Transport device

Abstract

A traveling belt is wound around a driving pulley, and a traveling carriage travels due to the driving pulley (42) being rotated by a traveling motor (40). A traveling control unit (70) for controlling travel of the traveling motor (40) comprises an FF control unit (710), an FF parameter calculation unit (720), a vibration damping filter (730), a vibration 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 traveling position (Tp) of the traveling carriage. The vibration damping F parameter calculation unit (730) calculates a vibration damping F parameter on the basis of the traveling position (Tp). By means of using the values of these parameters to control the traveling motor (40), traveling control can be executed in consideration of the spring constant of the traveling belt according to the traveling position, and the vibration of the traveling carriage can be reduced.

Description

Conveyor

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

[0002] Japanese Patent Laid-Open Publication No. 2001-261113 (Patent Document 1) discloses a load transfer device (stacker crane) used in an automated warehouse system. The stacker crane in Patent Document 1 is configured to travel along a travel path (rail) by winding a toothed belt, both ends of which are fixed, around rollers driven by a travel motor.

[0003] Japanese Patent No. 6444243 (Patent Document 2) discloses a stacker crane equipped with a lifting platform that moves vertically up and down along a mast fixed to a traveling vehicle. The traveling vehicle is movable horizontally by a traveling motor. The stacker crane in Patent Document 2 includes a vibration damping filter that filters a position command value that specifies the position of the traveling vehicle, determines a parameter value used for filtering according to the load state of the lifting platform, and calculates a torque command value for driving the traveling motor based on the filtered position command value. Patent Document 2 claims that the stacker crane can transport items in a shorter time while performing vibration damping control.

[0004] JP 2001-261113 A Japanese Patent No. 6444243 A

[0005] As in Patent Document 1, when the lower part of a stacker crane (carriage) travels using a power transmission member such as a belt that extends along the travel path, the spring constant of the power transmission member varies depending on the traveling position of the cart, and the 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 2, there is a concern that vibrations may not be reduced appropriately.

[0006] An object of the present disclosure is to reduce vibrations of a traveling bogie using a wrapped transmission member.

[0007] The conveying device of the present disclosure is a conveying device including a carriage capable of traveling in a horizontal direction, a wrapped power transmission member extending in the traveling direction of the carriage, a drive unit that applies power to the wrapped power transmission member, and a control device that controls the drive unit to perform travel control of the carriage. The control device determines values ​​of travel control parameters based on vibration characteristics corresponding to the traveling position of the carriage, and performs travel control using the travel control parameters.

[0008] According to this configuration, the bogie travels by applying power to the wrapped power transmission member extending in the traveling direction of the bogie. The values ​​of the travel control parameters used to control the travel of the bogie are determined based on the vibration characteristics corresponding to the traveling position of the bogie. This makes it possible to execute travel control taking into account the spring constant of the wrapped power transmission member corresponding to the traveling position, and to reduce vibration of the traveling bogie using the wrapped power transmission member.

[0009] Preferably, the control device may include a feedforward parameter calculation unit that calculates a feedforward parameter based on the traveling position, and a feedforward control unit that calculates a feedforward torque based on a position command of the bogie and the feedforward parameter. By calculating the feedforward parameter based on vibration characteristics corresponding to the traveling position, traveling control can be performed taking into account the spring constant of the wrapped power transmission member corresponding to the traveling position.

[0010] Preferably, the control device may include a vibration damping filter parameter calculation unit that calculates a vibration damping filter parameter based on the traveling position, and a vibration damping filter that filters the position command using the vibration damping filter parameter. By calculating the vibration damping filter parameter based on vibration characteristics corresponding to the traveling position, it is possible to perform traveling control that takes into account the spring constant of the wrapped power transmission member corresponding to the traveling position.

[0011] According to the present disclosure, it is possible to reduce vibrations of a traveling bogie using a wrapped power transmission member.

[0012] FIG. 1 is a perspective view showing an example of the overall configuration of an automated warehouse system according to this embodiment. FIG. 2 is a diagram illustrating a travel drive unit of a traveling carriage and a lift drive unit of a carriage. (A) and (B) are diagrams illustrating vibration characteristics of the traveling carriage in this embodiment. FIG. 3 is a schematic configuration diagram showing an example of a control device for an automated warehouse system according to an embodiment. FIG. 4 is a diagram illustrating an example of a travel control unit, which is a functional block configured in a controller. FIG. 5 is a diagram illustrating a travel drive unit in a modified example.

[0013] 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 designated by the same reference numerals, and description thereof will not be repeated.

[0014] In the following embodiments, a configuration in which the "conveying 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 devices to which the "conveying device" according to the present disclosure can be applied are not limited to stacker cranes. The "conveying device" according to the present disclosure can also be applied to automated guided vehicles (AGVs), aerial work platforms, etc.

[0015] 1 is a perspective view showing an example of the overall configuration of an automated warehouse system 100 according to this embodiment. The automated warehouse system 100 is a stacker crane-type transport system, and includes a stacker crane main body (hereinafter abbreviated as "crane main body") 1, rails 8, and storage shelves 9.

[0016] The crane body 1 moves (travels) on rails 8 in accordance with control commands from a controller 7 (see FIG. 2 ). The traveling direction of the crane body 1 is referred to as the “X direction.” The X direction is typically the horizontal direction. However, the X direction does not have to strictly coincide with the horizontal direction as long as it includes the horizontal direction.

[0017] The crane body 1 operates using power supplied from, for example, a power supply line (not shown). However, there are no particular limitations on the power supply method for the crane body 1. The crane body 1 may be supplied with power from the rail 8, or may be supplied with power from a non-contact power transmission device arranged along the rail 8. Alternatively, the crane body 1 may be supplied with power from a power supply rail provided above the storage shelf 9.

[0018] 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. The traveling carriage 11 corresponds to an example of a "cart" in the present disclosure.

[0019] The upper frame 12 is disposed on the upper part of the crane body 1 so as to extend in the X direction. The upper frame 12 connects a pair of masts 14 to each other.

[0020] 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 this 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 also be arranged at a distance in a direction perpendicular to the direction of movement of the crane body 1 (the Y direction perpendicular to the X direction in a horizontal plane).

[0021] The carriage 15 moves up and down along a pair of masts 14 between the traveling cart 11 and the upper frame 12. The carriage 15 is driven by an elevator motor 50 in accordance with a control command from the controller 7 (see FIG. 4 ) to move to a commanded height. After the carriage 15 moves, a package stored in the storage shelf 9 is placed onto the carriage 15 by forks (neither of which are shown). The package placed on the carriage 15 may be stored in the storage shelf 9 by the forks.

[0022] The traveling carriage 11 is equipped with a traveling motor 40 and an elevating motor 50. FIG. 2 is a diagram illustrating the traveling drive unit 4 of the traveling carriage 11 and the elevating drive unit 5 of the carriage 15. Note that details of the traveling drive unit 4 and the elevating drive unit 5 are omitted in FIG. 1. Referring to FIG. 2, the traveling drive unit 4 includes a traveling motor 40, a speed reducer 41, a drive pulley 42, an idle pulley 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 carriage 11 and reduces the speed of rotation of the traveling motor 40 (amplifies the torque) before transmitting it to the drive pulley 42.

[0023] In the present embodiment, the running belt Rb is a toothed belt whose both ends are fixed along the rail 8, and the drive pulley 42 is a toothed pulley. The running belt Rb is wound around the drive pulley 42, and the running cart 11 runs in the X direction along the rail 8 when the drive pulley 42 rotates due to the driving force (output torque) of the running motor 40. A configuration in which the wheels 13 run on the road surface without providing the rail 8 may also be used. In this case, both ends of the running belt Rb in the running direction (X direction) are fixed. The running belt Rb corresponds to an example of a "wrapping transmission member" in the present disclosure, and the running motor 40 corresponds to an example of a "drive device" in the present disclosure. The running belt Rb may be a V-belt or a flat belt. Furthermore, a chain (roller chain, silent chain) may be used instead of a belt, in which case a drive sprocket is used.

[0024] The lifting drive unit 5 includes a lifting motor 50, a reducer 51, a drive pulley 52, an idler pulley, and a lifting belt Lb. For example, 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 the drive force (output torque) of the lifting motor 50 rotates the drive pulley 52, thereby lifting and lowering the carriage 15 in the lifting direction (Z direction). The lifting belt Lb may be a V-belt, a flat belt, or a chain.

[0025] Vibrations occur in the crane body 1 as the traveling carriage 11 travels. In particular, vibrations of the carriage 15 (mast 14) affect the transport of cargo. For this reason, as disclosed in Patent Document 2, vibrations are suppressed by performing vibration suppression control using a physical model when performing travel control of the traveling carriage 11. In order to perform vibration suppression control in an optimal manner, it is desirable to use parameters that optimally reflect the vibration characteristics of the crane body 1.

[0026] 3A and 3B are diagrams illustrating the vibration characteristics of the traveling carriage 11 in this embodiment. FIG. 3A shows the case where the traveling position of the traveling carriage 11 is the center position S in the traveling direction (X direction), and FIG. 3B shows the case where the traveling position is position M to the right (the direction in which X increases) in FIG. 3. In this embodiment, when the traveling position of the traveling carriage 11 is the center position S, as shown in FIG. 3A, the lengths of the traveling belts Rb on the left and right sides of the traveling carriage 11 are the same, 5L. When the traveling position shown in FIG. 3B is position M, the length of the traveling belt Rb on the left side of the traveling carriage 11 is 9L, and the length of the traveling belt Rb on the right side of the traveling carriage 11 is 1L. Therefore, if the spring constant per unit length of the running belt Rb is k, the spring constant Kr of the running belt Rb is "Kr = (k / 5L) + (k / 5L) = (2 / 5) × (k / L)" when at the center position S, and "Kr = (k / 9L) + (k / L) = (10 / 9) × (k / L)" when at position M.

[0027] In this way, in the traveling carriage 11 (crane body 1) that travels using the traveling belt Rb, the spring constant of the traveling belt Rb changes depending on the traveling position, and therefore the vibration characteristics of the crane body 1 change depending on the traveling position. In this embodiment, by determining the values ​​of the travel control parameters based on the vibration characteristics according to the traveling position of the traveling carriage 11, it is possible to preferably perform vibration control (vibration suppression) of the traveling carriage 11 (crane body 1).

[0028] 4 is a schematic configuration diagram showing an example of a control system 200 of the automated warehouse system 100 according to this embodiment. The control system 200 includes a host controller 2, a sensor group 3, and a controller 7.

[0029] The upper controller 2 is, for example, a ground control panel and is arranged outside the crane body 1. The upper controller 2 may include an HMI (Human Machine Interface). The HMI includes, for example, a keyboard, a mouse, operation buttons, a monitor, and a monitor with a touch panel. The HMI accepts operations by the operator to move the crane body 1 and displays the movement status of the crane body 1 for the operator. The upper controller 2 generates a position command X* that commands a target position of the crane body 1, for example, in accordance with operations by the operator. The upper controller 2 outputs the generated position command X* to the controller 7.

[0030] The sensor group 3 includes an encoder 31 that detects the rotation angle of the driving motor 40 and outputs the detection result to the controller 7 .

[0031] The controller 7 controls the components of the automated warehouse system 100 (in this embodiment, the travel motor 40 and the lifting motor 50) in accordance with control commands (such as a position command X* that commands a target position) from the higher-level controller 2. The controller 7 is mounted on the crane body 1, for example. However, the controller 7 may also be located outside the crane body 1 (for example, on the ground). The controller 7 may receive the detection results of the sensor group 3 via a wired or wireless connection. The controller 7 may transmit control commands to the components of the automated warehouse system 100 via a wired or wireless connection.

[0032] The controller 7 includes a processor 71 and a memory 72. The processor 71 includes processing circuitry such as a central processing unit (CPU) and a microprocessing unit (MPU). The memory 72 includes volatile storage devices such as dynamic random access memory (DRAM) and static random access memory (SRAM), and nonvolatile storage devices such as hard disk drives (HDDs), solid state drives (SSDs), and flash memory. The memory 72 stores system programs including an operating system (OS), control programs including computer-readable code, and various parameters for controlling the components of the automated warehouse system 100. The processor 71 reads the system programs, control programs, and parameters, expands them into the memory 72, and executes them to perform various arithmetic operations. The arithmetic operations performed by the controller 7 may be performed using an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or the like.

[0033] The controller 7 may be divided into multiple units based on their functions. For example, a unit for controlling the travel motor 40 and a unit for controlling the lift motor 50 may be provided separately. The controller 7 corresponds to an example of a "control device" in the present disclosure.

[0034] When the controller 7 receives a position command X* that commands a target position of the crane body 1 from the upper controller 2, the controller 7 executes travel control to move the crane body 1 toward the target position. In this embodiment, the position command X* is generated as a position command (rotation angle) for the travel motor 40. FIG. 5 is a diagram showing an example of a travel control unit 70, which is a functional block configured in the controller 7. The travel control unit 70 controls the travel motor 40. The travel control unit 70 includes a feedforward control unit (FF control unit) 710, a feedforward parameter calculation unit (FF parameter calculation unit) 720, a vibration suppression filter 730, a vibration suppression filter parameter calculation unit (vibration suppression F parameter calculation unit) 740, and a feedback control unit (FB control unit) 750.

[0035] The FF control unit 710 calculates a torque feedforward value (feedforward torque) TrFF using a transfer function G1 calculated from a physical model (e.g., 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 cart 11, mast 14, carriage 15), resonance frequency (primary, secondary), anti-resonance frequency (primary, secondary), etc. Hereinafter, the parameters of the transfer function G1 are also referred to as feedforward parameters (FF parameters). Because the spring constant of the traveling belt Rb changes depending on the traveling position of the crane body 1, the vibration characteristics of the crane body 1 change depending on the traveling position. Therefore, the resonance frequency and anti-resonance frequency, which are FF parameters, change depending on the traveling position. In this embodiment, the FF parameter calculation unit 720 calculates the torque feedforward value TrFF by calculating the value of the FF parameter using the traveling position Tp (the position of the crane body 1 in the X direction).

[0036] In this embodiment, the running position Tp is calculated from the rotation angle of the running motor 40 detected by the encoder 31 and input to the FF parameter calculation unit 720. The FF parameter calculation unit 720 calculates the value of an FF parameter according to the running position Tp and outputs it to the FF control unit 710. An FF parameter map set in advance through simulation, experiment, or the like is stored in the memory 72, and the FF parameter calculation unit 720 calculates the value of an FF parameter from the FF parameter map according to the running position Tp. The FF parameter map is set for each parameter (e.g., resonance frequency (primary, secondary), anti-resonance frequency (primary, secondary)) based on vibration characteristics that take into account the spring constant Kr of the running belt Rb corresponding to the running position Tp. The FF parameter map may be, for example, a two-dimensional map of FF parameters and the running position Tp. The FF parameter calculation unit 720 calculates the value of each FF parameter based on the running position Tp and outputs it to the FF control unit 710. The FF parameters correspond to an example of the "travel control parameters" of the present disclosure.

[0037] The FF control unit 710 calculates a torque feedforward value TrFF using a transfer function G1 from the position command X* input from the upper controller 2 and the FF parameters calculated by the FF parameter calculation unit 720, and outputs the calculated torque feedforward value TrFF to the addition unit 719.

[0038] The vibration suppression filter 730 filters the position command X* using a transfer function G2. The vibration suppression filter 730 functions as a notch filter, removing vibration components (frequency components that tend to cause the crane body 1 to vibrate) from the position command X*. Like the transfer function G1, the transfer function G2 is calculated from a physical model of the crane body 1, and its parameters include, for example, the mass of the crane body 1 (traveling cart 11, mast 14, carriage 15), resonance frequencies (primary and secondary), anti-resonance frequencies (primary and secondary), etc. Hereinafter, the parameters of the transfer function G2 are also referred to as vibration suppression filter parameters (vibration suppression F parameters). The resonance frequency and anti-resonance frequency, which are vibration suppression F parameters, change depending on the traveling position Tp. Therefore, the vibration suppression F parameter calculation unit 740 calculates the value of the vibration suppression F parameter based on the traveling position Tp, and the vibration suppression filter 730 filters the position command X*.

[0039] When the running position Tp calculated from the rotation angle of the running motor 40 detected by the encoder 31 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 running position Tp. A vibration damping F parameter map set in advance through simulation, experiment, or the like is stored in the memory 72, 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 running position Tp. The vibration damping F parameter map is set based on vibration characteristics that take into account the spring constant Kr of the running belt Rb according to the running position Tp for each parameter (e.g., resonance frequency (primary, secondary), anti-resonance frequency (primary, secondary)). The vibration damping F parameter map may be, for example, a two-dimensional map of the vibration damping F parameters and the running position Tp. The vibration damping F parameter calculation unit 740 calculates the value of each vibration damping F parameter based on the running position Tp. The vibration damping F parameter corresponds to an example of a "running control parameter" in this disclosure.

[0040] The vibration suppression filter 730 filters the position command X* using the transfer function G2 and the vibration suppression F parameter calculated by the vibration suppression F parameter calculation unit 740, and outputs the filtered position command Xf to the velocity feedforward unit (velocity FF unit) 712 and the subtraction unit 714.

[0041] The speed FF unit 712 generates a speed feedforward value VFF by differentiating the filtered position command Xf, and outputs the generated speed feedforward value VFF to the calculation unit 717.

[0042] The FB control unit 750 includes a position calculation unit 751, a position control unit 752, a speed calculation unit 753, and a speed control unit 754. The position calculation unit 751 calculates the position (rotation angle) X of the travel motor 40 based on the signal from the encoder 31. The position calculation unit 751 outputs the calculated position X to the subtraction unit 714.

[0043] 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.

[0044] Position control unit 752 generates a speed command V* so that the subtraction value (Xf−X) by subtraction unit 714 is canceled (approaching zero). Position control unit 752 outputs the generated speed command V* to calculation unit 717.

[0045] The speed calculation unit 753 calculates the speed V at which the crane body 1 moves (the rotation speed of the traveling motor 40) based on the signal from the encoder 31. The speed calculation unit 753 outputs the calculated speed V to the calculation unit 717.

[0046] The calculation unit 717 adds the speed feedforward value VFF from the speed FF unit 712 to the speed command V* from the position control unit 752, and subtracts the speed V calculated by the speed calculation unit 753 from the added value. The calculation unit 717 outputs the value (V*+VFF-V) obtained by this calculation to the speed control unit 754.

[0047] The speed control unit 754 generates a torque command TrR* so that the value (V*+VFF-V) calculated by the calculation unit 717 is canceled (approaching zero). The speed control unit 754 outputs the generated torque command TrR* to the adder 719.

[0048] The adder 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 adder 719 outputs the added value (TrR* + TrFF) to the traveling motor 40. The traveling motor 40 is controlled so as to output a torque of the added value (TrR* + TrFF). In this way, the controller 7 controls the traveling of the traveling carriage 11 (crane body 1) using a physical model so as to suppress vibrations.

[0049] According to this embodiment, the traveling carriage 11 travels by applying power to the traveling belt Rb extending in the traveling direction of the traveling carriage 11. The values ​​of the FF parameter / vibration damping F parameter used for travel control of the traveling carriage 11 are calculated based on vibration characteristics corresponding to the traveling position Tp of the traveling carriage 11. As a result, traveling control can be performed taking into account the spring constant Kr of the traveling belt Rb corresponding to the traveling position Tp, and it becomes possible to reduce vibration of the traveling carriage 11 traveling using the traveling belt Rb.

[0050] In the above embodiment, the values ​​of the FF parameter and the vibration-damping F parameter are calculated based on the traveling position Tp. However, at least one of the FF parameter and the vibration-damping F parameter may be calculated based on the traveling position Tp. This also makes it possible to execute traveling control taking into account the spring constant Kr of the traveling belt Rb according to the traveling position Tp, and to reduce vibration of the traveling carriage 11 (crane body 1) traveling using the traveling belt Rb.

[0051] In the above embodiment, the traveling position Tp is calculated from the rotation angle of the traveling motor 40 detected by the encoder 31. However, the current traveling position Tp may be the position command X*, i.e., the position resulting from traveling based on a past position command.

[0052] Alternatively, a distance measurement sensor 32 (see FIGS. 1 and 4) may be disposed outside the crane body 1, and the traveling position Tp may be detected using the distance measurement sensor 32. The distance measurement sensor 32 may be an optical, millimeter wave, or ultrasonic sensor, or may be a stereo camera, and may determine the traveling position Tp based on the distance between the crane body 1 and a reference point, for example.

[0053] 6 is a diagram illustrating a travel drive unit 4A in a modified example. In this modified example, the traveling carriage 11 of the crane body 1A is not equipped with a travel motor. The travel motor 40A in this modified example is installed at the end of the rail 8.

[0054] The travel drive unit 4A of the modified example includes a travel motor 40A, a reducer 41A, a drive pulley 42A, a driven pulley 42B, and a travel belt Rbh. The reducer 41A is fixed to one end of the rail 8 and reduces the rotation speed (amplifies the torque) of the travel motor 40A and transmits the rotation to the drive pulley 42A. The driven pulley 42B is fixed to the other end of the rail 8 (the opposite side from the reducer 41A). The travel belt Rbh is wound around the drive pulley 42A and the driven pulley 42B, and both ends of the belt Rbh are fixed to the traveling carriage 11. The drive pulley 42A rotates due to the driving force (output torque) of the travel motor 40A, causing the traveling carriage 11 to move (travel) in the X direction along the rail 8. A tensioner pulley TP may be provided to adjust the tension (slack) of the travel belt Rbh.

[0055] In this modified example, as in the above embodiment, by controlling the travel motor 40A, travel control can be performed taking into account the spring constant of the travel belt Rbh according to the travel position Tp, and vibration of the traveling carriage 11 (crane body 1A) traveling using the travel belt Rbh can be reduced. Note that if rails 8 are not used, the reducer 41A (travel motor 40A) and driven pulley 42B may be fixed to the travel road surface.

[0056] In the above embodiment, the reducers 41 and 41A are used, but a drive pulley may be provided on the output shaft of the travel motor 40 and 40A without using a reducer. The type of motor is not limited to a servo motor, and any type of motor may be used, such as a stepping motor. Furthermore, a hydraulic motor, a planar motor, or the like may be used as long as it can drive the travel belt (wrapped around the power transmission member).

[0057] The following are examples of embodiments of the present disclosure: 1) A conveying device including a carriage (11) capable of traveling in a horizontal direction, a wrapped power transmission member (Rb) extending in the traveling direction of the carriage (11), a drive device (40) that imparts power to the wrapped power transmission member (Rb), and a control device (7) that controls the driving device (40) to perform travel control of the carriage (11), wherein the control device (7) performs travel control based on vibration characteristics of the carriage (11) according to a traveling position Tp of the carriage (11).

[0058] 2) In the above 1, the travel control of the carriage (11) includes feedforward control that calculates a feedforward torque of the drive device (40), and changes parameters of the feedforward control based on the vibration characteristics of the carriage (11).

[0059] 3) In the above 1 or 2, the travel control of the carriage (11) includes a vibration damping filter that filters the position command X* of the carriage (11), and the parameters of the vibration damping filter are changed based on the vibration characteristics of the carriage (11).

[0060] 4) In the above 1, the control device (7) includes a feedforward parameter calculation unit (720) that calculates a feedforward parameter based on the running position Tp of the carriage (11), a vibration suppression filter parameter calculation unit (740) that calculates a vibration suppression filter parameter based on the running position Tp, a feedforward control unit (710) that calculates a feedforward torque based on the position command X* of the carriage and the feedforward parameter, and a vibration suppression filter (730) that filters the position command X* using the vibration suppression filter parameter.

[0061] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the description of the above embodiments, and is intended to include all modifications within the meaning and scope of the claims.

[0062] 100 Automated warehouse system 1, 1A Crane body 11 Traveling cart 12 Upper frame 13 Wheel 14 Mast 15 Carriage 200 Control system 2 Upper controller 3 Sensor group 31 Encoder 32 Distance measurement sensor 4, 4A Traveling drive unit 40, 40A Traveling motor 41, 41A Reducer 42, 42A Driving pulley 42B Driven pulley 5 Lifting drive unit 50 Lifting motor 51 Reducer 52 Driving pulley 7 Controller 70 Traveling control unit 71 Processor 72 Memory 710 Feedforward control unit 712 Speed ​​feedforward unit 720 Feedforward parameter calculation unit 730 Vibration suppression filter 740 Vibration suppression filter parameter calculation unit 750 Feedback control unit 751 Position calculation unit 752 Position control unit 753 Speed ​​calculation unit 754 Speed ​​control unit 8 Rail 9 Storage shelf

Claims

1. A conveying device comprising: a carriage capable of traveling horizontally; a wrapped power transmission member extending in the traveling direction of the carriage; a drive device that imparts power to the wrapped power transmission member; and a control device that controls the driving device to control the traveling of the carriage, wherein the control device determines values ​​of travel control parameters based on vibration characteristics corresponding to the traveling position of the carriage, and performs the traveling control using the travel control parameters.

2. The conveying device described in claim 1, wherein the control device includes: a feedforward parameter calculation unit that calculates a feedforward parameter based on the traveling position; and a feedforward control unit that calculates a feedforward torque based on a position command of the carriage and the feedforward parameter, and the traveling control parameter is the feedforward parameter.

3. The conveying device of claim 1 or claim 2, wherein the control device includes: a vibration control filter parameter calculation unit that calculates a vibration control filter parameter based on the traveling position; and a vibration control filter that filters a position command of the carriage using the vibration control filter parameter, and the traveling control parameter is the vibration control filter parameter.

4. The transport device according to claim 3, further comprising: a mast fixed to said dolly; and a carriage that moves up and down along said mast.

5. The conveying device according to claim 4, wherein the driving device is a motor, and the travel position is calculated based on a rotation angle of the motor.

6. The conveying device according to claim 4, wherein the travel position is a command value based on the position command.

7. The conveying device according to claim 4, wherein the travel position is calculated based on a detection signal from a distance measuring sensor.

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