Article transport apparatus

Abstract

The present application relates to an article conveying apparatus. In the event of an abnormality in one of two conveying units that makes it impossible to continue conveying, the reduction in the overall operation rate of the apparatus is suppressed to be small. A control device is capable of performing first abnormality-time control, retreat control, and second abnormality-time control. The first abnormality-time control is control in which a range (Rt) in which the normal unit (Un) can transfer articles between the article housing shelves (3) without interfering with the abnormal unit (Ua) is set to a range of a portion of the article housing shelves (3), and a plurality of or a single article housing shelf (30) included in the range (Rt) is set as a transfer target site to operate the normal unit (Un). The second abnormality-time control is control in which the range (Rt) is set to a range wider than the range (Rt) set in the first abnormality-time control in a state in which the abnormal unit (Ua) is retreated to a retreat position (Pe), and a plurality of article housing shelves (30) included in the range (Rt) is set as a transfer target site to operate the normal unit (Un).

Description

Technical Field

[0001] The present invention relates to an article conveying device, the article conveying device comprising: an article receiving shelf having a plurality of receiving sections for holding articles; an end-point travel path set along a travel direction along the front surface of the article receiving shelf; two conveying units for conveying the articles; and a control device for controlling the two conveying units. Background Technology

[0002] An example of such a conveying device is disclosed in Japanese Patent No. 4273423 (Patent Document 1). Hereinafter, the symbols shown in parentheses in the background art description are those of Patent Document 1.

[0003] In the article conveying device disclosed in Patent Document 1, if an abnormality occurs in one of the two conveying units (4a, 4b), causing it to cease conveying, the abnormal conveying unit (4a) is pushed back to the retracted position (T) by the normal conveying unit (4b). However, during this period, the normal conveying unit (4b) cannot perform conveying operations, thus reducing the overall operating rate of the device. Summary of the Invention

[0004] The problem that the invention aims to solve

[0005] In view of the aforementioned actual situation, there is a need for a material conveying device that can minimize the reduction in the overall operating rate of the equipment even if one of the two conveying units malfunctions and cannot continue conveying.

[0006] Solution for solving the problem

[0007] The article conveying equipment disclosed herein includes:

[0008] A storage shelf with multiple compartments for storing items;

[0009] An end-point travel path defined along the travel direction of the front surface of the item-receiving shelf;

[0010] Two conveyor units for conveying the items; and

[0011] A control device that controls both of the aforementioned conveying units.

[0012] in,

[0013] Each of the two conveying units includes: a traveling section that travels along the travel path; a holding section that holds the article; and a transfer section that transfers the article between the receiving section and the holding section, which are designated as transfer target portions in a plurality of receiving sections.

[0014] The two traveling units are configured to not intersect each other on the travel path.

[0015] The conveying unit that stops abnormally due to an anomaly is designated as an abnormal unit, and the conveying unit that operates normally is designated as a normal unit.

[0016] The control device is capable of performing normal operation control to ensure that the two normal units operate without interfering with each other, and, when one of the two conveying units is designated as the abnormal unit and the other as the normal unit, it is capable of performing first abnormality control, backoff control, and second abnormality control.

[0017] The first abnormality control is as follows: the transferable range in which the normal unit can transfer the item between the receiving section and the receiving section without interfering with the abnormal unit is set as a part of the item receiving shelf, and the normal unit is operated by setting one or more of the receiving sections included in the transferable range as the transfer target parts.

[0018] The retreat control is a control used to move the abnormal unit to a retreat position set at the end region of the travel direction in the travel path.

[0019] The second abnormality control is as follows: while the abnormal unit is retreated to the retreat position, the transferable range is set to a wider range than the transferable range set in the first abnormality control, and the plurality of receiving portions contained in the transferable range are set as the transfer target parts to enable the normal unit to operate.

[0020] According to this structure, if one of the two conveying units stops abnormally due to an malfunction, a first abnormality control is executed using a control device. In this first abnormality control, the transferable range of the normally operating unit, which can transfer items between the receiving section and the receiving section without interfering with the abnormally stopped unit, is set as part of the item receiving shelf. Furthermore, multiple or a single receiving section within this transferable range is designated as the transfer target area to operate the normal unit. With this structure, the normal unit can be limited to its operational range without waiting for the abnormal unit to move to a retraction position. Therefore, the overall operating rate can be minimized. Additionally, by performing retraction control, after the abnormal unit moves to the retraction position, the execution of a second abnormality control allows multiple receiving sections within a range wider than the transferable range set in the first abnormality control to be designated as transfer target areas to operate the normal unit. Therefore, in this respect, the overall operating rate can also be minimized.

[0021] Further features and advantages of the technology disclosed herein will become more apparent from the following exemplary and non-limiting description of embodiments, which are set forth with reference to the accompanying drawings. Attached Figure Description

[0022] Figure 1 It is a 3D diagram of a goods conveying system.

[0023] Figure 2 This is a floor plan of the goods conveying equipment.

[0024] Figure 3 This is a side view of the conveyor unit.

[0025] Figure 4 This is a control block diagram of a goods conveying system.

[0026] Figure 5 It is a control diagram for performing normal operational control.

[0027] Figure 6 This is the control chart when the first exception is executed.

[0028] Figure 7 This is the control diagram when the second exception is controlled after the backoff control is executed.

[0029] Figure 8 This is a control diagram for situations where there are foreign objects in the travel path.

[0030] Figure 9 This is a control chart used when the current position of the abnormal unit cannot be determined.

[0031] Figure 10This is a flowchart illustrating the control sequence performed in a goods conveying device.

[0032] Figure 11 This is a flowchart illustrating the sequence of backoff control.

[0033] Figure 12 This is a flowchart illustrating the control sequence performed in the article conveying device according to the second embodiment. Detailed Implementation

[0034] [First Implementation]

[0035] The first embodiment of the material conveying device will be described below.

[0036] [Mechanical structure of the goods conveying equipment]

[0037] Describe the mechanical structure of the goods conveying equipment. For example... Figure 1 and Figure 2 As shown, the item conveying device 100 includes: an item receiving shelf 3 having multiple receiving portions 30 for holding items W; a terminal travel path R set along a travel direction X along the front surface of the item receiving shelf 3; and two conveying units U for conveying the items W. The "front surface of the item receiving shelf 3" is a surface having a portion corresponding to the entrance / exit of the items W in the item receiving shelf 3. More specifically, it is an imaginary surface through which the transferred items W pass in the end region of the item receiving shelf 3 when the conveying unit U transfers items W to the receiving portions 30 of the item receiving shelf 3. In the illustrated example, a pair of item receiving shelves 3 are arranged on opposite sides, sandwiching the travel path R. Each of the pair of item receiving shelves 3 is arranged adjacent to the travel path R with its front surface facing it.

[0038] Hereinafter, the direction in which the item-containing shelf 3 and the travel path R are arranged is defined as "arrangement direction Y". The travel direction X and the arrangement direction Y are orthogonal in the top view. In addition, one side of the travel direction X is defined as "travel direction first side X1" and the other side of the travel direction X is defined as "travel direction second side X2".

[0039] The item-containing shelf 3 includes: a plurality of support columns 31 arranged at predetermined intervals in the travel direction X and the arrangement direction Y, and disposed at each position along the vertical direction; a plurality of connecting members 32 connecting the plurality of support columns 31; and a mounting plate 33 constituting a receiving portion 30 for containing items W. Item W is contained in the receiving portion 30 while being placed on the mounting plate 33. In this embodiment, the plurality of receiving portions 30 are arranged in a manner that aligns in the travel direction X and the vertical direction. Viewed along the arrangement direction Y, the plurality of receiving portions 30 are arranged in a grid pattern that aligns in the travel direction X and the vertical direction.

[0040] In this embodiment, the goods conveying equipment 100 includes: a loading device 99 for loading goods W destined for storage into a goods receiving shelf 3; and a unloading device 98 for unloading goods W destined for retrieval from the goods receiving shelf 3. Each of the loading device 99 and the unloading device 98 is disposed on the outer side of the goods receiving shelf 3 in the travel direction X, and adjacent to each other in the arrangement direction Y relative to the travel path R. Each of the loading device 99 and the unloading device 98 is configured to allow for the exchange of goods W with a conveying unit U on the travel path R. Goods W destined for storage are loaded into the equipment from outside using the loading device 99 and transferred from the loading device 99 to the conveying unit U. Furthermore, the goods W are transferred to the receiving portion 30 of the goods receiving shelf 3 using the conveying unit U. Conversely, goods W destined for retrieval are removed from the receiving portion 30 of the goods receiving shelf 3 using the conveying unit U. Furthermore, the goods W are transferred from the conveying unit U to the unloading device 98 and unloaded using the unloading device 98. In this example, the infeed device 99 and the outfeed device 98 are composed of a conveying mechanism.

[0041] Here, one of the two conveying units U is designated as the first conveying unit U1, and the other as the second conveying unit U2. The first conveying unit U1 and the second conveying unit U2 are arranged on the same travel path R. The first conveying unit U1 is positioned on the first side X1 of the travel direction relative to the second conveying unit U2. The second conveying unit U2 is positioned on the second side X2 of the travel direction relative to the first conveying unit U1. The structures of the first conveying unit U1 and the second conveying unit U2 are identical. Hereinafter, without specifically distinguishing between the first conveying unit U1 and the second conveying unit U2, they will sometimes be collectively referred to as "conveying unit U".

[0042] like Figures 1-3 As shown, the first conveying unit U1 includes: a first traveling section 11 that travels along a travel path R; a first holding section 14 that holds an article W; and a first transfer section 15 that transfers the article W between a receiving section 30 (which is designated as a transfer target section) and the first holding section 14 among a plurality of receiving sections 30. The second conveying unit U2 similarly includes a second traveling section 21, a second holding section 24, and a second transfer section 25. In this embodiment, each of the first traveling section 11 and the second traveling section 21 is equivalent to a "traveling section". Furthermore, each of the first holding section 14 and the second holding section 24 is equivalent to a "holding section". Additionally, each of the first transfer section 15 and the second transfer section 25 is equivalent to a "transfer section".

[0043] The two traveling units, namely the first traveling unit 11 and the second traveling unit 21, are configured not to intersect each other on the traveling path R. In this embodiment, the traveling path R has a traveling track Ra extending along the traveling direction X. The first traveling unit 11 and the second traveling unit 21 are configured to travel on the same traveling track Ra. Furthermore, in this example, the guide track Rb extending along the traveling direction X is positioned above the traveling track Ra (see reference). Figure 3 The guide rail Rb is the rail that guides the upper parts of the first conveying unit U1 and the second conveying unit U2 respectively.

[0044] like Figure 3 As shown, in this embodiment, the first conveying unit U1 includes: a first rod 12 extending upward from the first traveling section 11; a first guided section 13 disposed at the upper end of the first rod 12 and guided along the traveling direction X by a guide rail Rb; and a first lifting section 16 supported by the first rod 12 and moving up and down along the first rod 12. The first lifting section 16 supports the first holding section 14 and the first transfer section 15. In this example, the first lifting section 16 is configured to protrude from the first rod 12 in a second direction X2 relative to the traveling direction.

[0045] The first conveying unit U1 includes a first traveling drive unit M1a that moves the first traveling part 11 along the traveling path R, and a first lifting drive unit M1b that moves the first lifting part 16 up and down along the first rod 12. With this structure, the first conveying unit U1 can move the first holding part 14, which holds the article W, to a position corresponding to each of the plurality of receiving parts 30 arranged along the traveling direction X and the vertical direction. Furthermore, in this example, the first transfer part 15 is configured such that by moving the first holding part 14 forward and backward relative to the first lifting part 16 along the arrangement direction Y, it can transfer the article W held by the first holding part 14 to the receiving part 30, and can remove the article W contained in the receiving part 30.

[0046] In this embodiment, the first transfer unit 15 includes a first transfer drive unit M1c that drives the first holding unit 14. For example, the first transfer drive unit M1c includes an annular body connected to the first holding unit 14, a rotating body wound around the annular body, and a motor that drives the rotating body. In this example, the first holding unit 14 is configured to hold an article W, and the first transfer unit 15 moves forward and backward along the arrangement direction Y. That is, the first holding unit 14 constitutes part of a forklift transfer machine.

[0047] The second conveying unit U2, like the first conveying unit U1, also includes a second rod 22, a second guided part 23, a second lifting part 26, a second traveling drive part M2a, and a second lifting drive part M2b. Furthermore, the second transfer part 25, like the first transfer part 15, also includes a second transfer drive part M2c that drives the second holding part 24.

[0048] In this embodiment, each of the first conveying unit U1 and the second conveying unit U2 includes a self-position detection unit SP for detecting its own current position. The self-position detection unit SP is provided in each of the first traveling unit 11 and the second traveling unit 21. In this example, the self-position detection unit SP of the first conveying unit U1 detects a first initial position HP1 (refer to...) set from the end region of the first side X1 in the traveling direction of the traveling path R. Figure 2 The distance from the first conveying unit U1 to the first traveling unit 11. Therefore, the current position of the first conveying unit U1 in the traveling path R can be detected. Similarly, the self-position detection unit SP of the second conveying unit U2 also detects the second initial position HP2 set from the end region of the second side X2 in the traveling direction of the traveling path R. Figure 2 (Refer to) the distance to the second traveling unit 21. Therefore, the current position of the second conveying unit U2 in the traveling path R can be detected. The self-position detection unit SP can be configured using, for example, a rotary encoder. Furthermore, as... Figure 2 As shown, the first original position HP1 is the standby position of the first conveying unit U1 when it is not operating, and is set to a position that does not overlap with the item holding shelf 3 when viewed in the arrangement direction Y. Similarly, the second original position HP2 is the standby position of the second conveying unit U2 when it is not operating, and is set to a position that does not overlap with the item holding shelf 3 when viewed in the arrangement direction Y.

[0049] In this embodiment, the article conveying device 100 includes a relative distance detection unit SL for detecting the relative distance between two conveying units U in the travel direction X. In this example, both the first conveying unit U1 and the second conveying unit U2 have relative distance detection units SL. The relative distance detection unit SL of the first conveying unit U1 is provided in the first traveling section 11. The relative distance detection unit SL of the second conveying unit U2 is provided in the second traveling section 21. The relative distance detection unit SL can be constructed using, for example, a laser rangefinder. The relative distance detection unit SL provided in the first traveling section 11 irradiates a laser into the second traveling section 21 and receives the laser light reflected by the second traveling section 21, thereby detecting the distance from the first traveling section 11 to the second traveling section 21. The relative distance detection unit SL provided in the second traveling section 21 irradiates a laser into the first traveling section 11 and receives the laser light reflected by the first traveling section 11, thereby detecting the distance from the second traveling section 21 to the first traveling section 11.

[0050] Furthermore, in this embodiment, the article conveying device 100 is equipped with a mechanism to handle foreign objects F (refer to) present in the travel path R. Figure 8The foreign object detection unit SF is used for detection. Here, both the first conveying unit U1 and the second conveying unit U2 are equipped with foreign object detection units SF. The foreign object detection unit SF of the first conveying unit U1 defines the detection range as the area adjacent to the first traveling section 11 on the second side X2 in the traveling direction. For example, the foreign object detection unit SF can be composed of a camera. Figure 3 In the example shown, the foreign object detection unit SF of the first conveying unit U1 is provided on the first lifting part 16 protruding from the first rod 12 towards the second side X2 of the travel direction, and the area below the first lifting part 16 is defined as the detection range. Therefore, foreign objects F present in the area adjacent to the first traveling part 11 on the second side X2 of the travel direction can be detected. Similarly, the foreign object detection unit SF of the second conveying unit U2 is provided on the second lifting part 26 protruding from the second rod 22 towards the first side X1 of the travel direction, and the area below the second lifting part 26 is defined as the detection range. Therefore, foreign objects F present in the area adjacent to the second traveling part 21 on the first side X1 of the travel direction can be detected.

[0051] [Control structure of the goods conveying equipment]

[0052] Next, the control structure of the material conveying device 100 will be explained.

[0053] like Figure 4 As shown, the first conveying unit U1 includes a first controller C1 that controls the operation of the first conveying unit U1. The second conveying unit U2 includes a second controller C2 that controls the operation of the second conveying unit U2. Furthermore, the article conveying device 100 includes a host controller Ct that controls both conveying units U1. Specifically, the host controller Ct is configured to control the first conveying unit U1 by sending instructions to the first controller C1, and to control the second conveying unit U2 by sending instructions to the second controller C2. In this embodiment, the host controller Ct is equivalent to a "control device".

[0054] The host controller Ct comprehensively manages the storage and movement of multiple items W within the device. The host controller Ct is configured to communicate with the first controller C1 and the second controller C2 via wired or wireless means. The host controller Ct, the first controller C1, and the second controller C2, for example, possess peripheral circuits such as a microcomputer processor and memory. Furthermore, each function is achieved through the cooperation of this hardware and the program executing on the processor.

[0055] In this embodiment, the material conveying device 100 includes an operation unit Op for inputting various commands to a higher-level controller Ct. For example, an operator operates the operation unit Op to input commands, thereby the higher-level controller Ct controls the first conveying unit U1 and the second conveying unit U2 based on the input commands. The operation unit Op may include an input device such as a keyboard or touch panel capable of inputting commands.

[0056] The first controller C1 receives instructions from the upper controller Ct and controls the operation of the first conveying unit U1. Specifically, the first controller C1 controls at least one of the first traveling drive unit M1a, the first lifting drive unit M1b, and the first transfer drive unit M1c. Additionally, the first controller C1 stores information about the current position of the first conveying unit U1 detected by the position detection unit SP, the relative distance between the first conveying unit U1 and the second conveying unit U2 detected by the relative distance detection unit SL, and foreign objects F present in the travel path R detected by the foreign object detection unit SF (see reference). Figure 8 The information is sent to the upper-level controller Ct.

[0057] The second controller C2 receives instructions from the upper controller Ct and controls the operation of the second conveying unit U2. Specifically, the second controller C2 controls at least one of the second traveling drive unit M2a, the second lifting drive unit M2b, and the second transfer drive unit M2c. Additionally, the second controller C2 stores information about the current position of the second conveying unit U2 detected by the position detection unit SP, the relative distance between the second conveying unit U2 and the first conveying unit U1 detected by the relative distance detection unit SL, and foreign objects F present in the travel path R detected by the foreign object detection unit SF (see reference). Figure 8 The information is sent to the upper-level controller Ct.

[0058] In this embodiment, the host controller Ct generates a control diagram M showing the container 30 capable of carrying items W in the plurality of container sections 30 provided in the item container shelf 3, and controls each of the two conveying units U based on the control diagram M. Figures 5-9 It is an image of the control diagram M created by the host controller Ct.

[0059] Here, in the article conveying device 100, two conveying units U traveling along a fixed path R are used to convey article W. Therefore, when an abnormality occurs in one of the two conveying units U, preventing continued conveying, it also affects the other conveying unit U. The article conveying device 100 of this disclosure is configured such that it can convey article W in various situations, even if no abnormality occurs in either of the two conveying units U or if an abnormality occurs in one of the two conveying units U. Hereinafter, the conveying unit U that abnormally stops due to the occurrence of an abnormality will be designated as abnormal unit Ua, and the conveying unit U that can operate normally will be designated as normal unit Un, and the control performed in the article conveying device 100 will be described.

[0060] As mentioned above, Figures 5-9 This is an image of the control diagram M created by the host controller Ct, which controls the transport unit U based on this control diagram M. Figures 5-9 In each of these, the matrix shown above represents the item-containing shelf 3 arranged in the Y-direction of observation. Here, multiple storage sections 30 arranged in a grid pattern along the X-direction of travel and the vertical direction are shown. Additionally, in Figures 5-9 In each of these diagrams, a schematic diagram of the travel path R and the conveying unit U is shown below the matrix (item holding shelf 3) in a top view. In these diagrams, the position of the travel direction X of the item holding shelf 3 corresponds to the position of the travel direction X of the conveying unit U. Furthermore, in this example, as... Figure 1 As shown, a pair of item-holding shelves 3 are arranged opposite each other in a manner that sandwiches the travel path R in the arrangement direction Y, but... Figures 5-9 The image shows one of a pair of item-containing shelves 3.

[0061] like Figure 5 As shown, the upper controller Ct is capable of performing normal operation control to ensure that the two normal units Un operate in a manner that does not interfere with each other. In this embodiment, during normal operation control, the upper controller Ct designates a portion 30 of the item receiving shelf 3 as a relay receiving portion 30r for the transfer of items W between the two conveying units U. In this example, the upper controller Ct designates the receiving portion 30 located in the middle region of the item receiving shelf 3 in the travel direction X as a relay receiving portion 30r. In this example, all the receiving portions 30 arranged in a row along the vertical direction at the center position of the item receiving shelf 3 in the travel direction X are designated as relay receiving portions 30r. Figures 5-9In the diagram, the area enclosed by a thick frame within a portion of the item-containing shelf 3 indicates the center of the item-containing shelf 3 in the direction of travel X. Furthermore, when the area of ​​the thick frame is marked with a diagonal line, the plurality of receiving portions 30 indicating the area of ​​the thick frame are designated as relay receiving portions 30r.

[0062] The relay receiving section 30r is used as follows. For example, when the article W conveyed by the first conveying unit U1 is transferred to the receiving section 30, which is located on the second side X2 of the travel direction, which is closer to the relay receiving section 30r, the first conveying unit U1 first transfers the article W to the relay receiving section 30r, and the second conveying unit U2 takes out the article W thus contained in the relay receiving section 30r and transfers it to the destination receiving section 30.

[0063] In normal operation control, the host controller Ct can set the transferable range Rt of any of the two normal units Un to the entire range of the item receiving shelf 3. That is, in normal operation control, all the receiving parts 30 of the item receiving shelf 3 can become the transfer target parts.

[0064] like Figure 6 and Figure 7 As shown, when one of the two conveying units U is set as an abnormal unit Ua and the other as a normal unit Un, the host controller Ct can execute a first abnormal situation control, a backoff control, and a second abnormal situation control. In the illustrated example, the first conveying unit U1 is set as the abnormal unit Ua, and the second conveying unit U2 is set as the normal unit Un. However, sometimes, the opposite can be true: the second conveying unit U2 is set as the abnormal unit Ua, and the first conveying unit U1 is set as the normal unit Un.

[0065] Figure 6 The control diagram M shows the control when the upper controller Ct executes the first abnormal situation control. The first abnormal situation control is as follows: the transferable range Rt, in which the normal unit Un can transfer the item W between the receiving section 30 without interfering with the abnormal unit Ua, is set as part of the range of the item receiving shelf 3, and the multiple or single receiving sections 30 contained within the transferable range Rt are set as the transfer target parts to operate the normal unit Un. In the first abnormal situation control, the upper controller Ct sets the range outside the transferable range Rt in the item receiving shelf 3 as the transfer prohibition range Rp, which prohibits the transfer of the item W. Figure 6 In the item storage shelf 3 shown, the colored area is the relocation prohibited area Rp, and the uncolored area is the relocation permitted area Rt.

[0066] In this embodiment, the upper controller Ct sets the travel range Rr, which is the range within which the normal unit Un can travel on the travel path R without interfering with the abnormal unit Ua, based on the current positions of the normal unit Un and the abnormal unit Ua. Furthermore, the range of the travel direction X of the transferable range Rt is set based on the travelable range Rr. That is, the range within the travelable range Rr where all the receiving portions 30 arranged in the vertical direction are provided is set as the transferable range Rt. The current position of the normal unit Un can be detected by the self-position detection unit SP provided on the normal unit Un. Here, normally, the current position of the abnormal unit Ua can be detected by the self-position detection unit SP provided on the abnormal unit Ua. However, in cases where the type of abnormality occurring in the abnormal unit Ua is unclear, there is a possibility that an abnormality may also occur in the self-position detection unit SP; therefore, the reliability of the self-position detection unit SP provided on the abnormal unit Ua is low. Therefore, in this embodiment, the host controller Ct detects the stopping position of the abnormal unit Ua, i.e., the abnormal stopping position Ps (current position), based on the current position of the normal unit Un and the detection result of the relative distance detection unit SL. Furthermore, based on this abnormal stopping position Ps, the host controller Ct sets the range Rr within which the normal unit Un can travel on the travel path R without interfering with the abnormal unit Ua. That is, in this embodiment, the relative distance detection unit SL, installed on the normally operating normal unit Un, detects the current position (abnormal stopping position Ps) of the abnormal unit Ua based on the known positional relationship between the normal unit Un and the abnormal unit Ua. Thus, even if an abnormality occurs in one of the two conveyor units U, the current position of each of the two conveyor units U can be detected with high accuracy.

[0067] In this case, if an anomaly occurs in one of the two conveying units U, preventing the continued conveying of goods, the transfer of items W between the two conveying units U cannot take place, and the relay receiving unit 30r cannot function as a relay. Therefore, in this embodiment, the upper controller Ct releases the relay receiving unit 30r during the first anomaly control (see reference). Figure 5 The upper controller Ct, by deactivating the relay receiving section 30r setting, can utilize the receiving section 30 set as the relay receiving section 30r as a normal receiving section 30 for holding items W, thereby improving the holding efficiency of the item holding shelf 3. In this embodiment, when the range of the relay receiving section 30r in the item holding shelf 3 is located on the side of the normal unit Un closer than the abnormal unit Ua in the travel direction X (in the illustrated example, the second side X2 in the travel direction), the upper controller Ct includes the receiving section 30 set as the relay receiving section 30r within the transferable range Rt.

[0068] Figure 7 The diagram M shows the control diagram when the upper controller Ct executes the second abnormal situation control after executing the backoff control. The backoff control is a control used to move the abnormal unit Ua to a backoff position Pe set in the end region of the travel direction X of the travel path R. In this embodiment, the backoff position Pe is set to a position that does not interfere with the normal unit Un when the normal unit Un is operated with multiple receiving parts 30 included in the entire range of the item receiving shelf 3 as the transfer target parts. Here, the backoff position Pe is set to a position that does not overlap with the item receiving shelf 3 when viewed in the arrangement direction Y. In this embodiment, the original position HP of the above-mentioned conveying unit U is set as the backoff position Pe. Specifically, when the first conveying unit U1 is the abnormal unit Ua, the first original position HP1 is set as the backoff position Pe of the abnormal unit Ua, and when the second conveying unit U2 is the abnormal unit Ua, the second original position HP2 is set as the backoff position Pe of the abnormal unit Ua.

[0069] In the backoff control, the driving force of the traveling section of the abnormal unit Ua is utilized as much as possible to move the abnormal unit Ua to the backoff position Pe. Specifically, when the traveling section of the abnormal unit Ua, and the first traveling section 11 of the first conveying unit U1, are operating normally, the upper controller Ct commands the first conveying unit U1, which is the abnormal unit Ua, to move to the backoff position Pe using the driving force of the first traveling section 11. In this embodiment, after the upper controller Ct starts the execution of the first abnormal situation control, it executes the backoff control during the execution of the first abnormal situation control. Moreover, after the upper controller Ct moves the abnormal unit Ua to the backoff position Pe, it continuously transitions from the first abnormal situation control to the second abnormal situation control. In this example, after the upper controller Ct determines that the abnormal unit Ua has moved to the backoff position Pe, it ends the first abnormal situation control and starts the second abnormal situation control. As a result, the period during which the conveying unit U does not operate can be suppressed, and the overall operating rate of the equipment can be reduced to a lesser extent.

[0070] The second abnormal situation control is as follows: While the abnormal unit Ua is retracted to the retraction position Pe, the multiple receiving sections 30 contained within the entire range of the item receiving shelf 3 are designated as transfer target locations to operate the normal unit Un. In this embodiment, in the second abnormal situation control, the upper controller Ct, similar to the first abnormal situation control described above, releases the relay receiving section 30r (see reference...). Figure 5 Therefore, in the second abnormal situation control, the upper controller Ct sets the entire range of the item holding shelf 3 to the transferable range Rt.

[0071] In this embodiment, when one of the two conveying units U stops abnormally, the upper controller Ct determines whether the first abnormal control can be executed. If it is determined that the first abnormal control can be executed, the first abnormal control is automatically executed.

[0072] For reference Figure 3 As described above, the foreign object detection unit SF installed in the first conveying unit U1 defines the detection range as the area adjacent to the first traveling unit 11 on the second side X2 of the traveling direction, and the foreign object detection unit SF installed in the second conveying unit U2 defines the detection range as the area adjacent to the second traveling unit 21 on the first side X1 of the traveling direction. Furthermore, for example, if either the first conveying unit U1 or the second conveying unit U2 becomes an abnormal unit Ua, the normal unit Un slowly moves towards the abnormal unit Ua within a range that does not interfere with the abnormal unit Ua, while using the foreign object detection unit SF to detect the presence or absence of a foreign object F. Thus, in the entire area closer to the normal unit Un than the abnormal unit Ua, if a foreign object F is present in the travel path R, it can be detected. In this way, the article conveying device 100 is equipped with a foreign object detection unit SF that, in the event of an abnormality in one of the two conveying units U, detects a foreign object F present in the travel path R closer to the normal unit Un than the abnormal unit Ua.

[0073] In this embodiment, the condition for determining in the above-mentioned executable determination that the control for the first abnormality can be executed includes the fact that the foreign object detection unit SF does not detect the foreign object F (refer to...). Figure 8 The location of the detected abnormal unit Ua is also determined. That is, in this embodiment, the upper controller Ct will utilize the foreign object detection unit SF to detect the absence of foreign object F (refer to...). Figure 8 The first abnormality control is executed based on the condition that the location of the detected abnormal unit Ua is used as the condition.

[0074] For example, such as Figure 8 As shown, when the upper controller Ct detects a foreign object F on the side closer to the normal unit Un than the abnormal unit Ua (in this case, the second side X2 in the travel direction than the first conveying unit U1), it sets the entire area of ​​the item receiving shelf 3 as the transfer prohibition range Rp and does not execute the first abnormal control. The foreign object F is, for example, an item W that has fallen during conveying. Figure 8In this example, an item W is exemplified as a foreign object F, but instruments or tools used within the equipment can also be considered as objects of foreign object F. In this embodiment, when the host controller Ct encounters a foreign object F on the opposite side of the normal unit Un while the abnormal unit Ua is sandwiched in the travel path R, it determines that the item W can be transported using the normal unit Un and executes the first abnormality control. For example, if the first transport unit U1 is an abnormal unit Ua, and a foreign object F exists on the first side X1 of the travel direction relative to the first transport unit U1, it will not affect the operation of the second transport unit U2 on the second side X2 of the travel direction relative to the first transport unit U1. Therefore, the host controller Ct executes the first abnormality control.

[0075] Additionally, for example, such as Figure 9 As shown, if the upper-level controller Ct fails to properly detect the position of the abnormal unit Ua, it sets the entire range of the item-containing shelf 3 as a transfer-prohibited range Rp and does not execute the first abnormality control. When the position of the abnormal unit Ua is not properly detected, the current position of the abnormal unit Ua is uncertain. If the normal unit Un is operated in this state, there is a possibility of interference between the normal unit Un and the abnormal unit Ua. By setting the detection of the position of the abnormal unit Ua as one of the conditions for executing the first abnormality control, the interference between the normal unit Un and the abnormal unit Ua can be avoided.

[0076] Next, refer to Figure 10 The flowchart illustrates the sequence of control operations performed by the host controller Ct.

[0077] First, the host controller Ct determines whether an anomaly has occurred in the conveying unit U (step #1). This determination is based on notifications of anomalies from the first controller C1 of the first conveying unit U1 and the second controller C2 of the second conveying unit U2. If the host controller Ct determines that an anomaly has occurred in the conveying unit U (step #1: yes), it determines whether the anomaly is an anomaly of one of the two conveying units U (step #2). If the host controller Ct determines that it is an anomaly of one unit U (step #2: yes), it determines whether there is a foreign object F in the travel path R (step #3). As described above, the determination of the presence or absence of the foreign object F is based on the detection result of the foreign object detection unit SF of the normal unit Un. If the host controller Ct determines that there is no foreign object F in the travel path R (step #3: yes), it determines whether the current position of the abnormal unit Ua can be determined (step #4). As described above, this determination is based on whether the current position of the abnormal unit Ua can be detected based on the current position of the normal unit Un and the detection result of the relative distance detection unit SL. If the host controller Ct determines that it can grasp the current position of the abnormal unit Ua (step #4: yes), it initiates the first abnormality control (step #5). Furthermore, if the host controller Ct determines "no" in any of steps #2, #3, or #4, it reports that the equipment cannot be operated (step #12) and terminates the program.

[0078] After the host controller Ct initiates the first exception response control, it executes backoff control (step #6). The content of this backoff control uses... Figure 11 This will be explained later. Then, the upper controller Ct determines whether the backoff control is complete (step #7). If the upper controller Ct determines that the backoff control is complete (step #7: yes), it ends the first abnormality control (step #8) and begins the second abnormality control (step #9). Then, the upper controller Ct determines whether the abnormal unit Ua has recovered (step #10). This determination is based on a notification from the controller (first controller C1 or second controller C2) of the transmission unit U of the abnormal unit Ua before recovery, indicating that recovery has been achieved, or based on input from the operator to the operation unit Op. If the upper controller Ct determines that the abnormal unit Ua has recovered (step #10: yes), it ends the second abnormality control (step #11) and terminates the program.

[0079] In the backoff control (step #6), as Figure 11As shown, the upper controller Ct first determines whether the abnormal unit Ua can move (step #61). If the abnormal unit Ua can move (step #61: Yes), the upper controller Ct starts the abnormal unit Ua's movement towards the retreat position Pe (step #62). Furthermore, if the abnormal unit Ua reaches the retreat position Pe (step #63: Yes), the retreat control is completed. On the other hand, if the abnormal unit Ua cannot move (step #61: No), the upper controller Ct stops the operation of the normal unit Un in the first abnormal situation control (step #64). That is, the first abnormal situation control is temporarily stopped. Furthermore, the upper controller Ct guides the operator to move the abnormal unit Ua towards the retreat position Pe (step #65). This guidance is performed using, for example, a display on the display unit or a sound output from the sound output unit. In this case, the movement of the abnormal unit Ua towards the retreat position Pe is performed using a driving force different from the driving force of the abnormal unit Ua's moving part. Here, the "different driving force" is provided by a device other than the abnormal unit Ua or by the operator. For example, the normal unit Un can be connected to the abnormal unit Ua, and the abnormal unit Ua can be moved using the driving force of the traveling part of the normal unit Un. Alternatively, the operator can enter the travel path R and push the abnormal unit Ua to move it to the retreat position Pe. Moreover, if the abnormal unit Ua reaches the retreat position Pe (step #63: Yes), the retreat control is completed. Preferably, for example, a sensor for detecting the arrival of the abnormal unit Ua is installed at the retreat position Pe, and the determination that the abnormal unit Ua has reached the retreat position Pe is based on the detection result of the sensor. Alternatively, it can be based on a notification from the controller of the abnormal unit Ua (first controller C1 or second controller C2) indicating that the abnormal unit Ua has moved to the retreat position Pe, or on an input operation from the operator using the operation unit Op indicating that the movement to the retreat position Pe is complete.

[0080] [Second Implementation]

[0081] Next, the article conveying device 100 according to the second embodiment will be described. In this embodiment, the conditions for controlling the first abnormality are different from those in the first embodiment described above. Hereinafter, the aspects that differ from those in the first embodiment will be mainly described. Aspects not specifically described are the same as those in the first embodiment described above.

[0082] In this embodiment, if one of the two conveying units U abnormally stops, the host controller Ct enters a state where it is aware of this and can accept the execution command for the first abnormality control. Upon accepting the execution command, it executes the first abnormality control. In this example, the host controller Ct accepts the execution command via the operation unit Op (see...). Figure 4Specifically, the operator operates the operation unit Op to input an execution command, whereby the host controller Ct accepts the execution command and performs the first abnormality control. Preferably, when the execution command is accepted, the acceptance screen of the execution command for the first abnormality control is displayed on the display screen of the operation unit Op.

[0083] Next, refer to Figure 12 The flowchart illustrates the sequence of control operations performed by the host controller Ct in this embodiment.

[0084] The host controller Ct determines whether an abnormality has occurred in the conveyor unit U (step #21). If the host controller Ct determines that an abnormality has occurred in the conveyor unit U (step #21: Yes), it determines whether the abnormality is an abnormality of one of the two conveyor units U (step #22). If the host controller Ct determines that it is not an abnormality of one unit, that is, if it determines that both conveyor units U are abnormal (step #22: No), it reports that the equipment cannot be operated (step #31) and terminates the program. If the host controller Ct determines that it is an abnormality of one unit (step #22: Yes), it becomes capable of accepting the execution command for the first abnormality control and determines whether there is an execution command (step #23). Furthermore, if the host controller Ct determines that there is an execution command (step #23: Yes), it starts the first abnormality control (step #24). On the other hand, if there is no execution command (step #23: No), the host controller Ct terminates the program. The program after the start of the first abnormality control is the same as in the first embodiment described above, therefore, the description is omitted.

[0085] [Other implementation methods]

[0086] Next, other embodiments of the material conveying equipment will be described.

[0087] (1) In the above embodiment, an example of executing backoff control during the execution of the first abnormality control after the upper controller Ct starts executing the first abnormality control has been described. However, it is not limited to such an example, and the upper controller Ct may also execute backoff control after the first abnormality control ends.

[0088] (2) In the above embodiment, an example was described in which the host controller Ct detects the stopping position of the abnormal unit Ua, i.e., the abnormal stopping position Ps (current position), based on the current position of the normal unit Un and the detection result of the relative distance detection unit SL. However, it is not limited to such an example. The host controller Ct may also detect the abnormal stopping position Ps (current position) of the abnormal unit Ua using the self-position detection unit SP when the self-position detection unit SP of the abnormal unit Ua is normal.

[0089] (3) In the above embodiments, examples of foreign object detection units SF being provided in both the first conveying unit U1 and the second conveying unit U2 have been described. However, this is not a limitation; the foreign object detection unit SF can be provided at any position suitable for detecting foreign objects F present in the travel path R. For example, the foreign object detection unit SF can be provided on the item receiving shelf 3, or it can be provided on the ceiling or floor of the equipment. Furthermore, it is also possible to construct a structure in which the item conveying device 100 does not have a foreign object detection unit SF.

[0090] (4) In the above embodiment, an example was described in which the host controller Ct sets a portion of the storage section 30 of the item storage shelf 3 as a relay storage section 30r during normal operation control. However, it is not limited to such an example, and the host controller Ct may also not set the relay storage section 30r during normal operation control.

[0091] (5) In the above embodiment, an example was described in which the retraction position Pe is set to a position that does not overlap with the item holding shelf 3 when viewed in the arrangement direction Y. However, it is not limited to such an example, and the retraction position Pe may also be set to a position that overlaps with the item holding shelf 3 when viewed in the arrangement direction Y.

[0092] (6) In the above embodiment, an example of a fork-like configuration in which the first holding part 14 is configured to hold an article W and is moved forward and backward along the arrangement direction Y by the first transfer part 15 has been described. However, this is not a limitation; the first transfer part 15 is only required to be able to transfer the article W between the first holding part 14 and the receiving part 30. As an example, the first holding part 14 may be fixed in a way that prevents it from moving in the arrangement direction Y, and the first transfer part 15 may have forward and backward arms that are arranged on both sides of the first holding part 14 in the travel direction X and move forward and backward along the arrangement direction Y. In this case, the forward and backward arms hold the article W held by the first holding part 14 or the article W held by the receiving part 30 from both sides of the travel direction X and move it along the arrangement direction Y. Thus, the first transfer part 15 is configured to transfer the article W between the first holding part 14 and the receiving part 30.

[0093] (7) In the above embodiment, an example in which each of the loading device 99 and the unloading device 98 is positioned on the outer side of the travel direction X relative to the item holding shelf 3 has been described. However, this is not a limitation; at least one of the loading device 99 and the unloading device 98 may also be positioned in the middle region of the travel direction X of the item holding shelf 3. In this case, for example, the item holding shelf 3 may have a plurality of shelves arranged in a divided manner along the travel direction X, and at least one of the loading device 99 and the unloading device 98 may be positioned between the plurality of shelves in the travel direction X.

[0094] (8) Furthermore, the structures disclosed in the above embodiments can be combined with structures disclosed in other embodiments, provided that no contradiction arises. Regarding other structures, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made appropriately without departing from the spirit of this disclosure.

[0095] [Summary of the above embodiments]

[0096] The following is a description of the article conveying equipment described above.

[0097] A material conveying device, comprising:

[0098] A storage shelf with multiple compartments for storing items;

[0099] An end-point travel path defined along the travel direction of the front surface of the item-receiving shelf;

[0100] Two conveyor units for conveying the items; and

[0101] A control device that controls both of the aforementioned conveying units.

[0102] in,

[0103] Each of the two conveying units includes: a traveling section that travels along the travel path; a holding section that holds the article; and a transfer section that transfers the article between the receiving section and the holding section, which are designated as transfer target portions in a plurality of receiving sections.

[0104] The two traveling units are configured to not intersect each other on the travel path.

[0105] The conveying unit that stops abnormally due to an anomaly is designated as an abnormal unit, and the conveying unit that operates normally is designated as a normal unit.

[0106] The control device is capable of performing normal operation control to ensure that the two normal units operate without interfering with each other, and, when one of the two conveying units is designated as the abnormal unit and the other as the normal unit, it is capable of performing first abnormality control, backoff control, and second abnormality control.

[0107] The first abnormality control is as follows: the transferable range in which the normal unit can transfer the item between the receiving section and the receiving section without interfering with the abnormal unit is set as a part of the item receiving shelf, and the normal unit is operated by setting one or more receiving sections within the transferable range as the transfer target parts.

[0108] The retreat control is a control used to move the abnormal unit to a retreat position set at the end region of the travel direction in the travel path.

[0109] The second abnormal situation control is as follows: while the abnormal unit is retreated to the retreat position, the transferable range is set to a range wider than the transferable range set in the first abnormal situation control, and the plurality of receiving portions contained in the transferable range are set as the transfer target parts to enable the normal unit to operate.

[0110] According to this structure, if one of the two conveying units stops abnormally due to an malfunction, a first abnormality control is executed using a control device. In this first abnormality control, the transferable range of the normally operating unit, which can transfer items between the receiving section and the receiving section without interfering with the abnormally stopped unit, is set as part of the item receiving shelf. Furthermore, multiple or a single receiving section within this transferable range is designated as the transfer target area to operate the normal unit. With this structure, the normal unit can be limited to its operational range without waiting for the abnormal unit to move to a retraction position. Therefore, the overall operating rate of the equipment can be minimized. Additionally, by performing retraction control, after the abnormal unit moves to the retraction position, the execution of a second abnormality control allows multiple receiving sections within a range wider than the transferable range set in the first abnormality control to be designated as transfer target areas to operate the normal unit. Therefore, in this respect, the overall operating rate of the equipment can also be minimized.

[0111] Preferably, the backoff control is performed during the execution of the control when the first anomaly begins, after the control device has started executing the control when the first anomaly occurs.

[0112] According to this structure, during the execution of the first abnormal situation control, the abnormal unit can be moved to the retreat position. After the abnormal unit is moved to the retreat position, the system can continuously switch from the first abnormal situation control to the second abnormal situation control. Therefore, according to this structure, periods during which the conveyor unit does not operate can be suppressed, and the overall operating rate of the equipment can be reduced to a lesser extent.

[0113] Furthermore, preferably, the device includes a relative distance detection unit that detects the relative distance between the two conveying units in the direction of travel. Based on the current position of the normal unit and the detection result of the relative distance detection unit, the control device detects the position where the abnormal unit stops, i.e., the abnormal stop position. Based on the abnormal stop position, the control device sets a range in which the normal unit can travel on the path without interfering with the abnormal unit, i.e., the travel range. The range of the travel direction of the transferable range is set based on the travelable range.

[0114] According to this structure, the transferable range can be set based on the current position of the normal unit and the relative distance between the two conveying units. Therefore, the transferable range can be set appropriately.

[0115] Furthermore, preferably, in the retreat control, the abnormal unit is moved to the retreat position by the driving force of the traveling part of the abnormal unit or a different driving force, and after the control device determines that the abnormal unit has moved to the retreat position, it ends the first abnormal situation control and starts the second abnormal situation control.

[0116] According to this structure, the abnormal unit can be moved to the retreat position using an appropriate unit corresponding to the current situation. Furthermore, after the abnormal unit is determined to have moved to the retreat position, a second abnormal situation control is initiated. Therefore, interference between normal and abnormal units can be avoided, and the second abnormal situation control can be executed appropriately.

[0117] Alternatively, preferably, the control device sets a portion of the receiving section of the item receiving shelf as a relay receiving section for the transfer of items between the two conveying units during the normal operation control, and deactivates the setting of the relay receiving section during the first abnormality control and the second abnormality control.

[0118] According to this structure, when the first abnormal situation control and the second abnormal situation control are executed, the relay storage section can be used as a normal storage section for storing items, thereby improving the storage efficiency of the item storage shelf.

[0119] Alternatively, preferably, if one of the two conveying units stops abnormally, the control device becomes aware of this and is able to accept the execution command for the first abnormality control, and executes the first abnormality control upon accepting the execution command.

[0120] According to this structure, for example, the control device executes first abnormality control by utilizing the input of an execution command made by the operator. Therefore, in this case, the first abnormality control can be executed if it is determined to be necessary based on the operator's judgment.

[0121] In addition, preferably, unlike the structure of the control device receiving the execution command as described above, the control device performs an executable determination to determine whether the first abnormal control can be executed when one of the two conveying units stops abnormally, and automatically executes the first abnormal control when it is determined that the first abnormal control can be executed.

[0122] According to this structure, the control device automatically executes the first abnormal situation control when it determines, through an executable decision, that the first abnormal situation control can be executed; otherwise, it can refrain from executing the first abnormal situation control. Therefore, this structure can save operator time and quickly execute the first abnormal situation control. Consequently, the overall equipment can minimize the reduction in operating rate.

[0123] Furthermore, preferably, in the structure where the control device performs the executable determination, a foreign object detection unit is provided, which detects foreign objects present in the travel path on the side closer to the normal unit than the abnormal unit. The conditions for determining in the executable determination that control can be performed when the first abnormality is present include the location where the foreign object detection unit does not detect the foreign object and the abnormal unit is detected.

[0124] If a foreign object is present in the path of a normal unit closer to the abnormal unit, there is a possibility that the normal unit moving along the path may interfere with the foreign object. Furthermore, when the location of the abnormal unit is unclear, there is a possibility that the normal unit moving along the path may interfere with the abnormal unit. However, according to this structure, the control device determines that the first abnormality control can be performed based on at least two conditions: the foreign object detection unit does not detect a foreign object and the location of the abnormal unit is detected. Therefore, according to this structure, interference between the normal unit and the foreign object or the abnormal unit can be avoided, and the first abnormality control can be performed appropriately.

[0125] Industrial availability

[0126] The technology disclosed herein can be used in a goods conveying device comprising: a goods receiving shelf having a plurality of receiving sections for holding goods, an end-point travel path set along a travel direction along the front surface of the goods receiving shelf, two conveying units for conveying the goods, and a control device for controlling the two conveying units.

[0127] Symbol Explanation

[0128] 100: Goods conveying equipment

[0129] U: Conveying unit

[0130] Ua: Exception Unit

[0131] Un: Normal unit

[0132] 3: Shelves for storing items

[0133] 30: Reception area

[0134] 30r: Relay housing

[0135] 11: First Marching Section (Marching Section)

[0136] 14: First Holding Section (Holding Section)

[0137] 15: First transfer section (transfer section)

[0138] 21: Second Marching Section (Marching Section)

[0139] 24: Second Holding Section (Holding Section)

[0140] 25: Second transfer section (transfer section)

[0141] Ct: Host controller (control device)

[0142] SF: Foreign Object Detection Department

[0143] SL: Relative Distance Detection Unit

[0144] W: Items

[0145] F: Foreign object

[0146] Pe: Retreat position

[0147] Ps: Abnormal stopping position

[0148] R: Path of travel

[0149] Rr: Feasible range

[0150] Rt: Portable range

[0151] X: Direction of travel

[0152] Y: Arrangement direction.

Claims

1. A material conveying device, comprising: A storage shelf with multiple compartments for storing items; An end-point travel path defined along the travel direction of the front surface of the item-receiving shelf; Two conveyor units for conveying the items; and A control device that controls both of the aforementioned conveying units. The article conveying equipment has the following characteristics. Each of the two conveying units includes: a traveling section that travels along the travel path; a holding section that holds the item; a transfer section that transfers the item between the receiving section and the holding section, which are designated as transfer target locations among the plurality of receiving sections; and a self-position detection section that detects its own current position. The two traveling units are configured to not intersect each other on the travel path. The conveying unit that stops abnormally due to an anomaly is designated as an abnormal unit, and the conveying unit that operates normally is designated as a normal unit. The control device is capable of performing normal operation control to ensure that the two normal units operate without interfering with each other, and, when one of the two conveying units is designated as the abnormal unit and the other as the normal unit, it is capable of performing first abnormality control, backoff control, and second abnormality control. The first abnormality control is as follows: the transferable range in which the normal unit can transfer the item between the receiving section and the receiving section without interfering with the abnormal unit is set as a part of the item receiving shelf, and the normal unit is operated by setting one or more of the receiving sections included in the transferable range as the transfer target parts. The retreat control is a control used to move the abnormal unit to a retreat position set at the end region of the travel direction in the travel path. The second abnormal situation control is as follows: while the abnormal unit is retreating to the retreat position, the transferable range is set to be wider than the transferable range set in the first abnormal situation control, and the plurality of receiving portions contained in the transferable range are designated as the transfer target parts to enable the normal unit to operate. Based on the current positions of the normal unit and the abnormal unit, the control device sets the travel range (i.e., the range within which the normal unit can travel along the travel path without interfering with the abnormal unit) The range of the travel direction of the movable range is set based on the movable range.

2. A material conveying device, comprising: A storage shelf with multiple compartments for storing items; An end-point travel path defined along the travel direction of the front surface of the item-receiving shelf; Two conveyor units for conveying the items; and A control device that controls both of the aforementioned conveying units. The article conveying equipment has the following characteristics. Each of the two conveying units includes: a traveling section that travels along the travel path; a holding section that holds the article; and a transfer section that transfers the article between the receiving section and the holding section, which are designated as transfer target portions in a plurality of receiving sections. The two traveling units are configured to not intersect each other on the travel path. The conveying unit that stops abnormally due to an anomaly is designated as an abnormal unit, and the conveying unit that operates normally is designated as a normal unit. The control device is capable of performing normal operation control to ensure that the two normal units operate without interfering with each other, and, when one of the two conveying units is designated as the abnormal unit and the other as the normal unit, it is capable of performing first abnormality control, backoff control, and second abnormality control. The first abnormality control is as follows: the transferable range in which the normal unit can transfer the item between the receiving section and the receiving section without interfering with the abnormal unit is set as a part of the item receiving shelf, and the normal unit is operated by setting one or more of the receiving sections included in the transferable range as the transfer target parts. The retreat control is a control used to move the abnormal unit to a retreat position set at the end region of the travel direction in the travel path. The second abnormal situation control is as follows: while the abnormal unit is retreating to the retreat position, the transferable range is set to be wider than the transferable range set in the first abnormal situation control, and the plurality of receiving portions contained in the transferable range are designated as the transfer target parts to enable the normal unit to operate. The system includes a relative distance detection unit that detects the relative distance between the two conveying units in the direction of travel. The control device detects the stopping position of the abnormal unit, i.e., the abnormal stopping position, based on the current position of the normal unit and the detection result of the relative distance detection unit. Based on the abnormal stopping position, the control device sets the range within which the normal unit can travel on the travel path without interfering with the abnormal unit, i.e., the travel range. The range of the travel direction of the movable range is set based on the movable range.

3. The article conveying device according to claim 1 or 2, wherein, After the control device initiates the execution of the control upon the first anomaly, it performs the backoff control during the execution of the control upon the first anomaly.

4. The article conveying device according to claim 1 or 2, wherein, In the retreat control, the abnormal unit is moved to the retreat position using the driving force of the traveling part of the abnormal unit or a different driving force. After determining that the abnormal unit has moved to the retreat position, the control device ends the first abnormal situation control and begins the second abnormal situation control.

5. The article conveying device according to claim 1 or 2, wherein, The control device sets a portion of the item receiving shelf as a relay receiving portion for transferring items between two conveying units during normal operation control, and deactivates the relay receiving portion setting during the first abnormality control and the second abnormality control.

6. The article conveying device according to claim 1 or 2, wherein, In the event of an abnormal stop in one of the two conveying units, the control device becomes capable of reporting the abnormality and accepting the execution command for the first abnormality control. Upon accepting the execution command, it executes the first abnormality control.

7. The article conveying device according to claim 1 or 2, wherein, If one of the two conveying units stops abnormally, the control device determines whether the first abnormal control can be executed. If it determines that the first abnormal control can be executed, it automatically executes the first abnormal control.

8. The article conveying device according to claim 7, wherein, The device includes a foreign object detection unit that detects foreign objects present in the travel path on the side closer to the normal unit than the abnormal unit. The conditions for determining whether the first abnormality can be executed in the executable determination include the fact that the foreign object is not detected by the foreign object detection unit and the location of the abnormality unit is detected.

Images