Conveying equipment

Abstract

To provide a technique that can appropriately determine the presence or absence of signs of abnormality in a conveying device in conveying equipment having multiple conveying devices.SOLUTION: Conveying equipment includes a plurality of conveying devices, and a determination system. The determination system includes a vibration detection unit that detects vibrations generated from each of the plurality of conveying devices and acquires vibration data representing the vibrations, a recording unit, a determination unit, and a control unit. The recording unit records at least reference data, which is data for determining the state of each of the plurality of conveying devices. The determination unit is configured to determine the presence or absence of signs of abnormality in the conveying device on the basis of the reference data recorded in the recording unit and the vibration data acquired by the vibration detection unit. The control unit stops the operation of conveying devices other than a target conveying device and executes an inspection mode in which vibration data is acquired by the vibration detection unit while the target conveying device is operated.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a conveying facility. [Background technology]

[0002] For example, Japanese Patent Laid-Open No. 2020-76750 (Patent Document 1) discloses a technology related to a conveyance facility. In the following description of the background art, the reference numerals in parentheses refer to those in Patent Document 1.

[0003] The conveying facility (automated multi-story warehouse 1) of Patent Document 1 includes a shelf (10) for storing articles (70) and a plurality of conveying devices. The plurality of conveying devices includes a buffer conveyor (60) disposed adjacent to the shelf (10), a stacker crane (30) for transporting the articles (70) between the buffer conveyor (60) and the storage section of the shelf (10), and an elevator (50). The elevator (50) raises and lowers the articles (70) and transfers them onto the buffer conveyor (60). The elevator (50) is provided with a plurality of vibration sensors (2). The vibration sensors (2) are configured to detect vibrations generated from components constituting the drive system of the elevator (50).

[0004] In the above-described conveying facility, the relationship between the amount of frequency fluctuation generated by each of the multiple components that make up the drive system of the lifting device (50) and the degree of deterioration of the component is learned in advance, and a threshold value is set for the amount of frequency fluctuation based on the learned model. If the amount of frequency fluctuation of a certain component exceeds the threshold, a warning email is sent to the terminal device of the operator of the conveying facility. This makes it possible to detect abnormalities in components before the lifting device (50) breaks down. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2020-76750 A Summary of the Invention [Problem to be solved by the invention]

[0006] In the conveyance equipment of Patent Document 1, vibrations generated from components constituting the drive system of the lifting device (50) are measured in a normal operating state (a state in which multiple conveyance devices are conveying articles). Therefore, there is a possibility that the measurement results may be affected by vibrations transmitted from conveyance devices other than the lifting device (50). Therefore, if the vibrations transmitted from conveyance devices other than the lifting device (50) are large, it may be impossible to properly determine whether there are any signs of abnormality in the lifting device (50), i.e., the conveyance device being measured.

[0007] Therefore, it is desirable to provide a technology that can appropriately determine whether or not there are signs of abnormality in a transport device in a transport facility that includes multiple transport devices. [Means for solving the problem]

[0008] A conveying facility according to the present disclosure includes a plurality of conveying devices for conveying articles, and a determination system for determining the states of the plurality of conveying devices, the determination system includes a vibration detection unit that detects vibrations generated from each of the plurality of transport devices and acquires vibration data representing the vibrations, a recording unit that records the vibration data acquired by the vibration detection unit, a determination unit that determines the state of each of the transport devices based on the vibration data, and a control unit; The recording unit records at least reference data, which is data for determining the state of each of the plurality of transport devices, the determination unit is configured to determine whether or not there is a sign of an abnormality in the conveying device based on the reference data recorded in the recording unit and the vibration data acquired by the vibration detection unit, One of the plurality of transport devices is selected as a target transport device, The control unit stops the operation of the transport devices other than the target transport device, and executes an inspection mode in which the vibration detection unit acquires the vibration data while the target transport device is operating.

[0009] According to this configuration, in a conveying facility equipped with multiple conveying devices, it is possible to determine whether or not there are signs of abnormality in each of the multiple conveying devices based on vibration data representing vibrations generated from each of the multiple conveying devices and reference data recorded in the recording unit. Furthermore, with this configuration, by executing the inspection mode, the operation of the transport devices other than the target transport device is stopped, so that vibration data of the target transport device can be acquired while reducing the influence of vibrations from the other transport devices. This makes it easier to improve the accuracy of the vibration data, and in turn makes it easier to improve the accuracy of determining whether or not there are signs of abnormality in the transport devices.

[0010] Further features and advantages of the transport installation will become apparent from the following description of exemplary, non-limiting embodiments, which are given with reference to the drawings. [Brief explanation of the drawings]

[0011] [Figure 1] Control Block Diagram [Figure 2] A plan view showing an example of a conveying facility. [Figure 3] A plan view showing an example of a conveying facility. [Figure 4] Side view of the transport device [Figure 5] Control Flow Diagram [Figure 6] Control Flow Diagram [Figure 7] Control Flow Diagram [Figure 8] FIG. 10 is a plan view of a conveying facility according to another embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0012] [First embodiment] A first embodiment of the conveying facility 100 will be described below with reference to the drawings.

[0013] As shown in FIG. 1, the conveying equipment 100 includes a plurality of conveying devices 2 for conveying items W and a determination system 10 for determining the status of the plurality of conveying devices 2. The conveying equipment 100 also includes a warning device 6 and a control device 7. In this example, as shown in FIGS. 2 and 3, the conveying equipment 100 is provided with a storage shelf 4 capable of storing a plurality of items W and a loading / unloading port 9. Each of the plurality of conveying devices 2 is configured to transport the items W between the storage shelf 4 and the loading / unloading port 9. In the illustrated example, the conveying equipment 100 is provided with the conveying devices 2, the storage shelf 4, and the loading / unloading port 9. Here, the conveying devices 2, the storage shelf 4, and the loading / unloading port 9 are collectively referred to as the warehouse 1. The conveying devices 2 move along a travel path 5 in the warehouse 1. A pair of storage shelves 4 are also provided on either side of the travel path 5. The conveying devices 2 move while being guided by rails R laid along the travel path 5, and load and unload the items W onto and from the pair of storage shelves 4. In the following description, the direction along the travel path 5 is referred to as a first direction X, and the direction perpendicular to the first direction X when viewed from the top and bottom (the direction in which a pair of storage shelves 4 are lined up) is referred to as a second direction Y.

[0014] The storage shelves 4 are provided along the travel path 5. The storage shelves 4 are equipped with a plurality of storage sections (not shown) for storing items W. The plurality of storage sections are arranged in a line in the first direction X and in the vertical direction. The conveying device 2 transfers the items W between the plurality of storage sections. The conveying device 2 also transfers the items W to a plurality of loading / unloading ports 9 adjacent to the storage shelves 4 in the first direction X. The loading / unloading ports 9 may be platforms on which the items W can be placed, or may be conveyors for loading and unloading.

[0015] 1 and 4, the conveying device 2 includes a plurality of drive units 3. The plurality of drive units 3 of the conveying device 2 include a traveling device 20 that travels while being guided by a rail R, a lifting device 36 that raises and lowers the article W, and a transfer device 24. Each of the plurality of drive units 3 includes, as components, a drive source provided in these devices and a mechanism driven by the drive source. In this example, the conveying device 2 is a stacker crane.

[0016] The traveling device 20 includes a plurality of wheels 16 that roll on the rail R, a lower frame 32 that supports the wheels 16, and a traveling drive unit M1 (travel motor, etc.) that drives at least one of the plurality of wheels 16. The lifting device 36 includes a mast 21 (here, a pair of masts 21) that stands on the lower frame 32, a lifting platform 33 that rises and falls while being guided by the mast 21, a chain 22 that supports the lifting platform 33, a plurality of sprockets 17, and a lifting motor 17M that rotates and drives at least one of the plurality of sprockets 17. In the illustrated example, the lifting motor 17M is provided on the lower frame 32 of the traveling device 20. The plurality of sprockets 17 are provided on the lower frame 32 and the upper frame 31. The upper frame 31 is a member that connects the upper portions of the pair of masts 21 that are arranged separately in the first direction X. In the illustrated example, an upper rail S is arranged along the upper frame 31. The upper frame 31 is provided with a plurality of guide wheels 12 that roll on the upper rail S. The upper frame 31 is guided by the upper rail S and is movable in the first direction X. The chain 22 is wound around a plurality of sprockets 17 and is arranged along the extension directions of the lower frame 32, the pair of masts 21, and the upper frame 31. The chain 22 also suspends and supports the lifting platform 33. The lifting motor 17M drives the sprockets 17 to rotate, thereby moving the chain 22. As a result, the lifting platform 33 moves in the vertical direction. Note that in this specification, components (here, the upper frame 31, the guide wheels 12, etc.) that move in conjunction with the drive source (e.g., the travel drive unit M1) of another drive unit 3 (e.g., the travel device 20) are also included as components of the drive unit 3. The transfer device 24 also includes a transfer mechanism and a transfer drive unit (e.g., an entry / exit motor) that drives the transfer mechanism. Here, the transfer mechanism is of a fork type, and can place the article W thereon and move it back and forth along the second direction Y.

[0017] In the example of FIG. 2, a plurality of (here, two) conveyance devices 2 are arranged sharing one rail R. In addition, in the example of FIG. 3, a plurality of warehouses 1 are arranged side by side in the second direction Y. Each warehouse 1 is provided with one conveyance device 2. That is, in the example of FIG. 3, one conveyance device 2 is provided for each rail R. A plurality of such conveyance devices 2 and rails R are arranged side by side in the second direction Y.

[0018] As shown in FIG. 1 , the determination system 10 includes a vibration detection unit 11 that detects vibrations generated from each of a plurality of conveyance devices 2 and acquires vibration data representing the vibrations, a recording unit 13 that records the vibration data acquired by the vibration detection unit 11, a determination unit 15 that determines the state of each conveyance device 2 based on the vibration data, and a control unit 18. In this embodiment, the recording unit 13, the determination unit 15, and the control unit 18 are provided in the control device 7. Some functions of the recording unit 13 are provided in an external database 14 that can communicate with the control device 7. The control device 7 and the database 14 include a processor such as a microcomputer, peripheral circuits such as a memory, and the like. Each function is realized by cooperation between these hardware components and a program executed on a processor of a computer or the like.

[0019] In this embodiment, the determination system 10 includes a plurality of vibration detection units 11. The vibration detection units 11 are attached to the plurality of drive units 3, respectively. The vibration detection units 11 are configured to detect vibrations generated from the drive units 3. In this example, the vibration detection units 11 are capable of detecting vibrations generated in the components of the plurality of drive units 3. The vibrations detected by each of the plurality of vibration detection units 11 are acquired as vibration data. The vibration data is transmitted from the vibration detection units 11 to the control device 7. In this example, the plurality of vibration detection units 11 are attached to correspond to the plurality of drive units 3 (traveling devices 20, lifting devices 36, and transfer devices 24) of the conveyance device 2. In the example of FIG. 4, a plurality of vibration detection units 11 are provided on each of the lower frame 32 and the upper frame 31. In addition, a vibration detection unit 11 is also attached to the lifting platform 33. More specifically, the vibration detection unit 11 is attached near the wheels 16 (components of the traveling device 20), near the plurality of sprockets 17 (near the lifting device 36), near the guide wheels 12 of the upper frame 31, etc. Although not shown, the vibration detection unit 11 is also attached near the traveling drive unit M1 and the lifting motor 17M. In addition to the above, the vibration detection unit 11 may also be attached near, for example, a fastening member that connects and fixes the mast 21 and the lower frame 32 (upper frame 31). In this way, the attachment position of the vibration detection unit 11 can be changed as appropriate.

[0020] In this embodiment, the vibration data includes at least one of data on sound, which is vibration transmitted through the air, and data on mechanical vibration, which is vibration transmitted through a structure including the conveyance device 2. In this example, the vibration detection unit 11 is a sound sensor (a measurement microphone). Therefore, the vibration data is data on sound, which is vibration transmitted through the air. The vibration detected by the vibration detection unit 11 is acquired as data indicating the relationship between amplitude (sound pressure) and time. The acquired data is then converted by Fourier transform into vibration data (waveform data, etc.) indicating the relationship between sound pressure and frequency. Furthermore, the acquired vibration data is subjected to appropriate correction processing as needed. For example, the control device 7 may perform a noise reduction process if a predetermined noise is present in the waveform included in the vibration data, or a baseline correction process if the baseline is disturbed. The control device 7 may also perform a process to calculate, for example, the average value of sound pressure over a certain period (a period sufficient for fluctuations in sound pressure and frequency to settle) from the waveform data indicating the relationship between sound pressure and frequency. Numerical values ​​obtained by such calculation processing can also be included in the vibration data. Note that the frequency acquired as vibration data is not limited to the range of human audible frequencies, and may be outside the range of human audible frequencies.

[0021] The recording unit 13 records at least reference data, which is data for determining the state of each of the multiple conveying devices 2. In this embodiment, the reference data includes abnormality data that indicates the relationship between past abnormalities and vibration data for each model of conveying device 2. In this embodiment, the reference data further includes reference data, which is vibration data in a reference state for each of the multiple conveying devices 2. In this example, the recording unit 13 includes a first recording unit 13a and a second recording unit 13b. The first recording unit 13a is provided in the control device 7. The second recording unit 13b is provided in the database 14. Here, the reference data is recorded in the first recording unit 13a. Furthermore, the abnormality data is recorded in the second recording unit 13b. Note that the reference data may also be recorded in the second recording unit 13b.

[0022] The reference data is vibration data in a reference state for each of the multiple drive units 3. The reference data may be data representing design vibrations or vibration data acquired by the vibration detection unit 11 in a reference state (for example, acquired in an inspection mode, which will be described later). The reference state is a normal state in which the drive units 3 operate normally. Here, the reference data may be, for example, vibration data in the initial state of the drive units 3 (the state when they are first used), or vibration data in the drive units 3 in a normal state after they have been used for a certain period of time. For example, the reference data may be waveform data showing the relationship between sound pressure and frequency. Furthermore, for example, the reference data may be data obtained by calculating the average value of sound pressure over a certain period of time (a period during which fluctuations in sound pressure and frequency settle down) from reference waveform data showing the relationship between sound pressure and frequency. The abnormal data includes vibration data accumulated in the past for each of the multiple drive units 3. More specifically, the abnormality data is data that correlates vibration data that showed past abnormalities (or signs of abnormality) in the same type of drive unit 3, the details of the abnormality (or signs of abnormality) (including the estimated cause of the abnormality), and the operating state of the drive unit 3 (such as the process of transition of operation).

[0023] In this example, reference data and abnormal data related to the components of the traveling device 20 (such as the wheels 16 and the traveling drive unit M1) are recorded in the recording unit 13. Furthermore, reference data and abnormal data related to the components of the lifting device 36 (such as the multiple sprockets 17, the chain 22, and the lifting platform 33) are recorded in the recording unit 13. Furthermore, reference data and abnormal data related to the components of the transfer device 24 (such as the transfer mechanism and the transfer drive unit) are recorded in the recording unit 13. Furthermore, as an example, reference data and abnormal data related to the guide wheels 12 are recorded in the recording unit 13. The database 14 is configured to be accessible from devices other than the control device 7 of the conveying facility 100. It is preferable that the database 14 be capable of communicating with devices that manage various conveying devices 2 used in a wide area (such as multiple countries). The second recording unit 13b stores abnormal data acquired from multiple conveying devices 2 of the same type as in this example that are used in a wide area (such as multiple countries). In this example, the second recording unit 13b naturally also records abnormality data relating to transport devices other than the transport device 2 of this example.

[0024] In addition to the reference data, the first recording unit 13a of the control device 7 also stores in advance numerical data and other data that serve as indicators of signs of abnormality in each drive unit 3 of the conveyance device 2. For example, specific values ​​(decibels) of a predetermined frequency and sound pressure that indicate signs of abnormality in a component of the drive unit 3 (for example, the wheels 16) are recorded. In this example, the "sign of abnormality" refers to a state in which there is a relatively high probability that an abnormality will occur in the drive unit 3, but is not limited to this. The "sign of abnormality" may also refer to a state in which a minor abnormality has occurred in the drive unit 3.

[0025] The determination unit 15 is configured to determine whether or not there is a sign of abnormality in the conveyance device 2 based on the reference data recorded in the recording unit 13 and the vibration data acquired by the vibration detection unit 11. In this embodiment, the determination unit 15 is configured to make a determination based on reference data included in the reference data and the vibration data acquired by the vibration detection unit 11. In this example, the control device 7 executes a determination process. In the determination process, the determination unit 15 determines whether or not there is a sign of abnormality for each of the multiple drive units 3. For example, the determination unit 15 can perform a determination in real time for each piece of vibration data acquired from each drive unit 3. Furthermore, the determination unit 15 can also perform a determination for each piece of vibration data acquired from each drive unit 3 at predetermined intervals, for example. In this example, the control device 7 executes the determination process upon receiving vibration data from the vibration detection unit 11. The determination unit 15 references the first recording unit 13a and acquires reference data corresponding to the received vibration data. Specifically, the determination unit 15 obtains, from the first recording unit 13a, reference data relating to the components of the drive unit 3 (e.g., the wheels 16 of the traveling device 20) to which the vibration detection unit 11 that obtained the vibration data is attached. The determination unit 15 then compares the vibration data obtained by the vibration detection unit 11 with the reference data. The determination unit 15 can determine that there is a sign of abnormality, for example, when a sound pressure value at a predetermined frequency in the vibration data obtained by the vibration detection unit 11 is greater than a sound pressure value at the predetermined frequency in the reference data by a set threshold or more. Note that the determination unit 15 may determine whether there is a sign of abnormality in the drive unit 3 using vibration data other than the reference data recorded in the first recording unit 13a. If the determination unit 15 determines that there is a sign of abnormality based on the reference data, it outputs, as warning information, the operating state, etc., of the drive unit 3 for which it has been determined that there is a sign of abnormality (hereinafter, this may be simply referred to as "output control").

[0026] In the present embodiment, the determination unit 15 is configured to perform determination based on abnormal data included in the reference data and vibration data acquired by the vibration detection unit 11. In the determination process, the determination unit 15 is configured to acquire the abnormal data from the second recording unit 13b and determine whether or not there is a sign of an abnormality in the drive unit 3. When the control device 7 receives the vibration data acquired from the vibration detection unit 11, it transmits the received vibration data to the database 14. Examples of the vibration data transmitted from the control device 7 to the database 14 include data indicating the relationship between sound pressure and frequency (waveform data, etc.) and information on components of the drive unit 3 related to the data (for example, the wheels 16 of the traveling device 20). This information is recorded in the second recording unit 13b. The determination unit 15 is also capable of referring to the second recording unit 13b of the database 14. The determination unit 15 then acquires abnormal data corresponding to the vibration data acquired from the vibration detection unit 11 from the second recording unit 13b. Specifically, the determination unit 15 extracts and acquires one or more pieces of abnormal data from the second recording unit 13b based on the vibration data acquired from the vibration detection unit 11. For example, when the determination unit 15 extracts abnormal data including waveform data similar to waveform data (an example of vibration data, waveform data indicating the relationship between sound pressure and frequency) acquired from the vibration detection unit 11, the determination unit 15 determines that there is a sign of an abnormality in the drive unit 3 corresponding to the acquired vibration data. Then, as output control, the determination unit 15 outputs, as warning information, the operating state of the drive unit 3 (here, components of the drive unit 3), the details of the expected abnormality, the details of maintenance to be performed, etc., based on the details indicating the abnormality (or the signs of an abnormality) included in the abnormal data and the operating state of the drive unit 3 (such as the process of transition of operation), etc. For example, for the wheel 16 located at the front of the traveling device 20 in the direction of travel, the rotation state of the wheel 16 and the wear state of the tire portion of the wheel 16 are output, and the warning information includes information such as the possibility of a malfunction of the wheel 16 based on the wear state and the need to replace parts of the tire portion.Furthermore, for example, the operational state of the sprocket 17 of the lifting device 36 provided on the upper frame 31 and the attitude of the tool that secures the sprocket 17 to the upper frame 31 are output, and the warning information includes information that, based on the state of the tool, there is a possibility of failure in the sprocket 17 or its surroundings, or that the tool needs to be replaced. Note that the above-mentioned determination using the abnormal data does not necessarily have to be made by the determination unit 15 provided in the control device 7. For example, a separate determination unit 15 may be provided in the database 14 or in a computing device connected to the database 14, and the determination unit 15 on the database 14 side may make the above-mentioned determination using the abnormal data.

[0027] In the present embodiment, as described above, the conveying facility 100 includes the warning device 6 ( FIG. 1 ). The determination unit 15 transmits warning information to the warning device 6. In this example, the warning device 6 issues an alarm based on the received warning information. The warning device 6 may be an external terminal (such as a tablet or PC) owned by an administrator who manages the conveying facility 100. In this case, the warning information is displayed on a display unit (such as a monitor) of the external terminal. The warning device 6 may also be configured to output the warning information by light emission, sound, or the like. In this example, even when the determination is made based on the reference data recorded in the first recording unit 13a, the warning information is output to the warning device 6 as output control. When the determination is made based on the reference data recorded in the first recording unit 13a, the warning information includes details of an assumed abnormality in the driving unit 3 corresponding to the vibration data acquired from the vibration detection unit 11. Note that the warning information output based on the determination based on the reference data has simpler content than the warning information output based on the abnormality data. Furthermore, when the determining unit 15 determines that there is no sign of abnormality based on the reference data or abnormality data, it can also output warning information to that effect.

[0028] In this example, the content of the abnormality data stored in the second recording unit 13b of the database 14 is automatically updated as needed. Specifically, as vibration data related to the same type of conveyance device 2 in a wide area (e.g., areas spanning multiple countries) is accumulated, for example, the content (including the estimated content and cause of the abnormality) indicating the abnormality (or a sign of the abnormality) associated with the waveform data (e.g., waveform data showing the relationship between sound pressure and frequency) and the operating state (e.g., the process of transition of operation) of the drive unit 3 are updated (corrected) as needed. In short, the database 14 has a learning function. As a result, the judgment criteria (e.g., criteria for determining whether waveform data are similar) used by the judgment unit 15 to judge the presence or absence of a sign of the abnormality based on the abnormality data are optimized (updated) as needed. As a result, the warning information output to the warning device 6 is also optimized as needed.

[0029] The control unit 18 is configured to be able to control multiple conveyance devices 2. As shown in FIGS. 5 to 7, the control unit 18 executes an inspection mode. In addition to the inspection mode, the control unit 18 can also execute a normal monitoring mode. In the normal monitoring mode, vibration data is acquired by the vibration detection unit 11 while the multiple conveyance devices 2 are transporting an article W. In this example, the control device 7 (here, the control unit 18) acquires vibration data from the vibration detection unit 11 attached to each of the multiple conveyance devices 2 (S01). Note that the control device 7 may acquire vibration data for the multiple conveyance devices 2 simultaneously or at different times. The control device 7 may also acquire vibration data from the vibration detection unit 11 in real time or at predetermined intervals. Thereafter, the control device 7 executes a determination process for each of the acquired vibration data (S02). Thereafter, the control device 7 (here, the determination unit 15) executes output control (S03).

[0030] In the inspection mode, the control unit 18 selects one of the multiple conveying devices 2 as the target conveying device 2a, and executes an inspection mode in which the control unit 18 stops the operation of the conveying devices 2 other than the target conveying device 2a and acquires vibration data using the vibration detection unit 11 while the target conveying device 2a is operating. In this embodiment, if the target conveying device 2a includes multiple drive units 3, the control unit 18 operates the multiple drive units 3 one by one in the inspection mode, and acquires vibration data using the vibration detection unit 11 while each drive unit 3 is operating. In this example, the control device 7 (here, the control unit 18) executes inspection stop control and inspection operation control in the inspection mode. The inspection stop control is control to stop the operation of the conveying devices 2 other than the target conveying device 2a among the multiple conveying devices 2 currently in operation. In the example of FIG. 2, among the multiple (here, two) conveying devices 2 sharing one travel path 5, the control unit 18 stops the operation of the conveying devices 2 other than the target conveying device 2a. In the example of FIG. 3, among the plurality of conveyance devices 2 having mutually different travel paths 5, the operation of the conveyance devices 2 other than the target conveyance device 2a is stopped. Note that in the example of FIG. 3, if the distance in the second direction Y from the target conveyance device 2a among the plurality of conveyance devices 2 is relatively large (for example, a distance that allows two warehouses 1 to be arranged between the conveyance devices 2), it is not necessary to stop the operation of all conveyance devices 2 other than the target conveyance device 2a. In this case, it is also possible to stop the operation of only the conveyance device 2 adjacent to the target conveyance device 2a. As shown in FIG. 6, in this embodiment, the control device 7 executes inspection stop control in the inspection mode (S11). Thereafter, the control device 7 executes inspection operation control (S12). Thereafter, the control device 7 executes a determination process (S13). Thereafter, the control device 7 executes output control (S14).

[0031] In the inspection operation control, as shown in FIG. 7 , the control device 7 (here, the control unit 18) sequentially operates the multiple drive units 3 one by one for the object transport device 2a. In this example, the control device 7 executes travel control for the object transport device 2a (S21). Then, the control device 7 executes lift control (S22). Then, the control device 7 executes transfer control (S23). More specifically, as the travel control, the control unit 18 causes the travel device 20 to travel while stopping the operations of the lifting device 36 and the transfer device 24. Then, as the lifting control, the control unit 18 stops the travel device 20 and then raises and lowers the lifting device 36. Then, the control unit 18 stops the lifting device 36. Then, as the transfer control, the control unit 18 moves the transfer mechanism of the transfer device 24 out and back. The control device 7 acquires vibration data from the vibration detection unit 11 for the drive units 3 that are operating. The order in which the plurality of drive units 3 are operated one by one can be changed as appropriate.

[0032] The conditions under which the control unit 18 executes the inspection mode can be set in advance. The control unit 18 may, for example, automatically execute the inspection mode during a period when no article W is being transported. The control unit 18 may execute the inspection mode by manually (manually inputting) an instruction to execute the inspection mode by the manager of the transport facility 100. The control unit 18 can also set in advance the order in which the target transport device 2a is designated among the multiple transport devices 2. The manager of the transport facility 100 can also manually designate the target transport device 2a. In this way, the schedule for executing the inspection mode can be set as appropriate.

[0033] Second Embodiment A second embodiment of the conveying equipment 100 will be described with reference to Fig. 8. The following description of the conveying equipment 100 of this embodiment will focus on the differences from the first embodiment. Points that are not specifically mentioned are the same as those of the first embodiment, and the same reference numerals will be used to omit detailed description thereof.

[0034] In this embodiment, the multiple conveying devices 2 include multiple conveying vehicles 25, and the multiple conveying vehicles 25 are configured to travel on a common travel route 5. In this example, as shown in FIG. 8 , multiple conveying vehicles 25 that transport items W to multiple warehouses 1 are arranged as the conveying devices 2. The conveying vehicles 25 are rail-guided transport vehicles that travel while being guided by rails R laid along the travel route 5.

[0035] In the present embodiment, when executing the inspection mode, one of the transport vehicles 25 serving as the target transport device 2a is designated as the target transport vehicle 25a. The control unit 18 moves the transport vehicles 25 other than the target transport vehicle 25a out of the inspection section 81 set on the travel path 5 and stops them. Thereafter, the target transport vehicle 25a travels through the inspection section 81, and the vibration detection unit 11 acquires vibration data. In this example, the travel path 5 includes a straight section and a curved section. The inspection section 81 is set as part of the straight section. The control device 7 (here, the control unit 18) moves the target transport vehicle 25a out of the multiple transport vehicles 25 to the start of the inspection section 81, and moves the other transport vehicles 25 to sections other than the inspection section 81. Then, the control device 7 executes the inspection mode for the target transport vehicle 25a while the transport vehicles 25 other than the target transport vehicle 25a are stopped in sections other than the inspection section 81. Note that if the transport vehicle 25 includes multiple drive units 3, it is preferable to execute inspection operation control in the inspection mode. The transport vehicle 25 may be a rail-guided transport vehicle or a non-rail-guided transport vehicle that autonomously travels on a floor surface, etc. The inspection section 81 may include a curved section in the travel route 5.

[0036] Other Embodiments (1) In the first embodiment, the transport device 2 is described as a stacker crane, but this is not limiting. The transport device 2 may be a transport device 2 other than a stacker crane. For example, the transport device 2 may be an overhead transport vehicle that suspends and transports an item W, a transport conveyor that places and transports the item W, a rail-guided transport vehicle that travels along a track, or a trackless transport vehicle that travels autonomously on a floor or the like. Furthermore, the multiple transport devices 2 may include a combination of different types of transport devices 2. For example, the multiple transport devices 2 may include different types of transport devices 2, such as the overhead transport vehicle, rail-guided transport vehicle, trackless transport vehicle, and transport conveyor. Furthermore, the transport device 2 may be, for example, a transfer device 24 of a stacker crane.

[0037] (2) In the first embodiment, the control unit 18 operates the multiple drivers 3 one by one in sequence in the inspection mode. However, this is not limiting. The control unit 18 may operate the multiple drivers 3 simultaneously in the inspection mode. Furthermore, some of the multiple drivers 3 may be operated sequentially one by one, while the remaining drivers 3 may be operated simultaneously. Furthermore, in the inspection mode, the conveyance facility 100 may be divided into multiple areas, with one or more conveyance devices 2 arranged in each area. The conveyance devices 2 in each area may be simultaneously subjected to the inspection mode. In this case, the multiple drivers 3 may be operated sequentially one by one for the conveyance devices 2 that are the targets of the inspection mode in each area. It is preferable that the size of each divided area can be appropriately changed depending on, for example, the amount of reference data that the control device 7 can simultaneously obtain from the database 14, the size of the multiple conveyance devices 2 provided in the conveyance facility 100, etc.

[0038] (3) In the first embodiment, the control unit 18 is configured to be able to execute the normal monitoring mode in addition to the inspection mode, but this is not limiting. The control unit 18 may be configured to be able to execute only the inspection mode, for example. Furthermore, if the multiple transport devices 2 are a combination of different types of transport devices 2, the control unit 18 may be able to execute the normal monitoring mode and the inspection mode simultaneously for each type of transport device 2, for example.

[0039] (4) In the first embodiment, the second recording unit 13b records abnormality data indicating the relationship between past abnormalities and vibration data for each model of the conveying device 2. However, the present invention is not limited to this. The abnormality data may be recorded in the first recording unit 13a. The abnormality data may be recorded in both the first recording unit 13a and the second recording unit 13b. The reference data may not include the abnormality data, or the standard data may not be included in the reference data.

[0040] (5) In the first embodiment, the vibration data is described as sound data, which is vibration transmitted through the air. However, the present invention is not limited to this. The vibration data may be data on mechanical vibrations, which are vibrations transmitted through a structure including the conveying device 2. In this case, it is preferable that the vibration detection unit 11 is a vibration sensor. Furthermore, the vibrations detected by the vibration detection unit 11 are converted from data indicating the relationship between frequency and time into vibration data indicating the relationship between frequency and frequency by a Fourier transform. The vibration data may also be data including both sound data, which is vibration transmitted through the air, and mechanical vibrations, which are vibrations transmitted through a structure including the conveying device 2.

[0041] (6) In the second embodiment described above, the control unit 18, when executing the inspection mode, moves and stops the guided vehicles 25 other than the target guided vehicle 25a outside the inspection section 81 set on the travel route 5, and then acquires vibration data using the vibration detection unit 11 while the target guided vehicle 25a travels through the inspection section 81. However, the present invention is not limited to this. The control unit 18 can also execute the inspection mode while the guided vehicles 25 other than the target guided vehicle 25a travel outside the inspection section 81 at a speed slower than the normal speed. In this way, it is preferable that, in the inspection mode, the travel state of the guided vehicles 25 other than the target guided vehicle 25a can be appropriately changed depending on the distance of the travel route 5, the number of guided vehicles 25 traveling on the travel route 5, etc.

[0042] (7) Note that the configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments (including combinations of embodiments described as other embodiments) as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope of the present disclosure.

[0043] Summary of the above embodiment The above-described transport equipment will be summarized below.

[0044] A conveying facility according to the present disclosure includes a plurality of conveying devices for conveying articles, and a determination system for determining the states of the plurality of conveying devices, the determination system includes a vibration detection unit that detects vibrations generated from each of the plurality of transport devices and acquires vibration data representing the vibrations, a recording unit that records the vibration data acquired by the vibration detection unit, a determination unit that determines the state of each of the transport devices based on the vibration data, and a control unit; The recording unit records at least reference data, which is data for determining the state of each of the plurality of transport devices, the determination unit is configured to determine whether or not there is a sign of an abnormality in the conveying device based on the reference data recorded in the recording unit and the vibration data acquired by the vibration detection unit, One of the plurality of transport devices is selected as a target transport device, The control unit stops the operation of the transport devices other than the target transport device, and executes an inspection mode in which the vibration detection unit acquires the vibration data while the target transport device is operating.

[0045] According to this configuration, in a conveying facility equipped with multiple conveying devices, it is possible to determine whether or not there are signs of abnormality in each of the multiple conveying devices based on vibration data representing vibrations generated from each of the multiple conveying devices and reference data recorded in the recording unit. Furthermore, with this configuration, by executing the inspection mode, the operation of the transport devices other than the target transport device is stopped, so that vibration data of the target transport device can be acquired while reducing the influence of vibrations from the other transport devices. This makes it easier to improve the accuracy of the vibration data, and in turn makes it easier to improve the accuracy of determining whether or not there are signs of abnormality in the transport devices.

[0046] Here, when the target conveying device is equipped with a plurality of drive units, it is preferable that the control unit operates the plurality of drive units one by one in sequence in the inspection mode, and acquires the vibration data using the vibration detection unit while each of the drive units is operating.

[0047] According to this configuration, in the inspection mode, the multiple drive units of the target conveying device are operated one by one in sequence, so that vibration data of each drive unit can be acquired while reducing the influence of vibrations generated by other drive units. This makes it easier to improve the accuracy of the vibration data, and in turn makes it easier to improve the accuracy of determining whether or not there are signs of abnormality in each part of the conveying device.

[0048] Furthermore, the control unit can execute a normal monitoring mode in addition to the inspection mode, In the normal monitoring mode, it is preferable that the vibration detection unit acquires the vibration data while the plurality of transport devices are transporting articles.

[0049] With this configuration, although the accuracy of the determination may be lower than in the inspection mode, it is possible to determine whether or not there are signs of abnormality in each conveyance device even when multiple conveyance devices are transporting items, making it easier to discover signs of abnormality in each conveyance device at an early stage.

[0050] Further, the reference data includes abnormality data indicating a relationship between an abnormality that has occurred in the past for each model of the conveying device and the vibration data, It is preferable that the determination unit makes the determination based on the abnormality data and the vibration data acquired by the vibration detection unit.

[0051] According to this configuration, it is possible to determine whether or not there is a sign of an abnormality based on the vibration data acquired by the vibration detection unit, using the relationship between past abnormalities that occurred for each model of conveyance device and vibration data before and when the abnormality occurred, thereby making it possible to appropriately determine whether or not there is a sign of an abnormality in the conveyance device.

[0052] Preferably, the vibration data includes at least one of data on sound, which is vibration transmitted through the air, and data on mechanical vibration, which is vibration transmitted through a structure including the conveying device.

[0053] According to this configuration, vibration data representing the state of the transport device can be appropriately acquired as vibration data based on sound or mechanical vibration.

[0054] Further, the plurality of transport devices include a plurality of transport vehicles, and the plurality of transport vehicles are configured to travel on a common travel route, One of the transport vehicles as the target transport device is a target transport vehicle, When executing the inspection mode, the control unit preferably moves and stops the transport vehicles other than the target transport vehicle outside the inspection section set on the travel route, and then acquires the vibration data using the vibration detection unit while the target transport vehicle is traveling through the inspection section.

[0055] According to this configuration, even when a plurality of transport vehicles are configured to travel on a common travel route, it is possible to acquire vibration data of a target transport vehicle while reducing the influence of the presence of other transport vehicles on the vibration data. Therefore, it is easy to improve the accuracy of the vibration data, and in turn, it is easy to improve the accuracy of determining whether or not there are signs of abnormality in the transport vehicle.

[0056] The conveying equipment according to the present disclosure may have at least one of the above-described effects. [Explanation of symbols]

[0057] 2:Transportation device 2a: Target transport device 3: Drive unit 5: Driving route 10: Judgment system 11: Vibration detection unit 13: Recording section 15: Judgment section 18: Control section 25: Transport vehicle 25a: Target transport vehicle 81: Inspection section 100:Transportation equipment W:Goods

Claims

1. A conveying facility including a plurality of conveying devices for conveying articles and a determination system for determining the states of the plurality of conveying devices, the determination system includes a vibration detection unit that detects vibrations generated from each of the plurality of transport devices and acquires vibration data representing the vibrations, a recording unit that records the vibration data acquired by the vibration detection unit, a determination unit that determines the state of each of the transport devices based on the vibration data, and a control unit; The recording unit records at least reference data, which is data for determining the state of each of the plurality of transport devices, the determination unit is configured to determine whether or not there is a sign of an abnormality in the conveying device based on the reference data recorded in the recording unit and the vibration data acquired by the vibration detection unit, One of the plurality of transport devices is selected as a target transport device, The control unit stops operation of the conveying devices other than the target conveying device, and executes an inspection mode in which the vibration detection unit acquires the vibration data while the target conveying device is operating.

2. The conveying equipment according to claim 1, wherein, when the target conveying device is equipped with a plurality of drive units, the control unit operates the plurality of drive units one by one in sequence in the inspection mode, and acquires the vibration data using the vibration detection unit while each of the drive units is operating.

3. the control unit is capable of executing a normal monitoring mode in addition to the inspection mode, The conveyance facility according to claim 1 , wherein in the normal monitoring mode, the vibration detection unit acquires the vibration data while the plurality of conveyance devices are conveying articles.

4. the reference data includes abnormality data indicating a relationship between an abnormality that has occurred in the past for each model of the conveying device and the vibration data; The transport facility according to claim 1 , wherein the determination unit makes the determination based on the abnormality data and the vibration data acquired by the vibration detection unit.

5. 4. The conveying equipment according to claim 1, wherein the vibration data includes at least one of data on sound, which is vibration transmitted through the air, and data on mechanical vibration, which is vibration transmitted through a structure including the conveying device.

6. The plurality of conveying devices include a plurality of conveying vehicles, and the plurality of conveying vehicles are configured to travel on a common travel path; One of the transport vehicles is a target transport vehicle as the target transport device, 4. The conveying equipment according to claim 1, wherein, when executing the inspection mode, the control unit moves and stops the conveying vehicles other than the target conveying vehicle outside the inspection section set on the travel route, and then acquires the vibration data using the vibration detection unit while the target conveying vehicle is traveling through the inspection section.

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