Patent ID: 11966231
Assignee: DAIFUKU CO., LTD.
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 0:
1. An article transport facility comprising:
a transport vehicle comprising at least one travel unit, the transport vehicle being configured to travel along a travel path and transport an article; and
a control unit included in the transport vehicle and configured to control a travel operation of the at least one travel unit,
wherein, in a case of changing a traveling speed of the transport vehicle, in order for the traveling speed of the transport vehicle to reach a target speed at a target position that is on a downstream side in the travel path relative to a current position of the transport vehicle, the control unit generates reference speed commands in accordance with a traveling speed time change pattern according to which travel acceleration changes in a stepwise manner, generates a moving average command obtained using a moving average of the reference speed commands in a set period, and controls the travel operation of the at least one travel unit based on the moving average command, and
wherein the control unit changes the traveling speed of the transport vehicle in accordance with the traveling speed time change pattern earlier as the set period is longer.