JP2005280991A - Article information reader of high-rise warehouse and article carrying control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article information reader of a high-rise warehouse which always accurately detects and updates a position of a carrying article without requiring a program of complicated tracking. <P>SOLUTION: An article detecting sensor 3<SB>-i</SB>and an antenna 4<SB>-i</SB>are arranged for respective plural unit article storage areas 11<SB>-i</SB>. In reading, an article existence signal from the article sensor 3<SB>-i</SB>is read in order for respective unit article storage areas 11<SB>-i</SB>, and the existence signal is stored in a register 1a. When an article exists, a relay contact point 5<SB>-i</SB>is closed, and the antenna 4<SB>-i</SB>is connected to a reader circuit 2, and article information is read by an IC tag 14 of the article existing in its unit article storage areas 11<SB>-i</SB>by the antenna 4<SB>-i</SB>, to be stored in the register 1a. Such processing is repeated, and the existence-nonexistence of the article for respective unit article storage areas 11<SB>-i</SB>and the article information are stored in the register when the article exists. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an article information reading device and an article conveyance control device for a three-dimensional warehouse.

  In general, as an automatic warehouse, as shown in FIG. 19, unit article storage units 100 each having a transport means are arranged in a matrix. Furthermore, in the case of a three-dimensional warehouse, a storage layer composed of a matrix of these unit article storage units 100 is formed over a plurality of layers. In FIG. 19, for example, the article 101 is carried in from the entrance 102, stored in the article storage unit 100 i, and unloaded from the exit 103. For example, the article 101 is carried in via the route indicated by arrow A and carried out via the route indicated by arrow B.

By the way, in order to control the conveyance of the conveyed article, a reader (reading device) is arranged at a fixed place in the conveyance path, and a barcode or a high frequency IC tag attached to the article being passed is read. When the point is notified, the information is tracked by the computer along with the movement of the conveyed object from the information of the article (see, for example, Patent Document 1).
JP 2000-255716 A

  In the above-described conventional method for storing and transporting articles, even if the transport method is one-way movement, it is necessary to manage the information on the stock sensors and the information on the transported object and assume the movement of the transported object. Therefore, if the combination of ± directions is further implemented for each of the three directions X, Y, and Z as the moving directions, the management of the information on the driving direction, the information on the goods (articles) sensor, and the information on the transported object can be managed. Necessary. In this case, a complicated program is necessary, and when trouble occurs, accurate tracking cannot be performed, and there is a problem that information on the conveyed product is erroneous.

  The present invention has been made paying attention to the above-mentioned problems, eliminates the need for a complicated tracking program, and can always accurately detect and update the position of a conveyed article, and the article information reading device and article conveyance in a three-dimensional warehouse. The object is to provide a control device.

  The article information reading device of a three-dimensional warehouse according to claim 1 has a first conveying means for conveying in a first direction and a second conveying means for conveying in a second direction, respectively, and a unit in which unit articles are stored An article information reading device of a three-dimensional warehouse having a plurality of article storage areas and having at least one storage layer in which these unit article storage areas are arranged in a matrix, and each unit article storage area includes an article detection sensor and In addition to arranging the antenna, corresponding to each unit article storage area, the inventory information storage unit for storing information on the inventory, and the detection signal of each article detection sensor in time order, In such a case, an article information is read from a storage medium of goods in stock by an antenna, and a reading control section for storing presence / absence of goods and / or article information in the goods information storage section.

  The article information reading apparatus for a three-dimensional warehouse according to claim 2 is the apparatus according to claim 1, wherein the reading control unit reads a signal from each of the antennas sequentially in time order, and the in-stock item information. And a control unit that captures a signal from the article detection sensor, and stores each article information read by the reading unit in an article information storage unit.

  The article information reading device for a three-dimensional warehouse according to claim 3 is the one described in claim 2, wherein each of the antennas and the reading unit is connected via a relay contact, and each relay contact is an article detection sensor. In response to the detection signal, the signals are sequentially turned on by a command from the control unit.

  An article information reading device for a three-dimensional warehouse according to claim 4 is the apparatus according to claim 1, claim 2, or claim 3, wherein the article carried into the unit article storage area is stored at the bottom center. A medium is provided, and the article detection sensor and the antenna are arranged in a central portion of the unit article storage area.

  An article information reading device for a three-dimensional warehouse according to a fifth aspect is the one according to the fourth aspect, wherein the antenna is arranged so as to surround an outer periphery of the article detection sensor.

  The article transport control device for a three-dimensional warehouse according to claim 6 includes first transport means for transporting in the first direction and second transport means for transporting in the second direction, respectively, and unit articles are stored. An article transport control device of a three-dimensional warehouse apparatus having a plurality of unit article storage areas each having at least one storage layer in which these unit article storage areas are arranged in a matrix. A detection sensor and an antenna are arranged, and in correspondence with each unit article storage area, the inventory item information storage unit that stores information about the inventory item, and the detection signal of each article detection sensor in time order, When there is an article, the article information includes: a reading control unit that reads the article information from the storage medium of the inventory item by the antenna and stores the presence / absence of the article and / or the article information in the inventory item information storage unit Comprising a winding device, based on the article information of each unit goods storage area read by the article information reading device, and controls so as to convey a unit goods storage area for the purpose of the desired article.

  According to the first aspect of the present invention, at the time of reading, the article detection sensor detects the presence / absence of an article in each unit article storage area, and the antenna stores the article in the detection of the presence of the article in the unit article storage area. The article information is read from the medium, and the presence / absence of the article and the article information are stored in the inventory information storage unit, so that the position of each article can be accurately and easily grasped.

  According to the second aspect of the present invention, since the number of reading units is one for a plurality of antennas, the article information reading apparatus can be realized at low cost.

  According to the invention of claim 3, by sequentially turning on the relay contacts, the data from each antenna can be read sequentially by the reading unit, and the data from nearby antennas can be read by interference. Can be prevented.

  According to the invention of claim 4, since the article detection and the article information reading are performed when the article reaches the center of the unit article storage area, the article is carried into the unit article storage area from any direction. Even in this case, detection and information reading can be reliably performed.

  According to the invention of claim 5, since the antenna is arranged so as to surround the article detection sensor, the antenna and the article detection sensor can be stored in a compact manner.

  According to the invention of claim 6, the article information reading device accurately reads the presence / absence of articles and article information for each unit article storage area, and performs transport control based on these article information. Therefore, accurate conveyance control can be performed without preparing a complicated software configuration.

  Hereinafter, the present invention will be described in more detail with reference to embodiments. FIG. 1 is a schematic diagram showing a three-dimensional warehouse in which the present invention is implemented. Here, a case is shown in which the article storage unit (storage space) 20 in the three-dimensional warehouse is composed of vertical x horizontal x height = 4 × 9 × 2 = 72 unit article storage units (unit article storage areas) 21. Yes. The article R is carried into the warehousing port 21a from the belt conveyor 25 to the upper article storage section 20A. In the lower article storage unit 20B, the article R is carried out to the belt conveyor 25 from the outlet 21b. Each unit article storage unit 21 can be controlled to move the stored article R one unit at a time in the front, rear, left, and right directions, and the other unit article storage units 21 can move one unit in three directions or two directions. That is, each unit article storage unit 21 is provided with article transfer means (article transfer means) for carrying out articles in front, rear, left and right. Although not shown in the figure, it can be moved from the upper layer 20A to the lower layer 20B by a lifting mechanism at a predetermined position. The belt conveyor 25 is not limited to a belt type, and may be another conveyor or a carry-in / out means.

  Next, a specific example of the article transfer means will be described. A schematic plan view of one specific example is shown in FIG. This article transfer means 30 is described in Japanese Patent Application Laid-Open No. 2002-2932: “Conveying direction changing device”. In brief, a base 31 and a motor (not shown) arranged in the base 31 And a plurality of (four) rollers 32 that protrude from the surface of the base 31 and are supported so as to be rotatable and freely changeable in direction, and articles that rotate the rollers 32 by taking out rotational outputs associated with forward and reverse rotations of the motor. A moving power transmission unit and a direction changing power transmission unit that extracts a rotational output accompanying forward and reverse rotations of the motor and changes the direction of the roller 32 are provided. In addition, although not shown, the base 31 is provided with a sensor for detecting stored articles.

  In the direction change power transmission unit, the gear 33 attached to the motor shaft is connected to the internal gear 35 via the idler 34, and the internal gear 35 is attached to the second driver 36 so as to be integrated with the second drive body 36. The first follower 37 that the drive body 36 rotatably supports the roller 32 meshes. Accordingly, when the second driving body 36 rotates in the direction of the arrow due to the rotation of the motor, the second follower 37 rotates in the direction of the arrow in conjunction with the rotation, and the directions of the four rollers 32 are the same direction. change.

  On the other hand, in the article transfer power transmission unit, although not shown in the drawing, when the motor rotates, the first driving body rotates, and the first driven body meshing with the first driving body rotates. The roller 32 whose outer peripheral surface is in contact with the first follower rotates about the horizontal axis 38.

  However, when the motor rotates forward, the first drive body rotates forward, but the second drive body 36 does not rotate by the one-way clutch, and at this time, the roller 32 rotates. On the other hand, when the motor rotates in the reverse direction, the second driving body 36 rotates in the forward direction, but the first driving body does not rotate by the one-way clutch, and at this time, the direction of the roller 32 changes. By the forward / reverse rotation of the motor, the rotation and direction change of the roller 32 are controlled, and the stored article on the base 31 moves back and forth and right and left. The article transfer means 30 can convey the article in the normal direction of the first direction (X direction) and in the normal direction of the second direction (Y direction) orthogonal to the first direction.

  2 may be used by itself, but, for example, four may be used by connecting them in a square shape, depending on the size, weight, etc. of the stored articles to be transferred. What is necessary is just to select suitably according to.

  Next, another article transfer means that can be used in place of the article transfer means shown in FIG. 2 will be outlined with reference to FIGS.

  FIG. 3 is a perspective view of the article transfer means, FIG. 4 is the article transfer means, FIG. 3 is a plan view of the main part when the left and right conveyance path 90 is raised, and FIG. 5 is the article transfer means. 3 is a plan view of the main part when both the left and right and front and rear conveyance paths 90 and 91 of FIG. 3 are raised, and FIG. 6 is the main part when the front and rear conveyance path 91 of FIG. It is a top view. 7 is a side view of the main part as viewed from the arrow A in FIG. 4 when the conveyance path 90 in the left-right direction is lowered in the article transfer means, and FIG. 8 is a conveyance path in the left-right direction in the article transfer means. FIG. 9 is a side view of the main part viewed from an arrow A in FIG. 4 when 90 is raised, and FIG. 9 is an essential part viewed from an arrow B in FIG. FIG. 10 is a side view of the main part viewed from the direction of arrow B in FIG. 4 when the conveyance path 91 in the front-rear direction is raised in the article transfer means.

  The article transfer means includes an elevating motor 41 for conveying paths 90 and 91 and a belt driving motor 42 for conveying paths 90 and 91 attached to the support board 40. The raising / lowering motor 41 is connected to a cam mechanism portion 45 through a gear (not shown), and is attached to the cam mechanism portion 45 corresponding to each of the front, rear, left and right directions so that the link 46 is interlocked. . A pair of horizontal movement links 47 in the left-right direction and a pair of horizontal movement links 48 in the front-rear direction are respectively connected to the links 46, and the links 46 are attached to the divided portions of the horizontal movement links 47, 48. ing. Thereby, the horizontal movement links 47 and 48 can be expanded and contracted in the horizontal direction by the link 46. Further, elevating links 51 and 52 for converting the horizontal movement of the links 47 and 48 into vertical movements are attached to the front ends of the horizontal movement links 47 and 48, respectively. Therefore, the horizontal movement link 47 expands and contracts in the horizontal direction due to the swing of the link 46 driven by the lift motor 41, so that the left and right conveyance path 90 moves up and down, and similarly the horizontal movement link 48 expands and contracts in the horizontal direction. By doing so, the conveyance path 91 in the front-rear direction moves up and down.

  On the other hand, the belt driving motor 42 is connected to another four-way branching gear mechanism 61 via a gear mechanism 60. The gear mechanism 61 is connected to a pair of shafts 66 extending in the left-right direction and a pair of shafts 65 extending in the front-rear direction, and clutch pulleys 71, 72 are attached to the shafts 65, 66. When the conveyance paths 90 and 91 in the left-right direction and the front-rear direction are lowered with respect to the clutch pulleys 71 and 72 (FIGS. 7 and 9), the belts 55 and 56 of the conveyance paths 90 and 91 are the clutch pulley 71. , 72 and the conveying paths 90, 91 rise (FIGS. 8, 10), the belts 55, 56 come into contact with the clutch pulleys 71, 72. Further, below the clutch pulleys 71 and 72, auxiliary pulleys 73 and 74 are arranged so as to be movable up and down integrally with the conveyance paths 90 and 91, respectively, and when the conveyance paths 90 and 91 rise, the clutch pulleys 71 and 72 and The belts 55 and 56 are sandwiched between the auxiliary pulleys 73 and 74 so that the power of the clutch pulleys 71 and 72 is reliably transmitted to the belts 55 and 56.

  Since the belt driving motor 42 is always operated, the clutch pulleys 71 and 72 are also always rotated through the shafts 65 and 66 (however, when both the transport paths 90 and 91 are in the raised position, the rotation is stopped). ). At this time, when the conveyance path 90 rises, the belt 55 comes into contact with the clutch pulley 71, the belt 55 is driven, and the article is conveyed by the belt 55 in the left-right direction. When the conveyance path 91 rises, the belt 56 comes into contact with the clutch pulley 72, the belt 56 is driven, and the article is conveyed in the front-rear direction by the belt 56.

  In addition, when switching the conveyance direction of an article | item between the left-right direction and the front-back direction, the conveyance paths 90 and 91 of the left-right direction and the front-back direction will both be in an upward state (refer FIG. 5). This is because when one of the conveyance paths 90 and 91 is raised and the other conveyance path is lowered, the article moves up and down. To prevent this, the conveyance path is changed when the conveyance direction is switched. Both 90 and 91 are to be raised. The article transfer means shown here also has articles in either the forward direction or the reverse direction in the first direction (X direction) in the transport path 90 and in the second direction (Y direction) orthogonal to the first direction in the transport path 91. Can be transported.

  Further, in this embodiment apparatus, as a structural feature, in each unit article storage area, a reflection type photoelectric sensor as an article detection sensor and an IC tag storage data attached to an article transport pallet are read. The antennas are provided respectively.

For convenience, if the unit storage component areas of the embodiment are 11 ₋₁ , 11 ₋₂ ,..., 11 ₋₁₂ shown in FIG. 11, these unit article storage areas 11 ₋₁ , 11 ₋₂ ,. _-12, respectively reflective photoelectric sensor _3-1, 3-2, _..., and _{3 -12,} antenna _{4 -1,} 4 -2, _{..., 4 -12} are provided. Reflective photoelectric sensor _3-1, 3-2, _{..., 3 -12,} the unit goods storage area _{11 -1,} 11 -2, _..., are arranged in the center (center) of _{11 -12,} the The antennas _4-1 , _4-2 , ..., _4-12 are arranged so as to surround the periphery. The relationship between the reflective photoelectric sensors _3-1 , _3-2 , ... _3-12 , the antennas _4-1 , _4-2 , ... _4-12 and the IC tag of the pallet for storing articles is shown. These are arranged as shown in FIG. 12A is a longitudinal sectional view of the pallet, and FIG. 12B is a plan view of the pallet.

  As shown in FIGS. 12A and 12B, an IC tag 14 is provided at the center of the inner bottom surface of the pallet 12, and a reflecting plate 13 is provided directly below the IC tag 14 on the outer surface of the bottom portion. With the pallet 12 being carried into and stored in the unit article storage area 11 without excess or deficiency, the reflection plate 13 arrives at a position directly above the reflection type photoelectric sensor 3. Is reflected and the photoelectric sensor 3 is turned ON. At this ON time, the antenna 4 is also in the readable area of the IC tag 14, and the article information stored in the IC tag 14 can be read by the antenna 4. The reflective photoelectric sensor 3 and the antenna 4 are disposed in the upper layer of the mechanism unit shown in FIG. 2 (or FIG. 3).

FIG. 13 is a block diagram showing a control circuit unit of the three-dimensional warehouse according to the embodiment of the present invention. Reflective photoelectric sensors 3 ₋₁ , 3 ₋₂ ,..., 3 _-12 provided in the unit article storage areas 11 ₋₁ , 11 ₋₂ ,..., 11 _-12 are connected to a PLC (programmable logic controller) 1. are, each reflective photoelectric sensor _3-1, 3-2, _{..., 3 -12} oN / OFF signal is to be incorporated into the PLC1. Also, the unit goods storage area _{11 -1,} 11 -2, _{..., 11 -12} antenna _{4-1 provided,} 4 -2, _{..., 4 -12,} the relay contact ₅ -1, 5 _{- 2} ,... _Are connected to the reader circuit 2 through _5-12 . These relay contacts _5-1, 5-2, _{..., 5 -12,} reflective photoelectric sensor _3-1, 3-2, _{..., 3 -12} ON (article detection) signal is taken to the PLC1 Accordingly, the relay RY is operated and turned on by a command from the PLC 1. The antenna 4- _i corresponding to the relay contact 5- _i that is turned on is connected to the reader circuit (reading unit) 2, and reads the article information of the IC tag 14- _i of the pallet 12- _i . The PLC 1 has an article arrival (article presence / absence) signal from the reflective photoelectric sensor 3 _-i , and a register section (inventory article information storage section) 1 a for storing article information read by the antenna 4- _i in the case of arrival. It has.

  The control of the entire three-dimensional warehouse is performed by operating the PLC 1 under the control of the CPU 6 to read the article position and to transport a desired article to a target unit article storage area according to the reading situation. Is input from the CPU 6 and set in the PLC 1. The drive control unit 7 is controlled according to the procedure set in the PLC 1, and each drive unit in each unit article storage area is individually driven. Then, the conveyed article is conveyed from a predetermined unit article storage area to the next unit article storage area, and further conveyed to the target unit article storage area.

  Next, the processing operation when reading the article information of the circuit of this embodiment will be described with reference to the flowchart shown in FIG.

When entering the reading routine for each item information, the PLC ₁ determines whether or not the reflective photoelectric sensor 3-1 is on in step ST <b> ₁ . When the ON signal indicating the presence of an article from the reflective photoelectric sensor _3-1 are incorporated, the process proceeds to step ST4. On the other hand, when the ON signal is not captured, the process proceeds to step ST2. In step ST2, the data D1 = 0, the words a unit goods storage section _{11 -1,} the data D1 indicating that there is no article to 0. Next, the process proceeds to step ST3. In step ST3, data D1 = 0 is stored in the region R1 of the register 1a. After the storage is completed, the process proceeds to step ST11.

In step ST4, in response to the ON signal from the reflection-type photoelectric sensor 3 _-1 it is taken to turn on the relays RY1. As a result, the relay contact _5-1 is closed and the antenna _4-1 is connected to the reader circuit 2. Next, the process proceeds to step ST5. In step ST5, the article information DI1 is read from the IC tag 14 attached to the pallet 12. Subsequently, the process proceeds to step ST6. In step ST6, the data DI1 is stored in the storage area R1 of the register 1a. Then, the process proceeds to step ST11.

In step ST11, it is determined whether or not the reflective photoelectric sensor _3-2 is on. If the ON signal indicating the presence of an article is captured from the reflective photoelectric sensor 3-2, the process proceeds to step ST _< b> 14. On the other hand, when the ON signal is not captured, the process proceeds to step ST12. In step ST12, data D2 = 0, that is, data D2 indicating that no article exists in the unit article storage unit _11-2 is set to zero. Next, the process proceeds to step ST13. In step ST13, data D2 = 0 is stored in area R2 of register 1a. After the storage is completed, the process proceeds to step ST21.

In step ST14, in response to the ON signal from the reflection-type photoelectric sensor 3 _-2 it is taken to turn on the relays RY2. As a result, the relay contact _5-2 is closed, and the antenna _4-2 is connected to the reader circuit 2. Next, the process proceeds to step ST15. In step ST15, the article information DI2 is read from the IC tag 14 attached to the pallet 12. Subsequently, the process proceeds to step ST16. In step ST16, the data DI2 is stored in the storage area R2 of the register 1a. And it transfers to following step ST21 (illustration omitted).

Thereafter, it is sequentially determined whether or not the signals of the reflective photoelectric sensors 3 ₋₃ ,..., 3 ₋₁₁ are turned on, and the same processing as steps ST1 to ST6 is repeated. Then, the data D3 to D11 or the data DI3 to DI11 are stored in the storage areas R3 to R11 of the register 1a.

Finally, in step ST111, it is determined whether or not the reflective photoelectric sensor _3-12 is on. When the ON signal indicating the presence of an article from the determination-type photoelectric sensor 3 _-12 are incorporated, the process proceeds to step ST114. On the other hand, when the ON signal is not captured, the process proceeds to step ST112. In step ST112, data D12 = 0, that is, data D12 = 0 indicating that no article exists in the unit article storage article _11-12 . Next, the process proceeds to step ST113. In step ST113, data D12 = 0 is stored in region R12 of register 1a. After the storage is completed, the process is terminated.

In step ST114, in response to the ON signal from the reflection-type photoelectric sensor _{3 -12} is taken to turn on the relays RY12. As a result, the relay contact _5-12 is closed and the antenna _4-12 is connected to the reader circuit 2. Next, the process proceeds to step ST115. In step ST115, the article information DI12 is read from the IC tag 14 attached to the pallet 12. Subsequently, the process proceeds to step ST116. In step ST116, data DI12 is stored in storage area R12 of register 1a. Then, the reading process of the article information (information indicating the presence / absence of stored articles in each unit article storage area and what kind of articles are stored) is terminated.

Next, the processing operation in the case where the predetermined article is transported and controlled based on the presence / absence of the article in each unit article storage area and the data obtained by reading the article information as described above will be described. As an example, a case is described in which the movement of the conveyor goods #A to the unit goods storage area 11 _-3. First, in the flowchart shown in FIG. 15, the location position of the transported article #A is confirmed in step ST121. For example, assume that the current location is the unit article storage area _11-1 . Next, in step ST122, conveyance data is created. As an example, to convey the articles in a unit goods storage area _{11 -1} to the unit goods storage area _11-2, and conveying articles in a unit goods storage area _{11 -3} to unit goods storage area _{11 -6,} further units article conveying articles in the housing area _11-2 to the unit goods storage area _{11 -3,} creates data to, the process proceeds to step ST123. In step ST123, the created transport data is input. Then, it transfers to step ST124 and starts conveyance control. Details of this conveyance control will be described later. When the transport operation in the transport control is completed (step ST125), a delay time is set (step ST126), and the process proceeds to step ST127. In step ST127, the article has come is conveyed to the unit goods storage area _{11 -3} (pallet) determines whether #A. When the article conveyed to the unit article storage area is #A, the conveyance control is completed (step ST128). On the other hand, if the conveyed article is not #A, the error is stopped.

Next, processing when a movement command is issued at the start of conveyance control will be described with reference to a flowchart shown in FIG. Here, the procedure shown in FIG. 16 is set in the PLC 1 based on the created transport data 11 ₋₁ → 11 ₋₂ , 11 ₋₃ → 11 ₋₆ , and 11 ₋₂ → 11 ₋₃ . Receiving a movement command in PLC1, In this process routine, in step ST113, the reflection type photoelectric sensor _{3 -1} is determined on or not. If not ON, it means that there is no article in the unit goods storage area 11 _-1, the process proceeds to step ST142, an error stop. On the other hand, the reflection type photoelectric sensor _{3 -1} if turned on, the process proceeds to step ST132.

In step ST132, it is determined whether or not the reflective photoelectric sensor _3-2 is off. If off, it means that there is no article in the unit goods storage area _11-2, the process proceeds to step ST133. On the other hand, if the reflection type photoelectric sensor 3 _-2 is ON, there is an article in a unit goods storage area _11-2, since the unit goods storage area 11 _-1 that is inconvenient to carry the article, in this case, step Move to ST142 and stop error.

In step ST133, the unit goods storage area ₁₁ -1, to start moving the preparation and movement in the X direction _{11 -2.} Thus, stored articles of unit goods storage area _{11 -1} (#A) is conveyed to the unit goods storage area _11-2. Next, the process proceeds to step ST134.

In step ST134, the reflection type photoelectric sensor _{3 -3} determines on or not. If not on, the unit goods storage area 11 _-3, there is no article is that not expected, this case, the process proceeds to step ST142, error stop. On the other hand, the reflection type photoelectric sensor _{3 -3} If on, the process proceeds to step ST135. In step ST135, the reflection type photoelectric sensor _3-6 determines whether off. If not OFF (when on), there are articles, it is that not scheduled, it is not possible to retract the article unit goods storage area 11 _-3, the process proceeds to step ST142, error stop. On the other hand, if it is off, the process proceeds to step ST136.

In step ST136, the unit goods storage area ₁₁ -3, in _{11 -6} starts moving preparation and movement in the Y direction. Accordingly, the article that has been housed in the unit goods storage area 11 _-3, is retracted into the unit goods storage area 11 _-6. Next, the process proceeds to step ST137. In step ST137, the reflection type photoelectric sensor _{3 -2} determines on or not. The unit goods storage area _{11 -1} to the unit goods storage area _11-2, if it is already movement of goods is finished, the reflection type photoelectric sensor _3-2 is turned on, the process proceeds to step ST138. If the reflection-type photoelectric sensor _{3 -2} is not ON, the process returns to step ST133.

In step ST138, the reflection type photoelectric switch _3-6 is determined on or not. If you already movement of goods from the unit goods storage area _{11 -3} to unit goods storage area _{11 -6} is in progress, the reflection type photoelectric sensor _3-6 is turned on, the process proceeds to step ST139. On the other hand, if it is not on, the process proceeds to step ST142 to stop the error. In step ST139, the reflection type photoelectric sensor _{3 -3} determines whether off. The unit goods storage area _{11 -3} to unit goods storage area _{11 -6,} if already movement of goods is finished, the reflection type photoelectric sensor _{3 -3} is off, the process proceeds to step ST140. If the reflection-type photoelectric sensor _{3 -3} is not off, the process returns to step ST136, a unit goods storage area ₁₁ -3, for movement in the _{11 -6} to continue the operation.

In step ST140, the unit goods storage area _11-2, and starts moving preparation and movement in the X direction _{11 -3.} Thus, stored articles of unit goods storage area _{11 -2} (#A) is conveyed to the unit goods storage area _{11 -3.} Next, the process proceeds to step ST141. In step ST141, the reflection type photoelectric sensor _{3 -3} determines on or not. If it is not ON, the process returns to step ST140 and the moving operation is continued. On the other hand, the reflection type photoelectric sensor 3 _-3 If on, as the article #A is housed in a unit goods storage area 11 _-3 purpose, and completed the conveying operation.

Instead of the reading process described with reference to the flowchart shown in FIG. 14, the process of the flowchart shown in FIG. 17 may be adopted as another example of the reading process. In the process shown here, first, in step ST1, it is determined whether or not the reflective photoelectric sensor _3-3 is on. If the goods in the unit goods storage area 11 _-1 is not housed, at decision NO, the process proceeds to step ST2. On the other hand, in the case of the reflection type photoelectric switch _3-1 or turned on, the process proceeds to step ST4.

  In step ST2, the data D1 = 0. Next, the process proceeds to step ST3. In step ST3, data D1 = 0 is stored in the region R1 of the register 1a. The processing in steps ST2 and ST3 is the same as that shown in FIG.

In step ST4, it is determined whether or not the reading is completed. This determination is NO when the process is first started, and the process proceeds to step ST5. However, when the reading process is completed and the stored article is stored as it is, the reading is completed every time this reading process routine is entered, and the next unit article storage area _11-2 is read. And migrate.

In step ST5, the relay RY1 is turned on. As a result, the relay contact _5-1 is closed and the antenna _4-1 is connected to the reader circuit 2. Next, the process proceeds to step ST6. In step ST6, reading of the article information DI1 is started from the IC tag 14 attached to the pallet 12. Subsequently, the process proceeds to step ST7. In step ST7, it is determined again whether or not the reflective photoelectric sensor _3-1 is on. During reading, where already selected to have the reflective photoelectric sensor 3 _-1 when in an OFF for some reason, the process proceeds to step ST10b. On the other hand, where the reflection-type photoelectric sensor _3-1 is left ON, the process proceeds to step ST8.

In step ST8, it is determined whether or not the reading is completed. If the reading is not completed, the process returns to step ST6 and the reading process is continued. On the other hand, when the reading is completed, the process proceeds to step ST9. In step ST9, the data DI1 is stored in the storage area R1 of the register 1a. Next, the process proceeds to step ST10a, and the relay RY1 is turned off. Accordingly, the relay contact _{5 -1} opens.

Also in step ST10b, turns off the relay RY1, opening the relay contacts _25-1. Here, since the relay is turned off in the state where the reading of the article information is not completed, the reading is not completed. Subsequently, the process returns to step ST2, and the data D1 = 0 is stored in the region R1 of the register 1a. In the above processing, the unit ends the reading process unit goods storage area _{11 -1,} after the unit goods storage area _{11 -2,} 11 -3, _..., in the order of _{11 -12,} as shown in FIG. 17 The same processing as the reading processing of the article storage area _11-1 is continued.

In the above-described embodiment, the article information reading process and the conveyance control are performed independently. In this case, the conveyance operation and the reading are performed independently. Therefore, the conveyance operation can be performed in parallel with the reading process. Therefore, the entire operation time can be shortened. Next, as another embodiment, a processing operation when reading is performed for each transport operation will be described with reference to a flowchart shown in FIG. Figure 18 is a unit goods storage area _{11 -1,} the unit goods storage area ₁₁ in case of transporting articles to _-3, initially, unit goods storage area _{11 -3} to a article (the pallet) unit goods storage area 11 An example of control including moving to _-6 is shown.

When this processing routine is entered, as a first step, a movement process from the single article storage area _11-1 to the single article storage area _11-2 is performed. First, in step ST151, the reflection type photoelectric sensor _{3 -1} on or not. If it is on, the process proceeds to step ST152. On the other hand, if it is not on, the process proceeds to step ST166 and error stop processing is performed. In step ST152, it is determined whether or not the reflective photoelectric sensor _3-2 is off. If off, as planned, since there is no article in the unit goods storage area _11-2, the process proceeds to step ST153. On the other hand, if it is not off, it is unscheduled, so the process moves to step ST166 and error stop processing is performed.

In step ST153, the unit goods storage area ₁₁ -1, _{11 -2,} both X-direction moving preparation, and movement start. Thus, the article of the unit goods storage area _{11 -1} is conveyed toward the unit goods storage area _11-2. Subsequently, the process proceeds to step ST154. In step ST154, it is determined whether or not the reflective photoelectric sensor _3-2 is on. If on, so it can be said that the article is moved to a unit goods storage area _11-2, the process proceeds to step ST155. On the other hand, if it is not on, the process returns to step ST153 to continue the moving operation. In step ST155, closing the relay contacts _5-2, it reads data DI2 of the article, and stores the data DI2 to the area R2 of the register 1a. Thus, the first stage process is completed.

Next, as a second stage, to move the process from the unit goods storage area _{11 -3} to unit goods storage area _{11 -6.} First, in step ST156, the reflection type photoelectric sensor _{3 -3} on or not. If it is on, the process proceeds to step ST157. On the other hand, if it is not on, the process proceeds to step ST166 and error stop processing is performed. In step ST157, it is determined whether or not the reflective photoelectric sensor _3-6 is off. If it is off, there is no article in the unit article storage area _11-6 as scheduled, so the process proceeds to step ST158. On the other hand, if it is not off, it is unscheduled, so the process moves to step ST166 and error stop processing is performed.

In step ST158, the unit goods storage area ₁₁ -3, _{11 -6,} both the Y-direction moving preparation, and movement start. Thus, the article of the unit goods storage area _{11 -3} is conveyed toward the unit goods storage area _{11 -6.} Subsequently, the process proceeds to step ST159. In step ST159, the reflection type photoelectric sensor _3-6 is determined on or not. If on, so it can be said that the article is moved to a unit goods storage area _{11 -6,} the process proceeds to step ST160. On the other hand, if it is not on, the process returns to step ST158 to continue the moving operation. In step ST160, closing the relay contacts _5-6, it reads data DI6 articles, and stores the data DI6 the region R6 in the register 1a. The second stage process is thus completed.

Next, as a third stage, a movement process from the unit article storage area _11-2 to the unit article storage area _11-3 is performed. First, in step ST161, it is determined whether or not the reflective photoelectric sensor _3-2 is on. If it is on, the process proceeds to step ST162. On the other hand, if it is not on, the process proceeds to step ST166 and error stop processing is performed. In step ST162, the reflection type photoelectric sensor _{3 -3} determines whether off. If off, as planned, since there is no article in the unit goods storage area _{11 -3,} the process proceeds to step ST163. On the other hand, if it is not off, it is unscheduled, so the process moves to step ST166 and error stop processing is performed.

In step ST163, the unit goods storage area ₁₁ -2, _{11 -3,} both X-direction moving preparation, and movement start. Thus, the article of the unit goods storage area _11-2 is conveyed to the unit goods storage area _{11 -3.} Subsequently, the process proceeds to step ST164. In step ST164, the reflection type photoelectric sensor _{3 -3} determines on or not. If on, so it can be said that the article is moved to a unit goods storage area _{11 -3,} the process proceeds to step ST165. On the other hand, when it is not ON, it returns to step ST163 and continues the movement operation.

In step ST165, closing the relay contacts _5-3, it reads data DI3 of the article, and stores the data DI3 the region R3 of the register 1a. Thus, the movement process ends.

  In this embodiment, since the reading process is also performed for each transport operation, the movement state of the transported object can be confirmed for each transport operation.

It is a schematic diagram which shows the three-dimensional warehouse where this invention is implemented. It is a figure explaining an example of the goods transfer means provided in each unit goods storage area of the three-dimensional warehouse. It is a perspective view which shows the other example of the goods transfer means provided in each unit goods storage area of the same three-dimensional warehouse. FIG. 4 is a plan view of the main part when the conveyance path in the left-right direction in FIG. 3 is raised in the article transfer means. FIG. 4 is a plan view of the main part when both the left and right and front and rear conveyance paths in FIG. FIG. 4 is a plan view of the main part when the conveyance path in the front-rear direction of FIG. 3 is raised in the article transfer means. FIG. 5 is a side view of the main part as viewed from the direction of arrow A in FIG. 4 when the conveyance path in the left-right direction is lowered in the article transfer means. FIG. 5 is a side view of the main part viewed from an arrow A in FIG. 4 when the conveyance path in the left-right direction rises in the article transfer means. FIG. 5 is a side view of the main part as seen from the direction of arrow B in FIG. 4 when the front-rear direction transport path is lowered in the article transfer means. FIG. 5 is a side view of the main part viewed from the direction of arrow B in FIG. 4 when the front-rear direction transport path is raised in the article transfer means. It is a figure which shows the example of arrangement | positioning of each unit article storage area | region of the same three-dimensional warehouse, a reflection type photoelectric sensor, and an antenna. It is a figure explaining the arrangement | positioning relationship of the IC tag of the pallet for goods conveyance, the reflective photoelectric sensor of each unit article storage area, and an antenna. It is a block diagram which shows the reading conveyance control circuit of embodiment solid warehouse. It is a flowchart explaining the article information reading process of the reading conveyance control circuit. It is a flowchart explaining the process example of the conveyance control of the same embodiment solid warehouse. It is a flowchart explaining the example of a movement process in the same conveyance control. FIG. 15 is a flowchart for explaining another reading process instead of the reading process shown in FIG. 14. It is a flowchart explaining the example of a process of other conveyance operation | movement and reading operation | movement in the three-dimensional warehouse of the same embodiment. It is the schematic explaining a general automatic warehouse.

Explanation of symbols

1 PLC
1a register 2 reader _{3 -1,} 3 -2, _{..., 3 -12} reflective photoelectric sensor _{4 -1,} 4 -2, _{..., 4 -12} antennas _{5-1, 5-2,} ..., 5 _{- 12} relay contacts 6 CPU
11 ₋₁ , 11 ₋₂ ,..., 11 ₋₁₂ , 21 Unit article storage area 12 Pallet 13 Reflecting plate 14 IC tag

Claims (6)

A plurality of unit article storage areas each having a first transport means for transporting in the first direction and a second transport means for transporting in the second direction and storing unit articles are stored. An article information reading device for a three-dimensional warehouse having at least one storage layer in which regions are arranged in a matrix,
In each unit article storage area, an article detection sensor and an antenna are arranged, and in correspondence with each unit article storage area, a baggage item information storage unit for storing information on baggage items, and each article in time order A reading control unit that captures a detection signal of a detection sensor, reads article information from a storage medium of goods in stock by an antenna, and stores presence / absence of goods and / or article information in the goods information storage unit when there is an article A three-dimensional warehouse article information reading device comprising:   The reading control unit includes a reading unit that sequentially reads signals from the antennas and the in-stock item information storage unit, takes in signals from the article detection sensor, and reads each article by the reading unit. 2. The article information reading device for a three-dimensional warehouse according to claim 1, further comprising a control unit for storing information in a stored item information storage unit.   The antenna and the reading unit are connected via a relay contact, and each relay contact is sequentially turned on according to a command from a front control unit according to a detection signal of an article detection sensor. The article information reading device of the three-dimensional warehouse described.   The article carried into the unit article storage area is provided with a storage medium at the center of the bottom, and the article detection sensor and antenna are arranged at the center of the unit article storage area. Item information reading apparatus for a three-dimensional warehouse according to Item 2 or Claim 3.   5. The article information reading apparatus for a three-dimensional warehouse according to claim 4, wherein the antenna is arranged so as to surround an outer periphery of the article detection sensor. A plurality of unit article storage areas each having a first transport means for transporting in the first direction and a second transport means for transporting in the second direction and storing unit articles are stored. An article transport control device for a three-dimensional warehouse having at least one storage layer in which regions are arranged in a matrix,
In each unit article storage area, an article detection sensor and an antenna are arranged, and in correspondence with each unit article storage area, a baggage item information storage unit for storing information on baggage items, and each article in time order A reading control unit that captures a detection signal of a detection sensor, reads article information from a storage medium of goods in stock by an antenna, and stores presence / absence of goods and / or article information in the goods information storage unit when there is an article And an article information reading device having the above-described information, and controlling to convey a desired article to the target unit article storage area based on the article information of each unit article storage area read by the article information reading device. An article transport control device for a three-dimensional warehouse.

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