JP2011057334A - Automated warehouse - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automated warehouse which detects a displacement of a container in a storage space of a storage shelf and eliminates failures in a storing/retrieving operation by correcting the position of the container to a fixed position. <P>SOLUTION: The automated warehouse includes: a storage shelf 1 for storing a plurality of containers in storage spaces arranged back and forth in the storing/retrieving direction; a stacker crane moving along the front face of the storage shelf 1; a container storing/retrieving device 11 for transferring a container 5 between the storage shelf 1 and the stacker crane; and a control device for controlling the stacker crane and the container storing/retrieving device 11. The container storing/retrieving device 11 has a sliding arm 6 for pulling in the container 5 from the storage shelf 1 and container detectors 7, 8 for detecting the position of the container 5 stored in the storage shelf 1. When the detection signal from the container detectors 7, 8 satisfies a container correcting operation condition, the control device controls the operation of the sliding arm 6 of the container storing/retrieving device 11 so as to correct the position of the container 5 to the fixed position. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a loading / unloading apparatus using containers such as articles and books in an automatic warehouse or a library, and in particular, can solve a malfunction caused by a shift in the position or posture of the container.

  Some automatic warehouses or libraries that can receive and store articles or books by automatic control have containers that store articles or books in and out of the storage compartment. Containers can be standardized in size, which makes it easier to control stacker cranes that transfer containers to and from container storage sections of three-dimensional warehouses, and control of loading / unloading devices built into stacker cranes, etc. It is. In order to efficiently use the article storage space of the three-dimensional warehouse, it is possible to store a plurality of containers side by side in the depth direction of the three-dimensional warehouse, and to enter and exit the containers with respect to the plurality of container storage spaces in the depth direction. A container loading / unloading device or a loading / unloading device has also been proposed.

The invention related to the container storage device described in Patent Document 1 and Patent Document 2 is configured to store and store a plurality of containers side by side in the depth direction of a three-dimensional warehouse.
The invention described in Patent Document 1 includes a container transporter that includes a lifting platform and travels along a shelf front surface, and the lifting platform supports the container so that the container can be slid back and forth along the depth direction. The lifting platform is also provided with an arm device that can be expanded and contracted between a contracted state on the lifting platform and a stretched state reaching the container stored at the back of the shelf, and two upper and lower containers. A transfer device including a hook that can be engaged and disengaged with any of the handles is provided. The arm device includes an arm supporting member fixed to the swivel base, a first sliding arm member capable of sliding on the arm supporting member in the front-rear direction, and a front-rear direction on the first sliding arm member. It is a three-stage arm type consisting of a second sliding arm member that can slide on.

  Similarly to the invention described in Patent Document 1, the invention described in Patent Document 2 also includes a transfer device that transfers the container between the lifting platform and the shelf, and the container between the front side of the shelf and the back side of the shelf. The moving device has a multi-stage slide system including a base end slide member, an intermediate slide member, and a tip slide member, and the intermediate slide member has left and right side plates and is in a channel shape. And two guide rollers that are respectively fitted in the grooves of the base end slide member on the inside and outside of the both side plates, and four guide rollers at the front and rear ends, respectively.

  In addition, as an invention related to the automatic warehouse according to the present invention, there is a container loading / unloading apparatus according to the application of the present applicant (see Japanese Patent Application No. 2009-167455). The invention according to the above application is also related to the present invention in that a container is used and a plurality of containers are stored in one storage space.

Japanese Patent No. 2566530 Japanese Patent No. 3352846

  When an earthquake occurs with containers stored in storage shelves, the containers move in the container storage space. In particular, in an automated warehouse that can store a plurality of containers side by side in the depth direction of the storage shelf, if the container is stored only on the back side and the container is not stored in the front side storage space, Since the space in which the container can move increases, the container moves greatly due to vibration such as an earthquake. Alternatively, the container rotates in a horizontal plane so that the front surface of the container does not face the front face of the automatic warehouse. Such a situation also occurs, for example, when the user forgets to return the container while moving it manually during maintenance.

  Generally, a container used in an automatic warehouse is provided with a hook on the front surface thereof, and a hook on the container loading / unloading device side is engaged with this hook, and the container is drawn from the storage shelf side to the container loading / unloading device side. It is supposed to pass. Therefore, if the position of the container shifts due to an earthquake or the like or rotates in a horizontal plane, the container hook and the container loading / unloading device side hook cannot be engaged, and the container cannot be delivered.

  In conventional automatic warehouses, no consideration has been given to such inconveniences of the storage / removal operation due to the displacement and rotation of containers.

  Therefore, even if the position of the container in the storage space of the storage shelf is displaced or rotated in the horizontal plane due to an earthquake or the like, the present invention detects such displacement and rotation and corrects the container to a fixed position. An object of the present invention is to provide an automatic warehouse that can solve problems in the delivery operation.

  The automatic warehouse according to the present invention includes a storage shelf that can store a plurality of containers in storage spaces before and after the loading / unloading direction, a stacker crane that can move along the front surface of the storage shelf, the storage shelf, and the stacker crane. A container loading / unloading device that delivers containers to / from the container, a control device that controls the movement of the stacker crane and the operation of the container loading / unloading device, and the container loading / unloading device draws the container from the storage shelf. A container detector for detecting the position of the container accommodated in the slide arm and the storage shelf is provided, and the controller determines the container when a detection signal from the container detector satisfies a preset container correction operation condition. The most important feature is to control the movement of the slide arm of the container loading / unloading device so as to correct the position. To.

The control device may control the operation of the slide arm of the container loading / unloading device so that the container is pulled into the container loading / unloading device after the container is corrected to a fixed position.
The control device also slides the container loading / unloading device so as to correct the container to a fixed position at a lower speed than normal container loading / unloading when the detection signal from the container detector satisfies a predetermined container correction operation condition. It is good to control the operation of the arm.

The container detector may have a plurality of detection areas corresponding to positions before and after the container that can be accommodated in the storage space of the storage shelf, and detect the container position depending on which detection area the container is detected in. .
A plurality of container detectors may be arranged corresponding to containers that can be accommodated before and after the storage space of the storage shelf.

The container detector is a distance detector and is arranged on the left and right in correspondence with the container accommodated in the storage space of the storage shelf, and detects the rotation of the container based on the detection signal difference between the left and right container detectors. May be.
In such a configuration, when the difference between the detection signals of the left and right container detectors is greater than the allowable value, the control device controls the operation of the slide arm of the container loading / unloading device so that the container assumes a predetermined posture. Good.

  Even if the position of the container in the storage space of the storage shelf shifts due to an earthquake or the like, or the container rotates in the horizontal plane, the container detector detects such a position shift or rotation of the container. The operation of the slide arm of the container loading / unloading device is controlled so as to correct the position to a fixed position. Therefore, the slide arm of the container loading / unloading device can always act on the container at a fixed position to deliver the container to and from the stacker crane, and avoid a malfunction in delivery.

It is an external appearance side view which shows the Example of the automatic warehouse which concerns on this invention. It is a perspective view which shows notionally the relationship between the storage space in the said automatic warehouse, a container loading / unloading apparatus, and a container detector. It is a top view which shows the principal part of 1st Example of the automatic warehouse which concerns on this invention. It is a top view which shows the normal loading / unloading operation | movement by the said 1st Example in order. It is a top view which shows the container correction operation | movement by the said 1st Example in order. It is a top view which shows another example of the container correction operation | movement by the said 1st Example in order. It is a flowchart which shows the container correction operation | movement by the said 1st Example. It is a top view which shows the principal part of 2nd Example of the automatic warehouse which concerns on this invention. It is a top view which shows the container correction operation | movement by the said 2nd Example in order. It is a flowchart which shows the container correction operation | movement by the said 2nd Example. It is a top view which shows the principal part of 3rd Example of the automatic warehouse which concerns on this invention. It is a comparison figure which shows the example of the control pattern and operation | movement in the said 3rd Example. It is a flowchart which shows the container correction operation | movement by the said 3rd Example.

Hereinafter, embodiments of an automatic warehouse according to the present invention will be described with reference to the drawings.
First, an example of the appearance of an automatic warehouse according to the present invention will be described. In FIG. 1, the code | symbol 1 has shown the storage shelf. The storage shelf 1 includes a plurality of support columns 2 that are vertically set at a predetermined interval, an appropriate horizontal connecting member that connects these support columns in the horizontal direction, and a cargo receiving member 3. FIG. 1 shows a side surface of the storage shelf 1, and a surface perpendicular to the paper surface of FIG. In the example shown in FIG. 1, a path in which the stacker crane 10 travels is formed in a direction perpendicular to the paper surface in the center in the left-right direction, and storage shelves 1 are constructed on both sides of the path, and face each other across the path. The surface of the storage shelf 1 is a loading / unloading surface.

  The cargo receiving member 3 is attached in a horizontal direction between the columns 2 arranged in the depth direction, that is, the front-rear direction when viewed from the front surface of the storage shelf 1. The container 5 is supported by the pair of load receiving members 3 connected to the same height position of the mutually opposing surfaces of the columns 2 adjacent to each other in the frontage direction, and the container 5 is moved along the pair of load receiving members 3. The container 5 can be loaded and unloaded while sliding. A space defined by the struts 2 adjacent to the left and right and the cargo receiving members 3 adjacent to the upper and lower sides is a container storage space. The storage space includes a plurality of (the embodiment shown in FIG. In this case, the container 5 can be accommodated.

  A hook for pulling the container 5 toward the stacker crane 10 is integrally formed on both front and rear surfaces of the container 5 by engaging slide arms included in the container loading / unloading device.

  The stacker crane 10 can be moved along the front surface of the storage shelf 1 by the carriage along the front surface of the storage shelf 1, and the container loading / unloading device 11 is moved up and down along the guide column set on the carriage. The container loading / unloading device 11 includes the slide arm so that the container 5 can be delivered between the storage shelf 1 and the stacker crane 10. A control device for controlling the movement of the stacker crane 10, the container loading / unloading device 11 and the operation of its slide arm is provided in an appropriate control panel or the like. The container loading / unloading device 11 slides to the left or right in FIG. 1 so that the container 5 can be loaded / unloaded with respect to the storage space of the storage shelf 1 constructed on both sides of the travel path of the stacker crane 10. The arm can be operated.

  The container loading / unloading apparatus 11 includes a slide arm that pulls the container 5 from the storage shelf 1 as described above and a container detector that detects the position of the container 5 accommodated in the storage shelf 1. This container detector detects the position of the container 5 in the container accommodation space. When the position of the container 5 is shifted due to an earthquake or the like, this position shift can be detected. The control device controls the operation of the slide arm of the container loading / unloading device so as to correct the container to a fixed position when the detection signal from the container detector satisfies a preset container correction operation condition. . Hereinafter, specific description will be given based on examples.

  In FIG. 2 and FIG. 3, the support columns 2 that are constituent members of the storage shelf 1 are set up vertically at regular intervals in the front direction of the storage shelf 1 and are also set up vertically at constant intervals in the depth direction, and are adjacent in the front direction. A load receiving member 3 that connects the columns 2 arranged in the depth direction is fixed at the same height position on the surfaces of the columns 2 facing each other while maintaining a horizontal posture. The load receiving member 3 is a member having an L-shaped cross-sectional shape, and receives and supports both side edges of the bottom surface of the container 5 by the horizontal pieces of the load receiving member 3 paired on the left and right sides. It is supposed to be in and out of. A space partitioned in the vertical direction by the pair of left and right cargo receiving members 3 is a container storage space.

  The container loading / unloading apparatus 11 stops at a position corresponding to an arbitrary container storage space. More precisely, the container loading / unloading device 11 can be stopped so that the upper surface thereof is at substantially the same height as the upper surface of the horizontal piece of the load receiving member 3 that defines the lower end of the container accommodation space. A slide arm 6 is incorporated in the container loading / unloading device 11. The slide arm 6 constitutes a transfer device including a three-stage arm as described in Patent Document 1, Patent Document 2, and the like. The container 5 can be transferred between the storage space and the container loading / unloading device 11 by engaging and extending the hook provided at the tip of the three-stage arm with the hook of the container 5.

  When the delivery direction of the container 5 by the container loading / unloading device 11 is the front-rear direction, the container detectors 7 and 8 are disposed obliquely toward the container housing space on both sides of the front end portion of the container loading / unloading device 11 and both detection lights. The axes are attached so as to intersect on a plane. The container detectors 7 and 8 are optical detectors that apply the principle of triangulation. The container detectors 7 and 8 irradiate light beams obliquely at a certain angle toward the detection target, and reflect light from the target with an image sensor such as a CMOS. It receives light and detects the distance to the object by the light receiving position. If there is no detection target, there is no output of the image sensor, if there is a detection target, there is an output of the image sensor, and the position of the light receiving element changes according to the distance of the detection target. Therefore, a light receiving element that outputs a signal when the detection target is within a predetermined distance range is set in advance. If a signal is output from the light receiving element, it is determined that the detection target is within a predetermined distance range. If a signal is output from another light receiving element, the detection target is at a position deviated from the predetermined distance range. Judgment can be made.

  In the example shown in FIGS. 2 and 3, the container detector 7 is installed toward the back side of the container housing space in order to detect the position of the container 5 on the back side of the container housing space. In order to detect the position of the container 5 on the near side of the container accommodating space, the container 5 is installed toward the near side of the container accommodating space.

  The container detector 7 has a two-channel configuration with two detection areas. The first channel is “ON” when the container 5 is displaced within a range from a position where there is no displacement on the back side of the accommodation space to a position where the displacement to the front side is allowed, and beyond. It is set to “OFF” when the position is shifted. In this embodiment, the range of “ON” is set to be 0 mm (there is no position shift of the container 5) or more and less than 100 mm. The second channel of the container detector 7 is set to be “ON” when the container 5 is 100 mm or more and less than 550 mm on the inner side of the accommodation space, and “OFF” otherwise.

  The container detector 8 is set to be “ON” when the near-side container is within a predetermined allowable range, and “OFF” otherwise. The case where the position of the container on the near side is within a predetermined allowable range is a case where the positional deviation of the container is 550 mm or more and less than 670 mm in this embodiment.

  The two container detectors 7 and 8 described above are respectively provided at both ends in the moving direction of the slide arm 6 on the container loading / unloading device 11, and can arbitrarily accommodate storages on both sides of the container loading / unloading device 11. A positional shift of the container 5 in the space can be detected. Since the displacement detection operation of the container 5 in the accommodation space is the same on either side, the operation of detecting the displacement of the container 5 in the accommodation space on one side (left side in any drawing) and the operation after the detection will be described.

  The present invention, as explained at the beginning, in an automatic warehouse that accommodates a plurality of containers in the depth direction, when there is no container on the front side and the container on the back side is displaced due to an earthquake, etc. It solves the problems that occur. Therefore, the operation in the case of entering / exiting the container on the back side, particularly in the case of exiting will be described. FIG. 4 shows a normal operation when the position of the container 5 on the back side is within a predetermined allowable range. FIG. 4A shows a state of position detection by the container detectors 7 and 8 when the container 5 on the back side is within the allowable range. Since the container detectors 7 and 8 are set to perform the above-described operation, one channel of the container detector 7 is “ON”, two channels are “OFF”, and the container detector 8 is “OFF”. In the case of such a detection output, since there is no position shift in the container 5, a normal leaving operation is performed as shown in FIGS. 4 (2) to (5) under the control of the control device.

  As shown in FIG. 4 (2), the container loading / unloading apparatus 11 comes close to a predetermined container accommodation space and stops. Next, as shown in FIG. 4 (3), the slide arm 6 is extended from the container loading / unloading apparatus 11 toward the container 5 accommodated on the back side, and the container loading / unloading apparatus 11 is slightly raised. The hook at the tip of the slide arm 6 is engaged with the hook of the container 5 by the operation. Next, as shown in FIG. 4 (4), the slide arm 6 is contracted, and the container 5 is pulled toward the container loading / unloading device 11 while sliding along the cargo receiving member 3. When the slide arm 6 returns to the original position and the operation of transferring the container 5 on the load receiving member 3 to the container loading / unloading apparatus 11 is completed, the container loading / unloading apparatus 11 is moved to the container as shown in FIG. Separate from the storage space. Thereafter, the stacker crane 10 shown in FIG. 1 is transported to an appropriate position, for example, a loading / unloading station.

  As the transfer device for drawing the container 5 into the container loading / unloading device 11, a transfer device having an appropriate configuration can be used. For example, you may use the transfer apparatus used for the container loading / unloading apparatus described in the specification and drawing of the said Japanese Patent Application No. 2009-167455 concerning the application of this applicant.

  When the container 5 is accommodated (stored) in the back side of the container accommodating space, the container 5 operates in the reverse order to the above-described delivery operation. Since the present invention mainly solves the problems in the case of leaving, no specific explanation is given for the warehousing operation.

Next, the container position detection operation in the case where the rear container 5 is displaced beyond the allowable range will be described with reference to FIG. FIG. 5A shows a case where the position shift of the container 5 on the back side is within the aforementioned allowable range, that is, 0 mm to less than 100 mm. Let this range be A. The detection operation of each detector in this range A is as described in FIG.
Container detector 7
1 channel: ON
2 channels: OFF
Container detector 8: OFF
It is. In the case of such detector output, the container 5 does not satisfy the positional deviation correction operation condition, and the normal container drawing operation is performed as described with reference to FIG.

FIG. 5 (2) shows a case where the container 5 on the back side exceeds the allowable range and is displaced within a range of 100 mm to less than 500 mm. This misalignment range is designated as B. The detection operation of each detector in this range B is
Container detector 7
1 channel: OFF
2 channels: ON
Container detector 8: OFF
It is. In the case of such detector output, the container 5 is set in advance to satisfy the positional deviation correction operation condition of the container 5, and after the positional deviation is corrected by the container positional deviation correction operation described later, the container 5 is drawn. Is called.

FIG. 5 (3) shows a case where the container 5 on the back side greatly exceeds the allowable range and is displaced within a range of 500 mm to less than 550 mm. This misalignment range is C. The detection operation of each detector in this range C is as follows:
Container detector 7
1 channel: OFF
2 channels: OFF
Container detector 8: OFF
It is. In the case of such detector output, it is considered that the container 5 on the back side is displaced too much, so it is determined that some abnormality or malfunction has occurred and that human safety confirmation is necessary. Stops abnormally. In the case of an abnormal stop, safety is confirmed artificially, and if the container on the far side is greatly displaced, the container 5 is returned to a predetermined position by a method such as correcting the container position by human power.

FIG. 5 (4) also shows a case where the container 5 on the back side greatly exceeds the allowable range and is displaced within a range of 550 mm to less than 670 mm. This misalignment range is defined as D. The detection operation of each detector in this range D is
Container detector 7
1 channel: OFF
2 channels: OFF
Container detector 8: ON
It is. In the case of such detector output, the container detector detects that there is a container on the front side. However, in this case, as in the case of FIG. 5 (3), some abnormality or malfunction has occurred, or the container accommodation position stored in the control device such as a computer and the container accommodation actually stored Since there is a possibility that the positions are not aligned, it is determined that an artificial safety check is necessary, and an abnormal stop is performed. The treatment after the abnormal stop is the same as in FIG.

  FIG. 6 shows an operation in the case where the positional deviation range of the container 5 is within the range B as shown in FIG. Note that FIG. 6 also shows a case where the container 5 is rotated in a horizontal plane and its posture is collapsed. FIG. 6 (1) shows a case where the container 5 is displaced in the range B, and the detection outputs of the first and second channels of the container detector 7 and the container detector 8 are as described above. Satisfy the preset container correction operation condition.

  Therefore, as shown in FIG. 6B, the container loading / unloading apparatus 11 is brought close to a predetermined container accommodation space and stopped. Next, as shown in FIG. 6 (3), the slide arm 6 is extended from the container loading / unloading device 11 toward the container 5 accommodated on the back side, and while pushing the container 5 at the tip of the slide arm 6, The position of the container 5 is corrected and returned to the home position. After correcting the position of the container 5, it is the same as the normal operation. As shown in FIG. 6 (4), the hook at the tip of the extended slide arm 6 is engaged with the hook of the container 5, and the slide arm 6 is further moved. The container 5 is shrunk and transferred to the container loading / unloading apparatus 11. Next, as shown in FIG. 6 (5), the container loading / unloading apparatus 11 is separated from the container accommodation space, and the container 5 is transported to a predetermined position by the stacker crane 10 (see FIG. 1).

  FIG. 7 is a flowchart collectively showing the operations of the first embodiment described above. In FIG. 7, when the picking operation is started, the container detectors 7 and 8 detect the presence / absence of a container in each of the detection areas (S1). Next, a control pattern is determined based on detection information (signal) by the container detectors 7 and 8 (S2). The control pattern A, control pattern B, and control pattern C, D shown in FIG. 7 correspond to the misalignment ranges A, B, C, D of the container 5 shown in FIGS. 5 (2), (3), and (4), respectively. ing.

  In the case of the control pattern A, a normal container picking operation is performed (S3). In the case of the control pattern B, the slide arm is operated at a lower speed than in the normal picking operation, the container 5 is pushed by the slide arm 6, and the position of the container 5 is corrected (S4). In this correction step, it is detected whether or not the position of the container has been corrected. If the position has been corrected, a normal container picking operation is performed (S3). If position correction has not been performed, the operation stops abnormally (S5), and appropriate recovery measures such as human power are taken. Detection of whether or not the position of the container 5 has been correctly corrected after the position correction operation is performed by another detection operation by the container detectors 7 and 8. When the control patterns C and D are determined in step S2, correction by the slide arm 6 is also abnormally stopped (S6), and appropriate recovery measures are taken by human power or the like.

  As described above, according to the first embodiment, when the position of the container 5 deviates beyond an allowable range due to vibration caused by an earthquake or other reasons, the position correction operation is performed based on the detection operation of the container detectors 7 and 8. And then a normal picking (shipping) operation can be performed, so that a picking operation failure due to a displacement of the container 5 can be prevented. Moreover, since the position shift of the container after the earthquake can be corrected by the container loading / unloading device, the correction work by human power can be reduced.

  Next, a second embodiment of the automatic warehouse according to the present invention will be described. In the second embodiment, when the container 5 rotates on the load receiving member 3 in a horizontal plane and the posture is broken, this is detected and corrected to a correct posture. Therefore, the configuration of the container detector is different from that of the above embodiment. In FIG. 8, reference numerals 17 and 18 denote container detectors. The container detectors 17 and 18 are distance detectors, for example, laser distance meters, and are arranged on both the left and right sides of the front and rear ends of the container loading / unloading device 11 so as to face the front of the container 5 accommodated in the accommodation space. ing. The distance from the front right side of the container 5 measured by the container detector 17 arranged on the right side toward the container housing space is XR, and the left front side of the container 5 measured by the container detector 18 arranged on the left side Let XL be the distance.

FIG. 9 shows the detection operation by the container detectors 17 and 18 when the container 5 rotates in the horizontal plane and the posture is lost. FIG. 9 (1) shows a case where the container 5 rotates clockwise as viewed in a plane, XL is larger than XR, and the difference | XR−XL | is equal to or smaller than an allowable value Y, that is,
0 ≦ | XR-XL | ≦ Y
Shows the case.
FIG. 9B shows a case where the container 5 rotates counterclockwise, XR is larger than XL, and the difference | XR−XL | is equal to or smaller than the allowable value Y, that is,
0 ≦ | XR-XL | ≦ Y
Shows the case.

FIG. 9 (3) shows a case where the container 5 rotates clockwise as viewed in a plane, XL is larger than XR, and the difference | XR−XL | is equal to or greater than the allowable value Y.
| XR-XL |> Y
Shows the case.
FIG. 9 (4) shows the case where the container 5 rotates counterclockwise, XR is larger than XL, and the difference | XR−XL |
| XR-XL |> Y
Shows the case.

As shown in FIGS. 9 (1) and 9 (2), when the container 5 rotates within the allowable range and the posture is collapsed, the normal container picking operation described with reference to FIG. 4 is performed.
As shown in FIGS. 9 (3) and 9 (4), when the container 5 rotates beyond the allowable range and the posture is collapsed, the same operation as the container position correcting operation described with reference to FIG. 6 is performed. Thus, the posture of the container 5 can be corrected. 6 (1) and 6 (2) are shown in a state where the container 5 is rotated, assuming this posture correction. In the correction operation, the slide arm 6 of the container loading / unloading device 11 extends and pushes the left and right of the container 5, so that the posture of the container 5 is also corrected. After the correction, a normal picking operation can be performed.

  FIG. 10 is a flowchart collectively showing the operation of the second embodiment. As shown in FIG. 10, when the picking operation is started, first, the distance from the detectors 17 and 18 to the front surface of the container 5 is detected by the container detectors 17 and 18 (S11). A control pattern is determined based on information detected by the detectors 17 and 18 (S12). The control pattern includes a control pattern E when the rotation (tilt) of the container 5 in the horizontal plane is within an allowable range, and a control pattern F when the rotation exceeds the allowable range. In the case of the control pattern E, a normal container picking operation is performed (S13). When the control pattern F is determined in step S12, as in the operation described with reference to FIG. 6, the container is pushed by operating the slide arm at a lower speed than in the normal picking operation to correct the posture of the container. It is confirmed whether it has been completed (S14). If the posture of the container 5 is corrected, a normal picking operation is performed (S13), and if it is not corrected, it is stopped abnormally (S15), and an appropriate correction return operation by human power or the like is awaited.

  Since the container detectors 17 and 18 used in the second embodiment described above measure distance, the container 5 is measured by, for example, taking the average value of the measurement values obtained by the container detectors 17 and 18. Can be detected. Therefore, based on the detection result of the positional deviation, the container positional deviation correction operation or the like can be performed as in the first embodiment.

  Also in the second embodiment, the inclination (rotation) of the posture of the container is detected, and when the posture is inclined, the inclination can be corrected, so that a picking operation failure due to the inclination of the container can be prevented. In addition, since the container tilt / position shift after the earthquake can be corrected by the container loading / unloading device, correction work by human power can be reduced.

  Next, a third embodiment of the automatic warehouse according to the present invention will be described. Similar to the container detector used in the first embodiment, the container detector used in the third embodiment detects the container and outputs a signal when the container to be detected is within a predetermined distance range. This is a distance setting type detector. The third embodiment is different from the first embodiment in that the container detectors 7 and 8 attached to the left and right of the moving direction of the slide arm 6 are arranged so as to face the container 5, and the container detector 7 , 8 is set to output a signal when approaching the container 5 to a predetermined distance, and configured to detect the rotation of the container 5 in the horizontal plane.

  In order to pick the container 5 at the far side of the container accommodation space and take it out, the container detector 7 has a distance from the front right side of the container 5 while the slide arm 6 of the container loading / unloading device 11 approaches the container 5. When approaching a preset distance, the container detector 8 outputs a detection signal when the distance from the front left side of the container 5 approaches a preset distance. The container detectors 7 and 8 are set in advance so that, for example, a detection signal is output when the distance from the container 5 reaches 100 mm. If the output of the detection signal by the container detectors 7 and 8 is simultaneous, it can be determined that the container 5 is not rotating. FIG. 11 (1) shows this state. If the container 5 is rotating, the detection timing of the detection signals from the container detectors 7 and 8 is shifted. Therefore, it is determined whether the rotation amount is allowable or not allowable based on the difference, that is, the time difference. Can do.

  A description will be given with specific numerical values. The allowable amount of rotation of the container 5 in the horizontal plane is, for example, 30 mm in the lateral displacement. If the slide movement speed of the slide arm 6 is 30 mm / s, the rotation of the container 5 is within an allowable range if the time difference between detection signals output from the container detectors 7 and 8 is within one second. In the example shown in FIG. 11 (2), since the container 5 rotates clockwise as viewed from above, the right container detector 7 first outputs a detection signal toward the container 5, and the left side is delayed. The container detector 8 outputs a detection signal. In FIG. 11 (2), numbers 1 and 2 surrounded by circles indicate the output order of detection signals from the detectors 7 and 8. If the container 5 rotates in the reverse direction, the container detector 8 first outputs a detection signal, and then the container detector 7 outputs a detection signal.

  Even if there is a deviation in the output timing of the detection signals from the container detectors 7 and 8, a normal container pull-in operation (picking operation) is performed if the time difference is acceptable. After one of the container detectors 7 and 8 outputs a detection signal, if no detection signal is output from the other detector even after the allowable time difference has elapsed, a predetermined container correction operation condition is satisfied. Therefore, the correction operation described above is performed. The correction operation is performed by operating the slide arm 6 of the container loading / unloading apparatus 11 at a lower speed than during normal container loading / unloading. The slide arm 6 pushes the container 5 toward the back, thereby correcting the container 5 to a fixed position.

FIG. 12 shows the relationship between the detection operation by the container detectors 7 and 8 in the third embodiment and the operation of the container loading / unloading apparatus corresponding thereto.
The control pattern G is a case where the left and right container detectors 7 and 8 output detection signals simultaneously, and the container loading / unloading apparatus performs a normal pull-in operation.
Control patterns H and J are the cases where one of the left and right container detectors 7 and 8 outputs a detection signal and then the other outputs a detection signal within the allowable time. The pull-in operation is performed.
The control patterns I and K are cases where one of the left and right container detectors 7 and 8 outputs a detection signal and then the other does not output a detection signal even after an allowable time has elapsed. In this case, the container 5 rotates greatly. Therefore, the correction operation described above is performed. The container pull-in operation is performed after correction.

  FIG. 13 shows the operation flow of the third embodiment described above. First, the slide arm 6 of the container loading / unloading apparatus 11 slides and approaches the container 5 housed in the housing space (S21). The container 5 is detected by the left and right container detectors 7 and 8 at a predetermined position or timing (S22). This detection is performed by outputting a signal when the distance from the container detectors 7 and 8 to the left and right surfaces of the container 5 reaches a predetermined distance. A control pattern is determined based on detection signals or detection information from the container detectors 7 and 8 (S23). The control pattern is each of the patterns G to K described with reference to FIG. If the control pattern is G, H, J, the process proceeds to the container picking operation as it is (S24). If the control pattern is I or K, the container 5 is pushed by the slide arm 6 to correct the attitude of the container 5 (S25). If the correction operation is normally performed, the process proceeds to the container picking operation (S24). If the correction cannot be performed correctly, the operation is abnormally stopped (S26).

  The container detectors 7 and 8 may be provided at the tip of the slide arm 6 and may output a detection signal when the tip of the slide arm 6 approaches the container 5 to a predetermined distance. Then, it is determined whether or not the posture of the container 5 is to be corrected depending on whether or not the detection signal from the container detector attached to the tip of the left and right slide arms is within a predetermined allowable time difference. Alternatively, the container detectors 7 and 8 are installed in the container loading / unloading apparatus main body, and the container detectors 7 and 8 are detected by a sliding movement for the container loading / unloading apparatus main body to approach the storage shelf. The above determination may be made based on the time difference between the detection signals of the devices 7 and 8.

  According to the third embodiment described above, the same effect as that of the second embodiment can be obtained.

  In the fourth embodiment, the distance detection type container detector used in the second embodiment is used to perform the same operation as in the third embodiment. That is, a distance detection type container detector such as a laser distance meter is attached to the left and right of the slide arm, and the container detector is configured to move together with the slide arm. When the slide arm moves to a predetermined position, or at an arbitrary slide arm position, the distance from the front right side of the container is measured by the container detector arranged on the right side of the container accommodation space, and the slide arm is arranged on the left side. Measure the distance from the front left side of the container with the container detector. Judge whether the container is rotating based on the difference between the measured distances on the left and right sides. If it is rotating, determine the degree of rotation. The operation based on each determination is performed. By configuring in this way, the same effect as in the second and third embodiments can be obtained.

  The automatic warehouse according to the present invention can be used for storage and receipt / entry of goods in a distribution warehouse, storage and receipt of books in a library, and the like.

DESCRIPTION OF SYMBOLS 1 Storage shelf 2 Support | pillar 3 Load receiving member 5 Container 6 Slide arm 7 Container detector 8 Container detector 10 Stacker crane 11 Container loading / unloading device 17 Container detector 18 Container detector

Claims (7)

A storage shelf that can store a plurality of containers in the storage space before and after the loading / unloading direction, a stacker crane that can move along the front of the storage shelf, and a container between the storage shelf and the stacker crane An automatic warehouse having a controller for controlling the container loading / unloading device, the movement of the stacker crane and the operation of the container loading / unloading device,
The container loading / unloading device has a slide arm that pulls a container from the storage shelf and a container detector that detects the position of the container accommodated in the storage shelf,
The said control apparatus is an automatic warehouse which controls operation | movement of the slide arm of the said container loading / unloading apparatus so that a container may be corrected to a fixed position, if the detection signal by the said container detector satisfy | fills the container correction operation | movement condition set beforehand.   The automatic warehouse according to claim 1, wherein the control device controls the operation of the slide arm of the container loading / unloading device so that the container is pulled into the container loading / unloading device after the container is corrected to a fixed position.   When the detection signal from the container detector satisfies a predetermined container correction operation condition, the control device is configured to correct the container to a fixed position at a lower speed than during normal container input / output. The automatic warehouse according to claim 1 which controls operation.   The container detector has a plurality of detection areas according to positions before and after the container that can be stored in the storage space of the storage shelf, and detects the container position depending on which detection area the container is detected in. Automatic warehouse.   The automatic warehouse according to any one of claims 1 to 4, wherein a plurality of container detectors are arranged corresponding to containers that can be accommodated before and after the accommodation space of the storage shelf.   The container detector is a distance detector, and is arranged on the left and right corresponding to the container accommodated in the storage space of the storage shelf, and detects the rotation of the container based on a detection signal difference between the left and right container detectors. The automatic warehouse in any one of 1-4.   The automatic warehouse according to claim 6, wherein when the difference between detection signals of the left and right container detectors is larger than an allowable value, the control device controls the operation of the slide arm of the container loading / unloading device so that the container assumes a predetermined posture.

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