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

• US 20040184901A1
• Filed: 03/05/2004
• Published: 09/23/2004
• Est. Priority Date: 03/07/2003
• Status: Active Grant

• Current Assignee: Daifuku Company Limited
• Original Assignee: Daifuku Company Limited
• Inventors: Ueda, Yuichi, Taguchi, Kazuhiro
• Granted Patent: US 7,257,463 B2
• Time in Patent Office: Days
• US Class Current: 414/270
• 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 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.

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

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

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

3. An automated storage and retrieval system comprising:

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.

5. The automated storage and retrieval system according to claim 3, 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 set on the fixed side and a reflecting member provided to the article transporting unit, the optical moving-body distance-measuring unit measuring optically 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.

7. The automated storage and retrieval system according to claim 5, 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 the 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.

9. The automated storage and retrieval system according to claim 5, 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 the ceiling guiding member, and the reflecting member is provided on a ceiling side of the article transporting unit, wherein a distance to the lifting body is measured from an upper side.

4. An automated storage and retrieval system comprising:

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.

6. The automated storage and retrieval system according to claim 4, 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 set on the fixed side and a reflecting member provided to the article transporting unit, the optical moving-body distance-measuring unit measuring optically 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.

8. The automated storage and retrieval system according to claim 6, 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 the 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.

10. The automated storage and retrieval system according to claim 6, 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 the ceiling guiding member, and the reflecting member is provided on a ceiling side of the article transporting unit, wherein a distance to the lifting body is measured from an upper side.

11. A method for controlling a traveling body which can travel on a predetermined route, comprising:

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.

12. The method for controlling a traveling body according to claim 11, further comprising:

measuring optically a distance to a moving body, which provided movably to the traveling body at a moving-body measuring position set on the fixed side;

calculating a position of the moving body by the controller provided on the fixed side, based on distance data obtained; and

controlling the moving body by the controller provided on the fixed side, based on the calculated position of the moving body.