JP2003285903A - Commodity storage installation - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a commodity storage installation, preventing the collapse or falling of commodities possibly caused in scooping the commodities stored deviating from the center of a commodity storage portion. <P>SOLUTION: With a stacker crane C being moved close to the commodity storage portion D or a conveyor device E2 where a pallet P is scooped, the position of the pallet P on the commodity storage portion D or the conveyor device E2 is photographed by a first imaging device 18 or a second imaging device 19. The stacker crane C is stopped at the photographed position as a criterion of the pallet P. In this construction, even when the pallet P is stored deviating from the center of the commodity storage portion D or the conveyor device E2, the pallet P can be scooped at its center position, thus preventing the collapse or falling of the commodities F on the pallet P. <P>COPYRIGHT: (C)2004,JPO

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. A loading / unloading device (stacker crane) having a (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.

Further, the loading / unloading position of the traveling vehicle body of the stacker crane and the traveling stop position in each article storage unit, and the loading / unloading port of the lifting platform and the lifting stop position in each article storage unit actually travel the traveling vehicle body before actual operation. In addition, the elevating table is moved up and down to learn in advance, and the learning result is set.

[0004]

However, even if the traveling vehicle body is stopped at the learned traveling position of the traveling vehicle body and the elevating platform is stopped at the learned elevating platform stop position, the fork device actually causes When an article is placed in the article storage section, the article may be displaced from the center of the article storage section and stored due to swinging of a mast or the like. In this way, if the article is stored with being displaced from the center of the article storage unit, the next time the fork device scoops the article, the fork device scoops the article from the center position of the article storage unit, causing the collapse of the article. There was a risk of (collapse of goods) and dropping.

In view of the above, the present invention provides an article storage facility capable of preventing the articles from collapsing or falling when scooping the displaced articles when the articles are stored with being displaced from the center of the article storage section. It is intended for.

[0006]

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, and a plurality of article storage sections that move along the article storage sections. Article storage facility including article transport means for transporting the article between the article storage section and a predetermined loading / unloading port, and control means for controlling the article transporting means to load / unload the article at the loading / unloading port The article conveying means is provided with an image pickup means for photographing the position of the article on the carry-in / out port or the article storage section, and the control means conveys the article on the carry-in / out port or the article storage section to the article conveying section. When transferring to the device, the image transfer means is made to image the position of the article on the carry-in / out port or the article storage section while approaching the carry-in / out port or the article storage section for transferring the article. It is characterized in that stopping the article transport means with reference to the position of the photographed article by the imaging means.

Here, the image pickup means is composed of, for example, a CCD camera, and the position of the article on the carry-in / out port or the article storage section is detected by image-processing the image pickup data of the CCD camera.

According to the above construction, the image pickup means photographs the position of the article on the loading / unloading port or the article storage portion while the article transporting means approaches the loading / unloading port or the article storage portion for transferring the article. The article conveying means is stopped based on the position of the article photographed by the imaging means. Therefore, even when the article is stored while being displaced from the center of the loading / unloading port or the article storage portion, the article can be scooped at the center position of the article, and thus the collapse or drop of the article can be prevented. Further, by detecting the position of the article while approaching the article conveying means, it is possible to shorten the time until the position of the article is detected and the article conveying means is stopped based on the position of the article, and the work efficiency can be improved. it can.

The invention according to claim 2 is the invention according to claim 1, wherein the control means stores size information of the articles stored in the article storage sections. The control means stops the article conveying means based on the stored size of the article and the position of the article imaged by the imaging means.

According to the above construction, since the size of the article is stored as information, it is possible to judge whether or not it is necessary to correct the stop position of the article conveying means depending on the size. By not making corrections based on this, useless operations can be eliminated and work efficiency can be improved.

The invention according to claim 3 is the invention according to claim 1 or claim 2, wherein the control means is configured to move the articles by the imaging means while the article conveying means is moving. It is characterized in that the position of the article on the storage section or the position of each of the article storage sections is photographed, and the article conveying means is stopped depending on the position of the article imaged by the image pickup means or the position of the article storage section. is there.

According to the above structure, the position of the article on each article storage section or the position of each article storage section is photographed by the image pickup means during the movement of the article conveying means, and the position of the article photographed by this image pickup means is taken. Alternatively, the article conveying means is stopped depending on the position of the article storage section. Further, by storing the position of the article photographed during the movement or the position of the article storage section as data (stop data for stopping the article conveying means), the article storage section for the purpose of scooping the article stores the stop data. In the case of the article storage section, the stop data can be obtained without newly photographing the position of the article on the article storage section or the position of the article storage section.

The invention according to claim 4 is the invention according to any one of claims 1 to 3, wherein the control means positions the articles on the article storage portions during movement. Alternatively, the position of each of the article storage units is updated.

According to the above configuration, the position of the article on each article storage section or the position of each article storage section is updated during movement,
You can always get new stop data.

[0015]

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 so that the article loading / unloading directions are opposed to each other, and formed between the storage shelves A. A stacker crane (an example of article transporting means) C that automatically travels along the working path B is provided, and a plurality of article storage sections D that store pallets P on which articles (products etc.) F are placed are provided in each storage shelf A. They are vertically arranged in multiple stages and arranged in parallel in the traveling direction of the stacker crane 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 an article loading / unloading command is given to an article carrying in / out section E installed at one end side (HP side) of the work passage B. Controller E1 input to stacker crane C
And a pair of conveyor devices with an elevating device e (an example of a loading / unloading port) E2 as means for separating the articles F with the traveling rail 1 interposed therebetween.
And the stacker crane C travels along the traveling rail 1 based on the loading and unloading command to load and unload the article F between the conveyor device E2 and the article storage unit D. It is configured as a car. When the pallet P is transferred between the stacker crane C and the conveyor device E2, the elevator e of the conveyor device E2 is lifted and the pallet P is transferred while being lifted from the upper surface of the conveyor device E2.

The stacker crane C has a traveling body 2 traveling along a traveling rail 1 and an elevating platform (elevating body) 3
And a pair of front and rear lifting masts (pillars vertically mounted on the traveling vehicle body) 4 for guiding and supporting the lifting table 3 so that the lifting table 3 can be lifted and lowered. The lifting table 3 is provided with a fork device for transferring articles. (Means for delivering articles) 5 are provided.

A guide rail 6 is laid along the traveling rail 1 on the ceiling, and the upper ends of the pair of lifting masts 4 are connected to each other and sandwich the guide rail 6 from the left and right. An upper frame 7 is provided to regulate 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 a guide sprocket 9 provided on an 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 stage 3 is driven and raised by the operation of unwinding and winding 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. A lower limit detector 16 that detects that the lift 3 is lowered to the lower limit position is arranged on the traveling vehicle body 2.

As shown in FIG. 4, the detection information of the rotary encoder 14 of the elevator platform and the detection signal of the lower limit detector 16 are input to the elevator controller 30 of the crane controller CC.

On the lift table 3, a CCD camera for photographing the position of the pallet P on which the article F on the conveyor device E2 or the article storage section D placed on the left side of the article loading / unloading section E is placed. The first image pickup device 18, the lighting device 18a for illuminating the first image pickup device 18 at the time of photographing, and the conveyor device E2 or the article F on the article storage unit D arranged on the right side of the article carry-in / out section E are placed. A second image pickup device 19 including a CCD camera for photographing the position of the pallet P and an illuminating device 19a for illuminating the second image pickup device 19 during photographing are provided. The first image pickup device 18 and the second image pickup device 19 constitute an example of an image pickup means for picking up an image of the position of the article on the carry-in / out port or the article storage section.

As shown in FIG. 4, the image pickup information of the first image pickup device 18 and the image pickup information of the second image pickup device 19 are, as shown in FIG. 4, the article position detection unit 3 of the crane controller CC having an image processing function.
It has been entered in 3.

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. A lower position regulating roller 22 provided in a pair at front and rear engaging with the traveling rail 1 and in a direction perpendicular to the traveling direction of the stacker crane C (hereinafter, referred to as left-right direction) and a so-called inverter type motor. A certain electric motor 23 for traveling is provided.

A wheel on one end side in the vehicle body front-rear direction of the two wheels 21 is configured as a propulsion drive wheel 21a driven by a traveling electric motor 23, and a wheel on the other end side in the vehicle body front-rear direction. Are configured as idler driven wheels 21b.

Further, upper position regulating rollers 24 (FIG. 2) are provided on the upper frame 7 in a pair of right and left positions before and after engaging with the guide rail 6 so as to regulate the position of the guide rail 6 in the lateral direction of the vehicle body (FIG. 2). The stacker crane C is configured to be self-propelled along the traveling rail 1 by being driven by the traveling electric motor 23 while being prevented from falling by the lower position regulating roller 22 and the upper position regulating roller 24. ing.

The traveling position of the traveling vehicle body 2 is, as shown in FIG. 3, a distance measuring device using light, that is, a beam of light for distance measurement is projected and is opposite to one end side (HP side) of the working passage B. It is managed based on the detection information of the (laser) range finder 25 that measures the distance by the reflected light from the reflector (not shown) arranged at the side end. In addition, by detecting that the traveling vehicle body 2 is located at the delivery position of the pallet P with the conveyor device E2 (the above-mentioned HP position) on the traveling vehicle body 2 by detecting an object to be detected (not shown) arranged at the HP position. An HP detector 27 for detecting is provided.

The detection information of the range finder 25 and the detection signal of the HP detector 27 are, as shown in FIG.
Is input to the traveling control unit 31. In addition, the above-mentioned storage shelf A
As shown in FIG. 1, a plurality of long pillars 41 standing vertically are connected to the back surface side (the side not facing the working passage B) across the pillars 41. It is framed by a fixed horizontal beam 42 and a plurality of braces 43 arranged as necessary, and a shelf plate 44 as an article mounting member is fixed between the columns 41 in the left-right direction.
An article storage section D is formed by a shelf board 44 between adjacent columns 41.

The position (address) of the article storage section D in the storage rack A is the number of the bank (row number of the storage rack A) and the level number (column from the lowest article storage section D of the storage rack A). Number) and the number of the bay (the number in the front-rear direction of the article storage section D from the HP position), and the transportation instruction (working data for loading / unloading) to the article storage section D is formed by the address of the article storage section D or the like. It

The crane control device (an example of control means) CC including a computer is provided on the traveling vehicle body 2 outside the lifting mast 4 on the side of the article carrying-in / out section E, and the crane control is performed. On the device CC, a first optical transceiver 28 that transmits and receives data to and from the controller E1 of the article carry-in / out section E 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 controller CC sends a transportation command (conveyor device E2 or article storage D from the controller E1 via the optical transceivers 29 and 28).
Receiving the work data including the address) and the like, an elevating control section 30 for elevating the elevating platform 3 to a designated elevating position, and a traveling control section 3 for moving the traveling vehicle body 2 to a designated traveling position.
1, a transfer control unit 32 that moves the fork device 5 back and forth to transfer the article F, the article position on the pair of conveyor devices E2 or the article storage unit D, and the position of each article storage unit D are detected. The article position detection unit 33 is configured and controlled by the crane control device CC to carry the articles F and transfer the articles F to and from the article storage units D and the like.

The traveling control unit 31 will be described in detail with reference to the control block diagram of FIG. The controller E1 inputs the address (bay number) of the conveyor device E2 or the article storage unit D of the transfer instruction from the controller E1 via the optical transceivers 29 and 28.

In FIG. 5, reference numeral 52 denotes a travel distance calculation unit for correcting the detection information output from the distance meter 25 by the HP detection signal of the HP detector 27 to obtain the travel distance Mf from the HP position. This travel distance Mf is determined by the travel drive unit 5.
3 (details will be described later), the traveling bay detection unit 54 (details described later), and the article detection unit 33.

55 is a traveling stop position from the HP position of the loading / unloading position of the conveyor device E2, which is obtained by learning.
The traveling stop position from the HP position for each number of each bay (the distance at which the center of the fork device 5 of the stacker crane C is located at the center in the front-rear direction), the loading / unloading position of the conveyor device E2, and the bay for each bay number. This is a memory in which a range (distance between front and rear end positions from the HP position) is stored, and when the traveling target value setting unit 56 inputs the number of the conveyor device E2 or the bay of the traveling destination from the controller E1,
The memory 55 is searched by the conveyor device E2 or the bay number of the traveling destination to obtain the traveling target value Mr consisting of the traveling stop position from the HP position of the traveling destination, and the adder 5
Output to 7. The adder 57 adds the traveling target value Mr and a position correction value α described later and outputs the addition as a traveling target value Ms to the traveling drive unit 53.

The traveling drive unit 53 is preset with a high traveling speed v _{H, a} low traveling speed v _L and an acceleration / deceleration a, and the inputted traveling target value Ms and the current traveling distance Mf.
The traveling curve is set on the basis of the traveling target value Ms as a target value, and the rotational speed command value is output to the traveling electric motor 23 while feeding back the traveling distance Mf of the vehicle.
The traveling curve is such that the traveling speed is accelerated to a high traveling speed v _H from the start of traveling to a high traveling speed v _H , the vehicle travels at the high traveling speed v _H for a certain period of time, and when the traveling target value Ms is approached, the rotation speed command value is generated by the deceleration a. Is a curve that gradually decreases (decelerates) to a low traveling speed v _L, and reaches a speed of 0 when the target value Ms is reached, and the vehicle travels at a high speed according to the traveling distance obtained from the traveling target value Ms and the current traveling distance Mf. A fixed time for traveling at the speed v _H is set. Further, the traveling drive unit 53 outputs a deceleration signal to the article position detection unit 33 while decelerating, and further receives an arrival signal arriving at the traveling destination by the receivers 28, 2.
9 to the controller E1.

The traveling bay detector 54 searches the bay range in the memory 55 based on the input current traveling distance Mf, obtains the number of the current (including moving) conveyor device E2 or bay, and determines the article position. Output to the detection unit 33.

With the configuration of the traveling control unit 31 as described above,
While the traveling vehicle body 2 is corrected (corrected) to the designated loading / unloading position or the bay position (traveling position) of the conveyor device E2 based on the conveyance command and the position correction value α input from the article position detection unit 33. While being moved, the current traveling distance Mf, the deceleration signal, and the number of the moving conveyor device E2 or bay are output to the article position detection unit 33.

The elevation control unit 30 will be described in detail with reference to the control block diagram of FIG. The elevator control unit 30 has the controller E1 via the optical transceivers 29 and 28 through the optical transmitters / receivers 29 and 28 to convey the address of the conveyor device E2 or the article storage unit D (level number) and the article entry / exit information (the operation of scooping articles. (Information for executing the operation) is input.

In FIG. 6, reference numeral 61 is a counter that counts the pulses output from the lift table side rotary encoder 14 that are reset by the lower limit detection signal of the lower limit detector 16, and the count value of this counter 61 is the lift distance calculation. It is input to the unit 62, and the ascending / descending distance calculation unit 62 measures the ascending / descending distance Gf from the lower limit position. The ascending / descending distance Gf is output to the ascending / descending driving unit 63 (details will be described later) and the ascending / descending level detection unit 64 (details described later).

Reference numeral 65 denotes a scooping lifting / lowering stop position from the lower limit position for each number of the conveyor device E2 and level obtained by learning (a lifting / lowering distance at which the fork device 5 stops to scoop the pallet P of the article storage section D). Unloading elevator stop position (elevating distance to stop the pallet P from the fork device 5 to unload the pallet P into the article storage unit D), the conveyor device E2 and the level range for each level number (the distance from the lower limit position to the upper and lower end positions). ) Is stored in the memory, and when the controller E1 inputs the number of the conveyor device E2 or the level of the elevator destination and the loading / unloading information of the articles from the controller E1, the target value setting unit 66 of the elevator device E2 or the level of the elevator destination Memory 65 based on the number and information of goods
Is searched for to obtain a lift target value Gs consisting of a lift stop position from the lower limit position of the lift destination and output to the lift drive unit 63.

The ascending / descending drive section 63 is previously provided with an ascending / descending speed v.
_S and acceleration / deceleration b are set, and the entered target elevation value G
While feeding back the ascending / descending distance Gf obtained by the ascending / descending distance calculation unit 62 with s as the target value, a rotation speed command value for increasing and decreasing the ascending / descending speed to the ascending / descending speed v _S by the acceleration / deceleration b is output to the ascending / descending electric motor 12. . Further, the elevating / lowering drive unit 63 receives the arrival signal from the receivers 28, 29.
To the controller E1.

Further, the ascending / descending level detecting section 64 searches the level range of the memory 65 according to the inputted current ascending / descending distance Gf, obtains the current (including moving) conveyor device E2 or the level number, and determines the article position. Output to the detection unit 33.

With the configuration of the lifting control unit 30 as described above,
The elevating table 3 is moved to a designated level position (elevating position) based on the transport command, and the article position detecting section 3
The number of the conveyor device E2 or the level being raised or lowered to 3 is output.

The article position detecting section 33 will be described in detail with reference to the control block diagram of FIG. The article position detection unit 33 obtains the position correction value α, and the traveling control unit 3
It is output to 1. In addition to the transfer command (work data consisting of the position of the conveyor device E2 or the bank number, the level number, and the bay number), the width (size) of the pallet P transferred by the fork device 5 in the front-rear direction. (Example) It is assumed that the information of w is input from the controller E1. Further, as described above, the current traveling distance Mf, the deceleration signal, and the moving conveyor device E2 or the number of the bay are input from the traveling controller 31, and the conveyor device E moving up and down by the elevator controller 30.
A 2 or level number has been entered.

In FIG. 7, reference numeral 71 designates the first image pickup device 18 on the left when the bank number is "1", and when the bank number is "2", based on the information of the input transport command. Selects the second image pickup device 19 on the right side, inputs a deceleration signal from the traveling control unit 31 (during deceleration), and the input “conveyor device E2 or bay number and level number” is the transfer command. "Conveyor device E2
Or the number of the bay and the number of the level ”, the image capturing unit that captures the imaged data of the selected first image pickup device 18 or the second image pickup device 19 and outputs it to the first image processing unit 72 after a predetermined time. . When the first image processing unit 72 receives the image pickup data from the image capturing unit 71, the first image processing unit 72 performs image processing to perform the elevator e of the conveyor device E2 or the shelf board 44 forming the article storage unit D, and further the elevators e.
Alternatively, the contour of the pallet P on which the article F is placed on the shelf board 44 is extracted and output as image data to the position correction value detection unit 73.

In FIG. 7, reference numeral 76 stores the travel stop position (the distance at which the center of the fork device 5 of the stacker crane C is located at the center in the front-rear direction) from the HP position for each number of each bay, obtained by learning. 77, the input current traveling distance Mf is the memory 76.
The timing generation unit outputs a timing signal when the traveling stop position of each bay stored in 1 is matched. When the second image processing unit 78 receives the timing signal from the timing generating unit 77, the second image processing unit 78 takes in the imaging data of the first imaging device 18 and forms the article storage unit D by image processing. The contour of the pallet P on which the article F is placed on the shelf board 44 is extracted and written in the first image memory 79 as image data. Further, when the third image processing unit 80 receives the timing signal from the timing generating unit 77, the third image processing unit 80 takes in the imaging data of the second imaging device 19,
A pair of columns 4 that form the article storage unit D by image processing
1 and the shelf board 44, and the contour of the pallet P on which the articles F on the shelf board 44 are placed is extracted and written in the second image memory 81 as image data.

When the first image memory 79 receives the image data from the second image processing section 78, it stores it together with the bay number and the level number, and the pair of columns 41 and the shelves 44 at the center of the bay, and further these. Stored as position data of the pallet P on which the article F on the shelf board 44 is placed, and the second image memory 81 stores the third image processing unit 8 in the second image memory 81.
When the image data is input from 0, it is stored together with the bay number and the level number, and the position data of the pair of stanchions 41 and the shelf board 44 at the center position of the bay and the pallet P on which the articles F on these shelf boards 44 are placed. Memorize as.

The position correction value detector 73 will be described in detail. The position correction value detection unit 73 obtains the position correction value α and outputs it to the travel control unit 31. The article correction value α on the HP position side is set to minus α (α ≧ 0).

The position correction value detection unit 73 obtains the article correction value α from the image data extracted by the first image processing unit 72 or the image data stored in the first image memory 79 or the second image memory 81. ing. That is,
When using the image data extracted by the first image processing unit 72, as shown in FIG.
(Or the elevator e), its center line, and the image of the fork device 5 are set, and as shown in FIG. 8 (b), the outline data of the shelf 44 (or the elevator e) of the image data and the pallet P are overlapped. In addition, when the distance β between the center position of the pallet P and the center line is obtained and the image data stored in the first image memory 79 or the second image memory 81 is used, as shown in FIG. 9A. In FIG. 9, images of the pair of columns 41 and the shelf 44, and the fork device 5 are set, and as shown in FIG. The distance β of the deviation (or the deviation of the shelf board 44) is obtained, and the article correction value α is obtained from the obtained distance β. 8 and 9, γ indicates a margin value (distance) at which the fork device 5 does not contact the pair of shelf plates 44 (or the elevator e).

The position correction value detection unit 73 detects the position correction value α
The procedure required by will be described with reference to the flowchart of FIG. When a transport command (including the width in the front-rear direction of the pallet P) is input (step -1), first, the width w in the front-rear direction of the input pallet P is a predetermined value (for example, the pallet P is almost on the pair of shelf boards 44). It is determined whether or not the width W is larger than the width W (step-2), and when it is larger, the position correction value α is set to 0 (no correction) (step-
3), end.

When the width w of the pallet P is less than or equal to W, it is judged whether the transportation instruction is an instruction to transport the article F from the article storage section D (step-4), and the instruction to transport the article F from the article storage section D. When the bank number of this conveyance command is "1", the left first image memory 79 is selected, and when the bank number is "2", the right second image memory 81 is selected.
(Step-5), and then the selected image memory 79 or 81 is searched by the bay number and level number of the transportation instruction (step-6), and the image data of the article storage section D of the transportation instruction ( It is determined whether or not (including the pallet P) is stored (step -7), the search can be performed, and when the image data is obtained, as described above (see FIG. 9), the column 41 is displaced from the searched image data (see FIG. 9). Alternatively, the distance β of the deviation of the shelf board 44 is obtained (step-8).

When the retrieval cannot be performed or the transportation instruction is the transportation instruction of the article from the conveyor device E2, the article F is loaded from the image data output from the first image processing unit 72 as described above (see FIG. 8). The distance β between the center position of the pallet P and the center line is obtained (step-9).

Then, it is confirmed whether or not the obtained distance β is less than or equal to the margin value γ (step -10), and when the distance β is less than or equal to the article correction value α (α = β) (step -11), the margin value is obtained. When it is larger than γ, the margin value γ is obtained as the article correction value α (α = γ) (step-12), and the process is ended.

With the structure of the article storage section 33 as described above,
The position correction value α in the traveling destination article storage unit D (or the conveyor device E2) is the article storage unit D obtained during traveling.
Position data (positional data of a pair of stanchions 41 and a shelf board 44 at the center position of the bay in the article storage section D during traveling, a pallet P on which the article F is placed on these shelf boards 44) or the stacker crane C decelerates. The position data of the traveling destination article F (the elevator e of the conveyor device E2 or the shelf board 44 forming the article storage unit D, the pallet P on which the article F on the elevator e or shelf board 44 is placed
Contour data). Further, during traveling, the pair of support columns 41 and the shelf board 44 at the center position of the bay in the article storage unit D during traveling, and further these shelf boards 44.
The position data of the pallet P on which the article F above is placed is calculated and constantly updated.

The operation of the construction of the crane controller CC will be described. When the article F is stored, the elevator platform 3 is moved up and down from the conveyor device E2 to which the elevator platform 3 is designated by the elevator control section 30 to the target article storage section D, and the traveling vehicle body 2 is designated by the traveling control section 31. Conveyor device E2
The article F is moved to a desired traveling position of the article storage section D, and the transfer control section 32 causes the fork device 5 to move in and out to move the article F.
Is transferred, and the warehousing operation is executed. At this time, while the stacker crane C (traveling vehicle body 2) is traveling to the conveyor device E2 for scooping the pallet P into which it is stored, at least during deceleration,
The position correction value α in the conveyor device E2 is obtained, the traveling stop position is corrected by the position correction value α, and the stacker crane C is stopped at the center position of the pallet P (article F) (the center position of the fork device 5 is Driving is controlled to stop).

When the article F is unloaded, the elevating table 3 is moved up and down from the article storage section D designated by the elevating control section 30 to the elevating position of the intended conveyor apparatus E2, and the traveling vehicle body 2 is moved by the traveling control section 31. The designated article storage section D is moved to the target traveling position of the conveyor device E2, and the transfer control section 32 operates the fork device 5 to move in and out, whereby the article F is moved.
Is transferred, and the delivery operation is executed. At this time, the position correction value α in the article storage unit D is obtained while the stacker crane C (traveling vehicle body 2) is traveling to the article storage unit D scooping the pallet P that is leaving, and at least during deceleration. The traveling stop position is corrected, and the stacker crane C is stopped at the center position of the pallet P (article F) (travel is controlled so that the center position of the fork device 5 stops).

Further, during traveling accompanying the above-mentioned loading / unloading operation, a pair of support columns 41 and a shelf board 44 at the center position of the bay in the article storage section D during traveling, and a pallet P on which the articles F on these shelf boards 44 are placed. Position data of
Always updated.

As described above, the stacker crane C is
The position of the pallet P on the article storage unit D or the conveyor device E2 is set by the first imaging device 18 or the second imaging device 19 while approaching the article storage unit D or the conveyor device E2 that scoops (transfers) the pallet P. The stacker crane C is photographed, and the stacker crane C is stopped based on the photographed position of the pallet P (article position), so that the pallet P is stored while being displaced from the center of the article storage unit D or the conveyor device E2. At any time, it is possible to scoop at the center position of the pallet P, so that the articles F on the pallet P can be prevented from collapsing or falling. Further, by detecting the position of the article F while approaching the stacker crane C, the time until the position of the article F is detected and the stacker crane C is stopped based on the position of the article F can be shortened, and the work efficiency is improved. can do.

Further, since the size of the pallet P to be transferred (width w in the front-rear direction) is given as information, it can be determined whether or not the position of the stacker crane C needs to be corrected depending on the size, and the size can be determined. Is the specified front-back width W
Do not correct when larger (position correction value α =
In 0), useless operation can be eliminated and work efficiency can be improved.

Further, while the stacker crane C is moving, the position of the pallet P on each article storage unit D and the pair of columns 41 and shelves forming each article storage unit D are moved by the first imaging device 18 and the second imaging device 19. The position of the plate 44 is photographed, and the position of the pallet P of each article storage unit D and the positions of the pair of columns 41 and the shelf plate 44 during movement are obtained, and the image memory 7 is obtained.
When the scooping of the pallet P from the article storage unit D whose positions are obtained by storing the values in 9 or 81 is instructed, the position correction value α is immediately obtained, and the traveling target is not waited for deceleration. The value Ms can be set, and the stacker crane C can be stopped smoothly.

Further, by constantly updating the position of the pallet P on each article storage unit D and the position data of the pair of columns 41 and the shelves 44 forming each article storage unit D, the new position data is always used for accurate calculation. Therefore, even if the pallet P is stored while being displaced from the center of the article storage unit D or the conveyor device E2, the pallet P can be scooped at the center position of the pallet P. It is possible to prevent the article F on the P from collapsing or dropping.

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. 11 shows an example of an article storage facility FS ′ provided with an article transporting means which does not include the traveling vehicle body 2. In FIG. 11,
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. 11 stores articles F, which are articles, for example, 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 units 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 'equipped with the article transporting means (transport apparatus C') not having the structure corresponding to the traveling vehicle body 2, the fork apparatus 5 and the article storage facility FS 'can be laterally moved on the lift table 3. The imaging device 18, 1 moving to
By providing 9, the position of the article F and the position of the shelf board 44 on each article storage section D or the carry-in / out sections E3a, E3b can be detected, and the article F can be detected in the article storage section D or the carry-in / out sections E3a, E3b. Even when stored away from the center, you can scoop at the center position of the article F,
Therefore, the fall of the article F can be prevented.

Further, in the present embodiment, the first image pickup device 18 and the second image pickup device 19, which are image pickup means, use the CCD camera to photograph the entire article storage section D, but at least the article storage section The position of the one shelf board 44 in D and the pallet P above it may be read. Further, only one of the first image pickup device 18 and the second image pickup device 19 is left, the other one is lost, and the direction of the remaining one image pickup device can be changed. With this one image pickup device, You may make it image | photograph the state of each conveyor device E2 or the article storage part D of right and left.

Further, in the present 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 conveyor devices E2 of the article loading / unloading section E are used as loading / unloading ports for loading / unloading the articles F, but one of these conveyors E2 is used for loading / unloading the articles F. It is also possible to use the exclusive use and the other exclusive use for the carry-out exit.

Further, in the present embodiment, the conveyor device E2 is used as the article separating means of the article loading / unloading section E, but a fixed load carrier, a self-propelled carriage, a lifter load carrier, etc. may be used. .

In the present embodiment, the moving position of the lift 3 is obtained by counting the output pulses of the lift-side rotary encoder 14, but the distance measuring device using light, that is, the bottom surface of the lift 3 is used. Even if the moving position of the lifting table 3 is obtained using a laser rangefinder that projects a beam of light for distance measurement and a reflector installed in the same, and measures the distance by the reflected light from the reflector. Good.

Further, in the present embodiment, the moving position of the traveling vehicle body 2 is obtained by using the laser range finder 25, but like the moving position of the lifting table 3, the output pulse of the rotary encoder is counted. You may ask. At this time, a chain is laid along the traveling rail 1, a sprocket attached to the rotary shaft of the rotary encoder is meshed with the chain, and the sprocket rotates as the traveling vehicle body 2 travels. Detects traveling movement.

Further, in the present embodiment, the article storage section D is formed by the shelves 44 between the adjacent support columns 41, but the beam (combined and fixed in the front-rear direction between the support columns 41 of the storage shelf A ( The article storage unit D may be formed by a horizontal beam (the storage rack A may be a beam rack).

[0076]

As described above, according to the present invention, while the article conveying means is brought close to the loading / unloading port or the article storage portion for transferring the articles, the image pickup means allows the article on the loading / unloading port or the article storage portion to be moved. When the article is stored while being displaced from the center of the loading / unloading port or the article storage part by stopping the article transporting means based on the position of the article imaged by the imaging means as a reference. But
It is possible to scoop at the center position of the article, thus preventing the article from collapsing or falling.

[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 a block diagram of a travel control unit of the complaint control device of the article storage facility.

FIG. 6 is a block diagram of a lifting control unit of the complaint control device of the article storage facility.

FIG. 7 is a block diagram of an article position detection unit of the complaint control device of the article storage facility.

FIG. 8 is an explanatory diagram for obtaining a position correction value of the article storage facility.

FIG. 9 is an explanatory diagram for obtaining a position correction value of the article storage facility.

FIG. 10 is a flowchart illustrating an operation of a position correction value detection unit of the article storage facility.

FIG. 11 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 Conveyor device (import / exit) F goods P pallet 1 running rail 2 running car 3 elevators 4 Lifting mast 5 Fork device 12 Lifting electric motor 18, 19 Imaging device 23 Electric motor for traveling 28,29 Optical transceiver 30 Lift control section 31 Travel control unit 32 Transfer controller 33 Article position detector

Continued front page    F term (reference) 3F022 EE02 FF01 HH13 JJ09 KK01                       LL33 MM08 MM35 MM66 MM67                       NN02 NN05 NN12 NN21 NN26                       PP01 PP06 QQ03 QQ11 QQ17                 3F333 AA04 AB08 AE03 FA17 FA20                       FA26 FA28 FD04 FD14 FD15                       FE04 FE05 FE09

Claims (4)

[Claims] 1. A plurality of article storage units for storing articles, and article transporting means that moves along the article storage sections to transport the articles between the article storage section and a predetermined loading / unloading port. An article storage facility comprising control means for controlling the article transporting means to take an article in and out at the loading / unloading port, wherein the article transporting means photographs the position of the article on the loading / unloading port or the article storage section. And a control means for transferring the articles on the loading / unloading port or the article storage unit to the article transporting means, wherein the article transporting means transfers the articles to the loading / unloading port or the article storage While approaching the section, the image pickup means photographs the position of the article on the loading / unloading port or the article storage section, and the article conveying means is stopped based on the position of the article photographed by the image pickup means. The article storage facility, characterized in that. 2. The control means stores size information of the articles stored in the article storage sections, and the control means captures the size of the stored articles and the image capturing means. The article storage facility according to claim 1, wherein the article transporting means is stopped based on a position of the article. 3. The control means causes the image pickup means to photograph the position of the article on each of the article storage sections or the position of each of the article storage sections while the article transporting means is moving, and the image pickup means performs the photographing. The article storage facility according to claim 1 or 2, wherein the article conveying means is stopped depending on a position of the article to be stored or a position of the article storage unit. 4. The article storage facility according to claim 3, wherein the control unit updates the position of the article on each of the article storage sections or the position of each of the article storage sections during movement.