| 摘要 |
PROBLEM TO BE SOLVED: To provide a method of controlling the operation of a stacker crane, which can detect occurrence of a count miss so as to deliver an abnormal signal indicating the count miss, without using additional sensors or the like. SOLUTION: In a method of controlling the operation of a stacker crane in which a running carrier and an elevating carriage are moved at present positions to target positions, a distance between the present position and the target position, an acceleration and a deceleration in an acceleration process, a deceleration process, and a high speed in a high speed process which can be obtained from a distance in a low speed process, are determined, a traveling time from the present position and a position where a first deceleration process is started in the case of movement with a certain acceleration and at a high speed, is obtained, and simultaneously with a start from the present position, timer measurement is carried out. When the time measured by the timer reaches the traveling time, it is stopped at the target position through the first deceleration process, the low speed process and the second deceleration process. Further, after it reaches a low speed in the low speed process, when a next predetermined position striker is detected, a count value indicating the shifted present position is compared with a count value indicating the target position, and if both are not coincident with each other, an abnormal signal is outputted.
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