JP6424705B2 - Carrier system - Google Patents

Description

  The present invention relates to a carrier system. In particular, the present invention comprises a rack having a plurality of racks, a track provided along the rack at a position higher than the plurality of racks, and a carrier that travels along the track and lifts and lowers the elevator platform. The present invention relates to a carrier system.

  Conventionally, in a clean room and a general distribution warehouse, a carrier system is employed. The carrier system is a system in which the overhead carrier is caused to travel along a traveling rail provided on a ceiling in order to transport an article.

The overhead transport vehicle has a traveling device which travels along a traveling rail, an elevator platform on which articles are held, and an elevation driving unit capable of moving up and down the elevator platform. The elevating drive unit has a belt capable of suspending and elevating the elevating table, and a belt drive mechanism capable of feeding out and winding up the belt (see, for example, Patent Document 1).
According to Patent Document 1, the overhead transport vehicle can travel between racks provided with a plurality of shelves and arranged in parallel, and with the elevator platform positioned near the rack shelves, articles can be transferred to and from the shelves. Transfer.

Japanese Patent Application Laid-Open No. 63-242809

When the overhead transportation vehicle transfers a load to and from each shelf of the rack, the lifting and lowering drive lifts the lifting and lowering stand while traveling by the traveling device, so that the lifting and lowering stand is a target shelf in a short time. You can arrive at
On the other hand, workers may enter or other facilities may be provided in locations other than the rack in the carrier system. However, in such a case, no specific proposal has been made to avoid a collision between the elevator and the operator or other equipment.

  An object of the present invention is to prevent a carrier vehicle from colliding with an obstacle present below the track in a carrier system.

  Below, a plurality of modes are explained as a means to solve a subject. These aspects can be arbitrarily combined as needed.

A carrier system according to the present invention includes a rack, a track, and a carrier.
The rack has a plurality of shelves.
The track is provided along the rack at a position higher than the multistage shelf.
The transport vehicle is capable of moving up and down including at least a section corresponding to a rack on the track, a traveling device traveling on a track, an elevator platform for holding luggage, an elevator apparatus for suspending the elevator platform from the traveling device and raising and lowering the elevator platform A section and an elevation restricted section are stored, and the controller has a controller that raises and lowers the elevator platform by the elevator apparatus only in the elevation accessible section.
In this system, the controller raises and lowers the lifting platform by the lifting device only in the liftable section. That is, the controller does not raise and lower the elevator platform while traveling in the elevation restricted zone. Thus, in the carrier system, the carrier does not collide with an obstacle present below the track.

When the traveling device starts traveling toward the elevation restricted zone from the state where the elevation platform is in the elevation accessible zone, the controller increases the elevation from the height position of the elevator stage to the elevation restricted zone traveling height position; The traveling speed of the traveling device to the end point may be determined in consideration of the traveling direction distance from the traveling direction stop position of the traveling device to the end point of the elevating section.
In this system, the controller calculates, for example, a reference lift time from the amount of increase, and further calculates a reference travel time from the travel direction distance. Next, if the reference elevating time is longer than the reference traveling time, the controller sets the traveling time to be longer than the reference traveling time, specifically, substantially the same as or longer than the reference elevating time. Then, the controller determines the traveling speed based on the set traveling time and the traveling direction movement distance. Thus, while the traveling device travels the elevating section, the elevator platform continues to ascend, and when the traveling device arrives at the end point of the elevating segment, the elevator table has already reached the elevation position during the elevation restricted zone traveling It is moving. As a result, when the transport vehicle shifts from the ascent and descent section to the ascent and descent section, traveling can be continued without stopping the transport vehicle. As a result, the carrying capacity of the carrier system is improved.

In order to move the platform to the target shelf in the section where it can move up and down while the platform is in the elevation restricted zone, the controller moves from the height position of the elevation restricted zone during traveling to the target shelf The traveling speed from the starting point of the traveling device to the target shelf may be determined in consideration of the descent amount of d and the starting point distance of the elevating section and the traveling direction distance to the target shelf.
In this system, for example, the controller calculates a reference lifting time from the descent amount, and further calculates the reference travel time from the travel direction distance. Next, if the reference elevating time is longer than the reference traveling time, the controller sets the traveling time to be longer than the reference traveling time, specifically, substantially the same as or longer than the reference elevating time. Then, the controller determines the traveling speed based on the set traveling time and the traveling direction movement distance. Thus, while the traveling device travels the elevating section, the elevator platform continues to descend, and when the traveling device arrives at the target shelf position in the traveling direction, the elevator platform is already at the height of the target shelf. Has moved to the
As a result, when the transport vehicle moves to the target shelf position in the elevating section, the stopping time for the traveling device to wait for the elevation of the elevator does not occur. As a result, the carrying capacity of the carrier system is improved. This is because it is possible to reduce the possibility of congestion due to a plurality of carriers by shortening the stop time of the carriers. The reason why the possibility of traffic congestion can be reduced (that is, the transport efficiency does not decrease) even if the speed of the transport vehicle is lowered as described above is as follows. If the stopping time of the carrier is short, the possibility of stopping the following carrier is reduced. In such a case, the subsequent vehicles accelerate from a low speed state, but return to their original traveling speed faster than acceleration from a stop state.

  In the carrier system according to the present invention, the carrier is prevented from colliding with an obstacle present below the track.

FIG. 1 is a plan view of a carrier system according to an embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS The perspective view of a carrier system. Side view of a carrier system. FIG. 2 is a block diagram showing a control configuration of a carrier system. Control flow chart of the carrier system. The schematic diagram which shows the conveyance vehicle which drive | works an elevation possible area and an elevation restriction | limiting area. The control flowchart which shows traveling speed determination 1. FIG. The schematic diagram which shows the positional relationship at the time of the conveyance vehicle located in a rise-and-fall possible area moving to the target shelf. The schematic diagram which shows the positional relationship at the time of the conveyance vehicle located in a rise-and-fall possible area moving to the target shelf. 6 is a control flowchart showing traveling speed determination 2; The schematic diagram which shows the positional relationship at the time of a lift platform moving to the end point of a drivable area.

1. First Embodiment (1) Layout of Carrier System The layout of the carrier system 1 will be described with reference to FIG. FIG. 1 is a plan view of a carrier system according to an embodiment of the present invention.
As shown in FIG. 1, the carrier system 1 includes an automatic warehouse 3, a ceiling rail 5, and a plurality of carriers 7. The ceiling rail 5 (an example of a track) is suspended from the ceiling 11 by a plurality of columns 9 as shown in FIGS. 2 and 3. The ceiling rail 5 is a rail on which the carrier vehicle 7 travels, and includes a plurality of junctions 13. The traveling direction of the carrier 7 is one direction or both directions. The branching / joining unit 13 is a section in which branching and merging are performed, and branching or straight traveling (in the case of branching) or straight traveling or merging (in the case of merging) is performed by moving the rails by the upper controller. The structure of the ceiling rail 5 at the junction 13 is similar to, for example, a known overhead carrier system.

For example, a receiving area 21, a shipping area 23 and a picking area 25 are provided on four sides of the automatic warehouse 3.
The arrival area 21 is, for example, an area where articles transported by a truck or the like are placed on a pallet.

The shipping area 23 is, for example, an area on which items assembled so as to be carried out by a truck or the like are placed.
The picking area 25 is, for example, an area where articles are picked for each shipping destination and transferred to a tray.

(2) Structure of Rack of Automatic Warehouse The structure of the rack 31 of the automatic warehouse 3 will be described with reference to FIGS. 2 and 3. FIG. 2 is a perspective view of a carrier system. FIG. 3 is a side view of a carrier system.
The automated warehouse 3 has a plurality of racks 31. Each of the racks 31 is a structure having a plurality of shelves 33 arranged vertically and horizontally, and the respective racks 31 are arranged in parallel. More specifically, each rack 31 is disposed back to back with the other racks 31 to realize a pair of rack structures. And the ceiling rail 5 is arrange | positioned on the passage between each pair of racks. The ceiling rail 5 is at a higher position than the shelves 33 of multiple tiers.

(3) Transport Vehicle The transport vehicle 7 mainly includes a traveling device 15, a lifting platform 17, and a lifting device 19. The traveling device 15 is a mechanism for traveling the ceiling rail 5. The elevator 17 is a structure on which a load is placed. In this embodiment, the elevating table 17 is provided with a transfer device 18.
The lifting device 19 is a mechanism for suspending the lifting platform 17 from the traveling device 15 and moving the lifting platform 17 up and down. The lifting and lowering device 19 has lifting and lowering means (not shown) for lifting and lowering the lifting and lowering stand 17 from the traveling device 15. The elevating means is, for example, four sets of winding drums, and a belt 39 is wound around the winding drum. A lift 17 is attached to an end of the belt 39. FIG. 2 and FIG. 3 show a state where the belt 39 is unwound from the winding drum and the elevator 17 is lowered together with the load.

(4) Control Configuration of Carrier System The control configuration of the carrier system will be described with reference to FIG. FIG. 4 is a block diagram showing a control configuration of the carrier system.
The carrier 7 has a controller 41. The controller 41 is a computer including a CPU, a RAM, a ROM and the like and executing a program. As shown in FIG. 4, the controller 41 has a memory 43. The memory 43 stores elevating section data and elevating restriction section data. The ascent and descent section data is data indicating the position of the ascent and descent section 51 in the layout of the ceiling rail 5. The elevation restriction zone 53 is data indicating the position of the elevation restriction zone 53 in the layout of the ceiling rail 5.
The liftable section 51 at least includes a section corresponding to the rack 31. As shown in FIG. 1, the elevating section 51 (solid line) is set to include the rack 31, the receiving area 21, the shipping area 23, the picking area 25, and their front and back. Further, the elevation restriction section 53 (broken line) is set to an area other than the elevation section 51.

The elevating section 51 is a section in which the elevating device 19 is capable of elevating the elevating table 17. In this section, the height position of the elevating table 17 is not limited.
The elevation restriction section 53 is an section in which the elevation device 19 is restricted from raising and lowering the elevation table 17. In this section, the height position of the elevation table 17 is limited. The lifting platform 17 is disposed at a reference height position (one example of the height position at the time of traveling in the elevation restricted zone) in which the collision is surely avoided. In this embodiment, the reference height position is the highest position, ie the position closest to the traveling device 15.

  Each controller 41 can communicate with the host controller 47. The upper controller 47 is a computer including a CPU, a RAM, a ROM and the like and executing a program. The upper controller 47 manages a plurality of transport vehicles 7 and has an allocation function of allocating a travel command or a transport command to these. The "transfer instruction" includes a traveling instruction, and a transfer instruction including a loading position and a unloading position.

  According to the above configuration, the controller 41 raises and lowers the elevating table 17 only in the elevating section 51. That is, the controller 41 does not raise and lower the lifting platform 17 while traveling in the lifting-limiting section 53. Thus, the carriage 7 does not collide with an obstacle present below the ceiling rail 5 in the elevation restricted section 53 of the carriage system 1.

The controller 41 is connected to the traveling device 15, the lifting device 19, and the transfer device 18, and the controller 41 can transmit a drive signal to those motors.
Although not shown, various sensors are connected to the controller 41.

(5) Transport Control Operation The transport control operation of the carrier 7 by the controller 41 will be described using FIGS. 5 and 6. FIG. 5 is a control flowchart of the carrier system. FIG. 6 is a schematic view showing a conveyance vehicle which travels the elevating section and the elevating restriction section.
Note that the control flowchart in the present specification is an example, and the order of each step may be changed or each step may be omitted as necessary. Also, if necessary, multiple steps may be performed at the same timing.

(5-1) Overall Control Operation In FIG. 5, the controller 41 receives a transport command from the host controller 47 in step S1.
In step S <b> 2, the controller 41 determines whether the current position of the carrier 7 is the ascent / descent section 51. If the current position is the ascent and descent section 51 (Yes at step S2), as in the case of the transport vehicle 7 on the left side of FIG. 6, the process proceeds to step S3. If the current position is the elevation restricted section 53 (No at step S2), as in the case of the conveyance vehicle 7 on the right side of FIG. 6, the process proceeds to step S14. In step S14, the controller 41 causes the traveling device 15 to continue traveling. As a result, the transport vehicle 7 continues traveling in the elevation restriction section 53 while maintaining the elevation platform 17 at the reference height position.

In step S3, it is determined whether or not the intended shelf 33 included in the transport command is present in the ascent / descending section 51. If it exists (Yes in step S3), the process proceeds to step S4. If it does not exist (No in step S3), the process proceeds to step S8.
Steps S <b> 4 to S <b> 7 described below are control operations in the case where the target shelf 33 is present in the liftable section 51.

In step S4, the controller 41 executes "traveling speed determination 1". This operation will be described later with reference to FIG.
In step S5, the controller 41 keeps sending the running command (including the decided running speed command) to the running device 15, and keeps sending the lifting and lowering command to the lifting and lowering device 19. As a result, the elevator 17 moves up and down while the traveling device 15 travels.

In step S6, the controller 41 determines whether the elevator 17 has arrived at the target shelf 33. If it has arrived (Yes in step S6), the process proceeds to step S7. If it has not arrived (No in step S6), the process returns to step S5. That is, the traveling device 15 travels until the target shelf 33 is reached, and the lifting device 19 lifts the lifting platform 17.
In step S7, the transfer device 18 transfers the article between the elevator 17 and the shelf 33.

Steps S <b> 8 to S <b> 12 described below are control operations in the case where the target shelf 33 is not present in the liftable section 51.
In step S8, the controller 41 executes "traveling speed determination 2". This operation will be described later with reference to FIG.

In step S9, the controller 41 keeps sending the running command (including the decided running speed command) to the running device 15, and keeps sending the lifting and lowering command to the lifting and lowering device 19. As a result, the elevator 19 raises and lowers the elevator 17 while the traveling device 15 travels.
In step S <b> 10, the controller 41 determines whether the traveling device 15 has arrived at the end point of the elevating section 51. If it has arrived (Yes in step S10), the process proceeds to step S11. If it has not arrived (No in step S10), the process returns to step S9. That is, the traveling device 15 travels until the traveling device 15 arrives at the end point of the elevating section 51, and the elevating device 19 raises and lowers the elevating table 17.

  In step S11, the controller 41 determines whether the elevator 17 is at the reference height position. If it is at the reference height position (Yes in step S11), the process proceeds to step S12. In step S12, the controller 41 causes the traveling device 15 to continue traveling. As a result, the transport vehicle 7 continues traveling on the elevation restricted zone 53 while maintaining the elevator platform 17 at the reference height position. If it is not the reference height position (No in step S11), the process proceeds to step S13. In step S13, the controller 41 abnormally stops the transport vehicle 7. As a result, in the elevation restriction section 53, the elevation platform 17 does not exist at height positions other than the reference height position.

(5-2) Travel speed determination 1
The travel speed determination 1 in step S4 of FIG. 5 and the operation of the transport vehicle 7 thereafter will be described with reference to FIGS. 7 to 9. FIG. 7 is a control flowchart showing traveling speed determination 1. FIG. 8 and FIG. 9 are schematic views showing the positional relationship when the transport vehicle located in the elevating section moves to the target shelf. Note that "determining the traveling speed" means determining a traveling speed pattern including acceleration, constant speed, and deceleration.
In FIG. 7, in step S <b> 21, the controller 41 calculates traveling travel time to the target shelf 33 in the traveling device 15. The traveling movement time is calculated from the traveling direction distance (for example, L ₁ , L ₂ ) between the current position and the target shelf 33 and the corresponding reference traveling speed pattern V _1ref (for example, maximum traveling speed pattern V _1max ) . The “traveling speed pattern” includes, for example, information on acceleration and deceleration and a constant speed.

In step S22, the controller 41 calculates the up and down movement time to the target shelf 33 in the lifting and lowering device 19. The elevation movement time is calculated from the elevation direction distance (for example, H ₁ , H ₂ ) between the current position and the target shelf 33 and the corresponding reference elevation speed pattern V _2ref (for example, maximum elevation speed pattern V _2max ) . Note that the “lifting speed pattern” includes, for example, information on acceleration / deceleration and constant speed.
In step S23, the controller 41 determines whether the elevating movement time is longer than the traveling movement time. If it is long (Yes in step S23), the process proceeds to step S25. If it is not long (No in step S23), the process proceeds to step S24.

In step S24, the controller 41 sets the traveling speed pattern to the reference traveling speed pattern _V1ref . In this case, the elevator 17 has already arrived at the elevating direction position of the target shelf 33 by the time the traveling device 15 arrives at the traveling direction position of the target shelf 33.
In step S25, the controller 41 sets a traveling speed pattern so that the traveling time becomes equal to the elevation time. In this case, the elevator 17 arrives at the elevating direction position of the target shelf 33 at the same time as the traveling device 15 arrives at the traveling direction position of the target shelf 33.

As described above, the controller 41 controls the elevator 17 to move the elevator 17 toward the target shelf 33 in the elevator 51 while the elevator 17 is in the elevation restriction section 53. From the starting point of the traveling device 15 to the target shelf 33 in consideration of the descent distance from the reference height position of the target to the target shelf 33 and the traveling direction distance to the starting point of the elevating section 51 and the target shelf 33 The traveling speed pattern is determined.
Specifically, for example, the controller 41 calculates the reference lifting time from the lowering amount, and further calculates the reference traveling time from the traveling direction distance. Next, if the reference elevating time is longer than the reference traveling time, the controller 41 sets the traveling time to be longer than the reference traveling time, and specifically, sets the traveling time substantially equal to or longer than the reference elevating time. Then, the controller 41 determines the traveling speed (that is, the traveling speed pattern) based on the set traveling time and the traveling direction movement distance. As a result, while the traveling device 15 travels the elevating section 51, the elevator 17 continues to descend, and at the position of the target shelf 33 in the traveling direction, the elevator 17 already has the height of the target shelf 33. It has moved to the position.
More specifically, as shown in FIG. 8 and FIG. 9, the elevator 17 moves up and down while the traveling device 15 travels. FIG. 8 shows the movement of the elevator 17 from the shelf 33 to the shelf 33. Further, FIG. 9 shows an operation in which the lift 17 enters the liftable section 51 from the lift restricted section 53 and then moves to the target shelf 33.

As a result, when the transport vehicle 7 moves to the target shelf 33 position in the elevating section 51, the traveling device 15 does not stop in order to wait for the lifting and lowering of the lifting and lowering stand 17. As a result, the carrying capacity of the carrier system 1 is improved. This is because the stopping time of the transport vehicle 7 at the position corresponding to the target shelf 33 can be shortened, thereby reducing the possibility of congestion by the plurality of transport vehicles 7.
In addition, since the transport vehicle 7 approaches the target shelf 33 at a lower speed, it is possible to reduce the swing of the elevator 17 at the time of stop.

(5-3) Travel speed determination 2
The travel speed determination 2 in step S8 of FIG. 5 and the operation of the transport vehicle 7 thereafter will be described with reference to FIGS. 10 and 11. FIG. 10 is a control flowchart showing traveling speed determination 2. FIG. 11 is a schematic view showing the positional relationship when the elevator platform moves to the end point of the travelable section.
In FIG. 10, in step S31, the controller 41 determines whether the elevator 17 is at the reference height position. If it is the reference height position (Yes in step S31), the process proceeds to step S24, where the traveling speed pattern is set to the reference traveling speed pattern _V1ref . If it is not the reference height position (No in step S31), the process proceeds to step S32.

In step S <b> 32, the controller 41 calculates traveling travel time until the end point of the elevating section 51 in the traveling device 15. The traveling movement time is calculated from the traveling direction distance (for example, L ₃ ) between the current position and the end point and the corresponding reference traveling speed pattern V _1ref (for example, maximum traveling speed pattern V _1max ).
In step S33, the controller 41 calculates the elevating movement time to the reference height position in the elevating device 19. The lifting and lowering movement time is calculated from the lifting direction distance (H ₃ ) between the current position and the end point and the reference lifting and lowering speed pattern V _2ref (for example, maximum lifting and lowering speed pattern V _2max ).
In step S23, the controller 41 determines whether the elevating movement time is longer than the traveling movement time. If it is long (Yes in step S23), the process proceeds to step S25. If it is not long (No in step S23), the process proceeds to step S24.

In step S24, the controller 41 sets the traveling speed to the reference traveling speed pattern V 1 _ref . In this case, the elevator 17 has arrived at the reference height position by the time the traveling device 15 arrives at the travel direction position at the end point.
In step S25, the controller 41 sets a traveling speed pattern so that the traveling time becomes equal to the elevation time. In this case, the elevator 17 arrives at the reference height position at the same time as the traveling device 15 arrives at the travel direction position at the end point. That is, the transport vehicle 7 can enter the elevation restricted zone 53 without stopping at the end point.

As described above, when the traveling device 15 starts traveling from the state where the elevating table 17 is in the elevating section 51 toward the elevating restricted zone 53, the controller 41 determines the reference from the height position of the elevating table 17 In consideration of the amount of rise up to the height position (an example of the height position at the elevation restricted section traveling) and the traveling direction distance from the traveling direction stop position of the traveling device 15 to the end point of the elevating section 51 The traveling speed of the traveling device 15 is determined.
Specifically, for example, the controller 41 calculates the reference lifting time from the amount of increase, and further calculates the reference travel time from the travel direction distance. Next, if the reference elevating time is longer than the reference traveling time, the controller 41 sets the traveling time to be longer than the reference traveling time, and specifically, sets the traveling time substantially equal to or longer than the reference elevating time. Then, the controller 41 determines the traveling speed (that is, the traveling speed pattern) based on the set traveling time and the traveling direction movement distance.
Thus, as shown in FIG. 11, the elevator 17 continues to rise while the traveling device 15 travels the elevating section 51, and at the end of the elevating section 51, the elevator 17 is already at the reference height. It has moved to the position. As a result, when the transport vehicle 7 shifts from the liftable section 51 to the lift restricted section 53, the transport vehicle 7 continues traveling without stopping. As a result, the carrying capacity of the carrier system 1 is improved.

2. Characteristics of the embodiment The carrier system 1 (an example of a carrier system) includes a rack 31 (an example of a rack), a ceiling rail 5 (an example of a track), and a carrier 7 (an example of a carrier) There is.
The rack 31 has a plurality of shelves 33.
The ceiling rail 5 is provided along the rack 31 at a position higher than the shelves 33 of the plurality of stages.

The transport vehicle 7 includes a traveling device 15 for traveling the ceiling rail 5, an elevator 17 for holding luggage, an elevator 19 for suspending the elevator 17 from the traveling device 15 and raising and lowering the elevator 17, and the ceiling rail 5. In the upper and lower limit sections 53, the controller 41 stores the liftable section 51 including at least a section corresponding to the rack 31 and the lift restricted section 53. The controller 41 moves the lift 17 up and down by the lift device 19 only in the liftable section 51.
A state in which the entire route is stored and one of the elevating section and the elevating restriction section is stored can be said to store the elevating section and the elevating restriction section.

  In the carrier system, the controller 41 raises and lowers the elevator 17 by the elevator 19 only in the elevating section 51. That is, the controller 41 does not raise and lower the elevation platform 17 in the elevation restriction section 53. Thus, in the carrier system 1, the carrier 7 does not collide with an obstacle present below the ceiling rail 5.

3. Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention. In particular, the embodiments and modifications described herein may be arbitrarily combined as needed.
(1) In the embodiment, the elevating section is defined between the start point and the end point of the rack, but the elevating section only needs to include at least a section corresponding to the rack. It is not limited. For example, the elevating section may be provided to the outside of the start point or the end point of the rack.
(2) Although the package is placed on the elevator platform in the above embodiment, the package is not limited to the above embodiment as long as the package is held by the elevator platform. For example, the elevator may have a structure for gripping a load.

(3) Although the transfer device is mounted on the elevating table in the above embodiment, it is not limited to the above embodiment because it is only necessary to transfer the load between the elevating table and the shelf. For example, the transfer device may be provided on a shelf.
(4) Although the reference height position of the elevator platform in the elevation restricted section is the highest position in the embodiment, the elevator platform is not limited to the above embodiment because it does not have to collide with the obstacle located below. For example, the reference height position may be an upper position below the top position.

(5) Although the reference height position of the elevator platform in the elevation restricted section is constant in the embodiment, the elevator platform is not limited to the embodiment because it is not necessary to collide with the obstacle located below. For example, the reference height position may be set to be different depending on the elevation restriction section.
(6) Although the travel speed of the travel device is adjusted in the embodiment, the elevation speed of the elevator platform may be adjusted by the elevator device.

  The present invention provides a carriage having a rack having a plurality of racks, a track provided along the rack at a position higher than the plurality of racks, and a carrier that travels along the track and raises and lowers the elevator platform. Widely applied to the system.

DESCRIPTION OF SYMBOLS 1: Carrier vehicle system 3: Automatic warehouse 5: Ceiling rail 7: Carrier 9: Support pillar 11: Ceiling 13: Branching junction part 15: Traveling device 18: Transfer device 17: Lifting platform 19: Lifting device 19: Lifting device 21: Receiving area 23 : Shipping area 25: Picking area 31: Rack 33: Shelf 39: Belt 41: Controller 43: Memory 47: Upper controller 51: Liftable section 53: Lifting restricted section

Claims (3)

A rack with multiple tiers of shelves,
A track provided along the rack at a position higher than the plurality of shelves;
The traveling device for traveling on the track, a lifting platform for holding a load, a lifting device for suspending the lifting platform and lifting the lifting platform from the travel device, and at least a section corresponding to the rack in the track A transport vehicle storing a elevating section and a elevating restricted section, and having a controller for elevating the elevating table by the elevating device only in the elevating section;
Carrier system equipped with   When the traveling device starts traveling toward the elevation restricted zone from the state where the elevation platform is in the elevation accessible zone, the controller is configured to move from the height position of the elevator stage to the elevation restricted zone traveling height position The traveling speed of the traveling device to the end point is determined in consideration of the amount of increase up to and the traveling direction distance from the traveling direction stop position of the traveling device to the end point of the elevating section. Carrier system as described.   In performing the operation of moving the lift platform toward a target shelf in the liftable section from the state in which the lift platform is in the lift limit section, the controller is configured to move the height of the lift platform during the lift limit section traveling time. The traveling speed from the starting point of the traveling device to the target shelf is determined taking into consideration the amount of descent from the position to the target shelf, and the distance from the starting point of the elevating section to the target shelf. The conveyance vehicle system of Claim 1 or 2 which determines.

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