JP2010150015A - Warehouse operating method and warehouse operating device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method and a device for operating an automatic warehouse in which articles can be stored, where stored articles and storage location of the articles are easily and visually identified without depending on identifying information. <P>SOLUTION: A warehouse operating device is an operating device for a warehouse in which a plurality of articles can be stored, where an arithmetic processing section 40 includes an image pickup instruction output means 52, a memory means 54, an input reception means 56 and a display means 58. The image pickup instruction output means outputs an image pickup instruction for making an image pickup section to pick up at least an article, on a surface of which a dimension in a depth direction intersecting a surface of the article, an image of which is picked up, has already been written. Relating to attribute information of an article, an image of which has been picked up, the memory means stores the image picked up and storage location of the article in a memory section 46. The input reception means receives an input of attribute information. When an input of attribute information is received, the display means displays an image related to the received attribute information on a display section 44. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a warehouse operation method and a warehouse operation apparatus capable of storing a plurality of articles.

In an automatic warehouse where a plurality of articles are stored, the articles are managed based on identification information unique to the article, information such as name and size (see, for example, Patent Document 1). In a conventional warehouse operation system, articles placed on a tray are transshipped into buckets when stored in a warehouse. The goods on the tray and the bucket are picked up from above by an image pickup device to confirm the two-dimensional arrangement of the goods on the tray and the bucket, and the position and the goods are unloaded with the hand for unloading. The position to be lowered is defined.
WO 2006/059676

  In a conventional warehouse operation system, inventory is managed based on identification information. However, in a warehouse that handles raw materials such as raw materials, there are cases where articles such as remaining materials that are used are generated. There may be many such articles having the same material but different sizes. It is difficult to provide unique identification information for each article in which such different sizes occur. Moreover, even if identification information is given to each article, it is difficult to specify the article stored by the identification information.

  SUMMARY OF THE INVENTION An object of the present invention is to make it easy to visually identify stored articles without relying on identification information in a warehouse operation method and apparatus capable of storing articles.

A warehouse operation method according to an aspect of the present invention is a warehouse operation method capable of storing a plurality of articles, and includes a writing step, an imaging step, and a storage step. The writing step is a step of writing the dimension in the depth direction of the article on the imaging surface that intersects the depth direction of the article. The imaging step is a step of imaging the imaging surface. The storing step is a step of storing the captured image and the storage position of the article in the warehouse in association with the attribute information of the imaged article.
In this warehouse operation method, the dimension of the article in the depth direction intersecting the imaging surface is written to the imaging surface in the writing step. The writing of the dimensions may be performed on the imaging surface by an appropriate writing unit such as a printer depending on the measurement result, or may be manually written on the imaging surface. Then, the imaging surface is imaged, and the captured image and the storage position of the article in the warehouse are stored in association with the attribute information of the imaged article.
Here, an image in which a dimension in the depth direction (for example, the thickness or length of the article) is written on the article is stored together with the attribute information of the article and the storage position of the article. For this reason, it is possible to easily grasp the three-dimensional size of the article by looking at the image stored in association with the attribute information of the article such as material and shape, instead of the identification information unique to the article. Thereby, it becomes easy to specify the articles to be stored by visual inspection without depending on the identification information.

An image display step for displaying an image picked up in response to input of attribute information, and a vertical line and a horizontal line for recognizing the size of the displayed article on the screen are superimposed on the image when the image is displayed. And a line display step.
In this case, the operator can accurately recognize the two-dimensional size of the imaging surface of the article by looking at the image, the vertical line, and the horizontal line of the article having the same attribute information. For this reason, the worker can easily grasp whether or not an article having a desired shape and size exists among the stored articles.

A warehouse operation method according to another aspect of the present invention is a warehouse operation method capable of storing a plurality of articles, and includes a mass measurement step, an imaging step, and a storage step. The mass measurement step is a step of measuring the mass of the article. The imaging step is a step of imaging the imaging surface of the article. The storing step is a step of storing the measured mass, the captured image, and the storage position of the article in the warehouse in association with the attribute information of the imaged article.
In this warehouse operation method, the mass of an article is first measured. Then, the imaging surface of the article is imaged, and the measured mass, the imaged image, and the storage position of the article in the warehouse are stored in association with the attribute information of the imaged article.
Here, since the mass of the article is measured, it is possible to calculate the dimension in the direction intersecting the imaging surface by calculating the area of the imaging surface from the captured two-dimensional image. For this reason, the three-dimensional size of the article can be determined by looking at the image stored in association with the attribute information, for example, by attaching the attribute information of the article such as material and shape, instead of the unique identification information of the article. I can grasp it. This makes it easy to specify the stored articles without giving unique identification information to each article.

The area calculation step for calculating the area of the imaging surface from the mass measured after the imaging step and the captured image, and the depth direction intersecting the imaging surface by the calculated area, the measured mass, and the specific gravity of the article. A dimension calculating step for calculating a dimension of the article, and the storing step may further store the calculated dimension.
In this case, since the depth dimension is calculated from the mass of the article, the three-dimensional size of the article can be easily grasped without writing the depth dimension of the article into the article.

A warehouse operation apparatus according to still another aspect of the present invention is a warehouse operation apparatus capable of storing a plurality of articles, and includes an imaging command output means, a storage means, an input reception means, and a display means. I have. The imaging command output means outputs an imaging command for causing the imaging unit to image at least one article in which a dimension in the depth direction intersecting the imaging surface is previously written on the imaging surface. The storage unit stores the captured image and the storage position of the article in the warehouse in the storage unit in association with the attribute information of the imaged article. The input accepting unit accepts input of attribute information. When the input of the attribute information is received, the display unit reads the image and the storage position associated with the received attribute information from the storage unit and displays them on the display unit.
In this warehouse operation device, when an article is received, an imaging command is output, and the imaging surface of the article is imaged by the imaging unit. On the imaging surface, the dimension in the depth direction intersecting with the imaging surface is written in advance. The captured image is stored in the storage unit together with the storage position in association with the attribute information. When the attribute information is received by the input receiving unit, the image and the storage position associated with the received attribute information are read from the storage unit and displayed on the display unit.
Here, an image in which dimensions in the depth direction (for example, the thickness and length of the article) are written on the article is stored in the storage unit in association with the attribute information together with the storage position of the article. For this reason, the worker can easily grasp the three-dimensional size of the article by looking at the image stored in association with the attribute information of the article such as material and shape, instead of the unique identification information of the article. be able to. This makes it easier for the operator to easily identify the article to be stored visually without relying on the identification information.

  According to the present invention, an operator can easily grasp the three-dimensional size of an article by viewing an image stored in association with attribute information. Thereby, it becomes easy to specify the articles to be stored by visual inspection without depending on the identification information.

(1) Whole automatic warehouse Hereinafter, the automatic warehouse 1 by which one Embodiment which concerns on this invention was employ | adopted is demonstrated. In addition, in this embodiment, the up-down direction of FIG. 1 is the front-back direction of the automatic warehouse 1, and the left-right direction of FIG.

  The automatic warehouse 1 mainly transfers the articles W between the pair of racks 2 that can store the articles, the stacker crane 3 that loads and unloads the articles W between the racks 2, and the stacker crane 3. The warehousing conveyor 4 and the warehousing conveyor 5 are comprised.

  The article W is, for example, a relatively expensive material such as a carbon material or an alloy material or a remaining material thereof, and is stored and used in the automatic warehouse 1. The article W is loaded and stored on the pallet P in accordance with the material of the article W and the shape of the article W such as a plate or a bar. In this embodiment, the pallet P has a storage position set in advance, and is stored in the storage position determined by the identification information.

  As shown in FIG. 5, the automatic warehouse 1 includes an automatic warehouse management system 10 that performs inventory management, a crane control unit 12 that controls the stacker crane 3 in conjunction with the automatic warehouse management system 10, and automatic warehouse management. And a conveyor control unit 14 that controls the loading / unloading conveyors 4 and 5 in conjunction with the system 10.

(2) Racks The pair of racks 2 are arranged so as to sandwich the stacker crane passage 6 extending in the left-right direction in FIG. The rack 2 is provided on a large number of front columns 7 arranged on the left and right sides at a predetermined interval, a rear column 9 arranged behind the front columns 7 with a predetermined interval therebetween, and the front and rear columns 7, 9. It has a large number of article support members 11. An article storage shelf 13 is constituted by the pair of left and right article support members 11. As can be seen from the figure, each article storage shelf 13 can store a plurality of articles W placed on the pallet P. Each article W is placed on a pallet P (see FIG. 4) and moved together with the pallet P. A pair of left and right article support members 11 is a fork passage gap 15 that allows a slide fork 29 described later to move in the vertical direction.

(3) Stacker Crane A pair of upper and lower guide rails 21 are provided along the stacker crane passage 6, and the stacker crane 3 is guided by these guide rails 21 so as to be movable left and right. As shown in FIGS. 2 and 3, the stacker crane 3 includes a traveling carriage 23, a lifting platform 27, and a slide fork 29. The lifting platform 27 is mounted on a pair of left and right masts 25 provided on the traveling carriage 23 so as to be movable up and down. The slide fork 29 is slidable in the front-rear direction by an advancing / retreating mechanism (not shown) provided on the lifting platform 27.
The lifting platform 27 has a mounting portion 27a on which the slide fork 29 is mounted, and left and right wall portions 27b extending upward therefrom. The slide fork 29 can be inserted into a fork insertion port P1 formed in the pallet P shown in FIG.

(4) Warehousing conveyor The warehousing conveyor 4 is a roller conveyor, for example, capable of transporting the pallet P to either the left or right. In addition, the warehousing conveyor 4 is not limited to a roller conveyor, and may be in any form as long as it is a moving means that moves the pallet P such as a chain conveyor or a belt conveyor.

  At the left end and the right end of the warehousing conveyor 4, a warehousing start point sensor 31 and a warehousing end point sensor 32 for detecting that the pallet P at the time of warehousing has reached the start position (left end in FIG. 1) and the end position (right end in FIG. 1) Is provided.

  At the start position of the warehousing conveyor 4, an imaging unit 36 is provided for photographing the article W that has been placed on the pallet P. The imaging unit 36 is, for example, a digital camera having a field of view capable of imaging the entire pallet P, and is supported by a cantilever arm member 38 so that the position thereof can be adjusted.

  The delivery conveyor 5 is a roller conveyor similar to the entry conveyor, for example, which can convey the pallet P to either the left or right. In addition, the delivery conveyor 5 is not limited to a roller conveyor like the entry conveyor 4. A delivery start point sensor 33 and a delivery end point sensor 34 for detecting the start point position (right end in FIG. 1) and the end point position (left end in FIG. 1) of the pallet P at the time of delivery are provided at the right end and the left end of the delivery conveyor 5. Yes.

(5) Automatic warehouse management system The automatic warehouse management system 10 is a system for managing the inventory and operation of the automatic warehouse 1. As shown in FIG. 5, the automatic warehouse management system 10 is realized by computer hardware such as a CPU and a memory. In FIG. 5, the automatic warehouse management system 10 has a functional configuration realized by the cooperation of computer hardware and software. expressing.

  The automatic warehouse management system 10 includes an arithmetic processing unit (an example of a warehouse operation device) 40 configured by computer hardware. The arithmetic processing unit 40 includes an input unit 42 including a keyboard and a mouse, a display unit including a monitor such as a liquid crystal display, a storage unit 46 including a hard disk and a nonvolatile memory, and an external interface (IF 48) is connected. The arithmetic processing unit 40 is connected to a local area network (LAN) 60 via a network connection unit 50. The crane interface 12, the conveyor controller 14, and the imaging unit 36 are connected to the external interface 48.

  As shown in FIG. 6, the arithmetic processing unit 40 includes an imaging command output unit 52, a storage unit 54, an input reception unit 56, and a display unit 58 as shown in FIG. 6. The imaging command output unit 52 outputs the following imaging command to the conveyor control unit 14 via the external interface 48. This imaging command is a dimension (an example of a depth direction) that intersects (orthogonally) the imaging surface (for example, a thickness in the case of a plate, and an axial length in the case of a bar, and is hereinafter referred to as a depth length. ) Is an instruction to cause the imaging unit 36 described later to image at least one article written in advance on the imaging surface. The storage unit 54 stores the captured image and the storage position (article storage shelf) of the article W in the automatic warehouse 1 in the storage unit 46 in association with the attribute information of the captured article W. The input receiving unit 56 receives information input from the input unit 42 such as attribute information. When receiving the input of attribute information at the time of warehousing, the display unit 58 reads the image and storage position associated with the received attribute information from the storage unit 46 and displays them on the display unit 44.

  The crane control unit 12 is mounted on the stacker crane 3 and can communicate with the automatic warehouse management system 10.

  The conveyor control unit 14 controls the loading / unloading conveyors 4 and 5 based on the outputs from the loading / unloading start point sensors 31 and 33 and the end point sensors 32 and 34, and sends the output of the loading start point sensor 31 to the arithmetic processing unit 40. The conveyor control unit 14 causes the imaging unit 36 to image the article W on the pallet P by an imaging command output from the arithmetic processing unit 40 according to the state of the warehousing start point sensor 31.

(6) Warehouse Operation Method In this embodiment, receipt / shipment of the article W is performed in the automatic warehouse 1 according to the procedure shown in FIG. When the rod-shaped article W is placed on the pallet P, in principle, the imaging surface has a cross section orthogonal to the axial direction.

First, in step P1 of FIG. 7, the operator writes the depth length on the imaging surface of the article W before warehousing. In the case of a carbon material, since the surface of the article W is black, a depth length is written in units of centimeters with a white oily marker, for example. The depth length is recorded in advance. Alternatively, the depth length may be automatically measured before the article W is placed on the pallet P, and the measurement result may be automatically printed on the imaging surface by an appropriate printing unit such as an ink jet printer.
In addition, it is preferable to place the article W on the pallet P in the direction in which the same cross section continues in the depth direction as much as possible. This makes it easier to grasp the overall shape of the article W taken from above.

  In step P <b> 2, the imaging unit 36 images the imaging surface of the article W placed on the pallet P. The captured image is sent to the arithmetic processing unit 40. In step P3, the operator inputs the material information of the article W and attribute information such as a plate shape, a columnar shape, and a prismatic shape with the input unit 42 connected to the arithmetic processing unit 40. In step P4, the input attribute information, the received image, and the storage position of the article W are stored. Note that the storage position of the article W is set by selecting a shelf in which the arithmetic processing unit 40 is empty, but may be manually input by an operator.

  At the time of delivery, the attribute information is input through the input unit 42 in step P5. Here, it is possible to grasp the article W that needs to be delivered based on the attribute information indicating the general characteristics of the article W, not the identification information unique to the article W. In step P6, an image of the article on the palette P having the input attribute information is displayed on the display unit 44. If there are multiple items with the same attribute information at this time, a plurality of images may be displayed in a list and then selected, or images may be displayed one by one in order so that pages can be turned. good. In step P6, grid lines made up of vertical lines and horizontal lines for recognizing the size of the imaging surface of the article W are displayed superimposed on the image. An example of this display is shown in FIG. In FIG. 9, a plate-like article W is displayed, and grid lines G for easily recognizing the size of the imaging surface are displayed over the image. The grid line G is displayed with a broken line for every 10 cm, for example. In addition, the storage position of the article W (for example, the eighth row of the 103th column which is an example of the position of the article storage shelf 13) is displayed at the lower right of the screen, for example.

(7) Process Flow of Arithmetic Processing Unit Next, the flow of operation processing of the automatic warehouse 1 by the arithmetic processing unit 40 will be described based on the flowchart shown in FIG.

  In step S1 of FIG. 8, it is determined whether the worker has selected the warehousing process. When the pallet P is placed at the start position of the warehousing conveyor 4, the worker selects the warehousing process. In step S2, it is determined whether the worker has selected the warehousing process. When the operator wants to ship a desired article W, the worker selects a delivery process. If it is determined in step S2 that the process is not a shipping process, the process returns to step S1.

  When the warehousing process is selected, the process proceeds from step S1 to step S10. In step S <b> 10, it is determined whether or not the pallet P is at the start point position based on a signal from the warehousing start point sensor 31 obtained via the conveyor control unit 14. If it is not at the start point, the process proceeds to step S2. If it is at the start position, the process proceeds to step S11, and an imaging command is output to the conveyor control unit 14 via the external interface 48. Then, the conveyor control unit 14 controls the imaging unit 36 to image the imaging surface of the article W placed on the pallet P, and transmits it to the arithmetic processing unit 40. The depth length of the article W is written in advance on the imaging surface of the article W by the operator. An example of this captured image is the image of FIG. 9 described above. In FIG. 9, for example, a carbon material plate is received as the article W, and the number indicating the thickness of the plate is displayed in cm as the imaging surface and the depth length. For example, the thickness of an article denoted by a symbol W in FIG. 8 as a representative of the article is 20 cm.

  In step S12, the attribute information of the article W input by the operator using the input unit 42 and the set storage position are received. In this embodiment, the storage position is set by selecting an empty shelf by the arithmetic processing unit 40, but the setting of the storage position is not limited to this. For example, the vacant shelf position may be displayed on the display unit 44, and the operator may select the storage position by looking at it, or the storage position may be set manually.

  When the attribute information and the storage position are received, the process proceeds to step S13. In step S13, the received attribute information, storage position, and received image are stored in the storage unit 46. In step S14, a warehousing process for transporting the pallet P to the accepted storage position is performed, and the process proceeds to step S2.

  When the delivery process is selected, the process proceeds from step S2 to step S20. In step S <b> 20, the worker accepts input of attribute information of the article W using the input unit 42. When the attribute information is received, the process proceeds to step S21. In step S21, an image corresponding to the received attribute information is read from the storage unit 46, and the image shown in FIG. In step S22, the operator accepts selection of the displayed image using the input unit 42. When image selection is accepted, the process proceeds to step S23. In step S23, an unloading process for unloading the pallet P from the article storage shelf 13 storing the selected image to the unloading conveyor 5 is performed. Return to step S1.

(8) Features The warehouse operation method is a warehouse operation method capable of storing a plurality of articles W, and includes a writing step P1, an imaging step P2, and a storage step P4. The writing step P1 is a step of writing the depth length of the article W on the imaging surface of the article W. The imaging step P2 is a step of imaging the imaging surface. The storage step P4 is a step of storing the captured image and the storage position of the article W in the warehouse in association with the attribute information of the captured article W.

  In this warehouse operation method, the depth length of the article W in the depth direction intersecting the imaging surface is written on the imaging surface in the writing step P1. The writing of the depth length may be written on the image pickup surface by an appropriate writing means such as a printer, or may be manually written on the image pickup surface depending on the measurement result. Then, the imaging surface is imaged, and the captured image and the storage position of the article W in the automatic warehouse 1 are stored in association with the attribute information of the imaged article W.

  Here, an image in which the depth length (for example, the thickness and length of the article W) is written on the article W is stored together with the attribute information of the article W and the storage position of the article W. For this reason, it is possible to easily grasp the three-dimensional size of the article W by looking at the image stored in association with the attribute information of the article W such as material and shape, instead of the unique identification information of the article W. Can do. Thereby, it becomes easy to visually identify the article W to be stored and its storage position without relying on the identification information.

  An image display step P6 for displaying an image picked up in response to the input of attribute information, and a vertical line and a horizontal line for recognizing the size of the displayed article W on the screen when the image is displayed are superimposed on the image. A line display step P7 to be displayed may be further included.

  In this case, the two-dimensional size of the imaging surface of the article W can be accurately recognized by looking at the image of the article W having the same attribute information and the grid line G represented by vertical and horizontal lines. For this reason, it becomes easier to specify the article W that is obtained by comparing a plurality of images having the same attribute information among the stored articles W.

The automatic warehouse management system 10 is an operation device of the automatic warehouse 1 having a plurality of article storage shelves 13 that can store a plurality of articles W, and includes an arithmetic processing unit 40. The arithmetic processing unit 40 includes an imaging command output unit 52, a storage unit 54, an input reception unit 56, and a display unit 58 as functional configurations. The imaging command output means 52 sends an imaging command for causing the imaging unit to image at least one article W in which the depth length of the article W intersecting the imaging surface is written in advance on the imaging surface via the external interface 48. 14 for output. The storage unit 54 stores the captured image and the storage position (article storage shelf) of the article in the automatic warehouse 1 in the storage unit 46 in association with the attribute information of the imaged article W. The input receiving unit 56 receives information input from the input unit 42 such as attribute information. When receiving the input of attribute information at the time of warehousing, the display unit 58 reads the image and storage position associated with the received attribute information from the storage unit 46 and displays them on the display unit 44.
At the time of warehousing, the weight may be measured simultaneously with the imaging and stored in the storage unit 46 and used as weight management information for the article W.

  In this automatic warehouse operation device, when the article W is received, the imaging surface of the article is imaged by the imaging unit 36. The depth length is written in advance on this imaging surface. The captured image is stored in the storage unit 46 together with the storage position in association with the attribute information. When the attribute information is received by the input unit 42, an image associated with the received attribute information is displayed.

  Here, the image in which the dimension in the depth direction (for example, the thickness and length of the article) is written on the article W is stored in the storage unit 46 in association with the attribute information together with the storage position of the article W. For this reason, it is possible to easily grasp the three-dimensional size of the article W by looking at the image stored in association with the attribute information of the article, such as the material and shape, instead of the unique identification information of the article W. it can. Thereby, it becomes easy to visually identify the article W to be stored and its storage position without relying on the identification information.

(9) Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention.

(A) In the embodiment, the depth length is written by the operator, but may be automatically written on the imaging surface. In this case, the depth length may be measured and written before placing the article W on the pallet P, or the depth length may be written after placing the article W on the pallet P. However, when writing the depth length after placing on the pallet P, it is preferable to place only one article W on the pallet P.

(B) In the above embodiment, the depth length of the article W in the direction intersecting the imaging surface is written on the imaging surface, but the depth length of the article W is calculated and associated with attribute information in the storage unit 46. You may remember. In this case, the depth length read from the storage unit 46 may be displayed in accordance with the image of the article W. For example, the depth length may be displayed on the image of the article W, or the depth length may be displayed around it.

  In FIG. 10, in the warehouse operation method, at the time of warehousing, the mass of the article W is measured in step Q1. For example, the weighing conveyor 4 is provided with a weighing unit, the mass of the article W is weighed together with the pallet P, and the mass of the article W can be calculated by subtracting the mass of the pallet P. In step Q2, the article W is imaged by the imaging unit 36. In step Q3, attribute information of the imaged article W is input. In step Q4, the captured image, the measured mass, and the storage position are stored in the storage unit 46 in association with the attribute information.

  At the time of delivery, attribute information is input in step Q5. In step Q6, the image read from the storage unit 46 is subjected to image processing with the input attribute information, and the area of the imaging surface is calculated. In step Q7, the depth length of the article W, that is, the dimension in the depth direction is calculated from the calculated area and the specific gravity of the article W. In step Q8, an image associated with the input attribute information is displayed. At this time, the depth length and the storage position of the pallet P are displayed on the image. In step Q9, a grid line G is displayed on the image.

  In this case, if only one article is placed on the pallet P, the process is simplified. When a plurality of articles W are placed on the pallet P, it is necessary to calculate the placement positions of the plurality of articles W by image processing and calculate the area of each article.

In this warehouse operation method, the mass of the article W is first measured. Then, the imaging surface of the article W is imaged, and the measured mass, the captured image, and the storage position of the article in the warehouse are stored in association with the attribute information of the imaged article.
Here, since the mass of the article is measured, it is possible to calculate the imaging surface and the depth length in consideration of the specific gravity by calculating the area of the imaging surface from the captured two-dimensional image. For this reason, the three-dimensional size of the article can be determined by looking at the image stored in association with the attribute information, for example, by attaching the attribute information of the article such as material and shape, instead of the unique identification information of the article. I can grasp it. Further, the three-dimensional size of the article W can be grasped without writing the depth length of the article W on the imaging surface. Thereby, it becomes easy to specify the articles to be stored and their storage positions by visual inspection without depending on the identification information.

  Instead of measuring mass, the depth length of the article W may be directly measured. In this case, the depth length may be stored in the storage unit 46 in association with the attribute information instead of the mass.

(C) In the said embodiment, although the material and shape of the goods were illustrated as attribute information, attribute information is not limited to these. One of these may be added, and further information may be added to the attribute information. For example, destination information may be added to the attribute information. Further, size information including the depth length (for example, a depth length range) may be added to the attribute information.

(D) In the above-described embodiment, the article W is placed on the pallet P in a planar manner, but the article W may be placed three-dimensionally. In this case, the written depth length may be placed so that the imaging unit 36 can image. However, it is preferable to place the article three-dimensionally so that the two-dimensional structure of the article can be grasped.

(E) Although the grid lines are exemplified as the vertical lines and the horizontal lines on the screen in the embodiment, the present invention is not limited to this. The vertical lines and horizontal lines on the screen may be in any form as long as the size of the displayed article W can be grasped in the vertical and horizontal directions. For example, a predetermined length may be arranged at a corner of the screen such that a vertical line and a horizontal line intersect at one end, and the lengths may be numerically displayed. In addition, the grid interval may be displayed as a numerical value, and a ruler with numerical values may be displayed as an image instead of the grid.

  The present invention is widely applicable to a warehouse operation method and a warehouse operation apparatus that are operated with captured images.

1 is a schematic plan view of an automatic warehouse in which an embodiment of the present invention is adopted. II-II arrow line view of FIG. III-III arrow line view of FIG. The schematic side view around the starting point position of a warehousing conveyor. Overall block diagram including an automated warehouse management system. The block diagram which shows the function structure of an arithmetic processing part. The flowchart which shows an example of the warehouse operation method. The flowchart which shows the processing content of an arithmetic processing part. The schematic diagram which shows an example of the image imaged and displayed. The figure equivalent to FIG. 6 of another Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Automatic warehouse 2 Rack 3 Stacker crane 4 Conveyor 5 Conveyor 6 Passage 7 Front side support | pillar 9 Rear side support | pillar 11 Article support member 12 Control part 13 Article storage shelf 14 Control part 15 Passing gap 21 Guide rail 23 Traveling carriage 25 Mast 27 Lifting base 27a Placement unit 27b Wall unit 29 Slide fork 31 Sensor 32 Sensor 33 Sensor 34 Sensor 36 Imaging unit 38 Member 40 Operation processing unit 42 Input unit 44 Display unit 46 Storage unit 48 Interface 50 Connection unit 52 Imaging command output unit 54 Storage unit 56 Input Accepting means 58 Display means G Line P Pallet W Article

Claims (5)

A warehouse operation method capable of storing a plurality of articles,
A dimension writing step of writing a dimension in the depth direction of the article on an imaging surface intersecting the depth direction of the article;
An imaging step of imaging the imaging surface;
A storage step of storing the captured image and a storage position of the article in the warehouse in association with attribute information of the captured article.
Warehouse operation method including. An image display step for displaying the captured image in response to the input of the attribute information;
The warehouse according to claim 1, further comprising: a line display step of displaying a vertical line and a horizontal line for recognizing a size of the displayed article on the screen when the image is displayed so as to overlap the image. Operation method. A warehouse operation method capable of storing a plurality of articles,
A mass measuring step for measuring the mass of the article;
An imaging step of imaging the imaging surface of the article;
A storage step for storing the measured mass, the captured image, and the storage position of the article in the warehouse in association with the attribute information of the captured article.
Warehouse operation method including. An area calculating step of calculating an area of the imaging surface from the measured mass and the captured image after the imaging step;
A dimension calculating step of calculating a dimension of the article in the depth direction intersecting with the imaging surface based on the calculated area, the measured mass, and the specific gravity of the article;
The warehouse operation method according to claim 3, wherein in the storing step, the calculated dimensions are further stored. A warehouse operation device capable of storing a plurality of articles,
An imaging command output means for outputting an imaging command for causing the imaging unit to image at least one of the articles in which a dimension in the depth direction intersecting the imaging surface is written in advance on the imaging surface;
A storage unit that stores the captured image and a storage position of the article in the warehouse in a storage unit in association with attribute information of the imaged article;
Input receiving means for receiving input of the attribute information;
When the input of the attribute information is received, display means for reading out the image and the storage position associated with the received attribute information from the storage unit and displaying them on the display unit;
Warehouse operation equipment equipped with.

Images