JP2008063062A - Acquisition method of travel stop position information of crane device in automated storage - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an acquisition method of travel stop position information of a crane device in an automated storage and retrieval warehouse capable of acquiring travel stop position information of all cargo storage parts in a short time as compared with a conventional one. <P>SOLUTION: In this acquisition method of travel stop position information of a crane device in an automated storage, each post of a framework rack 11 is formed by connecting a plurality of post members; the number of tiers of cargo storage parts 14 set for the post members is set to three or more; the detection object heights of a post detection means detecting the posts by travel of the crane device are set at two positions corresponding to the cargo storage parts 14 of the post members; pieces of travel stop position information corresponding to the cargo storage parts 14 are respectively acquired based on detection of the post members on a detection object height basis; the tilt angle of each post member is calculated based on the travel stop position information at the acquired detection object height; and travel stop position information corresponding to the cargo storage part 14 at undetected object height is acquired based on the calculated tilt angle. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a method for acquiring travel stop position information of a crane device in an automatic warehouse.

In a general automatic warehouse, a load storage unit for storing a load is provided with a frame shelf having a plurality of stages and a plurality of rows and a carriage for loading, and a stacker crane that travels in the row direction of the load storage unit. Often provided.
In this type of automatic warehouse, a stacker crane, which is a crane device, travels on a track on the basis of instructions for entering and leaving, and the carriage is moved up and down to deliver a load to a specific load storage unit.
When delivering the load, it is necessary to accurately stop the carriage with respect to the load storage unit so that the load can be delivered.
The position where the carriage should stop facing the load storage section (denoted as “delivery position”) is the position in the row direction of the framed shelf (denoted as “travel stop position”) and the position in the step direction (“elevation” It can be specified from “stop position”.

Each load storage unit in the frame shelf is substantially constituted by a large number of columns included in the frame shelf and a receiving member as a mounting body provided at a predetermined height in each column.
When there is a load in the load storage portion, the load is located in the space between the columns, and the load is supported by the receiving tool.
By the way, the support | pillar of a frame shelf tends to become long in the up-down direction, and when a support | pillar is long up and down, a some support | pillar member is often connected and a single support | pillar is formed.

In a framed shelf in which a plurality of column members are connected to form a single column, each column member is often inclined due to structural mechanics, and each load storage portion connected in a row direction is displaced in the column direction. Become.
That is, when the column member is inclined, it can be said that the traveling stop position that specifies the delivery position of each load storage unit in the step direction does not coincide even with the same column member.
In this case, a truss sensor is provided as a column detecting means for detecting the column on the carriage, and information on the travel stop position of the load storage unit (“ If the travel stop position information ”is acquired in advance, the carriage can be stopped at an accurate delivery position regardless of the inclination of the column.

By the way, as a technique for stopping the crane device in the automatic warehouse at the intended load storage part of the framed shelf, there are techniques disclosed in Patent Document 1 and Patent Document 2, for example.
In the technique disclosed in Patent Document 1, the dog sensor provided on the stacker crane recognizes the dog installed on the traveling rail to identify the target load storage unit row, and after recognizing the dog, the stacker crane is moved at a low speed. Drive at speed.
During traveling at a low speed, when the truss sensor provided on the carriage detects a truss as a support, the stacker crane is stopped after a predetermined time based on the timing of a timer.
With this technique, the crane device can be accurately stopped with respect to the intended load storage portion of the framed shelf regardless of the inclination of the column.
Further, Patent Document 2 recognizes that the crane device is stopped exactly with respect to the intended load storage portion of the frame shelf, which is substantially the same as Patent Document 1.
JP-A-8-175617 JP-A-8-192904

However, as in the prior art, it may take too much time to acquire the travel stop position information in advance based on the detection of the column by the column detection unit for all the load storage units in the frame shelf.
On the other hand, the techniques disclosed in Patent Document 1 and Patent Document 2 are merely techniques that require recognition of a dog by a dog sensor and detection of a column by a column detection unit every time a cargo is delivered.
This type of technology requires a dog sensor to recognize the dog each time a cargo is delivered, or a column detection means to detect the column, which complicates the control system and decreases the responsiveness of the crane device. There is a fear.
Further, this type of technology is premised on the inclination of the support column in which the frame shelf is deformed into a parallelogram in one direction, and it is apparent that this technique cannot be applied when the frame shelf is deformed into a non-parallelogram.

  The present invention has been made in view of the above problems, and an object of the present invention is to stop traveling of a crane apparatus in an automatic warehouse capable of acquiring traveling stop position information of the entire load storage unit in a shorter time than before. It is to provide a method for acquiring location information.

  In order to achieve the above-mentioned object, the present invention provides a frame loading shelf that includes a plurality of columns and a plurality of rows of load storage portions formed by a plurality of columns and a plurality of loading platforms provided on the columns, and is moved up and down. A crane device having a carriage for placement is provided so as to be able to travel along the row direction of the load storage unit, and the crane device in which the carriage is moved to a height corresponding to the load storage unit is driven, Acquisition of travel stop position information of a crane apparatus in an automatic warehouse that acquires travel stop position information in a row direction corresponding to a load storage unit to be stopped by the carriage when the post detection means provided on the carriage detects the support. In the method, the column is formed by connecting a plurality of column members, the number of stages of the load storage portion set in the column member is three or more, and the column is detected by running the crane device. The detection target height of the column detecting means is two heights corresponding to the load storage portion of the pillar member, and the traveling corresponding to the load storage portion is based on the detection of the column member for each detection target height. Each of the stop position information is acquired, the inclination angle of the column member is calculated based on the travel stop position information at the acquired detection target height, and the undetected target height is calculated based on the calculated inclination angle. Travel stop position information corresponding to the load storage unit is obtained.

According to the present invention, the travel stop position information of the load storage unit at the two detection target heights is acquired based on the detection of the column member by the travel of the crane device.
When each column member is bent without being curved, the column member is bent based on travel stop position information at the height of the detection target.
Based on the calculated inclination angle, travel stop position information corresponding to the load storage portion of the column member having the undetected target height is acquired.
For this reason, the detection of the column member is actually only the column member at the two detection target heights, and the travel stop position information of the entire load storage unit can be acquired in a shorter time than before.
Then, the carriage can be accurately stopped at the target travel stop position simply by traveling / stopping the crane device based on the travel stop position information acquired in advance.

  Further, in the present invention, in the above-described method for acquiring the travel stop position information of the crane device in the automatic warehouse, the height corresponding to the load storage portion closest to both ends of the pillar member is selected as the detection target height. May be.

In this case, since the height corresponding to the load storage portion closest to both ends of the column member is selected as the detection target height, the difference in the detection target height in the column member is maximized.
By maximizing the difference in detection target height, it becomes easier to accurately calculate the inclination angle of the column member than in the case where the difference in detection target height is small.

  Furthermore, in the present invention, in the method for acquiring the travel stop position information of the crane device in the automatic warehouse, based on the travel stop position information corresponding to the load storage unit of the detection target height or the undetected target height, An inter-column distance that determines the dimension in the row direction of the load storage unit may be calculated, and an abnormality of the load storage unit may be notified when the inter-column distance is out of a preset allowable range.

In this case, based on the travel stop position information corresponding to the load storage unit having the detection target height or the non-detection target height, the inter-column distance that determines the column direction dimension of the load storage unit is calculated.
When the calculated distance between the columns is included in the preset allowable range, the load storage unit is in a state of functioning normally.
When the calculated distance between the columns is out of the allowable range, an abnormality is notified by a warning sound, a warning display, or the like, assuming that the function as the load storage unit is hindered.
Therefore, by calculating the distance between the columns based on the acquired travel stop position information, it is possible to determine whether there is an abnormality in the load storage unit.

  ADVANTAGE OF THE INVENTION According to this invention, the acquisition method of the travel stop position information of the crane apparatus in the automatic warehouse which can acquire the travel stop position information of all the load storage parts in a shorter time than before can be provided.

Embodiments of the present invention will be described below with reference to the drawings.
In the automatic warehouse 10 according to this embodiment, as shown in FIGS. 1 and 2, a pair of left and right frame shelves 11 (when distinguishing both frame shelves, for convenience of explanation, one is “framed shelf 11A” and the other is “ "Framed shelf 11B") is provided.
As shown in FIGS. 2 and 3, each frame shelf 11 is provided with a plurality of load storage portions 14 in the depth direction (row direction) and the vertical direction (step direction).
A traveling rail 12 is laid between the frame shelves 11A and 11B facing each other.
The traveling rail 12 is provided with a stacker crane 13 as a crane device so as to be able to travel.

This stacker crane 13 reciprocates between the home position HP and the opposite position OP.
The home position HP is a starting position serving as a reference for travel of the stacker crane 13, and the travel position of the stacker crane 13 is a distance from the home position HP to the stacker crane 13.
When the automatic warehouse 10 is not operating, the stacker crane 13 stands by at either the home position HP or the opposite position OP.

On the frame shelf 11, trusses 15 as a plurality of support columns are arranged at equal intervals in the row direction.
Each truss 15 divides each load storage unit 14 in the row direction.
As shown in FIG. 3, the truss is formed by vertically connecting truss members 16, 17 as column members.
Here, for convenience of explanation, the upper truss member is the upper truss member 16, and the lower truss member is the lower truss member 17.

As shown in FIG. 4, the upper truss member 16 and the lower truss member 17 are both prisms having a square cross section.
The lower end of the upper truss member 16 and the upper end of the lower truss member 17 are connection ends as shown in FIG.
The connecting ends of the truss members 16 and 17 are connected by a bolt or the like (not shown) to form a connecting portion 18.

A tension member 19 is provided between the connecting portions 18 facing each other in the column direction, and the tension of the tension member 19 is adjusted by the turnbuckle 20.
The tension member 19 is intended to keep the truss 15 straight by suppressing the bending of the truss 15 with the connecting portion 18 as a bending point by attracting the connecting portion 18 to each other.

On the upper truss member 16 and the lower truss member 17, a receiving plate 21 as a mounting body for mounting a load is attached corresponding to the load storage portion 14.
In this embodiment, the receiving plate 21 is attached to the upper truss member 16 and the lower truss member 17, so that three load storage portions 14 are set in each of the truss members 16 and 17.
That is, the number of stages of the load storage unit 14 for each truss member 16, 17 is 3, and the number of stages of the load storage unit 14 in the entire truss 15 is 6.

Next, the stacker crane 13 will be described.
The stacker crane 13 has a traveling carriage 25 that can travel along the traveling rail 12.
A pair of masts 26, 27 extending upward are provided on the traveling carriage 25.
In the vicinity of the mast 27 on the opposite position OP side of the traveling carriage 25, a crane controller 29, a traveling motor 30, and a lifting motor 31 are provided.
The wheels 28 included in the traveling carriage 25 are rolled by driving of the traveling motor 30, and the traveling carriage 25 travels along the traveling rails 12 by the rolling of the wheels 28.

A carriage 33 is suspended from the wire 32 between the masts 26 and 27.
The stacker crane 13 has a wire winding mechanism (not shown) for winding and feeding the wire 32.
The wire winding mechanism is operated by a lifting motor 31, and the carriage 33 is moved up and down along the masts 26 and 27 by wire operation by the operation of the wire winding mechanism.
The carriage 33 is provided with a fork 34 that can be moved back and forth.
As the fork 34 advances and retreats, a load delivery operation is performed between each load storage unit 14 and the carriage 33.

By the way, this load delivery operation is performed by positioning the carriage 33 based on the delivery position set for each load storage unit 14.
The delivery position of each load storage unit 14 is a position in the traveling direction of the stacker crane 13 that coincides with the row direction (hereinafter referred to as “traveling stop position”) and a position in the ascending / descending direction that coincides with the step direction of the carriage 33 ( Hereinafter, it is expressed as “elevation stop position”).

The travel stop position includes the center position in the row direction of the forks 34 (center line CM between the forks shown in FIG. 4) and the center position of the load storage section 14 (the center line CA between the columns shown in FIG. 4). CB) is a matching position.
The lift stop position is a position where the upper surface of the fork 34 is slightly above the upper surface of the receiving plate 21 in each load storage unit 14.

An optical communication device 35 is provided on the home position HP side of the traveling carriage 25.
The traveling motor 30 provided in the traveling carriage 25 includes a traveling encoder 37 as a traveling stop position detecting unit.
The carriage 33 is provided with a lift position detection sensor 38 as a lift stop position detection means.

As shown in FIGS. 1 and 4, a truss sensor 40 (40 </ b> A, 40 </ b> B) is provided on the opposite position OP side of the carriage 33 as a column detecting means.
The truss sensor 40A detects the truss 15 of the frame shelf 11A, and the truss sensor 40B detects the truss 15 of the frame shelf 11B.
The truss sensor of this embodiment uses an optical sensor that is a non-contact type sensor.

A ground control panel 41 is installed in the vicinity of the home position HP of the automatic warehouse 10.
The ground control panel 41 includes input means 42 such as a keyboard, display means 43 such as a display, storage means 44, and a ground controller 45.
The ground control panel 41 is provided with an optical communication device 36.
The operation of the stacker crane 13 is controlled by an operator or a host computer operating the ground control panel 41.

Next, the configuration of control system elements in the automatic warehouse 10 shown in FIG. 5 will be described.
Display means 43 and input means 42 are connected to the ground controller 45.
The ground controller 45 communicates with the crane controller 29 via the optical communication device 36 based on the input signal from the input means 42.
The ground controller 45 is provided with storage means 44, and the storage means 44 has an area for storing data for inventory management of the frame shelf 11 and an area for storing various programs.

The crane controller 29 is connected to a traveling encoder 37, a lift position detection sensor 38, and truss sensors 40A and 40B.
The travel encoder 37 reads the current position of the stacker crane 13 in the row direction by reading a pulse signal generated based on the rotation of the travel motor 30.
The crane controller 29 has a function of causing the traveling motor 30 to perform feedback control based on reading of the pulse signal by the traveling encoder 37 and causing the stacker crane 13 to travel to a target traveling stop position.

The lift position detection sensor 38 is a sensor that detects that the carriage 33 has reached each lift stop position corresponding to the load storage unit 14.
Specifically, in the masts 26 and 27, a detected object (not shown) is provided at a position corresponding to each lift stop position, and when the lifted position detection sensor 38 detects the target detected object, the crane controller 29 is configured to stop the elevating motor 31 and stop the carriage 33 at the elevating stop position.
Thus, the crane controller 29 is an element that controls each part of the stacker crane 13 for traveling the traveling carriage 25 and raising and lowering the carriage 33.
The crane controller 29 of this embodiment is provided with storage means 39 such as a memory, and has an area for storing data of each part and an area for storing various programs.

Next, a procedure for acquiring information on the travel stop position of the stacker crane 13 (hereinafter referred to as “travel stop position information”) will be described.
In this embodiment, prior to actual operation of the automatic warehouse 10, the stacker crane 13 is operated in advance to acquire travel stop position information.
The travel stop position information is information on the position in the row direction where the stacker crane 13 should stop corresponding to the load storage unit 14, and is specifically shown as data on a distance based on the home position HP.

First, the stacker crane 13 having the carriage 33 moved to a height corresponding to the load storage unit 14 is caused to travel, and the height of the carriage 33 is set in advance.
The height of the carriage 33 is a height position at which the truss sensors 40A and 40B detect the truss members 16 and 17, and the truss members 16 and 17 have two different heights.
The height is set as the detection target height, and in this embodiment, the alternate long and short dash lines shown in FIG. 3 are the detection target heights P1 to P4.

On the other hand, the height at which the truss sensors 40A and 40B do not detect the truss members 16 and 17 while corresponding to the load storage unit 14 is the undetected target height.
Here, two-dot chain lines shown in FIG. 3 are undetected target heights Q1 and Q2.
In this embodiment, in the truss 15, four detection target heights P1 to P4 and two undetected target heights Q1 and Q2 are set.

Hereinafter, the case of the frame shelf 11A shown in FIG. 6 will be specifically described.
The framed shelf 11A shown in FIG. 6 is simplified for convenience of explanation, and is an example in which bending is present in the second and third trusses 15 in the column direction.
A1, B1, and C1 shown in FIG. 6 indicate detection points at the detection target height P1 of each upper truss member 16, and A3, B3, and C3 indicate detection points at the detection target height P2.
Further, A2, B2, and C2 indicate the positions of the upper truss members 16 at the undetected target height Q1 of the upper truss members 16, respectively.

First, the stacker crane 13 having the carriage 33 moved to the detection target height P1 is caused to travel in the row direction.
While the stacker crane 13 is traveling, the truss sensor 40A detects the upper truss member 16 at the detection points A1, B1, and C1.
The crane controller 29 acquires the travel stop position information of the stacker crane 13 by reading the pulse of the travel encoder 37 when the crane controller 29 recognizes the signal of the truss sensor 40A that has detected each upper truss member 16.
The travel stop position information acquired by the crane controller 29 is transmitted to the ground controller 45 through the optical communication device 35 and stored by the storage means 44.
Similarly, the travel stop position information of each upper truss member 16 at the detection target height P2 is acquired.

Next, the inclination angle of the upper truss member 16 is calculated.
The inclination angle of the upper truss member 16 is calculated by computing the stored stop position information at the respective detection target heights P1 and P2 based on a program.
For example, when the travel stop position information at the detection location B1 and the detection location B3 of the upper truss member 16 shown in FIG. 6 does not match, this means that the upper truss member 16 is inclined.
That is, the presence or absence of the inclination of each upper truss member 16 is recognized by the coincidence / non-coincidence of the travel stop position information at the upper and lower detection target heights P1, P2.

In the upper truss member 16 related to the detection locations B1 and B3, the height difference between the detection target heights P1 and P2 is constant.
The inclination angle r of the upper truss member 16 related to the detection locations B1 and B3 is calculated based on the height difference between the detection target heights P1 and P2 and the difference between the travel stop position information at the detection target heights P1 and P2. .
Since the height difference of the undetected object height Q1 with respect to the detected object heights P1 and P2 is also constant, the undetected object in the upper truss member 16 related to the detected locations B1 and B3 based on the calculated inclination angle r. Travel stop position information of height Q1 is calculated.

  According to the same procedure, the travel stop position information at the detection target heights P3 and P4 on the lower truss member 17 side is acquired, the inclination angle of each truss member 17 is calculated, and further, the travel at the undetected target height Q2 Get stop position information.

In this embodiment, the detection target heights P1 to P4 are set at positions closest to both ends of the truss members 16 and 17, respectively.
For this reason, the height difference (P1-P2 or P3-P4) of the detection target heights P1-P4 in the truss members 16, 17 is maximized.
Therefore, it becomes easier to accurately calculate the inclination angles of the truss members 16 and 17 than when the height difference between the detection target heights P1 to P4 is small.

When the travel stop position information at the detection target heights P1 and P2 of each truss member 16 matches, it means that each truss member 16 is not inclined, and the travel stop position information at the undetected target height Q1. Is the same value as the travel stop position at the detection target heights P1 and P2.
The coincidence of the travel stop position information at the detection target heights P3 and P4 of each truss member 17 similarly means the coincidence with the travel stop position information at the undetected target height Q1 and the detection target heights P3 and P4.

The travel stop position information at the detection target heights P1 to P4 and the undetected target heights Q1 and Q2 obtained in this way is stored in the storage means 44 of the ground control panel 41.
The process of acquiring all the travel stop position information described above corresponds to STEP 1 to STEP 3 shown in FIG.

Next, the ground controller 45 determines the dimension in the row direction (frontage width) of the load storage unit 14 based on the travel stop position information corresponding to the load storage unit 14 having the detection target heights P1 to P4 or the undetected target heights Q1 and Q2. The distance between trusses is calculated as the distance between the pillars.
Specifically, the distance between trusses is calculated by obtaining the difference between the travel stop position information adjacent to each other at the detection target heights P1 to P4 or the undetected target heights Q1 and Q2.
In the case of FIG. 6, the distance between trusses corresponding to the detection points B1 and C1 is obtained from the difference in the travel stop position information of the detection points C1 and B1 at the detection target height P1.
An allowable range is set in advance for the distance between trusses, and when the calculated distance between trusses is out of this allowable range, the ground controller 45 determines that the load storage unit 14 is abnormal.

When the ground controller 45 determines that the load storage unit 14 is abnormal, the ground controller 45 notifies the operator of the abnormality of the load storage unit 14. In this embodiment, in addition to displaying a warning screen on the display means 43, a warning sound is generated. ing.
The lower limit of the allowable range between the trusses is set depending on whether or not the fork 34 and the frame rack 11 may collide with each other because the distance between the trusses becomes too narrow. It is set depending on whether or not there is a risk of dropping from the load storage unit 14.

About the load storage part 14 in which the abnormality of the distance between trusses is recognized, an operator adjusts the turnbuckle 20 of the tension member 19 connected to the truss members 16 and 17 related to the abnormality.
When all the obtained distances between trusses are included in the allowable range, it can be said that the state of the framed shelf 11 is in a state where the automatic warehouse 10 can be fully operated.
A series of processes related to the determination of an abnormality in the distance between trusses corresponds to STEP4 to STEP8 shown in FIG.

In this embodiment, when the automatic warehouse 10 is in full operation, the stacker crane 13 detects the travel stop position information and the undetected target height at the detected target heights P1 to P4 stored in the storage means 44 of the ground control panel 41. The vehicle is driven based on the travel stop position information in Q1 and Q2.
Specifically, positioning of the stacker crane 13 to the travel stop position corresponding to the target load storage unit 14 is performed by feedback control of the travel encoder 37.
That is, in the loading / unloading work of the load related to the automatic operation of the automatic warehouse 10, the travel of the stacker crane 13 is the travel stop position information at the detection target heights P1 to P4 and the undetected target heights Q1 and Q2 acquired in advance. Therefore, the detection of the truss members 16 and 17 by the truss sensors 40A and 40B is not performed every time the loading / unloading operation is performed.

According to the acquisition method of the travel stop position information of the stacker crane 13 in the automatic warehouse 10 according to the embodiment of the present invention, the following effects can be obtained.
(1) On the premise that each truss member 16, 17 is inclined without being bent, the inclination angle of each truss member 16, 17 is calculated based on the travel stop position information at the detection target heights P1 to P4, and the calculated truss is calculated. Based on the inclination angle of the members 16 and 17, travel stop position information corresponding to the load storage portions 14 of the undetected target heights Q1 and Q2 in the truss members 16 and 17 is acquired. For this reason, it is only necessary to detect the truss members 16 and 17 at the detection target heights P1 to P4, and it is not necessary to acquire travel stop position information corresponding to the entire load storage unit 14 by detecting the truss members 16 and 17. The travel stop position information of the entire cargo storage unit 14 can be acquired in a shorter time than before.

(2) Since the height difference between the detection target heights P1 and P2 is maximized in the truss member 16, it becomes easier to accurately calculate the inclination angle of the truss member 16 than when the height difference in detection target height is small. . The same applies to the truss member 17.
(3) Based on the travel stop position information corresponding to the load storage portions 14 having the detection target heights P1 to P4 or the undetected target heights Q1 and Q2, the distance between the trusses that determines the row-direction dimensions of the load storage portions 14 is calculated. Therefore, when the calculated distance between trusses is included in the preset allowable range, it can be recognized that the load storage unit 14 functions normally. On the other hand, when the calculated distance between the trusses is out of the allowable range, it is assumed that there is a problem with the function of the load storage unit 14, and an abnormality is notified to the operator or the like by a warning sound or a warning display. It is possible to grasp the abnormality of the load storage unit 14 by acquiring the travel stop position information.

The present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the gist of the invention. For example, the following modifications may be made.
In the above embodiment, the travel encoder is used as the travel stop position detection means, but the travel stop position detection means is not limited to the travel encoder. For example, various known sensors that can measure the distance from the column direction with respect to the home position HP may be used.
In the above embodiment, a sensor is used as the lifting stop position detection means, but the lifting position detection means is replaced with a lift encoder that reads pulses generated according to the rotation of the lifting motor. Good.
In the above embodiment, the truss as the support column is substantially configured by connecting the upper truss member and the lower truss member as the column member, but the number of the column members included in the support column may be two or more. The number is not limited. Moreover, although the connection part in the support | pillar bolted both truss members directly, the connection of the column member which interposed the connection member may be sufficient.
In the above embodiment, the receiving plate as the mounting body is attached to the column member so that the number of steps of the load storage portion is set to 3 for each column member. What is necessary is just to provide the mounting body which sets three or more load storage parts. By setting the number of stages of the load storage unit to 3 or more, at least two detection target heights and one or more undetected target heights are set. Further, if there are one or more undetected target heights for each column member, the number of detected target heights may be three or more.
In the above embodiment, the height of the detection target is set to the height corresponding to the load storage portion closest to both ends of the column member so that the difference in the detection target height is the largest in the column member. The selection of the detection target height is free.
In the above embodiment, storage and calculation of travel stop position information, calculation of the distance between trusses, and confirmation of the presence or absence of an abnormality in the load storage unit are processed in the ground controller. It does not prevent it.

It is a perspective view which shows the automatic warehouse which concerns on embodiment of this invention. It is a side view which shows the automatic warehouse which concerns on embodiment of this invention. It is a side view which shows the principal part of the frame shelf which concerns on embodiment of this invention. It is a top view which shows the relationship between the truss and stacker crane which concern on embodiment. It is a block diagram of the control system element in the automatic warehouse which concerns on embodiment. Explaining the acquisition of the travel stop position on a framed shelf that includes an inclined truss It is a flowchart which shows acquisition of traveling stop position information, and abnormality confirmation of a load storage part.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Automatic warehouse 11 (11A, 11B) Frame shelf 13 Stacker crane 14 Load storage part 15 Truss 16 Upper truss member 17 Lower truss member 18 Connection part 29 Crane controller 30 Driving motor 31 Lifting motor 33 Carriage 34 Fork 40 (40A, 40B) Truss sensor 41 Ground control panel 45 Ground controller CM Center line between forks CA, CB Center lines between pillars P1 to P4 Detection target height Q1, Q Undetected target height

Claims (3)

A crane apparatus provided with a carriage for loading and lowering, in which a frame shelf having a plurality of stages and a plurality of rows of load storage portions formed by a plurality of columns and a plurality of loading platforms provided on the columns is installed, The crane device is provided so as to be able to travel along the row direction of the load storage unit, and the crane device is moved to a height corresponding to the load storage unit, and a column detection means provided on the carriage has a column. In the acquisition method of the traveling stop position information of the crane apparatus in the automatic warehouse that acquires the traveling stop position information in the row direction corresponding to the load storage unit that the carriage should stop by detecting,
The column is formed by connecting a plurality of column members, and the number of steps of the load storage portion set in the column member is 3 or more,
The detection target height of the column detection means for detecting the column by traveling of the crane device is two heights corresponding to the load storage portion of the column member,
Based on the detection of the pillar member for each detection target height, respectively, to obtain travel stop position information corresponding to the load storage unit,
Calculate the inclination angle of the column member based on the travel stop position information at the acquired height to be detected,
A method for obtaining travel stop position information of a crane device in an automatic warehouse, wherein travel stop position information corresponding to the load storage unit having an undetected target height is obtained based on the calculated inclination angle. 2. Acquisition of traveling stop position information of a crane device in an automatic warehouse according to claim 1, wherein the height corresponding to the load storage portion closest to both ends of the pillar member is selected as the detection target height. Method. Based on the travel stop position information corresponding to the load storage unit at the detection target height or the undetected target height, a column-to-column distance for determining a column direction dimension of the load storage unit is calculated, and the column-to-column distance is calculated. 3. The method of acquiring information on the stopping position of the crane device in the automatic warehouse according to claim 1, wherein an abnormality of the load storage unit is notified when the value falls outside a preset allowable range.

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