CN-121990318-A - Article conveying equipment

CN121990318ACN 121990318 ACN121990318 ACN 121990318ACN-121990318-A

Abstract

The invention provides an article conveying device. In an article conveying apparatus, each of a plurality of conveying vehicles is provided with a speed detection unit for detecting a current speed (V) and a distance detection unit for detecting an inter-vehicle distance index (D) which is an index corresponding to a distance from another conveying vehicle existing in front of the conveying vehicle in a traveling direction. The control system executes a1 st target speed determination process of determining a control target speed (V2) based on a distance-corresponding target speed (V1) set to be higher as the inter-vehicle distance index becomes larger, the current speed, and the inter-vehicle distance index. The 1 st target speed determination process includes an acceleration determination process of determining whether to execute an acceleration process of setting the control target speed to a distance corresponding target speed higher than the current speed. In the acceleration determination processing, the control system executes the acceleration processing when the relationship between the current speed and the target speed corresponding to the distance satisfies the acceleration condition and the relationship continues for a determination time (T) or longer.

Inventors

MUKAI ATSUHIKO
KONO TAKASHI
Yan man and zhe

Assignees

株式会社大福

Dates

Publication Date: 20260508
Application Date: 20251103
Priority Date: 20241105

Claims (6)

1. An article conveying apparatus comprising a plurality of conveying vehicles for conveying articles by traveling along a traveling path and a control system for controlling the plurality of conveying vehicles, characterized in that, Each of the plurality of transport vehicles includes a speed detection unit that detects a current speed, which is a current traveling speed of the transport vehicle, and a distance detection unit that detects an inter-vehicle distance index, which is an index corresponding to a distance from another transport vehicle existing ahead in a traveling direction; The control system is configured to execute a 1 st target speed determination process of determining a control target speed, which is a target value of control for determining the travel speed, based on a distance-corresponding target speed, which is a target value of the travel speed preset to be higher as the inter-vehicle distance index becomes larger, the current speed, and the inter-vehicle distance index; The 1 st target speed determination process includes an acceleration determination process of determining whether or not to execute an acceleration process of setting the control target speed to the distance-corresponding target speed higher than the current speed; in the acceleration determination process, the control system determines to execute the acceleration process when the relationship between the current speed and the target speed corresponding to the distance satisfies an acceleration fit state of a preset acceleration condition and the acceleration fit state continues for a preset determination time or longer.
2. The article transport apparatus of claim 1, The acceleration determination process includes a determination as to whether or not to execute a constant-speed process for setting the control target speed to the current speed; In the acceleration determination process, the control system determines that the acceleration process is not performed and performs the constant speed process when the time during which the acceleration-suitable state continues is smaller than the determination time.
3. The article transport apparatus of claim 2, When the increase amount of the inter-vehicle distance index per predetermined time is equal to or smaller than a preset reference value, the control system executes the acceleration determination process using, as the acceleration condition, a determination threshold value that is set in advance and that is set in advance such that the current speed is smaller than the distance-corresponding target speed and a difference between the current speed and the distance-corresponding target speed is larger than the current speed.
4. The article transport apparatus of claim 3, In the acceleration determination process, the control system determines that the constant speed process is executed without executing the acceleration process even when the current speed is smaller than the distance-corresponding target speed and when a difference between the current speed and the distance-corresponding target speed is equal to or smaller than the determination threshold.
5. The article transport apparatus of claim 3 or 4, The 1 st target speed determination process further includes a deceleration determination process of determining whether or not to execute a deceleration process of setting the control target speed to the distance-corresponding target speed lower than the current speed; in the deceleration determination process, the control system determines to execute the deceleration process when a relation between the current speed and the target speed corresponding to the distance satisfies a preset deceleration condition.
6. The article transport apparatus of claim 5, The control system is configured to execute a2 nd target speed determination process of determining the control target speed when the inter-vehicle distance index increases by more than the reference value for each predetermined time; In the 2 nd target speed determination process, the control system When the control target speed is set to the distance-corresponding target speed, continuing to set the control target speed to the distance-corresponding target speed; When the constant speed process is executed, it is determined that the deceleration process is executed when the current speed is higher than the distance-corresponding target speed; When the constant speed process is executed, the acceleration determination process is executed using the acceleration condition that the current speed is smaller than the distance-corresponding target speed when the current speed is smaller than the distance-corresponding target speed.

Description

Article conveying equipment Technical Field The present invention relates to an article transport apparatus including a plurality of transport vehicles that travel along a travel path to transport articles and a control system that controls the plurality of transport vehicles. Background An example of such an article conveying apparatus is disclosed in japanese patent application laid-open No. 3-6603 (hereinafter referred to as "patent document 1"). In the article conveying apparatus of patent document 1, each of the plurality of conveying vehicles is provided with a distance detecting portion that detects a distance (inter-vehicle distance) from another conveying vehicle existing forward in the traveling direction. The control system calculates the amount of change in the inter-vehicle distance per unit time (distance change amount) based on the inter-vehicle distance detected by the distance detection unit, and calculates the difference between the predetermined set distance and the inter-vehicle distance (distance difference). Then, the control system increases or decreases the acceleration of the transport vehicle according to the distance change amount and the distance difference. In this way, in the article conveying apparatus of patent document 1, the conveyor vehicle is driven while changing the acceleration so as to maintain an appropriate inter-vehicle distance. Disclosure of Invention However, in the article conveying apparatus of patent document 1, even when the acceleration increases and the conveying vehicle is controlled to accelerate due to an increase in the inter-vehicle distance or the like, there is a possibility that the acceleration of the conveying vehicle becomes useless and the energy consumption of the conveying vehicle increases depending on a situation in which a traveling path of the conveying vehicle such as a jam occurs ahead of the conveying vehicle in the traveling direction. In order to reduce the energy consumption of the conveyor vehicle, it is conceivable to reduce the frequency of acceleration of the conveyor vehicle, but there is a possibility that the conveyor vehicle may reduce the conveying efficiency of the articles. Therefore, it is desirable to realize an article conveying apparatus that can easily suppress the energy consumption of the conveying vehicle to a small amount while suppressing the decrease in the conveying efficiency of the conveying vehicle to the articles to a small amount. The object conveying apparatus is characterized by comprising a plurality of conveying vehicles which travel along a travel path and a control system which controls the plurality of conveying vehicles, wherein each of the plurality of conveying vehicles comprises a speed detection unit which detects a current travel speed which is a current speed of the conveying vehicle, and a distance detection unit which detects an inter-vehicle distance index which is an index corresponding to a distance from another conveying vehicle which is located ahead in a travel direction, wherein the control system is configured to execute a1 st target speed determination process which is a target value of a travel speed which is a distance corresponding target speed which is preset to be higher as the inter-vehicle distance index becomes higher, and wherein the 1 st target speed determination process determines a control target speed which is a target value of control of the travel speed, wherein the 1 st target speed determination process includes an acceleration determination process which determines whether or not to execute an acceleration process which sets the control target speed to be higher than the current speed, and wherein the control system is in the acceleration determination process, the control system is in a preset condition that the predetermined acceleration determination condition is satisfied by the current speed and the distance corresponding target speed is set, and the predetermined condition is continuously executed. According to this feature, in the acceleration determination processing, even when the relationship between the current speed and the target speed corresponding to the distance is an acceleration fit state satisfying the preset acceleration condition, if the acceleration fit state is not longer than the continuously preset determination time, the acceleration processing is not executed. This reduces unnecessary acceleration of the transport vehicle and allows the transport vehicle to travel efficiently. Therefore, it is easy to suppress the energy consumption of the conveyor car to be small while suppressing the decrease in the conveying efficiency of the conveyor car to the article to be small. Drawings Fig. 1 is a schematic view showing the overall structure of an article conveying apparatus according to the related embodiment. Fig. 2 is a side view of a conveyance vehicle provided in the article conveyance device according to the embodiment. Fig. 3 is a block