To provide a control device that can appropriately change an operation mode of an article movement mechanism in response to occurrence of an event, without stopping the article movement mechanism such as a cargo handling robot and an AGV.SOLUTION: A control device comprises operation plan revising means and control means. The operation plan revising means revises a formulated operation plan in which a plurality of passing-points including a starting point and an ending point of a moving line of an article movement mechanism which is moving an article and pieces of passing time at which the article movement mechanism passes through the respective passing-points are set, without changing the passing-points, of set values in the operation plan, to formulate a revised operation plan in which pieces of the passing time are delayed or put ahead. The control means operates the article movement mechanism on the basis of whether there is a factor inhibiting operation of the mechanism on the moving line. During the operation, the control means controls the operation of the article movement mechanism in accordance with the operation plan when there is no factor; and makes the operation plan revising means formulate a revised operation plan when there is the factor and controls the operation of the article movement mechanism in accordance with the revised operation plan.SELECTED DRAWING: Figure 1
【課題】荷役ロボットやAGVなどの物品移動機構を停止させることなく、イベントの発生に応じて物品移動機構の動作態様を適切に変更させる制御装置を提供する。【解決手段】制御装置は、動作計画修正手段と制御手段とを備える。動作計画修正手段は、物品の移動時における物品移動機構の動線の始点および終点を含む複数の経由点と、物品移動機構が各経由点を通過する通過時刻とをそれぞれ設定して策定された動作計画の設定値のうち、経由点を変更せずに、通過時刻を遅らせてもしくは早めて動作計画を修正した修正動作計画を策定する。制御手段は、動線での動作を妨げる要因の存否に基づいて、物品移動機構を動作させる。その際、制御手段は、前記要因が存在しない場合、動作計画に従って物品移動機構の動作を制御し、前記要因が存在する場合、動作計画修正手段に修正動作計画を策定させ、修正動作計画に従って物品移動機構の動作を制御する。【選択図】 図1
CONTROL DEVICE OF ARTICLE MOVEMENT MECHANISM
物品移動機構の制御装置
2022-02-18
Patent
Electronic Resource
Japanese
ARTICLE MOVEMENT DEVICE SYSTEM AND CONTROL PART OF THE SAME
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