JPS58144002A - Signal transmitting method for moving cargo handling machine - Google Patents

Abstract

PURPOSE:To simplify a signal transmitting method in such a way that inlight signal transmission and reception between a ground station and stations on moving cargo handling machines, arithmetic units and memories are loaded on movers, each of which memorizes informations from the ground station and makes arithmetic operations and driving action. CONSTITUTION:A control unit 5 collates an iuputted turn-in and turn-out information with the appropriate warehousing control information, and brings out it as an object shelf address information. This information is transmitted from a ground transmitter 11 to the appropriate transmitter 10 of each cargo handling machine 2 in such a way that a notch change-over signal 18 is applied as input to a turning drive gear 17, and the turning drive gear 17 is set to be turned stepwise. This information is memorized as a composite signal consisting of turn-in and turn-out signals into an RAM of an arithmetic unit and a memory on each moving cargo handling machine 2. Said moving cargo handling machine 2 runs, goes up and down and stores the cargo into the warehouse after detecting and discriminating the running address in accordance with the sequence of the arithmetic unit. Then turn-out operation is done by the turn-out information which has been memorized. This constitution allows to simplify the signal transmitting method, and to improve economization.

Description

【発明の詳細な説明】[Detailed description of the invention]

本発明は演算装置と記憶装置とｔ搭載した複数の移動荷
投機械に係り、特に地上局と複数移動機上局間との償勺
伝送を光線で送受信するに好適な移動荷投機械の信号伝
送装置に関するものである。 近年、流通機構の発達に伴い、集配竜ンタの倉庫に使用
される移動荷投機械の自動化が進められ、荷役運搬作Ｉ
ＩＩを人手によらずに行なう自動倉庫が採用されている
。一般に、自動倉庫においてはコンベア、搬送台車等の
生産物流システムを通じて流通して来る物品ｔオがレー
タの所望に応じ、計算機からの出力制御信号を伝送装置
を介して、移動荷投機械の制御装置に与え、制御装置内
に記憶された動作手順により、移動荷投機械を駆動し、
短時間で正確に棚内に格納して管理する必要がある。特
に、光線による制御信号の送受信を行なっている場合で
は、複数の移動荷投機械上の伝送装置と地上に設置した
計算機の複数の伝送装置との間で、正確に信号の受渡し
が１対１に実施され、逐次計算機内部で移動荷投機械の
運用状況を監視していなければならなかった。 よって、自動倉庫システムの規模が増大するつれて、棚
内へ物品を格納する移動荷投機械も増加し、複数の移動
荷投機械上に搭載されたおのおのの伝送装置の光線によ
る送受信に対応した地上側の伝送装置も増加する傾向に
あり、かつ計算機と欠点があった。 本発明の目的は、経済的な信号伝送方法を提供すること
にある。 以下に本発明の一実施例な第１図から第４図までの各図
に基づいて説明する。第１図は棚、コンベアおよびスタ
ッカークレーン等から構成される自動倉庫システムを示
す図で、１は左右方向に順次配列してなる立体式の棚で
ある。２は物品を棚１内に入庫又はば庫するスタッカー
クレーンで、スタッカークレーン２の走行装置１３１昇
降装置１４およびフォーク装置上等を動作させる機上制
御装置３と地上に設置された伝送１ＩｉＷｌｕからの光
線信号１２ｔ−送受信する伝送装置Ｗとを有する。４は
地上に設置された管ｍ＊置５かもの制御信号を搬送台車
６＃入岸ツンペア８および出庫コンベア９等へ伝達する
地上制御盤である。オペレータ１６は設置２図は管ｍ＊
置とスタッカークレーン間（Ｚ）ｆｆｉ号伝送状況を示
し、旋回層ｍ装置１７は管理装置５からのノツチ切換え
信号論により、段階的に回転され、旋回駆動装置１７上
に固定された伝送装置Ｕｔ介して、管理装置！５からの
制御信号四を左端の定位置に停止したスタッカークレー
ン２上の伝達装置Ｗへ光線信号セで伝送している。 なお、各棚１内の各レールｚ上をスタッカークレーン２
が走行移動している場合では各伝送装置１０．１１間で
光線信号νの送受信は行なわれない。 また、オペレータは管理装置５上の中央端末Ｉで棚１内
に格納された物品の在庫管理や帳票管理を実施する。 第３図は演算装置と伝送装置とを搭載したスタッカーク
レーンの全体を示し、機上制御盤３はスタッカークレー
ン２の走５ｍ置ロ、昇降装置１４および７ｍ−り装置１
６勢を駆動させる電磁接触器中走行番地検出器ｎからの
接点リレー等から構成されている。ｔた、上述した如く
、スタッカークレーン２で物品を所定の格納すべき棚１
位置まで移動させるには、オペレータの中央端末１７か
らの指令を管理装置で制御信号に変換し、その制御信号
を旋回駆動装置加に与え、スタッカークレーン２の方向
へ矢印の如く回転させ、伝送装置Ｕかもの光線信号認を
伝送装置ｌｏを介して演算装置器に入力させ、演算装置
ｎ内の動作手順に基づき、機上制御盤３を介して、各駆
動装置を動作させるように構成されている。 第４図は自動倉庫システムの制御装置を表わすプルツク
線図を示し、スタッカークレーン２の缶駆動装置肋、　
１４．　ＩＩＳ、演算装置コおよび伝送装置１０と管理
装置２の伝送装置１１．旋回駆動側１７および中央端末
粉等から構成されている。２はスタッカークレーン雪の
制御対象であり、前記走行装置ｌ、昇降装置ｕ、７オー
ク装置腸および走行喬地信号な出力する検出ｓ１７かも
成る。囚はシーケース制御と演算等を行なう中央演算装
置であるＣＰＵ２５と、変数データが格納されているＲ
ＡＭ２６と、動作グ謬グツムシ格納されてｉるＢＰ−Ｒ
ＯＭ２７と、制御対象ｍをリレー回路３２．　ｍｔ−介
して動作させる並列入出力Ｌ８ＩのＰＩ人３．３０と、
伝送装置Ｗとのインターフェースである直列人出力Ｌ８
ＩのＡＣＩＡＩＩとで構成され、スタッカークレーン２
が複合動作するために、管理装置５から伝達された入庫
又は出庫情報を記憶する記憶装置３と接続されている。 スタッカークレーンｚ上に搭載された伝送装置１０は、
演算装置コの人ＣＩ人から送られてくる信号を時分割的
に処理する送信制御回路あと、その処理した信号The present invention relates to a plurality of mobile cargo dumping machines equipped with an arithmetic unit and a storage device, and particularly to a mobile cargo dumping machine signal suitable for transmitting and receiving compensation transmission between a ground station and a plurality of mobile machine base stations using light beams. This relates to a transmission device. In recent years, with the development of distribution systems, the automation of mobile loading machines used in warehouses for collection and delivery has progressed, and cargo handling and transportation operations I
Automated warehouses are being used to perform II without manual intervention. Generally, in an automated warehouse, goods distributed through a production distribution system such as a conveyor or a transport vehicle are sent to the control device of the mobile cargo dumping machine according to the wishes of the controller by transmitting an output control signal from a computer via a transmission device. and drive the mobile load dumping machine according to the operating procedure stored in the control device,
It is necessary to store and manage the items accurately on the shelves in a short time. In particular, when transmitting and receiving control signals using light beams, accurate one-to-one signal exchange is possible between the transmission devices on multiple moving cargo dumping machines and the multiple transmission devices on computers installed on the ground. The operation status of the mobile cargo dumping machine had to be continuously monitored inside the computer. Therefore, as the scale of automated warehouse systems increases, the number of mobile loading machines that store items in shelves also increases, and the number of mobile loading machines that store items on shelves increases, and each transmission device mounted on a plurality of mobile loading machines supports transmission and reception using light beams. There was also a tendency for the number of ground-side transmission equipment to increase, and there was a disadvantage in that it required computers. An object of the present invention is to provide an economical signal transmission method. DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 to 4. FIG. 1 is a diagram showing an automated warehouse system comprising shelves, conveyors, stacker cranes, etc., and numeral 1 indicates three-dimensional shelves arranged sequentially in the left and right direction. Reference numeral 2 denotes a stacker crane that stores or stores articles in the shelves 1, and includes an on-board control device 3 that operates the traveling device 131 of the stacker crane 2, the lifting device 14, the fork device, etc., and a transmission 1IiWlu installed on the ground. It has a transmission device W for transmitting and receiving a light beam signal 12t. Reference numeral 4 denotes a ground control panel that transmits control signals for the pipes m* and 5 installed on the ground to the transport vehicle 6#, the docking pair 8, the unloading conveyor 9, and the like. Operator 16 installs pipe m* in Figure 2.
The rotation layer m device 17 is rotated in stages according to the notch switching signal theory from the management device 5, and the transmission device Ut fixed on the rotation drive device 17 is shown. Through the management device! The control signal 4 from 5 is transmitted to the transmission device W on the stacker crane 2, which is stopped at a fixed position on the left end, by means of a light beam signal. In addition, stacker crane 2 is installed on each rail z in each shelf 1.
When the transmission devices 10 and 11 are moving, the optical signal ν is not transmitted or received between the transmission devices 10 and 11. Further, the operator uses the central terminal I on the management device 5 to manage the inventory of articles stored in the shelf 1 and to manage forms. FIG. 3 shows the entire stacker crane equipped with a calculation device and a transmission device, and the on-board control panel 3 includes the stacker crane 2's 5-meter running position, lifting device 14, and 7-meter lifting device 1.
It is composed of a contact relay from a running address detector n in an electromagnetic contactor that drives six contacts. In addition, as mentioned above, the stacker crane 2 moves the articles to the shelves 1 on which they are to be stored.
In order to move the stacker crane to the desired position, the operator's command from the central terminal 17 is converted into a control signal by the management device, and the control signal is applied to the swing drive device to rotate it in the direction of the stacker crane 2 as shown by the arrow. It is configured to input the light beam signal recognition to the arithmetic device via the transmission device lo, and operate each drive device via the onboard control panel 3 based on the operating procedure in the arithmetic device n. There is. FIG. 4 shows a Prutsuk diagram representing the control device of the automated warehouse system, and shows the can drive device ribs of the stacker crane 2,
14. IIS, the arithmetic unit, the transmission device 10, and the transmission device 11 of the management device 2. It consists of a swing drive side 17, a central end powder, etc. Reference numeral 2 denotes the object to be controlled by the stacker crane snow, which also includes the traveling device 1, the lifting device u, the oak device 7, and the detection s17 that outputs a traveling ground signal. The main components are the CPU 25, which is a central processing unit that performs sea case control and calculations, and the R, which stores variable data.
AM26 and BP-R with operational errors stored.
The OM 27 and the controlled object m are connected to the relay circuit 32. PI person 3.30 of parallel input/output L8I operated through mt-
Serial output L8 which is an interface with transmission device W
Consists of ACIA II and stacker crane 2
In order to perform multiple operations, it is connected to a storage device 3 that stores the warehousing or warehousing information transmitted from the management device 5. The transmission device 10 mounted on the stacker crane z is
A transmission control circuit that processes the signals sent from the human CI person of the computing device in a time-sharing manner, and the processed signal

【光の
パルス列にＩＩき換える光変調回路蕊と、そのパルス列
を外部に光線信号νとして送信する投光難易およびその
逆の受信方法すなわち伝送装置１１からの光線を受光器
（至）で受信し、光のパルス列を光復調回路譚で電気信
号に変換し、その信号を演算装置ｎのＡＣＩＡＩＩへ伝
達するための信号に変換処理する受信制御回路から構成
されている。伝送装置１１も伝送装ｇｍと同様な回路で
ある。５は地上に設置された管ｍ装置で、ＣＰＵ４０．
ＲＡＭ４１．ＢＰ−ＲＯＭ４２．ＰＩＡ４５．ｌｅｍ装
置ａ＆よびＡｃＩＡ舗で構成され、上述した如くの機能
を有する。特に、オペレータからの中央端末２０ｔ−介
しての指令ｇＰＩＡ４５に入力し、ＢＰ−ＲＯＭ４２に
記憶された動作プログ２ムにより、記憶装置−の在庫情
報と比較判断して、物品を目的柵に入庫又は出庫させる
スタッカークレーン２への制御信号を作成すると共に、
ＰＩＡ藝から旋回駆動装置１７へ多段ノツチ切換え信号
１８を与えて、旋回駆動装置１７を回転させ、目的欄の
スタッカークレーン２の伝送装置Ｗの方向へ、伝送装置
ｎｔ−向け、両装置間で光線信号セによる制御信号の送
受信を実施する。 かかる構成において、設定端末と中央端末を操作するオ
ペレータのキー人力指示により、棚内へ物品を入庫又は
出庫すべ自情報信号を管理装置に与える。管ｍ＊置では
その情報信号な在庫管理情報と照合し、目的棚誉地の情
報信号を決定して、管ｍ＊置から旋団駆動着置ヘノッチ
切換え信号な与えることによ舊】、旋回駆動装置が順次
段階的に旋回し、伝送装置Ｕの投光器と受光器とが定位
置に停止したスタッカクレーン上の伝送装置類の受光−
と投光器との間で光線信号による送受信が可能に−なる
。そして、管１１騎装置内のＣＰ　Ｕ　４１により、情
報信号が制御信舟に変換され、その制御信号はＡＣＩＡ
４４と伝送装置■内の送信制御回路で時分割的な直列信
号に変換され、光変調回路で光のパルス列に置き換えら
れると同時に、投光器を通じ、光線信号と−して外部へ
送信される。その光線信号はスタッカークレーン上の伝
送装置１０の受光器で受信され、光復調回路で光のパル
ス列を電気信号に変換し、受信制御回路とＡＣＩＡＶ通
じて、演算装置内のＲＡＭと記憶装置内に記憶され、そ
の記憶信号は入庫作業の動作信号と出庫作業の動作信号
とを含む複合動作信号である。特に、複数のスタッカー
クレーンを動作させるために、管理装置内部で、各棚内
への物品格納時間を計測しておりその間に伝送装置を段
階的に旋回させ、定位置に停止したスタッカークレーン
の伝送装置Ｗとの動作信号を逐次受渡ししている。そし
て、前記記憶された動作信号なＣＰＵ２５が把握し、Ｆ
！Ｐ−ＲＯＭ２７内のシーケンス動作手順に基づいて、
フォーク装置ｑｔ駆動させることで、生産ツインから；
ンベアを介して流通して来た物品をフォーク上へ積載し
次に走行装置を駆動さ−せて、走行番地検出器で検出し
、目的番地との比較判断な実施して、走行しながら、昇
降装置を駆動させ、昇降動作を施して入庫動作を行なう
。その入庫動作が完了すると共に、ＣＰＵ！が働き、同
様に記憶装置内に記憶された出庫すぺ自回的の格納棚番
地までスタッカークレーンが移動し、欄内から目的の物
品を出庫し、棚の出庫口へスタッカークレーンを移動さ
せ出庫口で出庫コンベアへ積載させる。 以上、述べた如意、移動荷投機械の信号伝送装置を含む
システムの構成・動作であるから、本発明の一実施例に
よれば、地上に１台の旋回可能な伝送装置な設けて、管
理装置からの制御信号な光線信号で、定位置に停止した
複数のスタッカークレーン上の伝送装置へ送受信するこ
とができ、棚内への入出庫が自励的にで龜る失意物流シ
ステムにおいては、 （１）スタッカークレーン設備の増加に対して、地上側
の伝送設備は一状艙持で良いため、大規模なシステムに
なる鴨、経済的である。 （２）　　入庫口中出庫口で制御信号な送受信するため
、クレーンの複合動作に費やすサイクルタイムでクレー
ンの異常を監視できる。 （３）　　スタッカークレーン上の演算装置により、機
械の異常状態をセルフチェックすることができ、保守点
検が容易に行なえる。 勢の効果がある。 以上の如く、本発明の方法によれば、値数の移動荷投機
械に対する信号伝送が経済的に達成できる効果が得られ
る。[An optical modulation circuit that converts the pulse train into a light pulse train, a light projection method that transmits the pulse train to the outside as a light beam signal ν, and a reverse reception method in which the light beam from the transmission device 11 is received by a light receiver. , a reception control circuit that converts an optical pulse train into an electric signal using an optical demodulation circuit, and converts the signal into a signal to be transmitted to the ACIA II of the arithmetic unit n. The transmission device 11 is also a circuit similar to the transmission device gm. 5 is a pipe m device installed on the ground, and a CPU 40.
RAM41. BP-ROM42. PIA45. It is composed of the lem device a&and the AcIA store, and has the functions described above. In particular, commands from the operator are input to the gPIA 45 via the central terminal 20t, and the operating program 2m stored in the BP-ROM 42 compares and judges the goods with the inventory information in the storage device to place the goods in the destination fence or While creating a control signal to the stacker crane 2 to be delivered,
The multi-notch switching signal 18 is given from the PIA to the swing drive device 17 to rotate the swing drive device 17, and the light beam is transmitted in the direction of the transmission device W of the stacker crane 2 in the purpose column, towards the transmission device nt-, and between both devices. Transmits and receives control signals using the signal center. In such a configuration, a key manual instruction from an operator who operates the setting terminal and the central terminal provides the management device with an information signal for storing or unloading articles into the shelf. At the tube m* position, the information signal is compared with the inventory management information, the information signal of the target shelf is determined, and a notch switching signal is given from the tube m* position to the rotor drive landing. Light reception by the transmission devices on the stacker crane, with the drive device rotating step by step and the transmitter and receiver of the transmission device U stopping at fixed positions.
It becomes possible to transmit and receive optical signals between the projector and the projector. Then, the information signal is converted into a control signal by the CPU 41 in the tube 11 device, and the control signal is converted into an ACIA
44 and a transmission control circuit in the transmission device (1), the signal is converted into a time-division serial signal, replaced by a light pulse train in an optical modulation circuit, and simultaneously transmitted to the outside as a light beam signal through a light projector. The optical signal is received by the optical receiver of the transmission device 10 on the stacker crane, the optical demodulation circuit converts the optical pulse train into an electrical signal, and the optical signal is sent to the RAM and storage device in the processing unit through the reception control circuit and ACIAV. The stored signal is a composite operation signal including an operation signal for the warehousing operation and an operation signal for the retrieval operation. In particular, in order to operate multiple stacker cranes, the storage time of goods in each shelf is measured inside the management device, and during this time the transmission device is rotated step by step, and the transmission of the stacker crane stopped at a fixed position is performed. Operation signals are sequentially exchanged with the device W. Then, the CPU 25 grasps the stored operation signal and F
! Based on the sequence operation procedure in the P-ROM 27,
From the production twin by driving the fork device qt;
The goods that have been distributed via the conveyor are loaded onto the fork, and then the traveling device is driven, the traveling address detector detects the goods, and the goods are compared with the destination address, and while traveling, The elevating device is driven to perform elevating and lowering operations to perform storage operations. As soon as the warehousing operation is completed, the CPU! is activated, the stacker crane moves to the storage shelf address for the retrieval schedule stored in the storage device, removes the target item from within the column, moves the stacker crane to the retrieval opening of the shelf, and unloads the item. Load it onto the outbound conveyor at the mouth. As described above, the configuration and operation of the system including the signal transmission device of the mobile cargo dumping machine are explained.According to one embodiment of the present invention, one rotatable transmission device is provided on the ground for management. A light beam signal, which is a control signal from the device, can be sent to and received from the transmission device on multiple stacker cranes stopped at a fixed position. (1) As the number of stacker crane facilities increases, the transmission equipment on the ground side only needs to be kept for a while, making it economical to create a large-scale system. (2) Since control signals are sent and received at the entrance and exit, crane abnormalities can be monitored during the cycle time spent on the crane's complex operations. (3) The arithmetic unit on the stacker crane allows self-checking of machine abnormalities and facilitates maintenance and inspection. It has a powerful effect. As described above, according to the method of the present invention, it is possible to achieve the effect that signal transmission to a large number of moving dumping machines can be achieved economically.

【図面の簡単な説明】[Brief explanation of drawings]

置間による光線信号の送受信を行なっているスタッカー
クレーンの斜視図、第４図は本発明の実施例における制
御装置構成のブロック線である。 ２・・・・・・スタッカークレーン、５・・・・・・管
理装置、Ｗ・・・・・・伝送値Ｈ令、■・・・・・・伝
送装置キ、セ・・−・・光線信号、１７・・・・・・旋
回駆動装置、謡・・・・・・多段ノツチ切換信号、Ｗ・
・・・・・制御信号、＝・・曲走行番地検出器、コ・・
−・・演算装置、田・・−・・記憶装置、菖・・−・・
送信制御回路、あ・・−・・受信制御回路、菖・・−・
・光変調回路、訂・・−・・光復調回路、郭・−・・投
光器、９・・・・・・受光器 ｆ＋１２１ 才２ｔ２１FIG. 4, which is a perspective view of a stacker crane that transmits and receives light beam signals between stackers, is a block diagram of the configuration of a control device in an embodiment of the present invention. 2...Stacker crane, 5...Management device, W...Transmission value H command, ■...Transmission device K, C...Light beam Signal, 17...Swivel drive device, song...Multi-stage notch switching signal, W.
... Control signal, = ... Curved address detector, Co...
−・・Arithmetic device, field・−・・Storage device, irises・・・・
Transmission control circuit, ah...reception control circuit, irises...
・Optical modulation circuit, correction... Optical demodulation circuit, Guo... Emitter, 9... Receiver f+121 2t21

Claims (1)

【特許請求の範囲】 １、オペレータの所望の指令により情報信号を管理装置
内で、制御信号に変換し、地上側に設置された第１の伝
送装置と物品を荷役運搬する複数の移動荷投機械上に搭
載された第２の伝送装置との間で前記制御信号を光線に
て送受信し、前記第２の伝送装置を介して伝達された信
号な誼移動荷投機械の制御盤により駆動装置に与え、目
的位置に前記移動荷投機械を動作させる信号伝送装置に
おいて、前記複数の移動荷投機械におのおの演算装置と
記憶装置とを搭載し、前記目的位置に荷役運搬される物
品の位置情報を、前記管理装置から回転動する旋回駆動
装置上に設置された第１の伝送装置を介して定位置で停
止した前記複数の移動荷投機械上のＩｎ２の伝送装置に
送受信し、腋信号を電気信号に変換し、て、前記演算装
置と前＃！、記憶装置内へ入力すると共に、諌移動荷投
機械の位置情報を検知する検出器から取り込んだ信号と
の比較により、前記演算装置から出力信号を前記制御盤
に与え、前記駆動装置を動作させて、前記移動荷投機械
を移動させるようにしたことｔ４１徴とする移動荷投機
械の備考伝送方法。 ２、前記管理装置から多段ノツチ切換え信号を前記旋回
部ｍ装置へ伝達して、該旋關駆動装置を段階的に回転動
作させ、前記第１の伝送装置からの前記制御信号を定位
置で停止した前記移動荷投機械上の前記第３の伝送装置
へ送受信することを特徴とする特許請求の範ｆｉ第１項
記載の移動荷投機械の信号伝送装置。[Scope of Claims] 1. Information signals are converted into control signals within a management device according to a desired command from an operator, and a first transmission device installed on the ground side and a plurality of mobile cargo dumpers that handle and transport goods are connected. The control signal is transmitted and received by a light beam to and from a second transmission device mounted on the machine, and the control panel of the moving cargo dumping machine transmits the control signal transmitted through the second transmission device to the drive device. In the signal transmission device for operating the mobile cargo dumping machine at a destination position, the plurality of mobile cargo dumping machines are each equipped with an arithmetic unit and a storage device, and the signal transmission device transmits position information of articles to be handled and transported to the destination position. is transmitted and received from the management device to the In2 transmission device on the plurality of mobile load-throwing machines stopped at a fixed position via a first transmission device installed on a rotating swing drive device, and an armpit signal is transmitted and received. Convert it into an electrical signal, and then use the arithmetic device and the #! , inputting it into the storage device and comparing it with a signal taken in from a detector that detects the position information of the vertically movable cargo dumping machine, gives an output signal from the arithmetic unit to the control panel, and operates the drive device. A method for transmitting notes for a mobile load dumping machine, characterized in that the mobile load dumping machine is moved. 2. Transmit a multi-stage notch switching signal from the management device to the swivel unit m device to rotate the swivel drive device step by step, and stop the control signal from the first transmission device at a fixed position. 2. A signal transmission device for a mobile load dumping machine according to claim 1, wherein the signal transmission device transmits and receives signals to said third transmission device on said mobile load dumping machine.