Transport device

Abstract

To reduce vibration of a truck even when a height of an elevating table is changed and vibration characteristics are changed.SOLUTION: A traveling control unit 701 that controls traveling of a traveling motor 40 includes an FF control unit 710, an FF parameter calculation unit 720, a damping filter 730, a damping F parameter calculation unit 740, and an FB control unit 750. The FF parameter calculation unit 720 calculates an FF parameter on the basis of a height H of a carriage. The damping F parameter calculation unit 730 calculates a damping F parameter on the basis of the height H. By controlling the traveling motor 40 using values of these parameters, the traveling control can be executed in consideration of vibration characteristics that change according to the height H of the carriage, and vibration of the traveling carriage can be reduced.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a conveying device.

Background Art

[0002] Japanese Patent No. 6444243 (Patent Document 1) discloses a stacker crane including a lifting platform that moves vertically along a mast fixed to a traveling carriage. The traveling carriage is movable horizontally by a traveling motor. The stacker crane of Patent Document 1 includes a vibration damping filter that filters a position command value for designating the position of the traveling carriage, determines a parameter value used for filtering according to the loading state of the lifting platform, and calculates a torque command value for driving the traveling motor based on the filtered position command value. According to this Patent Document 1, it is possible to convey articles in a shorter time while performing vibration damping control of the stacker crane.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When the lifting platform moves up and down, the height (position) of the lifting platform changes. When the height of the lifting platform changes, the position of the center of gravity of the stacker crane changes, so its vibration characteristics change. For this reason, even if vibration damping control is performed according to the loading state of the lifting platform as in Patent Document 1, there is a concern that vibration cannot be suitably reduced.

[0005] An object of the present disclosure is to reduce the vibration of the carriage even when the height of the lifting platform changes and the vibration characteristics change.

Means for Solving the Problems

[0006] The conveying device of the present disclosure includes a cart that can travel, a lifting platform that moves up and down along a mast fixed to the cart, a driving device that drives the cart, and a control device that controls the driving device to perform travel control of the cart. The control device obtains the value of the travel control parameter based on the vibration characteristics corresponding to the height of the lifting platform, and executes travel control using the travel control parameter.

[0007] According to this configuration, the value of the travel control parameter used for the travel control of the cart is obtained based on the vibration characteristics corresponding to the height of the lifting platform. Thereby, travel control can be executed in consideration of the vibration characteristics that change according to the height of the lifting platform, and the vibration of the cart can be reduced.

[0008] Preferably, the control device may include a feedforward parameter calculation unit that calculates a feedforward parameter based on the height information of the lifting platform, and a feedforward control unit that calculates a feedforward torque based on the position command of the cart and the feedforward parameter. By calculating the feedforward parameter based on the height information of the lifting platform, travel control considering the vibration characteristics corresponding to the height of the lifting platform can be executed.

[0009] Preferably, the control device may include a vibration damping filter parameter calculation unit that calculates a vibration damping filter parameter based on the height information of the lifting platform, and a vibration damping filter that filters the position command of the cart using the vibration damping filter parameter. By calculating the vibration damping filter parameter based on the height information of the lifting platform, travel control considering the vibration characteristics corresponding to the height of the lifting platform can be executed.

Advantages of the Invention

[0010] According to the present disclosure, even when the height of the lifting platform changes and the vibration characteristics change, the vibration of the cart can be reduced.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

[0012] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and the description thereof will not be repeated.

[0013] In the following embodiments, a configuration in which the "transport device" according to the present disclosure is applied to a stacker crane in an automated warehouse system will be described as an example. However, the device to which the "transport device" according to the present invention can be applied is not limited to a stacker crane. The "transport device" according to the present disclosure can also be applied to an automated guided vehicle (AGV), an autonomous mobile robot (AMR), a working-at-height vehicle, etc.

[0014] FIG. 1 is a perspective view showing an example of the overall configuration of an automated warehouse system 100 according to the present embodiment. The automated warehouse system 100 is a stacker crane type transport system, and includes a stacker crane body (hereinafter abbreviated as "crane body") 1, a rail 8, and a storage shelf 9.

[0015] The crane body 1 moves (travels) on the rail 8 in accordance with a control command from the controller 7 (see FIG. 2). The traveling direction of the crane body 1 is described as the "X direction". The X direction is typically a horizontal direction. However, the X direction does not have to exactly coincide with the horizontal direction as long as it includes the horizontal direction.

[0016] The crane body 1 operates, for example, by electric power supplied from a power supply line (not shown). However, the power supply method of the crane body 1 is not particularly limited. The crane body 1 may be powered from the rail 8, or may be powered from a non-contact power transmission device arranged along the rail 8. Also, the crane body 1 may be powered from a power supply rail provided above the storage shelf 9.

[0017] The crane body 1 includes a traveling carriage 11, an upper frame 12, two wheels 13, a pair of masts 14, and a carriage 15. Note that the traveling carriage 11 corresponds to an example of the "carriage" of the present disclosure.

[0018] The upper frame 12 is arranged above the crane body 1 so as to extend in the X direction. The upper frame 12 connects the pair of masts 14 to each other.

[0019] One end of each of the pair of masts 14 is fixed to the traveling carriage 11. The other end of each of the pair of masts 14 is connected to the upper frame 12. In the present embodiment, the pair of masts 14 are arranged at a distance in the X direction. However, the arrangement of the pair of masts 14 is not limited to this, and the pair of masts 14 may be arranged at a distance in a direction orthogonal to the moving direction of the crane body 1 (Y direction orthogonal to the X direction in the horizontal plane).

[0020] The carriage 15 moves up and down along a pair of masts 14 between the traveling bogie 11 and the upper frame 12. The carriage 15 is driven by a lifting motor 50 according to a control command from a controller 7 (see FIG. 2), and moves (lifts and lowers) to a commanded height. After the carriage 15 moves, the luggage L stored in the storage shelf 9 is placed on the carriage 15 by forks (none of which are shown). The luggage L placed on the carriage 15 may be stored in the storage shelf 9 by forks. The carriage 15 corresponds to an example of the "lifting platform" of the present disclosure.

[0021] The traveling bogie 11 is equipped with a traveling motor 40 and a lifting motor 50. FIG. 2 is a diagram for explaining the traveling drive unit 4 of the traveling bogie 11 and the lifting drive unit 5 of the carriage 15. Note that in FIG. 1, the details of the traveling drive unit 4 and the lifting drive unit 5 are omitted. Referring to FIG. 2, the traveling drive unit 4 includes a traveling motor 40, a speed reducer 41, a drive pulley 42, a plurality of idler pulleys 43, and a traveling belt Rb. The traveling motor 40 may be, for example, a servo motor and is controlled by the controller 7. The speed reducer 41 is fixed to the traveling bogie 11, reduces the rotation of the traveling motor 40 (amplifies the torque), and transmits it to the drive pulley 42.

[0022] In the present embodiment, the traveling belt Rb is a toothed belt with both ends fixed along the rail 8, and the drive pulley 42 is a toothed pulley. The traveling belt Rb is wound around the drive pulley 42, and when the drive pulley 42 rotates by the driving force (output torque) of the traveling motor 40, the traveling bogie 11 travels in the X direction along the rail 8. A configuration may be adopted in which the wheels 13 travel on the road surface without providing the rail 8. In this case, both ends of the traveling belt Rb in the traveling direction (X direction) are fixed. The traveling motor 40 corresponds to an example of the "drive device" of the present disclosure. Note that the traveling belt Rb may be a V-belt or a flat belt. Also, instead of the belt, a chain (roller chain, silent chain) may be used, and in this case, a drive sprocket is used.

[0023] The lifting drive unit 5 includes a lifting motor 50, a speed reducer 51, a drive pulley 52, a plurality of idler pulleys 53, and a lifting belt Lb. The lifting motor 50 may be, for example, a servo motor and is controlled by the controller 7. The speed reducer 51 is fixed to the traveling carriage 11, reduces the rotation of the lifting motor 50 (amplifies the torque), and transmits it to the drive pulley 52.

[0024] The lifting belt Lb is a toothed belt with both ends fixed to the carriage 15. The lifting belt Lb is wound around the drive pulley 52, and when the drive pulley 52 rotates by the driving force (output torque) of the lifting motor 50, the carriage 15 is lifted and lowered in the lifting direction (Z direction). Note that the lifting belt Lb may be a V-belt, a flat belt, or a chain.

[0025] Vibration occurs in the crane body 1 as the traveling carriage 11 travels. In particular, when the carriage 15 (mast 14) vibrates, it affects the conveyance of the load. For this reason, as in Patent Document 1, when performing the traveling control of the traveling carriage 11 (crane body 1), vibration is suppressed by performing vibration suppression control using a physical model. In order to suitably execute the vibration suppression control, it is desirable to use parameters that suitably reflect the vibration characteristics of the crane body 1.

[0026] FIG. 3 is a diagram for explaining the vibration characteristics of the crane body 1 in the present embodiment. FIG. 3(A) shows the case where the height H of the carriage 15 is h1, and FIG. 3(B) shows the case where the height H of the carriage 15 is h2 which is higher than h1. In the present embodiment, the height H of the carriage 15 is the distance from the traveling bogie 11 to the carriage 15. As shown in FIGS. 3(A) and (B), the center of gravity G of the crane body 1 changes according to the height H of the carriage 15, and the higher the height of the carriage 15, the higher the height of the center of gravity G. Therefore, the vibration characteristics of the crane body 1 change according to the height H of the carriage 15. In particular, when a robust carriage 15 is adopted, the mass (weight) of the carriage 15 increases, and the change in the vibration characteristics that changes according to the height H becomes larger. In the present embodiment, by obtaining the value of the travel control parameter based on the vibration characteristics according to the height H of the carriage 15, vibration suppression (vibration suppression) of the crane body 1 can be suitably performed.

[0027] FIG. 4 is a schematic configuration diagram showing an example of the control system 200 of the automatic warehouse system 100 in the present embodiment. The control system 200 includes a host controller 2, a sensor group 3, and a controller 7.

[0028] The host controller 2 is, for example, a ground control panel and is arranged outside the crane body 1. The host controller 2 may include an HMI (Human Machine Interface). The HMI includes, for example, a keyboard, a mouse, operation buttons, a monitor, a monitor with a touch panel, etc. The HMI receives an operator's operation for moving the crane body 1 and displays the moving status of the crane body 1 for the operator. The host controller 2 generates a position command X* for commanding the target position (position in the X direction) of the crane body 1 (traveling bogie 11) according to, for example, an operation by the operator. Further, the host controller 2 generates a lifting position command Z* for commanding the target position (position in the Z direction: height) of the carriage 15 according to, for example, an operation by the operator. The host controller 2 outputs the position command X* and the lifting position command Z* to the controller 7.

[0029] The sensor group 3 includes a first encoder 31 that detects the rotation angle of the traveling motor 40 and a second encoder 32 that detects the rotation angle of the elevating motor 50, and outputs the detection results to the controller 7.

[0030] The controller 7 controls the constituent devices of the automatic warehouse system 100 (in this embodiment, the traveling motor 40 and the elevating motor 50) according to control commands (position command X*, elevating position command Z*, etc.) from the upper controller 2. The controller 7 is mounted on, for example, the crane body 1. However, the controller 7 may be arranged outside the crane body 1 (for example, on the ground). The controller 7 may receive the detection results by the sensor group 3 either wired or wirelessly. The controller 7 may transmit control commands to the constituent devices of the automatic warehouse system 100 either wired or wirelessly.

[0031] The controller 7 includes a processor 71 and a memory 72. The processor 71 includes processing circuitry such as a CPU (Central Processing Unit) and an MPU (Micro Processing Unit). The memory 72 includes volatile memory devices such as DRAM (Dynamic Random Access Memory) and SRAM (Static Random Access Memory), and non-volatile memory devices such as HDD (Hard Disk Drive), SSD (Solid State Drive), and flash memory. The memory 72 stores a system program including an OS (Operating System), a control program including computer-readable code, and various parameters for controlling the constituent devices of the automatic warehouse system 100. The processor 71 realizes various arithmetic processes by reading out the system program, the control program, and the parameters, expanding them in the memory 72, and executing them. The arithmetic processes by the controller 7 may be realized by an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or the like.

[0032] The controller 7 may be divided into a plurality of units according to functions. For example, a unit for controlling the traveling motor 40 and a unit for controlling the lifting motor 50 may be provided separately. The controller 7 corresponds to an example of the "control device" of the present disclosure.

[0033] When the controller 7 receives the position command X* and the lifting position command Z* from the upper controller 2, it executes traveling control for moving (traveling) the crane body 1 (traveling carriage 11) and lifting control for lifting and lowering the carriage 15. In the present embodiment, the position command X* is generated as a position command (rotation angle) for the traveling motor 40, and the lifting position command Z* is generated as a position command (rotation angle) for the lifting motor 50.

[0034] FIG. 5 is a diagram showing an example of the lifting control unit 701 which is a functional block configured in the controller 7. The lifting control unit 701 controls the lifting motor 50. The lifting control unit 701 includes a position calculation unit 791, a position control unit 792, a speed calculation unit 793, and a speed control unit 794. The position calculation unit 791 calculates the position (rotation angle) Zr of the lifting motor 50 based on the signal of the second encoder 32. The position calculation unit 791 outputs the calculated position Zr to the subtraction unit 797.

[0035] The subtraction unit 797 subtracts the position Zr calculated by the position calculation unit 791 from the lifting position command Z* input from the upper controller 2. The subtraction unit 797 outputs the subtraction value (Z* - Zr) to the position control unit 792.

[0036] The position control unit 792 generates a speed command Vz* so that the subtraction value (Z* - Zr) by the subtraction unit 797 is eliminated (approaches zero). The position control unit 792 outputs the generated speed command Vz* to the subtraction unit 798.

[0037] The speed calculation unit 793 calculates the speed Vz at which the carriage 15 moves up and down (the rotation speed of the lifting motor 50) based on the signal from the second encoder 32. The speed calculation unit 793 outputs the calculated speed Vz to the subtraction unit 798.

[0038] The subtraction unit 798 subtracts the speed Vz calculated by the speed calculation unit 793 from the speed command Vz* from the position control unit 792. The subtraction unit 798 outputs the subtraction value (Vz* - Vz) to the speed control unit 794.

[0039] The speed control unit 794 generates a torque command TrS* so that the subtraction value (Vz* - Vz) by the subtraction unit 798 is eliminated (approaches zero). The speed control unit 794 outputs the torque command TrS* to the lifting motor 50. The lifting motor 50 is controlled so that the torque of the torque command TrS* is output. Thereby, the lifting control is executed so that the height H of the carriage 15 matches the target position (the height corresponding to the lifting position command Z*).

[0040] FIG. 6 is a diagram showing an example of a travel control unit 702 which is a functional block configured in a controller 7. The travel control unit 702 controls a travel motor 40. The travel control unit 702 includes a feedforward control unit (FF control unit) 710, a feedforward parameter calculation unit (FF parameter calculation unit) 720, a vibration damping filter 730, a vibration damping filter parameter calculation unit (vibration damping F parameter calculation unit) 740, and a feedback control unit (FB control unit) 750.

[0041] The FF control unit 710 calculates a torque feedforward value TrFF using a transfer function G1 obtained from a physical model (for example, a two-inertia model) of the crane body 1. The parameters of the transfer function G1 include, for example, the mass of the crane body 1 (traveling carriage 11, mast 14, carriage 15), resonance frequencies (primary, secondary), anti-resonance frequencies (primary, secondary), and the like. Hereinafter, the parameters of the transfer function G1 are also referred to as feedforward parameters (FF parameters). Since the center of gravity G of the crane body 1 changes according to the height H of the carriage 15, the vibration characteristics of the crane body 1 change according to the height H. Therefore, the resonance frequency and the anti-resonance frequency, which are FF parameters, change according to the height H of the carriage 15. In the present embodiment, in the FF parameter calculation unit 720, the value of the FF parameter is obtained using the height H of the carriage 15 (the position of the carriage 15 in the Z direction), and the torque feedforward value TrFF is calculated.

[0042] In the present embodiment, the height H is determined based on the position Zr of the lifting motor 50 calculated by the position calculation unit 791 (see FIG. 5) from the detection signal of the second encoder 32, and is input to the FF parameter calculation unit 720. In the present embodiment, the height H is the current height of the carriage 15 and corresponds to an example of the "height information" of the present disclosure. The FF parameter calculation unit 720 calculates the value of the FF parameter according to the height H and outputs it to the FF control unit 710. In the memory 72, an FF parameter map set in advance by simulation, experiment, or the like is stored. The FF parameter calculation unit 720 calculates the value of the FF parameter from the FF parameter map according to the height H. The FF parameter map is set based on the vibration characteristics considering the center of gravity of the crane body 1, which changes according to the height H for each parameter (for example, resonance frequency (primary, secondary), anti-resonance frequency (primary, secondary)). The FF parameter map may be, for example, a two-dimensional map of the FF parameter and the height H. The FF parameter calculation unit 720 calculates the value of each FF parameter based on the height H and outputs it to the FF control unit 710. The FF parameter corresponds to an example of the "travel control parameter" of the present disclosure.

[0043] The FF control unit 710 calculates a torque feedforward value TrFF using the transfer function G1 from the position command X* input from the upper controller 2 and the FF parameter calculated by the FF parameter calculation unit 720, and outputs it to the addition unit 719.

[0044] The vibration damping filter 730 filters the position command X* using the transfer function G2. The vibration damping filter 730 has the function of a notch filter that removes the vibration component of the position command X* (the frequency component at which the crane body 1 is likely to vibrate). Similar to the transfer function G1, the transfer function G2 is obtained from the physical model of the crane body 1, and its parameters include, for example, the mass of the crane body 1 (traveling carriage 11, mast 14, carriage 15), resonance frequencies (primary, secondary), anti-resonance frequencies (primary, secondary), etc. Hereinafter, the parameters of the transfer function G2 are also referred to as vibration damping filter parameters (vibration damping F parameters). Depending on the height H, the resonance frequency and anti-resonance frequency, which are vibration damping F parameters, change. Therefore, in the vibration damping F parameter calculation unit 740, the value of the vibration damping F parameter is obtained based on the height H, and the position command X* is filtered by the vibration damping filter 730.

[0045] When the height H determined based on the position Zr of the lifting motor 50 is input to the vibration damping F parameter calculation unit 740, the vibration damping F parameter calculation unit 740 calculates the value of the vibration damping F parameter according to the height H. In the memory 72, a vibration damping F parameter map set in advance by simulation, experiment, etc. is stored, and the vibration damping F parameter calculation unit 740 calculates the value of the vibration damping F parameter from the vibration damping F parameter map according to the height H. The vibration damping F parameter map is set based on the vibration characteristics considering the center of gravity G that changes according to the height H for each parameter (for example, resonance frequencies (primary, secondary), anti-resonance frequencies (primary, secondary)). The vibration damping F parameter map may be, for example, a two-dimensional map of the vibration damping F parameter and the height H. The vibration damping F parameter calculation unit 740 calculates the value of each vibration damping F parameter based on the height H. The vibration damping F parameter corresponds to an example of the "travel control parameter" of the present disclosure.

[0046] The vibration damping filter 730 filters the position command X* using the transfer function G2 and the vibration damping F parameter calculated by the vibration damping F parameter calculation unit 740, and outputs the filtered position command Xf to the velocity feedforward section (velocity FF section) 712 and the subtraction section 714.

[0047] The velocity FF unit 712 generates a velocity feed-forward value VFF by differentiating the filtered position command Xf. The velocity FF unit 712 outputs the generated velocity feed-forward value VFF to the arithmetic unit 717.

[0048] The FB control unit 750 includes a position calculation unit 751, a position control unit 752, a velocity calculation unit 753, and a velocity control unit 754. The position calculation unit 751 calculates the position (rotation angle) X of the traveling motor 40 based on the signal of the first encoder 31. The position calculation unit 751 outputs the calculated position X to the subtraction unit 714.

[0049] The subtraction unit 714 subtracts the position X calculated by the position calculation unit 751 from the position command Xf filtered by the vibration suppression filter 730. The subtraction unit 714 outputs the subtraction value (Xf - X) to the position control unit 752.

[0050] The position control unit 752 generates a velocity command Vx* such that the subtraction value (Xf - X) by the subtraction unit 714 is eliminated (approaches zero). The position control unit 752 outputs the generated velocity command Vx* to the arithmetic unit 717.

[0051] The velocity calculation unit 753 calculates the velocity Vx at which the crane body 1 moves (the rotation speed of the traveling motor 40) based on the signal from the first encoder 31. The velocity calculation unit 753 outputs the calculated velocity Vx to the arithmetic unit 717.

[0052] The arithmetic unit 717 adds the velocity feed-forward value VFF from the velocity FF unit 712 to the velocity command Vx* from the position control unit 752, and subtracts the velocity Vx calculated by the velocity calculation unit 753 from the added value. The arithmetic unit 717 outputs the value (Vx* + VFF - Vx) obtained by the calculation to the velocity control unit 754.

[0053] The speed control unit 754 generates a torque command TrR* such that the calculated value (Vx* + VFF - Vx) by the calculation unit 717 is eliminated (approaches zero). The speed control unit 754 outputs the generated torque command TrR* to the addition unit 719.

[0054] The addition unit 719 adds the torque feedforward value TrFF from the FF control unit 710 to the torque command TrR* from the speed control unit 754. The addition unit 719 outputs the added value (TrR* + TrFF) to the traveling motor 40. The traveling motor 40 is controlled so that the torque of the added value (TrR* + TrFF) is output. In this way, the controller 7 performs traveling control on the crane body 1 so that vibration is suppressed using the physical model.

[0055] According to the present embodiment, the values of the FF parameter / vibration suppression F parameter used for the traveling control of the crane body 1 are obtained based on the vibration characteristics corresponding to the height H of the carriage 15. Thereby, traveling control can be executed in consideration of the position of the center of gravity G of the crane body 1 corresponding to the height H, and vibration can be reduced.

[0056] In the above embodiment, the values of the FF parameter and the vibration suppression F parameter are calculated based on the height H. However, at least one of the FF parameter and the vibration suppression F parameter may be calculated based on the height H. Also by this, traveling control can be executed in consideration of the position of the center of gravity G corresponding to the height H, and vibration of the crane body 1 can be reduced.

[0057] In the above-described embodiment, the height H of the carriage 15 is obtained based on the position Zr of the lifting motor 50 calculated using the detection signal by the second encoder 32. The position Zr corresponds to the current height H of the carriage 15. The current height H of the carriage 15 may be detected using a distance measuring sensor 33 (FIG. 1) provided on the traveling carriage 11. The distance measuring sensor 33 may be an optical type, a millimeter wave type, an ultrasonic type, or a stereo camera. The distance between the traveling carriage 11 and the carriage 15 measured by the distance measuring sensor 33 corresponds to the height H. Also, as the current height H of the carriage 15, the lifting position command Z*, that is, the height of the carriage 15 as a result of being moved based on the past lifting position command, may be used as the current height H.

[0058] The lifting motor 50 of the carriage 15 is controlled according to the lifting position command Z* from the controller 7, and moves (lifts and lowers) to the commanded height (position). After the carriage 15 moves, the luggage L is stored (stored in) in the storage shelf 9, or the luggage L is taken out (removed from storage) from the storage shelf 9 onto the carriage 15. At this time, if the carriage 15 (mast 14) vibrates, it will affect the loading and unloading of the luggage L. By suppressing the vibration when the height H of the carriage 15 is the commanded height, the influence on the loading and unloading of the luggage L can be reduced. Therefore, based on the lifting position command Z* which is the target position of the carriage 15, the target value (final arrival position) Ht of the height of the carriage 15 is obtained, and in the FF parameter calculation unit 720 and the vibration suppression F parameter calculation unit 740, the FF parameter and the vibration suppression F parameter may be calculated using the final arrival position Ht. In this case, the final arrival position Ht corresponds to an example of the "height information" of the present disclosure.

[0059] In the above-described embodiment, the traveling carriage 11 (crane body 1) travels using the traveling belt Rb, but it may be configured to travel by driving the wheels 13. Also, the carriage 15 is lifted and lowered using the lifting belt Lb, but it is not limited to this. For example, the carriage 15 may be lifted and lowered using a ball screw mechanism.

[0060] In the above embodiment, a servo motor is used as the traveling motor 40 and the elevating motor 50. However, the type of the motor is not limited to the servo motor, and for example, any type such as a stepping motor may be used. Further, the drive sources of the traveling carriage 11 and the carriage 15 may be a hydraulic motor, a planar motor, or the like.

[0061] Examples of the embodiments in the present disclosure can be illustrated as follows. 1) A transport device including a carriage (11) capable of traveling, a lifting platform (15) that moves up and down along a mast (14) fixed to the carriage (11), a driving device (40) that drives the carriage (11), and a control device (7) that controls the driving device (40) to perform traveling control of the carriage (11), wherein the control device (7) executes traveling control based on the vibration characteristics of the carriage (11) corresponding to the height H of the lifting platform (15).

[0062] 2) In the above 1, the traveling control of the carriage (11) includes feedforward control for calculating the feedforward torque of the driving device (40), and changes the parameters of the feedforward control based on the vibration characteristics of the carriage (11).

[0063] 3) In the above 1 or 2, the traveling control of the carriage (11) includes a vibration damping filter that filters the position command X* of the carriage (11), and changes the parameters of the vibration damping filter based on the vibration characteristics of the carriage (11).

[0064] 4) In the above 1, the control device (7) includes a feedforward parameter calculation unit (720) that calculates feedforward parameters based on the height H of the lifting platform (25), a vibration damping filter parameter calculation unit (740) that calculates vibration damping filter parameters based on the height H, a feedforward control unit (710) that calculates feedforward torque based on the position command X* of the carriage and the feedforward parameters, and a vibration damping filter (730) that filters the position command X* using the vibration damping filter parameters.

[0065] 5) In the above 1 or 4, the height H is the current height of the lifting platform (15) or the final arrival position of the lifting platform (25), which is a conveying device.

[0066] The embodiments disclosed this time should be considered as illustrative in all respects and not restrictive. The scope of the present invention is shown not by the description of the above embodiments but by the claims, and it is intended that all changes within the meaning and scope equivalent to the claims are included.

Explanation of Reference Numerals

[0067] 100 Automated warehouse system, 1 Crane body, 11 Traveling carriage, 12 Upper frame, 13 Wheels, 14 Mast, 15 Carriage, 200 Control system, 2 Host controller, 3 Sensor group, 31 First encoder, 32 Second encoder, 33 Distance measuring sensor, 4 Travel drive unit, 40 Travel motor, 41 Reducer, 42 Drive pulley, 5 Lifting drive unit, 50 Lifting motor, 51 Reducer, 52 Drive pulley, 7 Controller, 71 Processor, 72 Memory, 701 Lifting control unit, 702 Travel control unit, 710 Feedforward control unit, 712 Speed feedforward unit, 720 Feedforward parameter calculation unit, 730 Vibration control filter, 740 Vibration control filter parameter calculation unit, 750 Feedback control unit, 751 Position calculation unit, 752 Position control unit, 753 Speed calculation unit, 754 Speed control unit, 791 Position calculation unit, 792 Position control unit, 793 Speed calculation unit, 794 Speed control unit, 8 Rail, 9 Storage shelf.

Claims

1. A mobile trolley, A lifting platform that moves up and down along a mast fixed to the trolley, A drive device for moving the aforementioned trolley, A transport device comprising a control device that controls the movement of the trolley by controlling the drive device, The control device is Based on the vibration characteristics corresponding to the height of the lifting platform, the values ​​of the travel control parameters are determined. The driving control is executed using the aforementioned driving control parameters. The control device is A feedforward parameter calculation unit calculates feedforward parameters based on the height information of the lifting platform, The system includes a feedforward control unit that calculates a feedforward torque based on the position command of the trolley and the feedforward parameters, The transport device wherein the aforementioned travel control parameters are the feedforward parameters.

2. A mobile trolley, A lifting platform that moves up and down along a mast fixed to the trolley, A drive device for moving the aforementioned trolley, A transport device comprising a control device that controls the movement of the trolley by controlling the drive device, The control device is Based on the vibration characteristics corresponding to the height of the lifting platform, the values ​​of the travel control parameters are determined. The driving control is executed using the aforementioned driving control parameters. The control device is A vibration damping filter parameter calculation unit calculates vibration damping filter parameters based on the height information of the aforementioned lifting platform, A vibration damping filter that filters the position command of the bogie using the vibration damping filter parameters, The transport device is such that the aforementioned travel control parameters are the vibration damping filter parameters.

3. The conveying device according to claim 1 or claim 2, wherein the height information is the current height of the lifting platform.

4. The conveying device according to claim 1 or claim 2, wherein the height information is the commanded position of the lifting platform.

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