traveling speed should be constant. become.

  Therefore, when the travel driving means is in a reception abnormal state, the travel of the article transport cart is not simply continued, but the current travel state such as the current deceleration and travel speed is maintained as much as possible. It has become possible to continue traveling, and it has become possible to provide an article conveying apparatus capable of improving the conveying ability while preventing problems caused by continuing the traveling of the article conveying carriage as much as possible.

  The second characteristic configuration of the article transporting apparatus according to the present invention is based on the travel speed command information received at the previous speed command timing and the current actual travel speed information when the travel drive means is in the abnormal reception state. When it is determined from the travel speed change amount that the vehicle is in a deceleration state in which the travel speed is decreased, the non-reception speed information is obtained in order to maintain the deceleration state.

That is, when the traveling drive means is in a reception abnormal state, it can be accurately determined that the current traveling state is a deceleration state by determining whether or not the traveling speed is in a deceleration state from the travel speed change amount. When it is determined that the vehicle is in the decelerating state, the speed of the non-reception is obtained in order to maintain the decelerating state, whereby the traveling of the article transport carriage can be continued while maintaining the decelerating state.
Therefore, in the case of an abnormal reception state, the article transport carriage can continue to travel while preventing the traveling speed from increasing. For example, there is a possibility that the article cannot be stopped at the target stop position. It is possible to prevent the occurrence of a problem caused by continuing the traveling of the transport carriage.

  A third characteristic configuration of the article transporting apparatus according to the present invention is based on the traveling speed command information received at the previous speed command timing and the current actual traveling speed information when the traveling driving unit is in the reception abnormal state. When it is determined from the travel speed change amount that the acceleration state increases the travel speed or the constant speed state where the travel speed is constant, the travel speed commanded by the travel speed command information received at the previous speed command timing is maintained. Therefore, the speed information for non-reception is obtained.

That is, when the traveling drive means is in an abnormal reception state, the current traveling state is the accelerated state or the constant speed state by determining whether the traveling state is the acceleration state or the constant speed state from the traveling speed change amount. When it is determined that the vehicle is in an acceleration state or a constant speed state, the non-receiving speed is maintained in order to maintain the traveling speed commanded by the traveling speed command information received at the previous speed command timing. By obtaining the information, it is possible to continue the traveling of the article transport carriage while keeping the traveling speed from increasing.
Therefore, for example, it is possible to prevent the occurrence of a problem caused by continuing the traveling of the article transport carriage, such as the possibility that the article cannot be stopped at the target stop position, and the second feature configuration described above. Due to this cooperative action, it is possible to prevent the occurrence of problems caused by continuing the traveling of the article transport carriage in any of the traveling states of the deceleration state, the acceleration state, and the constant speed state.

  A fourth characteristic configuration of the article transporting apparatus according to the present invention is configured such that the traveling of the article transporting carriage is stopped when the traveling drive unit does not receive the traveling speed command information from the control unit for a set time. It is in the point.

That is, if the travel drive means does not receive the travel speed command information from the control means for a set time, it is possible to forcibly stop the article transport carriage as a communication abnormality has occurred. It is possible to avoid continuing the traveling of the article transport cart while the abnormality has occurred.
Therefore, when communication abnormality occurs while continuing the travel of the article transport cart as much as possible, the travel of the article transport cart can be stopped, so that the transport capability can be improved while ensuring safety. .

  According to a fifth characteristic configuration of the article transporting apparatus according to the present invention, there are a plurality of the article transporting carriages, and the plurality of article transporting carriages are provided so as to run on a track of an end type, and the control unit includes , And is configured to manage the traveling of the plurality of article transport carts.

That is, the control means manages the traveling of the plurality of article transport carts, so that the articles can be transported while traveling the plurality of article transport carts, and the transport capability can be improved. Become.
In addition, when the traveling drive means is in a reception abnormal state, it is possible to continue traveling of the article transport carriage while maintaining the current traveling state, while avoiding collision between the article transport carriages. However, it is possible to continue the travel of the article transport carriage, and to provide a useful article transport apparatus.

An embodiment of an article conveying device according to the present invention will be described based on the drawings.
This article transport apparatus is applied to an automatic warehouse or the like provided with an article storage shelf. As shown in FIG. 1, the article transport apparatus is used as an article transport cart that travels on a plurality of tracks 2 of a station 1 as an article transfer location. A plurality of carts 3 are provided, and the plurality of cargo handling carts 3 are configured to reciprocate on the track 2 and convey the article B between the plurality of stations 1.

The track 2 is configured in a linear shape with both ends defined, and a plurality of stations 1 are disposed on both sides of the track 2 at intervals in the longitudinal direction of the track 2.
As a plurality of stations 1, a station 1 for delivery provided with a delivery conveyor for transporting articles delivered from the article storage shelf, and a station 1 for entry provided with a storage conveyor for transporting articles stored in the article storage shelf A loading station 1 provided with a carry-in conveyor for carrying articles to be carried in from the outside and a carry-out station 1 provided with a carry-out conveyor for carrying articles carried out to the outside are combined.

The cargo handling cart 3 is provided with a first cargo handling cart 3a and a second cargo handling cart 3b. Each of the first cargo handling cart 3a and the second cargo handling cart 3b has its own station 1 An electric transfer device 4 such as a roller conveyor for transferring an article B between the two and a plurality of traveling wheels 5 that travel on a traveling rail disposed along the track 2 are provided.
The traveling wheel 5 includes a driving traveling wheel 5 that is driven to rotate by an inverter traveling motor 6, and a driven traveling wheel 5 that can be driven and rotated.

  Further, as shown in FIG. 2, each of the first cargo handling cart 3a and the second cargo handling cart 3b includes a travel inverter as a travel driving means for operating the travel motor 6 to drive the cargo handling cart 3. 7. Inter-vehicle distance sensor 8 for detecting the inter-vehicle distance with the opponent's cargo handling cart 3, inter-vehicle optical transmission device 9 for communicating information with the opponent's cargo handling cart 3, the inter-vehicle distance sensor 8 and optical transmission A slave controller 10 that controls the operation of the device 9, a transfer inverter 11 that operates the transfer device 4, sensors 12 that detect the state of the article B in the transfer device 4, and detection information of the sensors 12 An input / output device 13 for output is provided.

And, on the ground side such as the floor surface, one ground side controller 14 is provided as a control means for managing the operation of the first cargo handling cart 3a and the second cargo handling cart 3b. It is configured to control the operation of the traveling inverter 7 and the transfer inverter 11 in the first cargo handling cart 3a and the second cargo handling cart 3b.
Each of both ends of the track 2 is provided with a position detection sensor 15 for detecting the position of the handling cart 3 on the track 2 by detecting the distance from the end to the handling cart 3. Yes.

Although not shown, the ground side controller 14 provided on the ground side, the traveling inverter 7 provided on the cargo handling carriage 3 side, the slave controller 10, the transfer inverter 11, and the input / output device 13 are not illustrated. A controller, and a first optical transmission device 16 for exchanging information between the ground-side controller 14 and the first handling cart 3a, and the ground-side controller 14 and the second handling cart 3b. A second optical transmission device 17 is provided for exchanging information between them.
The communication controller provided on the ground side controller 14 side, the communication controller provided on the cargo handling cart 3 side, the first optical transmission device 16 and the second optical transmission device 17 constitute a communication network, so-called device network. The ground side controller 14 is configured as a master, and the traveling inverter 7, the slave controller 10, the transfer inverter 11, and the input / output device 13 are configured as slaves.

  Further, the detection information of the position detection sensors 15 disposed at both ends of the track 2 is configured to be input to the ground-side controller 14, and the ground-side controller 14 includes the detection information of the position detection sensor 15. Based on this, it is configured to manage the positions of the first cargo handling cart 3a and the second cargo handling cart 3b on the track 2.

In this way, the ground-side controller 14 manages the positions of the first cargo handling cart 3a and the second cargo handling cart 3b on the track 2, and the first cargo handling cart 3a and the second cart via the communication network. By giving various command information to the cargo handling cart 3b, the operation of the first cargo handling cart 3a and the second cargo handling cart 3b is managed.
And the ground side controller 14 is based on the conveyance request information which instruct | indicates the station 1 of a transfer object from the some station 1, either in the 1st handling cart 3a or the 2nd handling cart 3b. In order to transfer the article B to / from the transfer target station 1, the operation of the two cargo handling carts 3 is managed.

When the operation of the two cargo handling carts 3 is described, the ground-side controller 14 is based on the conveyance request information, and carries the conveyance processing cargo among the first cargo handling cart 3a and the second cargo handling cart 3b. A selection process for selecting the carriage 3 is performed, and the cargo handling carriage 3 selected in the selection process is moved to the transfer target station 1, and then the article is transferred to and from the transfer target station 1. It is configured to perform a conveyance process for transferring B.
The ground side controller 14 repeats the selection process and the transport process in sequence each time the transport request information is generated, and transports the article B between the plurality of stations 1 by the two unloading carts 3. Is configured to do.

  Incidentally, with regard to the conveyance request information, the conveyance request information can be input to the ground-side controller 14 by means of a human-operated input device such as a keyboard or a host controller, for example, transfer for picking up the article B It is transport request information for instructing the target station 1 and the transfer target station 1 for wholesale the article B.

Further, the ground-side controller 14 performs a scooping transport process for traveling the selected handling cart 3 to the transfer target station 1 for picking up the article B as a transport process based on the transport request information, and the scooping process. As a separate transport process, the operation of the unloading carriage 3 is performed with the unloading carriage process in which the unloading truck 3 is moved to the transfer target station 1 for wholesale the article B. Is configured to manage.
When the explanation is added, the ground-side controller 14 first performs the selection process and the transfer process for scooping, so that the selected transport handling cart 3 is moved to the station 1 to be transferred and the article B is moved. After carrying out scooping and carrying out the scooping transport process, the selection handling and the transporting process for wholesale are carried out, so that the selected transporting cart 3 is moved to the transfer target station 1 and the article B Is configured to wholesale.

  To explain the selection process, the ground-side controller 14 determines whether the first cargo handling cart 3a and the second cargo handling cart 3b are currently used when carrying out the carrying process for scooping or when carrying out the carrying process for wholesale. Based on various conditions such as whether or not the conveying process is being performed and where the first and second cargo trolleys 3a and 3b are located on the track 2, the first and second cargo trolleys 3a and 3a are handled. It is comprised so that the unloading cart 3 for conveyance processing may be selected from the carts 3b.

That is, when carrying out the transfer process for scooping, the ground-side controller 14 is in a standby state in which neither of the two handling carts 3 is currently in the handling process, but the first handling cart 3a and the second handling cart. Among the carts 3b, the cargo handling cart 3 located near the transfer target station 1 is selected as the handling cart 3 for the conveyance process.
Further, when one of the ground side controllers 14 is currently carrying the transfer process and the other is waiting, the ground side controller 14 is currently carrying the transfer process even if the waiting unloading cart 3 performs the transfer process for scooping. When there is no interference with the unloading cart 3, the waiting unloading cart 3 is selected as the unloading cart 3 for the conveyance process.

Then, when carrying out the wholesale transport process, the ground-side controller 14 is in a state where another unloading truck 3 other than the unloading truck 3 after performing the scooping transport process is on standby. The cargo handling carriage 3 after carrying out the scooping conveyance process is selected as the handling truck 3 for the conveyance process.
In addition, when the other handling truck 3 is currently carrying out the carrying process, the ground-side controller 14 performs the carrying process for the wholesale handling truck 3 after carrying out the carrying process for scooping. However, when there is no interference with another unloading cart 3 that is currently being transported, the unloading cart 3 after performing the scooping transport processing is selected as the unloading cart 3 for the transport processing. ing.

In this way, the ground-side controller 14 performs a selection process so that a range in which the unloading carriage 3 for the transfer process selected based on the transfer request information does not interfere with the unloading carriage 3 currently being transferred is set. It is configured to select the cargo handling cart 3 for transport processing on condition that the vehicle is traveling.
When the ground side controller 14 interferes with the handling cart 3 that is currently in the transfer process in the selection process, the ground controller 14 does not select the handling cart 3 for the transfer process and waits at the current position. Alternatively, a eviction operation for moving to a position that does not interfere with the cargo handling truck 3 currently being transported is executed.

  In the selection process, when the first handling cart 3a is selected as the handling cart 3 for the conveyance process and the conveyance process is performed by the first handling cart 3a, the second handling cart 3b is conversely changed. Since the same processing is performed when selecting the cargo handling cart 3 for the conveyance processing and performing the conveyance processing with the second cargo handling cart 3b, hereinafter, the conveyance processing is performed with the first cargo handling cart 3a. Add a description.

The ground-side controller 14 is first configured to obtain a travel pattern, as shown in FIG. 3, based on the travel distance between the current position of the first loading truck 3 and the position of the station 1 to be transferred. ing.
The travel pattern will be described. When the cargo handling cart 3 is traveled, first, an acceleration state in which the cargo handling cart 3 is accelerated to the maximum speed is set, and then a constant speed state in which the travel is performed at a constant maximum traveling speed. After that, after decelerating from the maximum speed to a low speed for stopping, the unloading carriage 3 is configured to stop traveling as a creep state in which the vehicle travels at a constant traveling speed of the low speed for stopping. Yes.

  Since the maximum traveling speed, the low speed for stopping, and the acceleration / deceleration Δα are set in advance, the timing for reaching the maximum traveling speed and the timing for decelerating to the low speed for stopping according to the traveling distance are obtained and shown in FIG. It is comprised so that such a running pattern may be calculated | required.

Then, the ground side controller 14 transmits the travel start information to the travel inverter 7 of the first loading cart 3a via the communication network such as the first optical transmission device 16, and receives the travel start information. The inverter 7 is configured to start traveling of the first handling cart 3a.
Thereafter, the ground controller 14 determines that the speed command timing is reached every time a set time (for example, a time shorter than 100 ms) elapses. The traveling speed command information is transmitted to the traveling inverter 7 of the first handling cart 3a.
On the other hand, based on the traveling speed command information from the ground-side controller 14 received at the speed command timing, the traveling inverter 7 of the first loading cart 3a is first driven at the traveling speed commanded by the traveling speed command information. The current value for the traveling motor 6 is adjusted so that the cargo handling carriage 3a travels.

  Incidentally, with regard to the traveling speed information, for example, traveling speed information about acceleration / deceleration per unit time indicating what kind of acceleration or deceleration is to be used until the next speed command timing, and target at the next speed timing. The travel speed information about the travel speed indicating the travel speed is used.

In this way, the traveling inverter 7 receives the traveling speed command information from the ground-side controller 14 at the speed command timing, and in the normal reception state, the traveling speed command information from the ground-side controller 14 as described above. The travel speed is adjusted based on the above.
However, because the communication inverter 7 may be in a reception abnormal state where the traveling inverter 7 does not receive the traveling speed command information from the ground-side controller 14 at the speed command timing due to interruption of communication, the traveling inverter 7 In an abnormal state, non-reception speed information is obtained, and the traveling speed is adjusted based on the obtained non-reception speed information.

  In other words, when the traveling inverter 7 does not receive the traveling speed command information from the ground-side controller 14 at the speed command timing, the traveling speed command information received at the previous speed command timing and the current actual traveling speed are received. Non-reception speed information is obtained based on the information, and the unloading carriage 3 is caused to travel at a traveling speed based on the obtained non-reception speed information.

Then, when the traveling inverter 7 is in a reception abnormal state, the deceleration state in which the traveling speed is reduced from the traveling speed change amount based on the traveling speed command information received at the previous speed command timing and the current actual traveling speed information. When it is determined that the speed is not, the non-reception speed information is obtained in order to maintain the deceleration state.
Further, when the driving inverter 7 is in an abnormal reception state, the acceleration state in which the traveling speed is increased from the traveling speed change amount based on the traveling speed command information received at the previous speed command timing and the current actual traveling speed information. Alternatively, when it is determined that the traveling speed is constant, the speed information for non-reception is obtained so as to maintain the traveling speed commanded by the traveling speed command information received at the previous speed command timing. It is configured.

  In addition, in the case of a reception abnormal state, the traveling inverter 7 first obtains a traveling speed change amount based on the traveling speed command information received at the previous speed command timing and the current actual traveling speed information, From the travel speed change amount, it is configured to determine whether the vehicle is in a deceleration state, an acceleration state, or a constant speed state.

  Specifically, based on FIG. 4, the actual traveling speed V1 commanded by the traveling speed command information received at the previous speed command timing, the previous speed command timing T1, and the actual traveling speed information based on the current actual traveling speed information. From the speed V2 and the current speed command timing T2, the travel speed change amount G per unit time is obtained by the following [Equation 1].

[Equation 1]
Travel speed change amount per unit time G = (V2−V1) / (T2−T1)

  Incidentally, FIG. 4 is a graph showing the traveling speed of the cargo handling truck 3 with the passage of time in the deceleration state, and A in the figure shows a case where the current speed command timing T2 is in the normal reception state. B in the figure indicates a case where the current speed command timing T2 is in a reception abnormal state, and T3 is the next speed command timing.

  When the travel speed change amount G> 0, the travel inverter 7 determines that the vehicle is in an acceleration state, and when the travel speed change amount G = 0, the travel inverter 7 determines that the vehicle is in a constant speed state. If the amount G <0, it is configured to determine that the vehicle is in a deceleration state. In FIG. 4, since the travel speed change amount G <0, it is determined that the vehicle is in a deceleration state.

When it is determined that the traveling inverter 7 is in a decelerating state, non-reception speed information is obtained so as to decelerate at the obtained traveling speed change amount G per unit time, as indicated by B in FIG. The cargo handling carriage 3 is configured to travel in a decelerating state in which the vehicle is decelerated at a travel speed change amount G per unit time.
When it is determined that the traveling inverter 7 is in the acceleration state or the constant speed state, the traveling speed V1 commanded by the traveling speed command information received at the previous speed command timing is determined based on the non-receiving speed information. It is calculated | required as traveling speed, and it is comprised so that the unloading cart 3 may be drive | worked by the constant traveling speed of the traveling speed by the speed information for the non-reception.

Moreover, the inverter 7 for driving | running | working is comprised so that the unloading cart 3 may stop driving | running | working if the state which does not receive the driving speed command information from the ground side controller 14 continues for setting time (for example, 100 ms).
That is, when the state in which the traveling speed command information from the ground controller 14 is not received continues for a set time (for example, 100 ms) longer than the speed command timing interval, the handling cart 3 is forcibly determined as a communication abnormality. The vehicle is configured to stop traveling.

The operation of the traveling inverter 7 will be described based on the flowchart of FIG.
First, when the state in which the traveling speed command information is not received from the ground-side controller 14 continues for a set time (for example, 100 ms), the traveling inverter 7 stops traveling the cargo handling cart 3 (step 1, 2).

If the state where the traveling speed command information is not received from the ground-side controller 14 does not continue for the set time, the traveling inverter 7 becomes the speed command timing, and the traveling speed command information from the ground-side controller 14 becomes the speed command timing. If it is not a reception abnormal state in which no is received, the unloading cart 3 is caused to travel at the travel speed commanded by the travel speed command information (steps 3 to 5).
In the case of a reception abnormal state, the traveling inverter 7 obtains a traveling speed change amount G per unit time based on traveling speed command information received at the previous speed command timing and current actual traveling speed information ( Step 6).

When the traveling inverter 7 determines that the vehicle is in a decelerating state based on the travel speed change amount G per unit time, the non-reception speed information is set so as to decelerate the travel speed change amount G per unit time. Thus, the cargo handling carriage 3 is caused to travel in a decelerating state in which the vehicle is decelerated at the travel speed change amount G per unit time (steps 7 to 9).
Further, when the traveling inverter 7 determines that the acceleration state or the constant speed state is based on the traveling speed change amount G per unit time (steps 10 and 11), the traveling speed command information received at the previous speed command timing. The traveling speed V1 instructed in is obtained as the traveling speed based on the non-reception speed information, and the unloading cart 3 is traveled at a constant traveling speed of the traveling speed V1 (steps 12 and 13).

As described above, when the first handling cart 3a is caused to travel, the traveling inverter 7 is caused to travel while adjusting the traveling speed of the first handling cart 3a based on the travel command information from the ground-side controller 14. It is configured.
And since the detection information of the position detection sensor 15 is input with respect to the ground side controller 14, the ground side controller 14 manages the traveling position of the 1st handling cart 3a, and the 1st handling cart 3a. It is configured to run.

  In a state where the ground-side controller 14 is traveling while managing the traveling position of the first handling cart 3a, the traveling position of the first handling cart 3a is set to a target stop position corresponding to the station 1 to be transferred. When it reaches, the stop command information is transmitted to the traveling inverter 7 of the first cargo handling cart 3a via the communication network such as the first optical transmission device 16, and the first cargo handling cart 3a that has received the stop command information is transmitted. The traveling inverter 7 is configured to stop the first cargo handling truck 3a at the target stop position by applying a brake or the like.

The ground-side controller 14 transfers the inverter 11 of the first handling cart 3a via a communication network such as the first optical transmission device 16 in a state where the first handling cart 3a is stopped at the target stop position. Is configured to transmit transfer command information.
Then, the transfer inverter 11 of the first loading cart 3a operates the transfer device 4 based on the transfer command information from the ground-side controller 14, and the article B existing in the station 1 to be transferred. The article B is wholesaled to the station 1 to be picked up or transferred.

  The input / output device 13 is configured to transmit the detection information of the sensors 12 to the ground-side controller 14 via a communication network such as the first optical transmission device 16. Based on the information from the output device 13, it is configured to recognize that the conveyance process has been completed.

The first cargo handling cart 3a and the second cargo handling cart 3b are provided with an inter-vehicle distance sensor 8 and a slave controller 10 that are independent of the ground-side controller 14, so that the ground-side controller 14 runs unintentionally due to runaway. Even when the carts 3 may collide with each other, the collision is prevented.
In other words, the slave controller 10 monitors the relative inter-vehicle distance and the relative speed of the cargo handling carts 3 based on the detection information of the inter-vehicle distance sensor 8, and the handling carts 3 may collide with each other. Is configured to forcibly stop traveling of the cargo handling truck 3.

That is, when the relative inter-vehicle distance is equal to or less than the allowable inter-vehicle distance or the relative speed is equal to or greater than the allowable relative speed, the slave controller 10 operates the power stop unit 18 that stops the power supply to the travel motor 6 to By stopping the power supply to 6, the cargo handling carriage 3 is stopped.
In addition, the slave controller 10 is configured to transmit stop command information to the slave controller 10 in the other cargo handling cart 3 so as to stop traveling of the cargo handling cart 3 with the inter-cart optical transmission device 9. The slave controller 10 that has received the stop command information is configured to stop the cargo handling carriage 3 by operating the power stop means 18 and stopping the power supply to the travel motor 6.

[Another embodiment]
(1) In the above embodiment, when the traveling inverter 7 is in a reception abnormal state, when it is determined that the traveling speed change amount G is a deceleration state, the non-reception is performed so that the traveling speed change amount G decelerates. However, at this time, it is possible to change the deceleration per unit time as appropriate. For the non-reception speed information at this time, the deceleration state What is necessary is just to maintain.

(2) In the above embodiment, when the traveling inverter 7 is in the abnormal reception state, the traveling speed received at the previous speed command timing when it is determined from the traveling speed change amount G that it is in the acceleration state or the constant speed state. The travel speed commanded by the command information is obtained as non-reception speed information. At this time, for example, the current actual travel speed can also be obtained as non-reception speed information. The non-reception speed information may be less than the current actual traveling speed.

(3) In the above embodiment, the ground-side controller 14 is configured to manage the positions of the plurality of cargo handling carts 3 on the track 2 based on the detection information of the position detection sensor 15. For example, by providing an encoder in each of the cargo handling carts 3 and communicating the detection information of the encoders to the ground-side controller 14 using the input / output device 13, the ground-side controller 14 has a plurality of cargo handling carts 3. It is also possible to carry out by managing the position on the track 2.

(4) In the above embodiment, one ground-side controller 14 that manages the traveling of the two cargo handling carts 3 is provided on the ground side. For example, each of the cargo handling carts 3 manages its own traveling. It is also possible to manage and carry out the operation of the two cargo handling carts 3 while providing the vehicle body side controller and communicating with the vehicle body side controller of the cargo handling cart.

(5) In the above embodiment, the ground-side controller 14 selects a handling cart 3 that performs the transfer process from the first handling cart 3a and the second handling cart 3b based on various conditions. However, the conditions for selecting the cargo handling carriage 3 that performs the transfer process out of the first cargo handling carriage 3a and the second cargo handling carriage 3b can be appropriately changed. .

(6) In the above embodiment, the number of stations 1 and at which position the stations 1 are arranged can be changed as appropriate.

(7) In the above embodiment, an example in which the inter-vehicle distance sensor 8 and the slave controller 10 are provided in each of the two cargo handling carts 3 is shown. However, only one of the two cargo handling carts 3 has an inter-vehicle distance. The sensor 8 and the slave controller 10 are provided, and when the relative inter-vehicle distance is equal to or greater than the allowable inter-vehicle distance or the relative speed is equal to or greater than the allowable relative speed, there is a possibility of collision, the inter-dolly optical transmission device 9 causes the other party's cargo It is also possible to communicate that there is a possibility of a collision with the trolley 3 and to configure and implement the other party's cargo trolley 3 to stop by that communication.

(8) In the above embodiment, an example in which two cargo handling carts 3 are provided has been described. However, it is possible to provide one or three cargo handling carts 3.

(9) In the above-described embodiment, the cargo handling cart 3 is exemplified as the article transport cart. However, as the article transport cart, for example, a stacker crane that reciprocates on a track along the opening of a pair of article storage shelves is applied. It is also possible to use an article conveying cart other than the cargo handling cart 3.

Plan view of transfer device Block diagram of transfer device Graph showing the traveling pattern of a cargo truck A graph showing the traveling speed of a handling truck over time Flow chart showing operation of inverter for traveling

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Goods transfer location 2 Track | truck 3 Goods conveyance trolley 7 Travel drive means 14 Control means

Claims (5)

Provided is an article transport carriage that travels on a track installed so as to pass through a plurality of article transfer locations, travel drive means for driving the article transport carriage, and control means for managing the travel of the article transport carriage. And
The control means is configured to transmit travel speed command information about the article transport cart to the travel drive means each time it comes to a speed command timing.
The travel drive means is configured to travel the article transport cart at a travel speed commanded by the travel speed command information based on travel speed command information from the control means received at the speed command timing. An article transport device comprising:
When the travel driving means is in a reception abnormal state in which the travel speed command information from the control means is not received at the speed command timing, the travel speed command information received at the previous speed command timing and the current actual travel speed information The article conveying apparatus is configured to obtain non-reception speed information based on the information and to cause the article conveyance carriage to travel at a traveling speed based on the obtained non-reception speed information.   In the deceleration state in which the travel driving means decreases the travel speed from the travel speed change amount based on the travel speed command information received at the previous speed command timing and the current actual travel speed information in the case of the reception abnormal state. 2. The article transport apparatus according to claim 1, wherein when it is determined that there is a speed, the non-reception speed information is obtained in order to maintain the deceleration state.   In the case of the reception abnormal state, the travel drive means increases the travel speed from the travel speed change amount based on the travel speed command information received at the previous speed command timing and the current actual travel speed information, or When it is determined that the traveling speed is constant and the traveling speed is constant, the non-receiving speed information is obtained in order to maintain the traveling speed commanded by the traveling speed command information received at the previous speed command timing. The article conveyance device according to claim 1 or 2 constituted.   4. The apparatus according to claim 1, wherein the travel drive unit is configured to stop the travel of the article transport carriage when a state in which the travel speed command information from the control unit is not received continues for a set time. The article conveying apparatus according to the description. There are a plurality of the article transport carts, and the plurality of article transport carts are provided so as to run on a track of a terminal type,
The article transport apparatus according to claim 1, wherein the control unit is configured to manage traveling of the plurality of article transport carts.

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