Transport device

Abstract

A travel control unit (701) for controlling travel of a travel motor (40) is provided with 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 the height (H) of a carriage. The vibration-damping F parameter calculation unit (740) calculates a vibration-damping F parameter on the basis of the height (H). Controlling the travel motor (40) by using the values of these parameters makes it possible to control travel in consideration of vibration characteristics, which change in accordance with the height (H) of the carriage, and to reduce the vibration of a travel vehicle.

Description

Conveyor

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

[0002] Japanese Patent No. 6444243 (Patent Document 1) 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 1 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 1 claims that the stacker crane can transport items in a shorter time while performing vibration-damping control.

[0003] Patent No. 6444243

[0004] As the platform rises and falls, its height (position) changes. When the platform height changes, the position of the center of gravity of the stacker crane changes, resulting in changes in its vibration characteristics. Therefore, even if vibration damping control is performed according to the loading status of the platform, as in Patent Document 1, there is a concern that vibrations may not be adequately reduced.

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

[0006] The transport device disclosed herein includes a travelling carriage, a lifting platform that rises and falls along a mast fixed to the carriage, a drive unit that drives the carriage, and a control unit that controls the drive unit to perform travel control of the carriage. The control unit calculates values ​​of travel control parameters based on vibration characteristics corresponding to the height of the lifting platform, and performs travel control using the travel control parameters.

[0007] According to this configuration, the values ​​of the travel control parameters used to control the travel of the carriage are calculated based on the vibration characteristics according to the height of the platform, which allows travel control to be performed taking into account the vibration characteristics that change depending on the height of the platform, thereby reducing the vibration of the carriage.

[0008] Preferably, the control device may include a feedforward parameter calculation unit that calculates a feedforward parameter based on platform height information, and a feedforward control unit that calculates a feedforward torque based on a position command for the carriage and the feedforward parameter. By calculating the feedforward parameter based on the platform height information, travel control can be performed that takes into account vibration characteristics according to the platform height.

[0009] Preferably, the control device may include a vibration damping filter parameter calculation unit that calculates a vibration damping filter parameter based on platform height information, and a vibration damping filter that filters the bogie position command using the vibration damping filter parameter. By calculating the vibration damping filter parameter based on the platform height information, travel control can be performed that takes into account vibration characteristics according to the platform height.

[0010] According to the present disclosure, it is possible to reduce the vibration of the carriage even when the height of the platform changes and the vibration characteristics change.

[0011] FIG. 1 is a perspective view showing an example of the overall configuration of an automated warehouse system according to an 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 a crane body in this embodiment. FIG. 3 is a schematic configuration diagram showing an example of a control system of an automated warehouse system according to an embodiment. FIG. 4 is a diagram illustrating an example of a lift control unit, which is a functional block configured in a controller. FIG. 5 is a diagram illustrating an example of a travel control unit, which is a functional block configured in a controller.

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

[0013] In the following embodiments, a configuration in which a "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), autonomous mobile robots (AMRs), aerial work platforms, etc.

[0014] 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.

[0015] 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.

[0016] 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.

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

[0018] 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.

[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 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).

[0020] 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 moves (lifts and lowers) to a commanded height by being driven by an elevator motor 50 in accordance with a control command from the controller 7 (see FIG. 2 ). After the carriage 15 moves, a package L stored in the storage shelf 9 is placed on the carriage 15 by forks (neither of which are shown). The package L placed on the carriage 15 may be stored in the storage shelf 9 by the forks. The carriage 15 corresponds to an example of a "lifting platform" in this disclosure.

[0021] 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, a plurality of idle 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 carriage 11 and reduces the speed of rotation of the traveling motor 40 (amplifies the torque) before transmitting it to the drive pulley 42.

[0022] 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 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.

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

[0024] The lifting belt Lb is a toothed belt whose both ends are fixed to the carriage 15. The lifting belt Lb is wound around a drive pulley 52, and the drive pulley 52 rotates due to the driving force (output torque) of the lifting motor 50, 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 1, when controlling the travel of the traveling carriage 11 (crane body 1), vibrations are suppressed by performing vibration suppression control using a physical model. In order to optimally perform vibration suppression control, it is desirable to use parameters that optimally reflect the vibration characteristics of the crane body 1.

[0026] FIG. 3 is a diagram illustrating the vibration characteristics of the crane body 1 in this 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 this 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 3(B), the center of gravity G of the crane body 1 changes depending on the height H of the carriage 15. 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 depending on the height H of the carriage 15. In particular, when a robust carriage 15 is used, the mass (weight) of the carriage 15 increases, and the change in the vibration characteristics depending on the height H becomes greater. In this embodiment, the values ​​of the travel control parameters are determined based on the vibration characteristics corresponding to the height H of the carriage 15, thereby enabling optimal vibration control (vibration suppression) of the crane body 1.

[0027] 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.

[0028] 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, a monitor with a touch panel, and the like. The HMI accepts operator operations for moving 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 (position in the X direction) of the crane body 1 (traveling carriage 11) in accordance with, for example, the operator's operation. The upper controller 2 also generates a lift position command Z* that commands a target position (position in the Z direction: height) of the carriage 15 in accordance with, for example, the operator's operation. The upper controller 2 outputs the position command X* and the lift position command Z* to the controller 7.

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

[0030] 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 (position command X*, lifting position command Z*, etc.) 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.

[0031] 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.

[0032] 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.

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

[0034] 5 is a diagram showing an example of a lift control unit 701, which is a functional block configured in the controller 7. The lift control unit 701 controls the lift motor 50. The lift 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 lift motor 50 based on the signal of the second encoder 32. The position calculation unit 791 outputs the calculated position Zr to a subtraction unit 797.

[0035] The subtraction unit 797 subtracts the position Zr calculated by the position calculation unit 791 from the lift 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 canceled (approaching 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 subtracted 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 canceled (approaching zero). The speed control unit 794 outputs the torque command TrS* to the lift motor 50. The lift motor 50 is controlled so that it outputs the torque of the torque command TrS*. As a result, lift control is performed so that the height H of the carriage 15 coincides with the target position (the height corresponding to the lift position command Z*).

[0040] 6 is a diagram showing an example of a driving control unit 702, which is a functional block configured in the controller 7. The driving control unit 702 controls the driving motor 40. The driving control unit 702 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.

[0041] 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. 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 center of gravity G of the crane body 1 changes depending on the height H of the carriage 15, the vibration characteristics of the crane body 1 change depending on the height H. Therefore, the resonance frequency and anti-resonance frequency, which are FF parameters, change depending on the height H of the carriage 15. 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 height H of the carriage 15 (the position of the carriage 15 in the Z direction).

[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 “height information” in the present disclosure. The FF parameter calculation unit 720 calculates the value of an FF parameter according to the height H and outputs it to the FF control unit 710. An FF parameter map set in advance through simulations, experiments, etc. 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 height H. The FF parameter map is set based on vibration characteristics that take into account the center of gravity of the crane body 1 and that change for each parameter (e.g., resonance frequency (primary, secondary), anti-resonance frequency (primary, secondary)) according to the height H. The FF parameter map may be, for example, a two-dimensional map of FF parameters and the height H. The FF parameter calculation unit 720 calculates the value of each FF parameter based on the height H and outputs the calculated value to the FF control unit 710. The FF parameters correspond to an example of the "travel control parameters" of the present disclosure.

[0043] 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.

[0044] 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 vehicle 11, mast 14, carriage 15), resonance frequency (primary, secondary), anti-resonance frequency (primary, 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 height H. For this reason, the vibration suppression F parameter calculation unit 740 calculates the value of the vibration suppression F parameter based on the height H, and the vibration suppression filter 730 filters the position command X*.

[0045] When the height H determined based on the position Zr of the lift 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. 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 height H. The vibration damping F 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 center of gravity G that changes according to the height H. The vibration damping F parameter map may be, for example, a two-dimensional map of the vibration damping F parameters 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 parameters correspond to an example of a "travel control parameter" in this disclosure.

[0046] 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.

[0047] 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.

[0048] 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 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] Position control unit 752 generates speed command Vx* so that the subtraction value (Xf−X) by subtraction unit 714 is canceled (approaching zero). Position control unit 752 outputs the generated speed command Vx* to calculation unit 717.

[0051] The speed calculation unit 753 calculates the speed 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 speed calculation unit 753 outputs the calculated speed Vx to the calculation unit 717.

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

[0053] The speed control unit 754 generates a torque command TrR* so that the value (Vx*+VFF-Vx) 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.

[0054] 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 uses a physical model to control the traveling of the crane body 1 so as to suppress vibrations.

[0055] According to this embodiment, the values ​​of the FF parameters / vibration damping F parameters used for travel control of the crane body 1 are determined based on vibration characteristics corresponding to the height H of the carriage 15. This makes it possible to execute travel control taking into account the center of gravity G of the crane body 1 corresponding to the height H, and to reduce vibration.

[0056] In the above embodiment, the values ​​of the FF parameter and the vibration-damping F parameter are calculated based on the height H. However, at least one of the FF parameter and the vibration-damping F parameter may be calculated based on the height H. This also makes it possible to execute travel control taking into account the position of the center of gravity G according to the height H, and to reduce vibration of the crane body 1.

[0057] In the above embodiment, the height H of the carriage 15 is determined based on the position Zr of the lift motor 50 calculated using the detection signal from 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 measurement sensor 33 ( FIG. 1 ) provided on the traveling carriage 11. The distance measurement sensor 33 may be an optical, millimeter-wave, or ultrasonic sensor, or may be a stereo camera. The distance between the traveling carriage 11 and the carriage 15 measured by the distance measurement sensor 33 corresponds to the height H. Alternatively, the current height H of the carriage 15 may be determined using the lift position command Z*, i.e., the height of the carriage 15 as a result of movement based on a past lift position command.

[0058] The lifting motor 50 is controlled in accordance with the lifting position command Z* from the controller 7, and the carriage 15 moves (lifts) to the commanded height (position). After the carriage 15 moves, the luggage L is stored (stored) in the storage shelf 9, or the luggage L is removed (retrieved) from the storage shelf 9 onto the carriage 15. If the carriage 15 (mast 14) vibrates during this process, this will affect the storage and retrieval of the luggage L. Suppressing vibrations when the height H of the carriage 15 is at the commanded height can reduce the impact of the storage and retrieval of the luggage L. Therefore, a target height value (final destination position) Ht of the carriage 15 may be calculated based on the lifting position command Z*, which is the target position of the carriage 15. The FF parameter calculation unit 720 and the vibration-damping F parameter calculation unit 740 may then use the final destination position Ht to calculate the FF parameter and the vibration-damping F parameter. In this case, the final destination position Ht corresponds to an example of "height information" in the present disclosure.

[0059] In the above embodiment, the traveling carriage 11 (crane body 1) is moved by using the traveling belt Rb, but it may be configured so that it moves by driving the wheels 13. Also, the carriage 15 is moved up and down by using the lifting belt Lb, but this is not limiting. For example, the carriage 15 may be moved up and down by using a ball screw mechanism.

[0060] In the above embodiment, servo motors are used as the travel motor 40 and the lift motor 50, but the type of motor is not limited to a servo motor and may be any type, such as a stepping motor, etc. Furthermore, the drive sources for the traveling cart 11 and the carriage 15 may be hydraulic motors, planar motors, etc.

[0061] The following are examples of embodiments of the present disclosure: 1) A conveying device including a travellable carriage (11), a lifting platform (15) that rises and falls along a mast (14) fixed to the carriage (11), a drive device (40) that causes the carriage (11) to travel, and a control device (7) that controls the drive 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) that correspond to the height H of the lifting platform (15).

[0062] 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).

[0063] 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).

[0064] 4) In the above 1, the control device (7) includes a feedforward parameter calculation unit (720) that calculates a feedforward parameter based on the height H of the lifting platform (25), a vibration suppression filter parameter calculation unit (740) that calculates a vibration suppression filter parameter based on the height H, 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.

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

[0066] 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.

[0067] 100 Automated warehouse system 1 Crane body 11 Traveling cart 12 Upper frame 13 Wheels 14 Mast 15 Carriage 200 Control system 2 Upper controller 3 Sensor group 31 First encoder 32 Second encoder 33 Distance measurement sensor 4 Traveling drive unit 40 Traveling 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 Traveling control unit 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 791 Position calculation unit 792 Position control unit 793 Speed ​​calculation unit 794 Speed ​​control unit 8 Rail 9 Storage shelf

Claims

1. A transport device comprising: a drivable cart; a lifting platform that rises and falls along a mast fixed to the cart; a drive device that drives the cart; and a control device that controls the drive device to control the travel of the cart, wherein the control device determines values ​​of travel control parameters based on vibration characteristics corresponding to the height of the lifting platform, and performs the travel 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 height information of the lifting platform, and a feedforward control unit that calculates a feedforward torque based on a position command of the carriage and the feedforward parameter, and the travel control parameter is the feedforward parameter.

3. The conveying device described in claim 1, wherein the control device includes: a vibration control filter parameter calculation unit that calculates a vibration control filter parameter based on height information of the lifting platform; and a vibration control filter that filters a position command of the carriage using the vibration control filter parameter; and the travel control parameter is the vibration control filter parameter.

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

5. A conveying device according to claim 2 or claim 3, wherein the height information is a command position of the lifting platform.

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