Traveling body system, automated storage and retrieval system, and method for controlling traveling body
First Claim
1. A traveling body system comprising:
- an optical traveling-body distance-measuring unit having a traveling body measuring instrument provided at a traveling-body measuring position set on a fixed side, the optical traveling-body distance-measuring unit measuring optically a distance from the traveling body measuring instrument to a traveling body, which can travel on a predetermined route, by the traveling body measuring instrument; and
a controller provided on the fixed side, for calculating a position of the traveling body, based on distance data obtained by the optical traveling-body distance-measuring unit.
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Abstract
A travel distance-measuring unit measures optically a distance to a stacker crane by a travel distance-measuring sensor provided at a reference measuring position between the stacker crane that can travel on a predetermined route along a travel rail and a ceiling rail and the reference measuring position set on the ground side. A lift distance-measuring unit measures optically a distance to a lift table by a lift distance-measuring sensor provided at the reference measuring position via reflectors between the lift table 26 provided movably to the stacker crane, the reflectors provided to the lift table, and the reference measuring position P set on the fixed side. A ground side controller calculates a position of the stacker crane and a position of the lift table based on distance data derived by the travel distance-measuring unit and the lift distance-measuring unit.
21 Citations
12 Claims
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1. A traveling body system comprising:
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an optical traveling-body distance-measuring unit having a traveling body measuring instrument provided at a traveling-body measuring position set on a fixed side, the optical traveling-body distance-measuring unit measuring optically a distance from the traveling body measuring instrument to a traveling body, which can travel on a predetermined route, by the traveling body measuring instrument; and
a controller provided on the fixed side, for calculating a position of the traveling body, based on distance data obtained by the optical traveling-body distance-measuring unit. - View Dependent Claims (2)
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3. An automated storage and retrieval system comprising:
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an article storage section for storing an article;
an article transporting unit which can travel on a predetermined route along the article storage section;
an optical traveling-body distance-measuring unit having a traveling body measuring instrument provided at a traveling-body measuring position set on a fixed side, the first distance-measuring unit measuring optically a distance from the traveling body measuring instrument to the article transporting unit by the traveling body measuring instrument; and
a controller provided on the fixed side, for calculating a position of the article transporting unit based on measured data obtained by the optical traveling-body distance-measuring unit. - View Dependent Claims (5, 7, 9)
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4. An automated storage and retrieval system comprising:
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an article storage section for storing an article;
an article transporting unit which can travel on a predetermined route along the article storage section;
an optical traveling-body lower distance-measuring unit having a traveling-body lower measuring instrument provided at a traveling-body lower measuring position set on a fixed side, the optical traveling-body lower distance-measuring unit measuring optically a distance from the traveling-body lower measuring instrument to a lower portion of the article transporting unit by the traveling-body lower measuring instrument;
an optical traveling-body upper distance-measuring unit having a traveling-body upper instrument provided at a traveling-body upper measuring position which is over the traveling-body lower measuring position, the optical traveling-body upper distance-measuring unit measuring optically a distance from the traveling-body upper instrument to an upper portion of the article transporting unit by the traveling-body upper instrument;
a lower travel driving unit provided to the article transporting unit and guided by a floor guiding member along the predetermined route to drive the lower portion of the article transporting unit;
an upper travel driving unit provided to the article transporting unit and guided by a ceiling guiding member along the predetermined route to drive the upper portion of the article transporting unit; and
a controller provided on the fixed side, for controlling the lower travel driving unit and the upper travel driving unit, based on measured data obtained by the traveling-body lower distance-measuring unit and the traveling-body upper distance-measuring unit. - View Dependent Claims (6, 8, 10)
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11. A method for controlling a traveling body which can travel on a predetermined route, comprising:
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measuring optically a distance to a traveling body at a traveling-body measuring position set on a fixed side;
calculating a position of the traveling body by a controller provided on the fixed side, based on distance data obtained; and
controlling the traveling body by the controller provided on the fixed side, based on the calculated position of the traveling body. - View Dependent Claims (12)
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Specification