Traveling body system, automated storage and retrieval system, and method for controlling traveling body

• US 7,257,463 B2
• Filed: 03/05/2004
• Issued: 08/14/2007
• Est. Priority Date: 03/07/2003
• Status: Active Grant

• Current Assignee: Daifuku Company Limited
• Original Assignee: Daifuku Company Limited
• Inventors: Taguchi, Kazuhiro, Ueda, Yuichi
• Primary Examiner(s): Tran; Khoi H.
• Application Number:
  US10/793,226
• Publication Number:
  US 20040184901A1
• Time in Patent Office: 1,257 Days
• Field of Search: 700/213, 700/214, 414/279, 414/281, 414/266, 414/269, 414/270, 414/277
• US Class Current: 700/214
• CPC Class Codes: B65G 1/0421 with control for stacker crane operations
• CPC Class Codes: B65G 1/0492 with cars adapted to travel in storage aisles

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.

Claims

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 which is fixed, the optical traveling-body distance-measuring unit optically measuring a distance from the traveling body measuring position to the traveling body by the traveling body measuring instrument;

a controller having a fixed position for calculating a position of the traveling body based on distance data obtained by the optical traveling-body distance-measuring unit;

a control signal transmitter optically transmitting control signals to the traveling body that controls the movement of the traveling body; and

an optical moving-body distance-measuring unit having a moving body measuring instrument provided at a moving-body measuring position which is fixed, and a reflecting member provided on the traveling body, the optical moving-body distance-measuring unit optically measuring a distance from the moving body measuring instrument to a moving body, which is movably provided on the traveling body, by the moving body measuring instrument via the reflecting member,

wherein said transmitter generates said control signals based on the position of the traveling body, and

wherein the controller calculates a position of the moving body, based on distance data obtained by the optical moving-body distance-measuring unit.

5. The traveling body system according to claim 1, wherein the controller calculates a position of the moving body based on distance data obtained by the optical moving-body distance-measuring unit and the optical traveling-body distance-measuring unit.

7. The traveling body system according to claim 1, wherein the traveling-body measuring position and the moving-body measuring position are located at approximately the same position.

9. The traveling body system according to claim 1, wherein the reflecting member reflects a measurement transmission from the moving body measuring instrument in a direction approximately orthogonal to the predetermined route of the traveling body.

11. The traveling body system according to claim 1, further comprising:

a transfer device movably provided on the moving body.

12. The traveling body system according to claim 1, wherein a position of said traveling body is sensed directly by the traveling-body distance-measuring unit.

13. The traveling body system according to claim 1, wherein said control signals remotely control the motion of the traveling body.

2. An automated storage and retrieval system comprising:

an article storage section for storing an article;

an article transporting unit which travels a predetermined route along the article storage section;

an article traveling-body distance-measuring unit having a traveling body measuring instrument provided at a traveling-body measuring position which is fixed, the optical traveling-body distance-measuring unit optically measuring a distance from the traveling body measuring position to the article transporting unit by the traveling body measuring instrument;

a controller having a fixed position for calculating a position of the article transporting unit based on measured data obtained by the optical traveling-body distance-measuring unit; and

an optical control signal transmitter optically transmitting control signals to the article transporting unit that controls the movement of the article transporting unit,

wherein said transmitter generates said control signals based on the position of the article transporting unit.

3. The automated storage and retrieval system according to claim 2, further comprising:

a lifting body having a transfer unit for transferring the article between the article storage section and lifting body, the lifting body provided vertically movably to the article transporting unit; and

an optical moving-body distance-measuring unit having a moving body measuring instrument provided at a moving-body measuring position which is fixed and a reflecting member provided to the article transporting unit, the optical moving-body distance-measuring unit optically measuring a distance from the moving body measuring instrument to the lifting body by the moving body measuring instrument,

wherein the controller calculates a position of the lifting body, based on measured data obtained by the optical moving-body distance-measuring unit.

4. The automated storage and retrieval system according to claim 3, wherein the moving-body measuring position is set at a position along the predetermined route, an optical axis of the moving-body distance-measuring unit is provided along a floor guiding member, and the reflecting member is provided on a bottom side of the article transporting unit, wherein a distance to the lifting body is measured from a lower side.

6. The automated storage and retrieval system according to claim 3, wherein the controller calculates a position of the lifting body based on measured data obtained by the optical moving-body distance-measuring unit and the optical traveling-body distance-measuring unit.

8. The automated storage and retrieval system according to claim 2, wherein the traveling-body measuring position and the moving-body measuring position are located at approximately the same position.

10. The automated storage and retrieval system according to claim 2, wherein the reflecting member reflects a measurement transmission from the moving body measuring instrument in a direction approximately orthogonal to the predetermined route of the traveling body.