JP2003054707A - Article storage facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide article storage facility capable of eliminating a necessity for redesigning sensors in accordance with articles even if there are various kinds of articles and investigating the cause of article position abnormality easily. SOLUTION: An imaging device 17 for photographing a condition of the article F on an elevating base 3 is provided on the elevating base 3 of a stacker crane C, and a crane controller CC which judges whether the article F on the elevating base 3 is good or not depending on the condition of the article F photographed by the imaging device 17 and informs when it judges that the article F on the elevating base 3 is not normal is provided. According to this configuration, it is possible to judge whether the article F on the elevating base 3 is good or not by image processing even if there are many kinds of articles F and eliminate a necessity for redesigning sensors in accordance with the articles F.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article storage facility such as an automated warehouse.

[0002]

2. Description of the Related Art Conventionally, the above-mentioned article storage facility is provided with a plurality of article storage sections for storing articles and article transport means for transporting articles between the article storage sections and a predetermined loading / unloading port. The article is configured to be taken in and out at the exit. That is, the article storage unit includes a storage rack in which a plurality of compartment storage spaces for storing the articles are arranged in parallel vertically and horizontally, and as the article transporting means, for example, a traveling vehicle body that travels along the storage rack. An elevating table (elevating body) that is elevated and lowered along a mast that is vertically installed on a vehicle body, and a fork device that is provided on the elevating table and moves the fork in and out of the article storage section and the carry-in / out port to transfer the article. An article loading / unloading device (stacker crane) having (delivery means for articles) is provided. By the operation of the stacker crane, loading and unloading of articles between the loading / unloading port and the article storage section, and transfer of articles between one article storage section of the storage shelf and the other article storage section are performed.

An article position abnormality detecting device (sensor) for detecting that the position of the article on the fork is abnormal due to the inclination of the posture of the article or the like is provided on the lifting table of the stacker crane. This sensor is composed of detection rods that are erected at the four corners of the lift table according to the prescribed dimensions of the article, that is, the length, height, and width of the article, and detects that the detection rod touches the article. Thus, the deviation of the placement position of the article on the fork and the inclination of the posture of the article are detected.

[0004]

However, in the conventional article storage facility, when the prescribed size of the article extends over many types,
Each time, it was necessary to redesign the detection rod according to the specified size of the article.

Further, the reason why the detection bar comes into contact with the article is whether the article originally contacted due to the inclination of the article (whether the article had a cause) or when the article was loaded on the stacker crane.
It may be unclear whether the stacker crane has come into contact with it due to being out of position (whether the stacker crane was the cause), and it takes time to find the cause, resulting in a long recovery time and actual work time. There was a problem that was reduced.

Therefore, the present invention provides an article storage facility that does not require redesigning the sensor for each article even if there are many types of articles and the cause of the article position abnormality can be easily determined. It is intended to be provided.

[0007]

In order to achieve the above-mentioned object, the invention according to claim 1 of the present invention comprises a plurality of article storage sections for storing articles, the article storage sections and a predetermined loading / unloading port. An article storage facility comprising: an article transporting means for transporting the article between the article transporting means and a control means for controlling the article transporting means to perform loading / unloading of the article at the loading / unloading port. An image pickup means for photographing the state of the article on the article conveying means is provided, and the quality of the article on the article conveying means is judged according to the state of the article photographed by the image pickup means, and a judgment means for notifying that it is not normal is given. Is provided.

Here, the image pickup means is composed of, for example, a CCD camera, and the judgment means is composed of a device having a function of executing image processing by the imaged data of the CCD camera.

According to the above arrangement, the state of the article on the article conveying means is photographed by the image pickup means, and the judging means
The contour or the like of the article is obtained from the imaged data output from the image pickup means, and the quality of the article on the article conveying means, for example, whether the position or posture of the article is normal is determined from the arrangement of the contour or the like, and is not normal. The determination is notified, and thus the worker can recognize that the article on the article transporting means is not normal. Further, even if there are many types of articles, the quality of the articles can be determined by image processing, so that it is possible to eliminate the need to redesign the sensor (article position abnormality detecting device) according to the articles.

The invention according to claim 2 is the invention according to claim 1, wherein the judging means determines whether the article is good or bad when the article is loaded on the article conveying means from the article storage section or the loading / unloading port. It is characterized by determining.

According to the above construction, when the articles are loaded on the article transport means from the article storage section or the loading / unloading port, the quality of the articles is judged, so that the article transport means is loaded at the time when the articles are loaded on the article transport means. It is possible to recognize whether or not the above article is normal, and when the worker is informed that the article is not normal, it is possible to recognize that there is a problem in the stop position of the article transporting means at the time of loading.

The invention according to claim 3 is the invention according to claim 1 above, wherein the judgment means is such that when the articles are loaded on the article conveying means from the article storage portion or the loading / unloading port, the articles are normal. If it is determined that the product is not, the product is returned to the original product storage unit or the loading / unloading port.

According to the above construction, when the judging means judges that the article is not normal when the article is loaded onto the article conveying means from the article storing section or the carry-in / out port, the article is returned to the original article storing section or the carry-in section. By being returned to the exit, it is possible to prevent the occurrence of a situation such as the collapse of the article during transportation by the article transporting means.

The invention according to claim 4 is the invention according to any one of claims 1 to 3, wherein the judging means determines that the article is placed on the article conveying means from the article storage section or the loading / unloading port. When the goods are judged to be good or bad when they are loaded, and when it is judged that the goods are not normal, statistics of the degree of abnormality are taken for each of the article storage units or the loading / unloading ports, and the loading position of the articles of the article transporting means is corrected. It is characterized by doing.

According to the above-mentioned structure, the statistics of the abnormal degree are obtained for each article storage section or the carry-in / out port, and for example, the average deviation amount of the article when it is determined that the article is not normal is obtained. Based on the above, the loading position of the articles in the article conveying means is corrected. Therefore, the possibility that the position of the article becomes normal increases.

Further, the invention according to claim 5 is the invention according to any one of claims 1 to 4, wherein the judging means determines whether the article is stored when the article is unloaded to the article storage section or the loading / unloading port. It is characterized by judging pass / fail.

According to the above configuration, it is determined that the quality of the article is judged when the article is unloaded to the article storage section or the carry-in / out port, and if the article is displaced or the posture is tilted during transportation, it is not normal. To be done. Therefore, the worker can recognize that the position or posture of the article is not normal during transportation.

According to a sixth aspect of the present invention, a plurality of article storage units for storing the articles, and article transporting means for transporting the articles between the article storage sections and a predetermined loading / unloading port,
An article storage facility comprising control means for controlling the article transporting means to move an article in and out of the loading / unloading port, wherein the article transporting means photographs the state of the article on the loading / unloading port or the article storage section. Image pickup means for determining whether the article on the loading / unloading port or the article storage section is good or bad according to the state of the article photographed by the image pickup means, and for notifying that the article is not normal is provided. It is a thing.

Here, the image pickup means is constituted by, for example, a CCD camera, and the judgment means is constituted by a device having a function of executing image processing by the image pickup data of the CCD camera.

According to the above construction, the state of the article on the loading / unloading port or the article storage section is photographed by the image pickup means, and the contour of the article or the like is obtained from the image pickup data outputted from the image pickup means by the judgment means. Based on the arrangement such as the above, it is judged whether or not the article on the carry-in / out port or the article storage section is good or bad, for example, whether the position or posture of the article is normal, and it is informed that it is not normal. Therefore, the operator can recognize that the article to be loaded on the loading / unloading port or the article storage unit is not normal. Furthermore, it becomes possible to judge the state of the articles on the article storage section before loading the articles.
Further, even if there are many kinds of articles, the quality of the article can be determined by image processing, so that it is not necessary to redesign the sensor according to the article.

The invention according to claim 7 is the invention according to claim 6 described above, wherein the judging means carries out the loading / unloading port or the article before starting the loading of the loading / unloading port or the article on the article storage unit. The feature is that the quality of the article on the storage unit is determined.

According to the above configuration, the state of the article on the loading / unloading port or the article storage section is judged before loading the article, and it is possible to avoid the possibility that the article collapses when the article is loaded.
Further, the invention according to claim 8 is the invention according to claim 6 or 7, wherein the loading / unloading port or the article on the loading / unloading port or the article storage unit is selected depending on the state of the article imaged by the imaging means. It is characterized in that the amount of deviation from the center of the storage section is judged and the loading position of the article conveying means is corrected by this amount of deviation.

According to the above structure, the amount of deviation of the article on the loading / unloading port or the article storage unit from the center of the loading / unloading port or the article storage unit is determined, and the loading position of the article transporting means is corrected by this displacement amount, Items are loaded.
Therefore, the articles are loaded at a normal position.

According to a ninth aspect of the present invention, a plurality of article storage sections for storing articles, article transfer means for transferring the articles between the article storage sections and a predetermined loading / unloading port,
An article storage facility comprising control means for controlling the article transporting means to move an article in and out of the loading / unloading port, wherein the article transporting means detects the state of an article on the article transporting means. Means for determining whether the article on the article conveying means is good or bad according to the state of the article detected by the article state detecting means, the determining means is provided on the article conveying means from the article storage section or the loading / unloading port. If it is judged that the article is not normal when it is loaded in the article, the article is returned to the original article storage section or the loading / unloading port, and then the article is loaded again on the article transporting means from the returned article storage section or the loading / unloading port. It is characterized by

Here, the article state detecting means is installed on the article conveying means according to the size of the article, and is operated by a contact sensor, a proximity sensor, or a CCD that operates according to the deviation of the article.
Composed of a camera. When the article state detecting means is a CCD camera, the judging means is composed of a device having a function of executing image processing based on the image pickup data of the CCD camera.

According to the above construction, when it is determined that the article is not normal when the article is loaded on the article conveying means from the article storage section or the loading / unloading port, the article is returned to the original article storage section or the loading / unloading port. After that, the articles are loaded again on the article transporting means from the returned article storage section or the loading / unloading port. Then, when reloading is performed, the quality of the article on the article conveying means is determined again. Then, for example, if it is determined to be normal in the second time, the article is conveyed.

According to a tenth aspect of the present invention, a plurality of article storage units for storing articles, an elevating body that is vertically moved up and down, and the elevating body are provided on the article storage section and the loading / unloading port. An article storage facility comprising article transfer means having transfer means for transferring the article, wherein the elevating body is directed to the loading / unloading port or the article storage part, and the article of the loading / unloading port or the article storage part is provided. Image pickup means for photographing the state of the article when the transfer means acts, and a judging means for judging the quality of the article acted by the transfer means depending on the state of the article photographed by the image pickup means. It is characterized by being provided.

Here, the image pickup means is composed of, for example, a CCD camera, and the judgment means is composed of a device having a function of executing image processing by the imaged data of the CCD camera.

With the above arrangement, the state of the article when the transfer means acts on the article in the loading / unloading port or the article storage section is photographed by the image pickup means, and the determination means uses the image pickup data output from the image pickup means to determine the article. The contours of
The quality of the article on which the transfer means acts from the arrangement of the contour and the like,
For example, it is determined whether the position or posture of the article is normal. Therefore, it is possible to recognize whether or not the position or the posture of the article is not normal due to the fall of the article or the like due to the action of the transfer means of the loading / unloading port or the article storage unit onto the article.

The invention according to claim 11 is the invention according to claim 10 in which the judging means, when the transfer means scoops an article on the loading / unloading port or the article storage section, It is characterized in that the quality of the article on the transfer means is judged, and if it is judged that the article is not normal, the article is returned to the original article storage section or the loading / unloading port.

According to the above construction, when the determining means determines that the article is not normal when the transfer means scoops the article in the article storage section or the loading / unloading port, the article is returned to the original article storage section or loading / unloading port. By being returned to, it is possible to prevent the occurrence of a situation such as the collapse of the article during the transfer by the transfer means.

According to a twelfth aspect of the present invention, a plurality of article storage units for storing articles, an elevating body that is vertically moved up and down, and the elevating body are provided on the article storage section and the loading / unloading port. An article storage facility comprising: an article transport means having a transfer means for transferring the article, wherein the article storage facility moves to the elevating body following the article transfer operation by the transfer means, An image pickup means for continuously photographing the state of the article on the exit or the article storage section and the transfer means is provided, and a judging means for judging the quality of the article based on the state of the article photographed by the image pickup means is provided. It is characterized by being provided.

Here, the image pickup means is composed of, for example, a CCD camera, and the judgment means is composed of a device having a function of executing image processing by the imaged data of the CCD camera.

According to the above construction, the image pickup means moves following the transfer operation of the article by the transfer means, and continuously captures the state of the article on the loading / unloading port or the article storage section and on the transfer means. To do. In the judging means, the contour or the like of the article is obtained from the imaged data output from the image pickup means, and whether or not the article on which the transfer means is operating is good or bad, for example, whether the position or posture of the article is normal is determined from the arrangement of the contour or the like. To be judged.

[0035]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic perspective view of an article storage facility according to an embodiment of the present invention.

As shown in FIG. 1, in the article storage facility FS, two storage shelves A installed at intervals such that the article loading / unloading directions face each other, and between the storage shelves A are formed. A stacker crane (an example of article conveying means) C that automatically travels along the working passage B is provided, and a plurality of article storage units D that store articles (products, etc.) F are provided in each storage shelf A in a multi-tiered stacker crane. They are arranged in parallel in the traveling direction of C (hereinafter referred to as the front-rear direction).

In the work passage B, a traveling rail 1 is installed along the longitudinal direction of the storage rack A, and in the article carrying-in / out section E installed at one end of the work passage B, a stacking / unloading command is sent to the stacker crane C. Input controller (control means) E1
And a pair of fixed article mounting bases (an example of a loading / unloading port) E2 as means for separating the articles F with the traveling rail 1 interposed therebetween. The stacker crane C moves along the traveling rail 1 based on the loading / unloading command. It is configured as a transporting vehicle for loading and unloading, which travels in and out to load and unload the articles F placed on the pallet P between the article platform E2 and the article storage section D.

In the stacker crane C, an elevating table (elevating body) 3 is vertically moved up and down on a traveling vehicle body 2 traveling along a traveling rail 1, and before and after supporting the elevating table 3 in a vertically movable manner. A pair of lifting masts (columns vertically hung on the traveling vehicle body) 4 are provided, and a fork device (transferring) for transferring the articles F on the article mounting table E2 and the article storage section D is mounted on the lifting table 3. An example of means) 5 is provided.
The fork device 5 is of a fork type in which the article F is picked up and transferred by a running fork.

A guide rail 6 is laid on the ceiling so as to face the traveling rail 1. The upper ends of the pair of lifting masts 4 are connected to the upper ends of the guide masts 4 from the left and right. An upper frame 7 is provided which is sandwiched and regulates the upper position of the stacker crane C as the stacker crane C travels.

As shown in FIG. 2, the elevating table 3 is suspended and supported by elevating chains 8 connected to the left and right sides of the elevating table 3, and the elevating chains 8 and the guide sprockets 9 provided on the upper frame 7. It is wound around a guide sprocket 10 provided on one of the lifting masts 4 and is connected to a winding drum 11 equipped at one end of the traveling vehicle body 2.

Then, the winding drum 11 is driven and rotated in the forward and reverse directions by an electric motor 12 for raising and lowering, which is a so-called inverter type motor, and the raising and lowering table 8 is driven and raised by the raising and lowering operation of the raising and lowering chain 8. Is configured to let.

As shown in FIG. 3, the ascending / descending position of the ascending / descending table 3 is managed based on the detection information of the ascending / descending table side rotary encoder 14 attached to the ascending / descending table 3. As shown in FIG. 3, the lifting table side rotary encoder 14 has a sprocket 14a attached to its rotation shaft meshing with a chain 15 vertically laid on one of the lifting masts 4 and Sprocket 14a
Rotates to detect the vertical movement of the lifting platform 3.

The detection information of the rotary encoder 14 on the elevator platform side is input to the elevator controller 30 of the crane controller CC, as shown in FIG. Further, on the lift table 3, there is a first image pickup device (article transfer device) including a CCD camera for photographing the stacked state of the articles F placed on the pallet P on the fork device 5 located on the lift table 3 from an obliquely upper corner. An image pickup means for photographing the state of the article on the means, an example of the article state detection means 17 and an illuminating device 17a for illuminating at the time of photographing by the first image pickup device 17, and is arranged on the left side of the article carrying-in / out section E. A second image pickup device 18 including a CCD camera for photographing the stacked state of the articles F placed on the pallet P and illumination for photographing by the second image pickup device 18 are directed toward the article placing table E2 or the article storage portion D. Lighting device 18a,
And a third image pickup device 19 including a CCD camera for photographing the stacked state of the articles F placed on the pallet P toward the article placing table E2 or the article storage section D arranged on the right side of the article loading / unloading section E. An illuminating device 19a is provided for illuminating the third imaging device 19 during photographing. In the second imaging device 18 and the third imaging device 19, the fork device 5 acts on the state of the article F on the article mounting table E2 or the article storage section D, and the article F on the article mounting table E2 or the article storage section D. An example of an image capturing unit that captures the state of the article F at that time is configured.

As shown in FIG. 4, the image pickup information of the first image pickup device 17, the image pickup information of the second image pickup device 18, and the image pickup information of the third image pickup device 19 are stored in the crane control device CC having an image processing function. It is input to the figure detection unit (an example of a determination unit) 33.

As shown in FIGS. 2 and 3, the traveling vehicle body 2 is provided with two front and rear wheels 21 which are freely movable on the traveling rail 1 and a position in the lateral direction of the vehicle body with respect to the traveling rail 1 is restricted. Lower position regulating rollers 22 provided in a pair of right and left and front and rear engaging with the traveling rail 1, and a traveling electric motor 23 which is a so-called inverter type motor.
And are provided.

The one of the two wheels 21 in the front-rear direction of the vehicle body is a driving wheel 21a for propulsion which is driven by the traveling electric motor 23, and the other wheel in the front-rear direction of the vehicle body is the wheel. Is configured as a free-wheel driven wheel 21b, and is provided on the upper frame 7 at a pair of front and rear and left and right engaging with the guide rail 6 so as to regulate the position in the vehicle body lateral width direction with respect to the guide rail 6. The upper position regulating rollers 24 (FIG. 2) are provided, and the stacker crane C is free to travel along the traveling rail 1 by being driven by the traveling electric motor 23 while being prevented from falling by these upper position regulating rollers 24. Is configured.

As shown in FIG. 3, the traveling position of the traveling vehicle body 2 is managed based on the detection information of the vehicle body side rotary encoder 25 attached to the traveling vehicle body 2. In the vehicle body side rotary encoder 25, a sprocket 25a attached to its rotation shaft meshes with a chain 26 laid along the traveling rail 1, and the sprocket 25a rotates as the traveling vehicle body 2 travels. , The traveling movement of the traveling vehicle body 2 is detected.

The detection information of the vehicle body side rotary encoder 25 is input to the traveling control section 31 of the crane control device CC as shown in FIG. Further, the crane control device CC including a computer is provided on the traveling vehicle body 2 at a position outside the lifting mast 4 on the side of the article loading / unloading part E, and the article loading / unloading part is mounted on the crane control device CC. A first optical transceiver 28 that transmits and receives data to and from the E controller E1 is provided. A second optical transceiver 29 (FIG. 4) is provided in the article carrying-in / out section E so as to face the first optical transceiver 28 and is connected to the controller E1.

As shown in FIG. 4, the crane control device CC receives a transportation command (working data for loading and unloading) from the controller E1 via the optical transmitters / receivers 29 and 28, and moves the lifting platform 3 up and down to the designated lifting position. Lifting control unit 30 for moving up and down to a position
And a traveling control unit 31 for moving the traveling vehicle body 2 to a designated traveling position and an operation for moving the fork device 5 in and out to move the article F.
Of the crane control device CC, which is composed of a transfer control unit 32 for transferring the
The article F is transported and transferred to and from each of the article storage units D under the control of, and at this time, the quality of the article F is determined.

The determination as to whether the article F is good or bad by the package shape detection unit 33 will be described in detail. Information on the maximum dimensions (length, height, width) depending on the type of the article F to be delivered by the fork device 5 is preliminarily input from the controller E1.

First, determination of whether or not the articles F stacked on the pallet P on the fork device 5 located on the lift table 3, that is, on the lift table 3 is good or bad will be described. First, as shown in FIG. 5A, the maximum allowable range α for placing the pallet P and the article F, which is allowed by the fork device 5 according to the input maximum size of the article F, is set as an image. Then, according to the imaging information of the first imaging device 17,
The contours of the pallet P and the article F are extracted by image processing, and the image of the contour β of the pallet P and the article F is superimposed on the image of the maximum allowable range α, as shown in FIG. 5B.

Subsequently, it is judged whether or not the image of the contour β of the pallet P and the article F is within the image of the maximum allowable range α, and when the image is within the image of the maximum allowable range α, it is judged to be normal, and as shown in FIG. As shown, pallet P and article F
When a part of the image of the contour β ′ of 1 does not overlap the maximum allowable range α, it is determined that the image is not normal. Causes that are not normal include displacement of the position of the article F and inclination of the posture of the article F.

Further, from the maximum allowable range α and the contours β and β'of the pallet P and the article F, margin values x1 and x2 in the front-rear direction are obtained.
And margin values y1 and y2 in the left-right direction perpendicular to the front-back direction,
A margin value z1 in the height direction is obtained. In addition, pallet P
And a part of the image of the contour β ′ of the article F is the maximum allowable range α
If it is out of the image of, the margin value will be minus.

Next, the article table E2 or the article storage section D
The determination of the quality of the articles F stacked on the upper pallet P will be described. First, as shown in FIG. 6A, the maximum allowable range γ of the pallet P and the front surface (hatched portion) of the article F allowed by the fork device 5 according to the input maximum size of the article F is displayed as an image. Is set. Subsequently, the contours of the pallet P and the article F are extracted by image processing based on the image pickup information of the second image pickup device 18 or the third image pickup device 19, and as shown in FIG. The image of the outline δ of is overlapped with the image of the maximum allowable range γ.

Next, it is judged whether or not the images of the contour δ on the front surface of the pallet P and the article F are within the image of the maximum allowable range γ. ), When a part of the image of the contour δ ′ does not overlap the maximum allowable range γ, it is determined that the image is not normal.

Further, from the maximum allowable range γ and the contours δ and δ ′ on the front surface of the pallet P and the article F, a margin value x in the front-rear direction is obtained.
3, x4 and a margin value z3 in the height direction are obtained. If a part of the image of the contour δ ′ of the article F deviates from the image of the maximum allowable range γ, the margin value is given a negative value.

Next, the article table E2 or the article storage section D
Judgment of the quality of the articles F stacked on the pallet P when the pallet P is scooped by the fork device 5 (when the transfer means operates) will be described.

First, as shown in FIG. 7A, an image of the fork device 5 and an image of the maximum allowable range γ of the pallet P and the article F scooped by the fork device 5 are set. Subsequently, the outlines of the pallet P and the article F on the fork device 5 are extracted by image processing based on the image pickup information of the second image pickup device 18 or the third image pickup device 19, and FIG.
As shown in, the image of the contour ε on the front surface of the pallet P and the article F on the fork device 5 is superimposed on the image of the maximum allowable range γ.

Subsequently, it is judged whether or not the image of the contour ε on the front surface of the pallet P and the article F is within the image of the maximum allowable range γ. ), When a part of the image of the contour ε'on the front surface of the pallet P and the article F on the fork device 5 does not overlap the maximum allowable range γ, it is determined to be abnormal.

Further, from the maximum allowable range γ and the contours ε, ε'on the front surface of the pallet P and the article F, a margin value x in the front-rear direction is obtained.
5, x6 and a margin value z4 in the height direction are obtained. If a part of the image of the contour ε'of the pallet P and the article F deviates from the image of the maximum allowable range γ, the margin value is given a minus.

When the fork device 5 scoops the article F from the article table E2 or the article storage section D by the crane controller CC with the fork device 5, the article F is moved to the article table E2 or the article storage section D by the fork apparatus 5. "Wholesale operation" for more wholesale will be described. [Scooping operation (loading operation)] As an example, the scooping operation on the left article mounting table E2 will be described with reference to the flowcharts of FIGS. 8 and 9. It should be noted that the right article mounting table E
2. The scooping operation in the article storage section D is also the same.

Optical transmitters / receivers 29, 2 from the controller E1
When a scooping operation command on the left article placing table E2 is inputted via 8 (step -1), the number of repeats of transfer m, n, p described later is set to 0 (m = 0, n = 0, p =
0) (step-2), the traveling electric motor 23 is driven by the traveling control unit 33 to cause the stacker crane C to travel, and the scooping traveling position of the article mounting table E2 (the fork device 5 based on the detection information of the lifting table side rotary encoder 14). To the position where the center of the article mounting table E2 is estimated to coincide with the center of the article mounting table E2 (step-3), and at the same time, the lifting control unit 30 drives the lifting electric motor 12 to move the lifting table 3 up and down. It is moved to the scooping elevating position of E2 (the elevating position in which the upper surface of the fork device 5 is estimated to be below the lower end of the article F on the article placing table E2 based on the detection information of the vehicle body side rotary encoder 25) (step-4).

Subsequently, the package appearance detection unit 33 drives the second image pickup device 18 on the left side and the illumination device 18a to photograph the article F on the article placement table E2 on the left side, and determines whether the article F is good or bad (presence or absence of the article F). Is included) and the number of repetitions of transfer m = 0, that is, the initial margin values x3, x4, z3 are stored (step-5).

When it is determined that the article F is normal as a result of the quality decision of the article F on the article table E2 (step-
6) The transfer controller 32 extends the fork device 5 to the limit, and then the lift controller 30 drives the lift electric motor 12 to lift the lift table 3 to lift the article F on the fork device 5. Scooping (step -7), the package shape detection unit 33 drives the left second imaging device 18 and the illumination device 18a again to photograph the article F on the fork device 5 in the scooped state, and the quality of the article F is judged. And the number of repeats of transfer p =
0, that is, the first margin values x5, x6, and z4 are stored (step-8).

As a result of the quality judgment of the article F on the fork device 5, it is judged that the article F is normal (step-
9), the fork device 5 is moved up and down by the transfer control unit 32.
Back to the article mounting table E2 by the fork device 5
The upper article F is transferred onto the lift 3 (step-1
0).

Subsequently, the package appearance detection unit 33 drives the first image pickup device 17 and the illumination device 17a to drive the article F on the lift table 3.
Is photographed, the quality of the article F is judged, and the number of times n of transfer is repeated n = 0, that is, the initial margin values x1, x2, y1, y
2 and z1 are stored (step-11).

When it is determined that the article F on the lift table 3 is normal (step-12), the scooping operation is ended. After that, it is moved to the destination. When it is determined in step-12 that the article F on the lift table 3 is not normal, then 1 is added to the transfer repetition number n (n = n + 1) (step-13). For example, when n = 2, that is, when it is confirmed that the article F is not normal even in the second judgment (step -14), a notification signal for notifying the conveyance of the article F is transmitted to the optical transmitters / receivers 28, 2.
Output to the controller E1 via 9 (step-1
5) and end. The number of repetitions n = 1, that is, 1
At the time of the first time, a notification signal for notifying that the article F on the lift table 3 is not normal is output to the controller E1 via the optical transmitters / receivers 28 and 29 (step -16), and the transfer controller 3
2, the fork device 5 is extended to the limit, and the lifting control unit 30 drives the lifting electric motor 12 to lower the lifting table 3 to return the article F on the lifting table 3 to the article mounting table E2 (step -17 ). Subsequently, a negative margin value is obtained from the margin values x1 and x2 (step -18), and the traveling electric motor 23 is driven by the traveling control unit 31 by the traveling control unit 31 so as to shift the traveling stop position using this margin value as a correction value. The crane C is caused to travel, and the travel stop position is corrected so that both the margin values x1 and x2 become at least 0 or more (step -19). Then, the process returns to step -7, and the scooping operation of the article F on the article placing table E2 is executed again.

In the above step-9, the fork device 5
If it is determined that the article F in the scooped state is not normal, then 1 is added to the transfer repetition number p (p = p + 1).
(Step-20) If the number of repetitions p is plural, for example, p = 2, that is, if it is confirmed that the article F is not normal even in the second judgment (step-21), the fact that the conveyance of the article F is stopped is notified. Optical signal transmitter / receiver 2
Output to the controller E1 via 8, 29 (step -22), and the process ends. When the number of repetitions p = 1, that is, the first time, a notification signal for notifying that the article F on the fork device 5 is not normal is output to the controller E1 via the optical transceivers 28 and 29 (step -23). The lifting control unit 30 drives the lifting electric motor 12 to lower the lifting table 3 and return the article F on the fork device 5 to the article mounting table E2 (step -24). Then, the margin value x
Calculate a negative margin value from 5, x6 (Step-2
5), the traveling electric motor 23 is driven by the traveling control unit 31 to move the stacker crane C by using the margin value as a correction value to shift the traveling stop position, and the margin value x5.
The travel stop position is corrected so that both x6 become at least 0 (step-26). Then, the process returns to step -7, and the scooping operation of the article F on the article placing table E2 is executed again.

If it is determined in step-6 that the article F on the article placing table E2 is not normal, then it is confirmed whether the article F is placed (whether there is an article) (step-27), and scooping is performed. When there is no article F, a notification signal (corresponding to an empty cargo notification signal) for notifying that the scooping command has been output despite the absence of the article F is output to the controller E1 via the optical transceivers 28 and 29 (step -28), and the process ends.

When it is confirmed in step -27 that there is an article, 1 is added to the number of times m of transfer is repeated (m = m
+1) (step -29), the number of repetitions m = 2,
That is, when it is confirmed that the article F is not normal even in the second determination (step -30), a notification signal for notifying the transfer of the article F from the article mounting table E2 is stopped via the optical transceivers 28 and 29. To the controller E1 (step-31), and the process ends. In addition, the number of repetitions m = 1,
That is, at the first time, the optical transceivers 28, 29 send a notification signal for notifying that the article F on the article placement table E2 is not normal.
To the controller E1 via (step-3
2) Find a negative margin value from the margin values x3 and x4,
(Step-33), the traveling electric motor 23 is driven by the traveling control unit 31 to move the stacker crane C by using the margin value as a correction value to shift the traveling stop position, and the margin values x3 and x4 are at least 0 or more. The travel stop position is corrected so that (step-34). And
Returning to step-5, the quality of the article F on the article placing table E2 is judged again.

When the notification signal is input, the controller E1 displays the content of the notification on the screen of the setting device attached to the controller E1 to notify the operator. In this way, the state of the article F on the lifting platform 3 is photographed by the first image pickup device 17, and the package shape detection unit 33 causes the first image pickup device 1 to be photographed.
The contour β of the article F is obtained from the imaged data output from 7. The placement of the contour β determines whether the article F on the elevating table 3 is good or bad and whether the position or posture of the article F is normal.
By being notified that the article F is not normal, the worker can recognize that the state of the article F on the lifting platform 3 is not normal, and the stacker crane C has a problem, that is, the scooping traveling position and the like. It can be recognized that the operation of the fork device 5 is defective. Further, even if there are many types of articles F, the quality of the articles F can be determined by image processing, so that the conventional sensor (article position abnormality detection device) can be eliminated, and the sensors can be redesigned for each type of article F. You can eliminate the need to

Further, when the article F is loaded from the article storage section D or the article loading table E2 onto the lift table 3 of the stacker crane C, the quality of the article F is judged, and the article F is loaded onto the lift table 3. At this point, it is possible to recognize that the article F is not normal, and if it is determined that the article F is not normal, the article F is returned to the original article storage section D or the article placing table E2, and is conveyed by the stacker crane C. It is possible to prevent the occurrence of a situation such as the collapse of the article F. Furthermore, after the article F is returned to the original article storage unit D or the article mounting table E2, the articles F are loaded from the returned article storage section D or the article mounting table E2 onto the elevating table 3 again. It is possible to reduce the risk that the loading / unloading work is stopped and the loading / unloading by the stacker crane C is stopped as it is, and the loading / unloading work is interrupted, and the working time is reduced. Then, when reloading is performed, the quality of the loaded state of the articles F on the elevating table 3 is determined again, so that the articles F can be safely transported.

The second or third image pickup device 18 or 1
9, the article storage unit D or the article F on the article table E2
Is captured, and the contour δ of the article F is obtained from the captured data.
Is determined, and the quality of the article on the article storage unit D or the article placement table E2 (whether the position or the posture of the article F is normal) is determined from the arrangement of the contour δ, and it is informed that it is determined not to be normal. By doing so, the worker can recognize the state of the article F on the article storage unit D or the article placing table E2 before loading the article F. In addition, even if there are many kinds of goods F,
Since the quality of the article F can be determined by image processing, the conventional sensor (article position abnormality detection device) can be eliminated, and the need to redesign the sensor depending on the type of the article F can be eliminated. Further, it is possible to avoid the risk of collapse of the articles F when the articles F are loaded. When it is determined that the state of the articles on the article storage unit D or the article placement table E2 is not normal, the traveling stop position is corrected and the traveling stop position is shifted so that the articles F are loaded. Is stopped and the loading and unloading by the stacker crane C is stopped as it is, so that the risk that the loading and unloading work is interrupted can be reduced, and the reduction of the working time can be improved.

The second or third image pickup device 18 or 1
The state when the article F is scooped by the fork device 5 (when the article F is acted on) from the article storage unit D or the article placing table E2 by 9 is obtained, and the contour ε of the article F is obtained from this imaging data. The quality of the scooped article on the fork device 5 (whether the position and the posture of the article F are normal) is determined from the arrangement of the contour ε, and if it is determined that the article F is not normal, the article F is returned to the original article mounting table E2 or By returning to the article storage section D, it is possible to prevent occurrence of a situation in which the article F collapses during the backward movement of the fork device 5 (during transfer by the transfer means). Further, by notifying that the article F is judged to be not normal, the article F collapses due to the action of the fork device 5 on the article placing table E2 or the article F of the article storage unit D, and the position of the article F or Can recognize whether or not the posture is not normal. In addition, even if there are many kinds of goods F,
Since the quality of the article F can be determined by image processing, the conventional sensor (article position abnormality detection device) can be eliminated, and the need to redesign the sensor depending on the type of the article F can be eliminated.

Further, margin values x3, x4, z3 of the first article F on the article mounting table E2 or the article storage section D, and margin values x5, x6, z4 of the first article F on the fork device 5,
Margin values x1, x2, y1, of the first article F on the lift 3
Since y2 and z1 are stored, the article mounting table E
2 or the article F on the article storage section D is determined to be normal, and the article F scooped by the fork device 5 from the article mounting table E2 or the article storage section D is determined to be normal. In a situation where the articles F on the lift table 3 loaded from the section D are judged to be normal, should the posture of the articles F collapse during the transportation of the articles F, the article placing table E2 Or, the margin values x3, x4, z3 of the article F before loading on the article storage section D are small, and the above situation occurs, or the margin values x5, x6, z4 of the article F scooped on the fork device 5 are small. If the above situation occurs, the margin values x1 and x of the articles F in the state after being loaded
It is possible to easily pursue and determine the cause of the above situation due to the small number of 2, y1, y2, z1 and to shorten the time for pursuing the cause. Furthermore, when such a situation occurs, the maximum allowable range α or γ or ε
It is possible to change the criteria for judging whether the article F is normal or not (the criteria for judging that the article F is normal or to be normal can be reviewed) and prevent the recurrence of the above situation. it can. Further, the recovery from the above situation can be performed quickly, the recovery time due to the above situation, that is, the work interruption time can be shortened, and the reduction of the actual work time can be avoided. [Wholesaling Operation] Next, as an example, the wholesaler operation in the article storage unit D will be described with reference to the flowchart of FIG. 10. In addition, the same operation is performed for the left article placing table E2 and the right article placing table E2.

Optical transmitters / receivers 29, 2 from the controller E1
When the unloading operation command in the article storage unit D for the purpose of performing the unloading operation is input via 8 (step-1), the number of times k of repeating transfer described later is set to 0 (k = 0) (step-2). , The traveling electric motor 2 by the traveling control unit 33
3 to drive the stacker crane C to travel, and the target traveling position of the article storage section D (according to the detection information of the lifting platform side rotary encoder 14 is presumed that the center of the fork device 5 and the center of the article storage section D coincide with each other. Position) (step-3), and at the same time, the lifting control unit 30 drives the lifting electric motor 12 to move the lifting platform 3 up and down to lift the object storage unit D at the wholesale lifting position (detection of the vehicle body side rotary encoder 25). Based on the information, the upper surface of the fork device 5 is moved to an ascending / descending position estimated to be slightly above the article mounting position of the article storage unit D (step-4).

Subsequently, when the article F is conveyed in this manner and arrives at the target article storage section D, the package shape detection section 33 causes the target article storage section D side, for example, when the article storage section D on the left side is left. The second imaging device 18 and the lighting device 18a are driven to photograph the article F in the intended article storage unit D, and the presence or absence of the article F is determined by image processing (step-5). , A notification signal (corresponding to a double-stocking notification signal) for notifying that the wholesale command has been output regardless of the presence of the article F is output to the controller E1 via the optical transceivers 28 and 29 (step -6). ),finish.

When there is no article F in the intended article storage D,
Then, the package shape detection unit 33 drives the first imaging device 17 and the illumination device 17a to photograph the article F on the lifting table 3, and judges the quality of the article F by image processing, and the margin value x1 at that time is determined. , X2, y1, y2, z1 are stored (step-7).

As a result of judging the quality of the article F on the lift table 3,
When it is determined that the article F on the lift 3 is not normal (step-8), a notification signal for notifying the unloading of the article F is sent via the optical transceivers 28 and 29 to the controller E.
Output to 1 (step-9), and the process ends.

When the article F on the lift table 3 is judged to be normal,
The fork device 5 on which the article F is placed is extended to the limit by the transfer control section 32 (step -10), and then the package shape detection section 33 causes the target article storage section D side, for example, the article storage on the left side. In the case of the part D, the left second imaging device 18 and the illumination device 18a are driven to photograph the article F on the fork device 5 extended on the target article storage section D, and the image F is processed by image processing. The quality is judged and the margin values x5, x at that time are determined.
6 and z4 are stored (step-11).

As a result of the quality judgment of the article F of the fork device 5 extended on the target article storage section D, it is judged that the article F on the fork device 5 is not normal (step-1).
2), the transfer control unit 32 retracts the fork device 5 on which the article F is placed, and returns the fork device 5 to the lift table 3 (step-1
3), Step-9 is executed to output a notification signal for notifying the unloading of the articles F to the controller E1 via the optical transceivers 28 and 29.

When it is judged in the step -12 that the article F of the fork device 5 extended on the target article storage section D is normal, the elevation control section 30 drives the elevation electric motor 12 to move the elevation table 3 up and down. The articles F are lowered (loaded) from the fork device 5 onto the article storage section D, and the fork apparatus 5 is pulled back to the lift table 3 by the transfer control section 32 (step -14).

Subsequently, the package shape detection unit 33 drives the second image pickup device 18 and the illuminating device 18a on the left side of the target article storage unit D side, for example, on the left side article storage unit D, to store the target article storage unit D. An image of the article F on the part D is photographed, and by image processing,
The quality of the article F is judged, and the number k of repetitions of transfer, that is, the initial margin values x3, x4, and z3 are stored (step -15).

As a result of the quality judgment of the article F in the article storage section D for this purpose, when the article F in the article storage section D is judged to be normal (step -16), the unloading operation is ended. When it is determined that the article F in the article storage unit D is not normal in step-16, 1 is added to the number k of repeated transfers (k = k + 1) (step-17). For example, if k = 2, that is, if it is confirmed that the article F is not normal even in the second determination (step-1
8), a notification signal for notifying the correction of the position of the article F is notified via the optical transceivers 28 and 29 to the controller E.
Output to step 1 (step -19), and the process ends. When the number of repetitions k = 1, that is, the first time, a notification signal for notifying that the article F in the article storage unit D is not normal is output to the controller E1 via the optical transceivers 28 and 29 (step -20). , The fork device 5 by the transfer control unit 32
Is driven to extend the fork device 5 to the limit, and subsequently, the lift control unit 30 drives the lift electric motor 12 to lift the lift table 3 and place the article F on the fork device 5 (step-21). ). Subsequently, a negative margin value is obtained from the margin values x3 and x4 (step -22), and the traveling electric motor 23 is driven by the traveling control unit 31 by the traveling control unit 31 so as to shift the traveling stop position using the margin value as a correction value. The crane C is caused to travel, and the travel stop position is corrected so that the allowances x3 and x4 are both at least 0 (step -23). Subsequently, the lifting control unit 30 drives the lifting electric motor 12 to lower the lifting platform 3 to unload (transfer) the article F from the fork device 5 onto the article storage unit D again, and the transfer control unit 32 causes the article F to move. Fork device 5 and lift 3
Back to step (step-24). And step-
Returning to step 11, the quality of the article F on the target article storage unit D is judged again.

When the notification signal is input, the controller E1 displays the content of the notification on the screen of the setting device attached to the controller E1 to notify the operator. As described above, when the articles F are unloaded in the article storage unit D or the article placement table E2, the quality of the articles F on the elevating table 3 is determined, and when it is determined that the articles F are not normal, the worker is notified. Can recognize that the positional deviation of the article F or the inclination of the posture of the article F occurs during the transportation of the article F.

Further, the fork device 5 is used as an object storage unit D for the purpose.
Alternatively, when the article F on the fork device 5 is judged to be good or bad when it is extended onto the article mounting table E2, and if it is judged to be not normal, the fork device 5 returns to the lift table 3,
Pallet P to target article storage D or article loading table E2
It is possible to prevent the occurrence of a situation such as the collapse of the article F when the goods are wholesaled. Further, by being notified that it is determined that the article F is not normal, the worker has found that the position shift or the inclination of the article F has occurred during the transfer of the article F onto the article storage unit D or the article mounting table E2. Can be recognized.

After the goods have been stocked in the article storage D, the quality of the articles F on the article storage D is judged. If the article F is judged not normal, the deviation amount from the center of the article storage D is determined. The stacker crane C
The traveling stop position (the loading position of the article transporting means) is corrected and the articles F are reloaded, whereby the position of the articles F can be brought into a normal state.

Further, the quality of the article F on the article placing table E2 or the article storage section D and the allowances x3, x4, which are determined and stored during the scooping operation (loading operation) and the unloading operation.
In z3, the initial margin values x3, x4, z3 when it is determined that the product is not normal are accumulated, and the product F scooped by the fork device 5 from the product mounting table E2 or the product storage unit D.
The first allowance values x5, x6, z4 when it is determined that the normality is not satisfied and the allowance values x5, x6, z4 are accumulated, and further the elevator table loaded from the article placing table E2 or the article storage section D. Quality of article F on 3 and margin value x
1, x2, y1, y2, z1, the first margin values x1, x2, y1, y2 when it is determined that they are not normal.
z1 is accumulated and statistics of the abnormal degree are taken every predetermined period or time. For example, the average values x3A and x4A of the accumulated allowances x3 and x4 in the front-rear direction are taken, and how much the center position of the article F on the article placing table E2 or the article storage unit D is deviated from the loading position is calculated. That is, the deviation amount (correction value) with the average values x3A and x4A being the same value is obtained, and the traveling stop position of the stacker crane C in the article mounting table E2 or the article storage unit D is corrected by this correction value. FIG. 11 shows a list of accumulated data of the above-mentioned allowance values of the left and right article mounting tables E2 and each article storage section D.

In this way, statistics of the abnormal degree are obtained for each article mounting table E2 and each article storage section D, and the traveling stop position (loading position) of the articles F of the stacker crane C is based on this statistics. By being modified, the article F
It is possible to increase the possibility that the position will become normal, prevent waste of work time such as repeated reloading of the articles F, and improve work efficiency.

In the present embodiment, the first image pickup device 17, the second image pickup device 18, and the third image pickup device 1 are used as image pickup means.
Although three of the image pickup devices 9 are used, only one of these image pickup devices is left and the other two are eliminated, and as shown in FIG. Device 20
The direction of a is changed by the swinging mechanism 34 (FIG. 4) from the article loading table E2 on the left or the article loading table E2 on the right from the article storage section D.
Alternatively, it is possible to change up to the article storage section D, and by this one imaging device 20, the stacked state of the articles F placed on the pallet P on the fork device 5, and the article mounting tables E2 or the article storage sections D on the left and right respectively. The states of the articles F placed on the pallet P may be continuously photographed. At this time, as shown in FIG. 13, the swing control mechanism 34 is driven by the crane control device CC to drive the imaging device 20 and the lighting device 20.
An image pickup device control unit 35 for controlling the direction of a is provided, and the image pickup device control unit 35 has a scooping operation end signal and a unloading operation end signal from the lift control unit 30 and a transfer control unit 32 to move the fork body along with and out. Input the retracted / retracted state signal (protruding state signal / retracting state signal of the fork body). The scooping operation end signal is generated when the lifting / lowering control unit 30 drives the lifting / lowering electric motor 12 to raise the lifting / lowering table 3 and the fork device 5 picks up the article F from the article mounting table E2 or the article storage section D. The unloading operation end signal is output and the elevator control unit 30 drives the elevator electric motor 12 to drive the elevator 3
Is output when the item F is lowered and the fork device 5 places the item F on the item table E2 or the item storage D.

The image pickup device control section 35 is in the scooping operation (when the scooping operation command is inputted from the controller E1).
When a protrusion state signal is input from the transfer control unit 32 to the imaging device 20 and the illumination device 2, the protrusion state signal is tracked.
0a is driven toward the pallet P on the article mounting table E2 or the article storage section D, and when the driving is completed, a photographing permission signal is output to the load detection section 33 to output the pallet P on the article mounting table E2 or the article storage section D. When the state of the article F placed on the table is photographed, and then the signal of the end of the scooping operation is input from the elevation control unit 30, the photographing permission signal is output to the load detection unit 33 and the fork is fed from the article placement table E2 or the article storage unit D. When the state of the article F placed on the pallet P scooped by the device 5 is photographed, and then the backward movement state signal is input from the transfer control unit 32, the image pickup device 20 and the lighting device 20 follow the backward movement state signal.
A is driven toward the lift table 3, and when the driving is completed, a shooting permission signal is output to the load detection unit 33 to shoot the state of the article F placed on the fork device 5, that is, the pallet P on the lift table 3. .

Further, the image pickup device control section 35 is in the unloading operation (when the unloading operation command is inputted from the controller E1).
Then, the photographing permission signal is output to the load detection unit 33 to photograph the state of the article F placed on the pallet P on the fork device 5, that is, the lift table 3, and then the protrusion state signal is transmitted from the transfer control unit 32. When input, the imaging device 20 and the illuminating device 20a are driven toward the article placing table E2 or the pallet P on the article storage unit D following the projecting state signal, and when the driving is completed, the load detection unit 33 is provided with a photographing permission signal. An article F placed on a pallet P on the fork device 5 that has output a photographing permission signal to and has moved to the intended article platform E2 or article storage section D
Take a picture of the condition. Then, when a signal indicating the end of the unloading operation is input from the lifting control unit 30, a photographing permission signal is output to the load detection unit 33 and the articles placed on the pallet P laid by the fork device 5 to the article platform E2 or the article storage unit D. Take a picture of state F.

In this way, the image pickup device 20 and the illuminating device 20a are moved in accordance with the transfer operation of the article F by the fork device 5, so that the article table E2 or the article storage section D is
By continuously photographing the state of the article F on the fork device 5, the load detection unit 33 can obtain the contour of the article F from the imaging data output from one imaging device 20. Based on the arrangement of the contour or the like, it is possible to judge whether the article F on which the fork device 5 is working is good or bad, for example, whether the position or posture of the article F is normal. In addition, since the quality of the article F can be determined by image processing even if there are many kinds of articles F, the conventional sensor (article position abnormality detection device) can be eliminated, and the sensor need not be redesigned according to the type of the article F. be able to.

Further, in the present embodiment, the first image pickup device 17, the second image pickup device 18, and the third image pickup device 1 which are image pickup means.
9 or the image pickup device 20 photographs the entire article F placed on the pallet P using a CCD camera, but may read only the frame portion of the article F.

Further, in this embodiment, the stacker crane C is used as the article transporting means of the article storage facility, but the article transporting means does not have a structure corresponding to the traveling vehicle body 2 of the stacker crane C. Good. FIG. 14 shows an example of an article storage facility FS ′ equipped with an article transporting means which does not include the traveling vehicle body 2. In FIG.
The components having the same functions as those of the above-described embodiment are designated by the same reference numerals.

The article storage facility FS 'shown in FIG. 14 stores an article F, which is, for example, a container, in one of the article storage sections D of the two storage shelves A in which the articles F are installed at predetermined intervals in the front and rear. In addition to being able to be stored in the section D, the articles F stored in a predetermined storage shelf A can be taken out.

A plurality of article storage sections D are provided in each of the pair of storage shelves A in the vertical and horizontal directions. Using the article storage section D on the lower side of one of the storage shelves A located on the front side, upper and lower two stages of loading / unloading sections (loading / unloading ports) E3a and E3b for articles F are provided.
Further, a roller conveyor RC for loading / unloading the article F into / from the storage shelf A is connected to the loading / unloading ports E3a and E3b.

Further, in the front and rear intermediate portions of the pair of storage shelves A,
The articles F are loaded into the article storage sections D and the loading / unloading sections E3a (or E3).
A conveying device (an example of article conveying means) C ′ that conveys the material to and from b) and carries in and out is provided. The carrier C ′ is suspended and supported by a chain 8 and is vertically movable over substantially the entire vertical height of the storage rack A, and is provided on the vertically movable platform 3 so as to be movable laterally. The fork device 5 is configured to transfer the article F to the article storage section D or the carry-in / out sections E3a and E3b of the storage shelf A.

As described above, even in the article storage facility FS ′ provided with the article conveying means (conveying apparatus C ′) that does not have the structure corresponding to the traveling vehicle body 2, the fork apparatus 5 and the article storage facility FS ′ can be moved laterally on the lift table 3. The imaging device 17, 1 moving to
By providing 8 and 19, it is possible to detect the positional deviation and the inclination of the posture of the article F on the fork device 5 and on each article storage section D or the carry-in / out sections E3a and E3b. Further, it is possible to eliminate the need for redesigning the sensor even if the articles F are of various types. In addition, the imaging devices 17, 18,
Alternatively, 19 may be the single image pickup device 20.

In this embodiment, whether the article F is normal, whether the image of the contour β of the article F is within the image of the maximum allowable range α, or whether the image of the contour δ of the front surface of the article F is It is judged whether or not the article F is normal depending on whether or not a part of the articles F stacked at the intermediate position or the like protrudes from the maximum tolerance range α or γ, although it is determined whether or not the article F is within the image of the maximum tolerance range γ. You can also judge.

In the present embodiment, the optical transceiver 2 sends a notification signal from the crane control device CC (packing style detection unit 33).
Although the information is output to the controller E1 via 8 and 29 and the content of the notification is displayed on the screen of the controller E1, the notification may be made by voice, and a notification display lamp may be provided. May be turned on.

Further, in this embodiment, the CCD camera is used as an example of the article state detecting means, but the lift table 3
It is also possible to configure a contact sensor or a proximity sensor that is installed in each of the upper four corners according to the size of the article F and that operates depending on the displacement of the article F.

Further, in this embodiment, the storage shelves A arranged side by side in the left-right direction are each configured to have the article storage section D in the front-rear direction. The article storage units D may be arranged in the (depth direction). At this time, the fork device 5
The fork (withdrawal / insertion tool) is configured to be capable of positioning and withdrawing with respect to each article storage unit D in the left-right direction of each storage shelf A (double deep type).

Further, in the present embodiment, the pair of article loading tables E2 of the article loading / unloading section E are used as loading / unloading ports for loading / unloading the articles F. It is also possible to use it only for the carry-in entrance and the other for the carry-out exit.

Further, in this embodiment, the fixed article placing table (load receiving table) E2 is used as the article handling means of the article loading / unloading section E, but a conveyor, a self-propelled cart, a lift truck and the like are used. You may.

Further, in the present embodiment, the moving positions of the traveling vehicle body 2 and the lift 3 are obtained by counting the output pulses of the rotary encoder such as the vehicle body side rotary encoder 25. However, the distance measuring device using light is used. , Ie, travel route B
And a traveling body 2 using a laser range finder that projects a beam of light for distance measurement and measures the distance by the reflected light from the reflector installed on one end of the The moving position of the lift 3 may be obtained.

Further, in the present embodiment, the fork type fork device 5 is used as the transfer means of the article F, but the fork type fork device 5 is not limited to this fork type, and the articles F can be moved toward and away from each other. A side belt system provided with a pair of conveyor belts that sandwich the side faces, a side clamp system provided with a pair of forks that are movable in the approaching and separating directions and that sandwich the side faces of the article F to transfer the article F, or an article When the handle F is provided with a handle, a side pick type fork device that grips or supports the handle and transfers the article F can be used.

[0108]

As described above, according to the present invention, the state of the article on the article conveying means is photographed by the image pickup means, and the contour of the article or the like is obtained from the image pickup data output from the image pickup means. It is possible to judge whether the article on the article conveying means is good or bad, for example, whether the position or posture of the article is normal. Therefore, even if there are many kinds of goods, it is possible to judge the quality of the goods by image processing.

[Brief description of drawings]

FIG. 1 is a perspective view of a main part of an article storage facility according to an embodiment of the present invention.

FIG. 2 is a schematic configuration diagram of a stacker crane of the article storage facility.

FIG. 3 is an enlarged view of a main part of a stacker crane of the article storage facility.

FIG. 4 is a control configuration diagram of the article storage facility.

FIG. 5 is an explanatory diagram of quality judgment of an article on a lift table of the article storage facility.

FIG. 6 is an explanatory diagram of quality judgment of an article on the article mounting table or the article storage section of the article storage facility.

FIG. 7 is an explanatory diagram of quality judgment of an article on a fork device of the article storage facility.

FIG. 8 is a flowchart at the time of scooping operation in the article storage facility.

FIG. 9 is a flowchart at the time of scooping operation in the article storage facility.

FIG. 10 is a flowchart at the time of a wholesale operation in the article storage facility.

FIG. 11 is a diagram of list data of margin values of articles in the article storage facility.

FIG. 12 is a perspective view of a main part of an article storage facility according to another embodiment of the present invention.

FIG. 13 is a control configuration diagram of the article storage facility.

FIG. 14 is a perspective view of a main part of an article storage facility according to another embodiment of the present invention.

[Explanation of symbols]

FS, FS 'article storage facility A storage shelf B work passage C stacker crane CC crane controller D article storage E Article loading / unloading section E1 controller E2 article placement table (carry-in / out) E3a, E3b loading / unloading section 1 running rail 2 running car 3 elevators 4 Lifting mast 5 Fork device 12 Lifting electric motor 17, 18, 19, 20 Imaging device 23 Electric motor for traveling 28,29 Optical transceiver 30 Lift control section 31 Travel control unit 32 Transfer controller 33 Package detection unit 35 Imaging device control unit

Claims (12)

[Claims] 1. A plurality of article storage sections for storing articles, an article transfer section for transferring the article between the article storage section and a predetermined loading / unloading port, and the article transfer section for controlling the article transfer section. An article storage facility comprising control means for loading and unloading articles at an exit, wherein the article transporting means is provided with an image capturing means for capturing a state of an article on the article transporting means, and the article captured by the image capturing means. The article storage facility is characterized in that it is provided with a judging means for judging whether the article on the article conveying means is good or bad and notifying that the article is not normal. 2. The article storage facility according to claim 1, wherein the determining means determines the quality of the article when the article is loaded on the article transporting means from the article storage section or the loading / unloading port. 3. When the determining means determines that the article is not normal when the article is loaded on the article conveying means from the article storage section or the loading / unloading port, the determining means may return the article to the original article storage section or the loading / unloading port. The article storage facility according to claim 1, which is characterized in that. 4. The judging means judges whether the article is good or bad when the article is loaded on the article conveying means from the article storing section or the loading / unloading port. The article storage facility according to any one of claims 1 to 3, wherein statistics of an abnormal degree are obtained for each exit, and the loading position of articles in the article transporting means is corrected. 5. The article storage facility according to claim 1, wherein the determining means determines the quality of the article when the article is unloaded to the article storage unit or the loading / unloading port. 6. A plurality of article storage sections for storing articles, an article transfer section for transferring the article between the article storage section and a predetermined loading / unloading port, and the article transfer section for controlling the article transfer section. An article storage facility comprising a control means for loading and unloading an article at an exit, wherein the article transport means is provided with an imaging means for imaging the state of the article on the loading / unloading port or the article storage part, and the imaging means An article storage facility, characterized in that it is provided with a judging means for judging whether the article on the loading / unloading port or the article storage section is good or bad according to the state of the photographed article and notifying that the article is not normal. 7. The method according to claim 6, wherein the determination means determines whether the article on the loading / unloading port or the article storage unit is good before starting to load the article on the loading / unloading port or the article storage unit. Article storage equipment. 8. The amount of deviation of an article on the article storage unit from the loading / unloading port or the center of the article storage unit is determined based on the state of the article photographed by the image pickup means, and the loading position of the article transporting means is corrected based on this deviation amount. The article storage facility according to claim 6 or 7, characterized in that. 9. A plurality of article storage sections for storing articles, article transfer means for transferring the article between the article storage sections and a predetermined loading / unloading port, and the article transfer section by controlling the article transfer means. An article storage facility comprising a control means for loading and unloading an article at an outlet, wherein the article transporting means is provided with an article state detecting means for detecting a state of an article on the article transporting means. Providing a judging means for judging the quality of the article on the article conveying means according to the detected state of the article, the judging means is normal when the article is loaded on the article conveying means from the article storage section or the loading / unloading port. If not, the article is returned to the original article storage section or the loading / unloading port, and then the article is loaded again onto the article transporting means from the returned article storage section or the loading / unloading port. An article storage facility characterized by and. 10. A plurality of article storage units for storing articles,
An article storage facility comprising: an elevation body that is vertically elevated and lowered; and an article conveyance means that is provided on the elevation body and that has an article storage section and a transfer section that transfers the articles at a loading / unloading port. An image pickup means for photographing the state of the article when the transfer means acts on the article of the loading / unloading port or the article storage section on the lifting body, the imaging An article storage facility, characterized in that a judgment means for judging the quality of the article acted by the transfer means is provided according to the state of the article photographed by the means. 11. The judgment means judges, when the article on the loading / unloading port or the article storage section is scooped by the transfer means, whether the article on the transfer means is good or bad, and judges that the article is not normal. The article storage facility according to claim 10, wherein the article is returned to the original article storage unit or the loading / unloading port. 12. A plurality of article storage units for storing articles,
An article storage facility comprising: an elevation body that is vertically elevated and lowered; and an article conveyance means that is provided on the elevation body and that has an article storage section and a transfer section that transfers the articles at a loading / unloading port. Moving to the elevating body following the transfer operation of the article by the transfer means, on the loading / unloading port or the article storage section,
And image pickup means for continuously photographing the state of the article on the transfer means, and judging means for judging the quality of the article according to the state of the article photographed by the image pickup means. Goods storage facility.