JP2007290783A - Position detection method of carrier machine in warehouse and management method of article - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position inspection method of a carrier machine capable of preventing a mistake of a section to deposit and deliver an article and managing the article properly in a warehouse having a plurality of the sections to store the article and to automatically deposit and deliver the article by designating the section, a control method and a management method of the article. <P>SOLUTION: A comparison of the section designated for carriage or delivery and the section at which the carrier machine arrives with each other is made by attaching an IC tag recording position information of the section on each of the sections of the warehouse, mounting a transceiver of the IC tag on the carrier machine and receiving the position information of the IC tag attached on the section ny the transceiver in depositing and delivering the article. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a section position detection method and an article management method using an IC tag in a warehouse having a plurality of sections for storing articles and automatically loading and unloading articles by a conveyor according to designation of the sections.

  The IC tag has various names such as “RF-ID”, “non-contact IC chip”, “ID tag”, “wireless tag”, “non-contact tag”, etc., but these terms are used in this specification. Are used in an “IC tag”.

  2. Description of the Related Art In warehouses such as factories, warehouses (hereinafter simply referred to as “automatic warehouses”) in which articles are automatically carried into a designated section by a transporter and are removed from the designated section are widely used. This automatic warehouse has a plurality of sections, and a stacker crane that transports articles in the automatic warehouse as a transporter, and a carriage that transports articles between the warehouse and the warehouse entrance are used. These conveyors are provided with a position detection device such as an encoder or an optical distance meter. The encoder is attached to a rotating part such as an axle of a transport machine, generates a pulse signal by rotation, and the moving distance is detected from the number of pulses. Further, the optical distance meter transmits and receives a laser beam to and from the reference position of the warehouse, and the distance from the reference position is detected from the time from transmission to reception. In addition, in an automatic warehouse, a position detection device such as a limit switch is provided along the transport path of the transport machine. When the transport machine passes through the place where the position inspection device is installed, for example, a limit switch is turned on. The position of the conveyor in the warehouse has been detected. Using these distance inspection devices and position detection devices (hereinafter sometimes referred to simply as “detection devices”), the control management arithmetic device grasps and controls the position of the transfer machine in the automatic warehouse. The transporter can move to the other section.

  On the other hand, articles are managed by attaching IC tags to the articles. An IC tag is a few centimeters in which an IC chip capable of recording information by mounting elements such as transistors, resistors, and capacitors on a substrate and an antenna for transmitting and receiving information wirelessly are integrated. The tag is about the size of a meter. The information of the article to be attached is recorded in the same way as a conventional barcode, and the attached article is managed by receiving this record, but it can record a large amount of information compared to the barcode, and from its size Less susceptible to installation location restrictions. In addition, the IC tag can transmit and receive information to and from the transceiver in a wireless manner such as radio waves and electromagnetic waves. Furthermore, the IC tag receives radio waves, etc. from the transceiver by the IC tag antenna, and transmits the radio waves, etc., from the IC tag using the electric current generated by the electromagnetic induction mechanism in the IC tag. In some cases, the wireless reader / writer receives this radio wave or the like to transmit / receive information via the radio wave. This IC tag does not require a power source such as a battery and can be used semipermanently.

  However, in an automatic warehouse, the detection device of the transport machine fails or the error becomes large due to breakage, so that the exact position of the transport machine is not grasped by the control management arithmetic unit, and the section is different from the designated section. The transporter may arrive. In this case, since the article is carried into a section different from the designation or the article is carried out from a section different from the designation, the article information managed by the control management computing device and the actual article The storage status will be different. Accordingly, it is necessary to confirm the actual goods stored in the warehouse, and this work requires a lot of time, and as a result, the work efficiency is deteriorated. There may also be a problem that the wrong item is delivered to the customer. On the other hand, in an automatic warehouse, by attaching an IC tag to an article and managing the article, there is no relation between the article and the compartment to be stored, and the article may be carried into a compartment different from the designation. The problem cannot be solved.

  Accordingly, in order to solve the above-described problems, the present invention provides a position inspection method and a control method for a transporter that can properly manage articles by preventing an error in a section for carrying in or out articles in an automatic warehouse. It is an object to provide an article management method, a warehouse, and a warehouse control management system.

  The present invention will be described below. In order to facilitate understanding of the present invention, reference numerals in the accompanying drawings are appended in parentheses, but the present invention is not limited to the illustrated embodiment.

  The invention according to claim 1 has a plurality of compartments (3, 3,...) For storing the article (2), and automatically carries the article by a transporter (5a to 5c, 7) according to the designation of the compartment. And an IC tag (4, 4,...) In which position information of a section attached to a structure constituting the section is recorded in the warehouse (1) to be unloaded, IC tag transmitter / receiver (9a-9c) attached to the carrier, and the position information of the IC tag provided in the section reached by the carrier is received by the transmitter / receiver. The above-mentioned problem is solved by providing.

  Here, “automatically” means that it is not usually necessary for an operator to operate the transporter when the transporter carries an article into or out of the designated section. It is necessary to specify the sections, load the articles on the transfer machine at the loading / unloading area, and lower the articles from the transfer machine. In addition, the “arrival section” is a section in which the transport machine is stopped as a designated section.

  The invention according to claim 2 has a plurality of compartments (3, 3,...) For storing the article (2), and the articles are automatically carried by the conveyors (5a to 5c, 7) according to the designation of the compartments. And an IC tag (4, 4,...) In which the position information of the section attached to the structure constituting the section is recorded in the unloading warehouse (1). And a step of receiving the position information of the IC tag provided in the section reached by the carrier by the transmitter / receiver, and the section of the position information received by the transmitter / receiver, including the attached IC tag transmitter / receiver (9a to 9c) When the position information section received by the transmitter / receiver is different from the designated section, the transport unit is moved to the designated section using the comparison result. A method of controlling a conveyor characterized by comprising a process To solve the above problem by providing a.

  The invention according to claim 3 has a plurality of compartments (3, 3,...) For storing the article (2), and the articles are automatically carried by the conveyors (5a to 5c, 7) according to the designation of the compartments. And an IC tag (4, 4,...) In which position information of a section attached to a structure constituting the section is recorded, and a transporter. And an IC tag transceiver (9a to 9c) attached, a step of recording information on articles carried into the compartment by the transceiver to the IC tag provided in the compartment, and a transmission / reception from the IC tag provided in the compartment An article management method comprising: a step of erasing information on an article carried out of a section by a machine; and a step of receiving position information and article information of the section recorded in the IC tag by a transceiver. By providing the above section To resolve.

  The invention according to claim 4 has a plurality of compartments (3, 3,...) For storing the article (2), and the articles are automatically carried by the conveyors (5a to 5c, 7) according to the designation of the compartments. And in the warehouse (1) to carry out, the IC tag (4, 4,...) In which the position information of the section attached to the structure constituting the section is recorded, and the IC tag transceiver ( 9a to 9c) to solve the above-mentioned problems.

  The invention according to claim 5 has a plurality of compartments (3, 3,...) For storing the article (2), and the articles are automatically carried by the conveyors (5a to 5c, 7) according to the designation of the compartments. In addition, in the control management system (10) of the warehouse (1) to be carried out, an IC tag in which position information of the control device (12, 13a to 13c) of the transporter and the section attached to the structure constituting the section is recorded. (4, 4,...), IC tag transceivers (9a to 9c) attached to the conveyor, and a control device for the conveyor and a control management arithmetic unit (11) for controlling the transceiver. The problem is solved by providing a warehouse control management system that is characterized.

  According to the first aspect of the present invention, by receiving the position information of the IC tag provided in the section reached by the transceiver, it is possible to prevent the article from being carried in and out of the section different from the designated section. can do. For this reason, the product information managed by the control management arithmetic device, etc., caused by a defect in the detection device, and the work efficiency decrease due to a situation where the actual storage status of the product is different, or the wrong product is delivered to the customer. It is possible to prevent this.

  According to the second aspect of the present invention, even if the transporter reaches a section different from the designated section, it automatically moves again to reach the designated section. The work burden can be reduced.

  According to the invention described in claim 3, since the section information and the stored article information are recorded in the IC tag, the article management is possible by receiving the information of the IC tag by the transceiver. Therefore, even if the article information recorded in the database such as the control management arithmetic device that is normally used disappears, the transmitter / receiver is used to receive all the information of the IC tag using the carrier. Therefore, it is possible to create article management information quickly and easily. As a result, it is possible to appropriately manage articles and reduce the work burden in creating article management information.

  According to invention of Claim 4, since this invention can implement invention of Claims 1-3 using this warehouse, prevention of the work efficiency fall mentioned above, reduction of work burden, and appropriate goods The effect that it can manage can be acquired.

  According to the invention described in claim 5, since the control management system can be used to implement the invention described in claims 1-3, the above-described reduction in work efficiency, reduction in work load, and appropriate The effect that the article can be managed can be obtained.

  Such an operation and gain of the present invention will be made clear from the best mode for carrying out the invention described below.

  Hereinafter, based on the embodiment shown in the drawings, as an example of the present invention, a case where an article is a steel hollow coil (hereinafter simply referred to as “coil”) and the automatic warehouse is a three-dimensional automatic warehouse for coils will be described. However, what is described below is an example of an embodiment of the present invention, and the present invention is not limited to the following description unless it exceeds the gist.

  1 and 2 are diagrams schematically showing a three-dimensional automatic warehouse 1 used in a position detection method, a control method, and an article management method according to an embodiment of the present invention. FIG. 1 is a plan view of the three-dimensional automatic warehouse 1, and FIG. 2 is a cross-sectional view taken along line AA of FIG. Hereinafter, the three-dimensional automatic warehouse 1 will be described with reference to FIGS. 1 and 2. The articles stored in the three-dimensional automatic warehouse 1 are the coils 2, 2,..., And the sections of the three-dimensional automatic warehouse 1 are the arms 3, 3,. These arms 3, 3,... Are installed in the structure of the three-dimensional automatic warehouse 1 whose one end surface is installed perpendicular to the floor surface, and IC tags 4, 4,. Here, with respect to the three-dimensional automatic warehouse 1, if the horizontal direction in FIG. 1 is a row, the vertical direction in FIG. 2 is a column, and the left and right direction is a step, the three-dimensional automatic warehouse 1 is six rows a to f. .., B row, c row and d row, e row and f row, the arms 3, 3,... Face in the column direction so that the end faces to which the IC tags 4, 4,. It is installed horizontally. The arms 3, 3,... Are arranged in 6 rows, 3 rows and 5 columns in the three-dimensional automatic warehouse 1, whereby the three-dimensional automatic warehouse 1 is provided with a total of 90 sections. Further, in the three-dimensional automatic warehouse 1, rails 6a to 6c are laid in the row direction between a row and b row, c row and d row, e row and f row, and the rails 6a to 6c move. Three stacker cranes 5a to 5c are provided. Outside the three-dimensional automatic warehouse 1, rails 8 are laid in the row direction in the vicinity of one end of the rails 6 a to 6 c, and one carriage 7 that moves the rails 8 is provided. The stacker cranes 5a to 5c are equipped with transceivers 9a to 9c at positions where information can be transmitted and received with the IC tag 4 when the coil 2 is transported. The stacker cranes 5a to 5c, the carriage 7, and the transceivers 9a to 9c are connected to a control management arithmetic device (not shown) in which article information, section information, and the like are recorded. In addition, a distance detecting device (not shown) such as an encoder is provided in a rotating portion such as an axle of the carriage 7, and a position detection such as a limit switch is provided along the transport path of the stacker cranes 5 a to 5 and the carriage 7 in the three-dimensional automatic warehouse 1. A device (not shown) is installed.

  Next, the section information of the three-dimensional automatic warehouse 1 recorded on the IC tags 4, 4,... Will be described with reference to FIGS. The section information recorded in the IC tags 4, 4,... Is arbitrarily set, for example, “column row” or serial number, and it is only necessary to distinguish the sections. Here, the section information is “column row” as an example. As shown in FIG. 1, the columns are a to f, and as shown in FIG. 2, the stages are 1 to 3 and the rows are 1 to 5. Therefore, as shown in FIG. 2, the partition numbers in the b column are b11 to b35. The same applies to the a column and the c column to the f column.

  The operation of the three-dimensional automatic warehouse 1 having such a configuration will be described using the symbols given in FIGS. First, the carrying-in of the coil 2 to the three-dimensional automatic warehouse 1 is demonstrated. In the loading / unloading place, the operator loads the coil 2 on the carriage 7 and inputs the section into which the coil 2 is carried into the control management arithmetic unit. Thereby, the section into which the coil 2 is carried in is designated. Here, the designated section is b35. The trolley 7 detects the movement distance with the distance detection device attached to the trolley 7 as in the prior art, detects the position with the position detection device attached to the three-dimensional automatic warehouse 1, and thereby moves with the control management arithmetic device. The rail 8 is moved while the distance is controlled. When the carriage 7 reaches the end of the rail 6a, the carriage 2 moves the coil 2 to the stacker crane 5a. When the stacker crane 5a is loaded with the coil 2, the distance detecting device attached to the stacker crane 5a detects the moving distance, and the position detecting device attached to the three-dimensional automatic warehouse 1 detects the position, thereby performing the control management calculation. While the movement distance is controlled by the apparatus, the rails 6a are moved up to five rows, and the article stacking section on which the coils 2 are loaded is raised to three stages and stopped. When stopped, the control management arithmetic unit sends a reception command to the transceiver 9a, and the transceiver 9a receives the section information from the IC tag 4 attached to the arm 3 of the section that has reached. When the section information is transmitted to the control management arithmetic unit and compared with the designated section, as a result of the section matching, the article stacking portion of the stacker crane 5a moves horizontally in the column direction, and the coil 2 is moved. Hang on the arm 3. Thereby, the carrying-in of the coil 2 is completed.

  Next, carrying out of the coil 2 from the three-dimensional automatic warehouse 1 will be described. An article 2 to be carried out is input to the control management arithmetic device by the worker. As a result, the control management arithmetic device searches the section where the coil 2 is stored from the article information database, and designates the section where the coil 2 is carried out. Here, a section for carrying out the coil 2 is b35. This input can be done by entering the section directly, entering the article standard or delivery destination, etc., searching for the applicable article and stored section from the database of the control management computing device, and specifying the section to be carried out. It is possible to do. The stacker crane 5a receives a command to carry out the article from the section b35, the stacker crane 5a detects the movement distance with the distance detection device attached to the stacker crane 5a, detects the position with the position detection device attached to the three-dimensional automatic warehouse 1, As a result, while the movement distance is controlled by the control management arithmetic unit, the rail 6a is moved to five rows, and the article stacking unit is raised to three stages and stopped. When stopped, the control management arithmetic unit sends a reception command to the transceiver 9a, and the transceiver 9a receives the section information from the IC tag 4 attached to the arm 3 of the section that has reached. When the section information is transmitted to the control management arithmetic unit and compared with the designated section, as a result of the section matching, the article stacking portion of the stacker crane 5a moves horizontally in the column direction, and the coil 2 is moved. It is removed from the arm 3 and loaded on the article loading section. The stacker crane 5 a moves down the article stacking portion and horizontally moves to the carriage 7 side, and moves the coil 2 to the carriage 7 when reaching the end of the rail 6 a. The carriage 7 returns to the loading / unloading place using the distance detection device and the position detection device, whereby the carry-out of the coil 2 is completed.

  In this way, by comparing the section designated using the IC tag and the section reached by the stacker crane 5a, it is possible to prevent the articles from being carried in and out of the section different from the designated section. Therefore, it is possible to prevent a reduction in work efficiency due to a situation in which the article information managed by the control management arithmetic device and the like and the actual article storage state are different, and this prevents the wrong article from being delivered to the customer. Is possible.

  Next, the case where the designated section and the section reached by the stacker crane 5a do not match will be described with reference to FIG. The discrepancy between the sections occurs when the distance detection device and the position detection device installed in the three-dimensional automatic warehouse 1 and the stacker crane 5a do not operate properly. Here, it is assumed that the designated section is b35 and the section that the stacker crane 5a has reached is b23. Similarly to the above, the transceiver 9a of the stacker crane 5a receives the section information b23 from the IC tag 4 attached to the arm 3 of the section that has reached. This section information is transmitted to the control management arithmetic unit and compared with the designated section b35. As a result, the sections do not match. As a result, the stacker crane 5a is instructed with two rows and one stage of the number of sections to be relatively moved from the section b23 reached by the control management arithmetic device. In response to this command, the stacker crane 5a moves again, receives the section information of the IC tag 4 in the section that has arrived, and transmits it to the control management arithmetic unit, and comparison with the designated section is performed. This operation is repeated, and when the stacker crane 5a reaches the designated section, the coil 2 is carried in and out. Thereby, since it is carried in and out in the automatically designated section without requiring the operator's re-operation, it is possible to appropriately manage articles and reduce the work load. If the designated section and the section reached by the stacker crane 5a do not match, there may be a failure in the equipment such as the distance detection device or the position detection device, so the control management arithmetic device notifies the operator of the abnormality. It is preferable to do.

  An article management method will be described. Hereinafter, description will be made using the reference numerals attached in FIGS. 1 and 2. In carrying in the coil 2, when the section reached by the stacker cranes 5a to 5c coincides with the designated section as described above, the coil 2 is carried from the control management computing device to the transceivers 9a to 9c to the IC tag 4 of the section. A command to record the article information is issued. Thereby, the transceivers 9 a to 9 c transmit the article information of the coil 2 to the IC tag 4, and the article information of the coil 2 is recorded on the IC tag 4. Then, the article stacking portions of the stacker cranes 5a to 5c move horizontally in the row direction, suspend the coil 2 on the arm 3, and the loading of the coil 2 is completed.

  In carrying out the coil 2, when the section reached by the stacker cranes 5a to 5c coincides with the designated section, the coil 2 is carried out from the IC tag 4 of the section to the transceivers 9a to 9c. A command to delete the article information is issued. Thereby, the article information of the coil 2 is deleted from the IC tag 4 by the transceivers 9a to 9c. Then, the article stacking portions of the stacker cranes 5a to 5c move horizontally in the row direction, the coil 2 is removed from the arm 3 and loaded, and the coil 2 is carried out.

  As a result, the section information and the article information stored in the section are recorded in the IC tags 4, 4,... Of each section of the three-dimensional automatic warehouse 1, and this article information always matches the stored article. ing. Therefore, from the control management arithmetic unit, the stacker cranes 5a to 5c and the transceivers 9a to 9c are instructed to receive information on the IC tags 4, 4,... And receive the information on the IC tags 4, 4,. Thus, it is possible to manage the articles stored in each section of the three-dimensional automatic warehouse 1. Therefore, if management data such as a control management arithmetic unit that normally manages articles or a database of its host computer is damaged or erased, an inventory survey by workers is usually required. By using the stacker cranes 5a to 5c to allow the transceiver to receive all the information on the IC tag, it is possible to quickly and easily create article management information without inventory inspection, and to manage the article. . Therefore, it is possible to properly manage the articles and reduce the work load.

  FIG. 3 shows a control management system 10 of the three-dimensional automatic warehouse 1. Hereinafter, description will be made using the reference numerals attached in FIGS. The control management computing device 11 that controls the three-dimensional automatic warehouse 1 includes a cart control device 12 provided in the cart 7, stacker crane control devices 13a to 13c provided in the stacker cranes 5a to 5c, and a transceiver for the IC tag 4. 9a-9c and the display device 14 are connected. With this configuration, the control management computing device 11 controls the stacker cranes 5 a to 5 c, the cart 7, and the transceivers 9 a to 9 c as described above, and the management information and control results of the articles are displayed on the display device 14. The control management arithmetic device 11 may be connected to a business computer 15 that is a host computer. In this case, the business computer 15 manages the control management system 10 although it is not a component of the control management system 10.

  FIG. 4 is a flowchart of processing in the control management arithmetic device when an article is carried into the three-dimensional automatic warehouse. Hereinafter, FIG. 4 will be described using the reference numerals in FIG. 1, FIG. 2 and FIG. First, a section for carrying the coil 2 is input by the worker (step S1). Thereby, a section into which the coil 2 is carried is specified, and, for example, the number of pulses of the encoder is calculated as the moving distance to the specified section (step S2). Based on the number of pulses, the stacker cranes 5a to 5c and the carriage 7 are moved (step S3). Whether the stacker cranes 5a to 5c are stopped is determined by stopping the generation of pulses (step S4). When an affirmative determination is made in step S4 (when the stacker cranes 5a to 5c are stopped), it is determined that the stacker cranes 5a to 5c have reached the designated section, and the information on the IC tag 4 in the section is transmitted by the transceivers 9a to 9c. By receiving (step S5) and comparing the designated section with the reached section (step S6), it is determined whether the sections match (step S7). If an affirmative determination is made in step S7 (when the sections match), the article information is transmitted to the IC tag 4 and recorded (step S8). Then, the coil 2 is carried in (step S9), the stacker cranes 5a to 5c and the carriage 7 are moved to a predetermined standby position (step S10), and the carrying-in is completed. If a negative determination is made in step S4 (when the stacker cranes 5a to 5c are not stopped), the process returns to step S2, and the distance detection device and the position detection device are detected by the movement of the stacker cranes 5a to 5c and the carriage 7. Using the result, the moving distance is calculated again (step S2), and the stacker cranes 5a to 5c and the carriage 7 move according to the result (step S3). When a negative determination is made in step S7 (when the sections do not match), a notification of abnormality is displayed on the display device (step S11), the process returns to step S2, and the above-described comparison result of the sections in step S6 is used. The relative movement distance from the section that has been reached to the designated section is calculated (step S2), and the stacker cranes 5a to 5c move again (step S3).

  FIG. 5 is a flowchart of processing in the control management arithmetic device when an article is carried out from the three-dimensional automatic warehouse. Hereinafter, FIG. 5 will be described using the reference numerals in FIG. 1, FIG. 2 and FIG. First, when the coil 2 to be carried out is input by an operator (step S1), a section in which the coil 2 is stored is searched from management information such as a database (step S2). In addition, this input can also be performed by directly entering a section, or by inputting the article standard or delivery destination, and searching for a suitable article and stored section from a database such as a control management arithmetic device. Is possible. Thereby, the section to be carried out is designated, and the number of pulses of the encoder, for example, is calculated as the movement distance to the designated section (step S3). Based on the number of pulses, the stacker cranes 5a to 5c and the carriage 7 are moved (step S4). Whether the stacker cranes 5a to 5c are stopped is determined by stopping the generation of pulses (step S5). When an affirmative determination is made in step S5 (when the stacker cranes 5a to 5c are stopped), the information of the IC tag 4 of the section is received by the transceivers 9a to 9c (step S6), and the section that has reached the designated section Are compared (step S7), and the coincidence of the sections is determined (step S8). When an affirmative determination is made in step S8 (when the sections match), the article information is deleted from the IC tag 4 (step S9). Then, the coil 2 is unloaded by the stacker cranes 5a to 5c (step S10), the stacker cranes 5a to 5c and the carriage 7 are moved to a predetermined standby position (step S11), and the unloading is completed. When a negative determination is made in step S5 (when the stacker cranes 5a to 5c are not stopped), the process returns to step S3, and the distance detection device and the position detection device are detected by the movement of the stacker cranes 5a to 5c and the carriage 7. Using the result, the movement distance is calculated again (step S3), and the stacker cranes 5a to 5c and the carriage 7 move according to the result (step S4). If a negative determination is made in step S8 (if the sections do not match), a notification of abnormality is displayed on the display device (step S12), the process returns to step S3, and the above-described section comparison result of step S7 is used. The relative movement distance from the reached section to the designated section is calculated (step S3), and the stacker crane 5a moves again (step S4).

  As described above, the designated section and the section reached by the stacker cranes 5a to 5c are compared using the IC tags 4, 4,..., So that articles are not carried in and out of the section different from the designated section. . Thereby, it is possible to prevent the work efficiency from being lowered due to the difference in the article information and to deliver the wrong article to the customer. Moreover, since the section information and the article information stored in the section are recorded in the IC tag of each section of the three-dimensional automatic warehouse 1, the article information of the IC tag is used in the management of the articles described later. be able to.

  FIG. 6 is a flowchart of processing in the control management arithmetic unit when creating article management information in article management in a three-dimensional automatic warehouse. Hereinafter, FIG. 6 will be described using the reference numerals in FIGS. 1 and 6. First, an instruction to create article management information is input by the worker (step S1). Thereby, for example, the number of pulses of the encoder is calculated as the movement distance to the section where the stacker cranes 5a to 5c first move (step S2). Based on the number of pulses, the stacker cranes 5a to 5c are moved (step S3). Whether the stacker cranes 5a to 5c are stopped is determined by stopping the generation of pulses (step S4). When an affirmative determination is made in step S4 (when the stacker cranes 5a to 5c are stopped), the information of the IC tag 4 in the section is received by the transceivers 9a to 9c (step S5). Next, it is determined whether the section is the last section to receive information (step S6). If an affirmative determination is made in step S6 (if it is the final section), the stacker cranes 5a to 5c are moved to a predetermined standby position (step S8), and the creation of the article management information is completed. When a negative determination is made in step S4 (when the stacker cranes 5a to 5c are not stopped), the process returns to step S2 and uses the detection results of the distance detection device and the position detection device due to the movement of the stacker cranes 5a to 5c. Then, the movement distance is calculated again (step S2), and the stacker crane 5a moves according to the result (step S3). If a negative determination is made in step S6 (if it is not the final section), the process returns to step S2, the relative movement distance to the next section is calculated (step S2), and the stacker cranes 5a to 5c move again. (Step S3). In addition, the control management arithmetic device can operate each stacker crane simultaneously, and can perform the process shown in a flowchart about each.

  In addition, in said embodiment, although the case of the solid warehouse was demonstrated as an example, if this invention is an automatic warehouse, a solid and a plane will not be specifically limited. In addition, as an example, a warehouse with 90 divisions in which an article is a coil and therefore a division is a arm has been described. However, what kind of article, division form, and number of divisions an automatic warehouse having an IC tag in a division has been described. However, the present invention can be applied.

  Further, in the above embodiment, the case where one IC tag 4, 4,... Is attached to each section and one transceiver 9a to 9c is provided in each stacker crane 5a to 5c has been described. It is not limited to this, These numbers are arbitrary and may each be plural.

  While the present invention has been described in connection with embodiments that are presently the most practical and preferred, the present invention is not limited to the embodiments disclosed herein. Rather, it can be changed as appropriate without departing from the scope or spirit of the invention that can be read from the claims and the entire specification, and the section position detection method, control method, and article management method for a carrier with such a change, Warehouses and warehouse control management systems should also be understood as being within the scope of the present invention.

It is a top view of a three-dimensional automatic warehouse. It is AA sectional drawing of the three-dimensional automatic warehouse of FIG. It is a block diagram of the control management system of a three-dimensional automatic warehouse. It is a flowchart of the process in the automatic warehouse control management arithmetic unit at the time of goods delivery. It is a flowchart of the process in the automatic warehouse control management arithmetic unit at the time of article carrying-out. It is a flowchart of the process in the automatic warehouse control management arithmetic unit at the time of article management information creation.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Three-dimensional automatic warehouse 2 Goods 4 IC tag 9 Transceiver 10 Control management system

Claims (5)

A method for detecting the position of the conveyor in a warehouse having a plurality of compartments for storing articles, and automatically loading and unloading the articles by a conveyor according to the designation of the sections,
An IC tag on which position information of the section attached to the structure constituting the section is recorded, and a transceiver of the IC tag attached to the transporter,
A position detection method for a carrier, wherein the transmitter / receiver receives position information of the IC tag provided in a section reached by the carrier. A method for controlling the transporter in a warehouse having a plurality of compartments for storing articles, and automatically loading and unloading the articles by a transporter according to designation of the compartments,
An IC tag on which position information of the section attached to the structure constituting the section is recorded, and a transceiver of the IC tag attached to the transporter,
Receiving the position information of the IC tag provided in the section reached by the carrier by the transceiver;
Comparing the section of location information received by the transceiver with a designated section;
And a step of moving the transporter to the designated section using the comparison result when the section of the position information received by the transceiver is different from the designated section. Control method. A method of managing the article in a warehouse having a plurality of sections for storing articles, and automatically loading and unloading the article by a conveyor according to the designation of the section,
An IC tag on which position information of the section attached to the structure constituting the section is recorded, and a transceiver of the IC tag attached to the transporter,
Recording the information of the article carried into the compartment by the transceiver to the IC tag provided in the compartment;
Erasing information of the article carried out of the compartment by the transceiver from the IC tag provided in the compartment;
Receiving the position information of the section and the information of the article recorded in the IC tag by the transceiver, and a method of managing the article. In a warehouse that has a plurality of compartments for storing articles, and automatically carries in and out the articles by a conveyor according to the designation of the compartments,
A warehouse comprising: an IC tag on which position information of the section attached to a structure constituting the section is recorded; and a transceiver of the IC tag attached to the transporter. In a control management system for a warehouse that has a plurality of compartments for storing articles, and automatically carries in and out the articles by a conveyor according to designation of the sections
A control device for the conveyor;
An IC tag on which position information of the section attached to the structure constituting the section is recorded;
A transceiver of the IC tag attached to the carrier;
A warehouse control management system comprising: a control device for the transport device and a control management arithmetic device for controlling the transceiver.

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