JP2017119566A - Automated warehouse - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automated warehouse in which a state of load placed on a shelf of a rack can be easily and accurately recognized.SOLUTION: An automated warehouse 1 comprises: a stacker crane 2 having a transfer device 21; a shelf 3 having a shelf 31 on which a plurality of loads L are placed along a traveling direction of the stacker crane 2; a distance sensor 23 provided to the stacker crane 2; a measurement instruction unit 41 that instructs the stacker crane 2 to execute measurement travel that travels while detecting a distance to the load L placed on the shelf 31 with a distance sensor 23; a measurement result acquisition unit 42 that acquires a measurement result in which a distance detected by the distance sensor 23 during the measurement travel and the position of the distance sensor 23 in the traveling direction when the distance is detected are associated with each other; and an output unit 43 that outputs a measurement result acquired by the measurement result acquisition unit 42.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an automatic warehouse.

  2. Description of the Related Art Conventionally, there is known an automatic warehouse including a rack having a plurality of shelves on which loads are placed, and a stacker crane having a transfer device for transferring loads between the racks. In such an automatic warehouse, when an earthquake or the like occurs, there is known a mechanism for detecting a positional deviation of a load in the traveling direction of the stacker crane (that is, the arrangement direction of loads on a shelf) (see Patent Document 1). According to the automatic warehouse having the above-described mechanism, it is possible to detect a load that exists at a position deviated from a normal position in the package arrangement direction.

JP2013-23320A

  By the way, when a position shift of the baggage due to an earthquake or the like occurs, depending on the degree of the position shift, there is a case where a restoration work (an operation for returning the baggage placement position to a normal position) by an operator may be required. For this reason, in order to smoothly carry out recovery work after an earthquake or the like, the worker can easily and accurately grasp the state of each piece of luggage placed on the rack shelf (the presence or absence and degree of misalignment). We need to be able to do it.

  Accordingly, an object of the present invention is to provide an automatic warehouse capable of easily and accurately grasping the state of a load placed on a rack shelf.

  An automatic warehouse according to the present invention includes a transport vehicle having a transfer device for transferring a load, a rack having a shelf on which a plurality of loads are placed along the traveling direction of the transport vehicle, and a distance sensor provided in the transport vehicle. The vehicle travels while detecting the distance between the distance sensor that detects the distance to the object facing the distance sensor and the load placed on the shelf in the depth direction in which the transport vehicle and the rack face each other. A measurement result that associates a measurement instruction unit that instructs the transport vehicle to perform measurement travel, a distance detected by the distance sensor during the measurement travel, and a position of the distance sensor in the travel direction when the distance is detected A measurement result acquisition unit that acquires the measurement result, and an output unit that outputs the measurement result acquired by the measurement result acquisition unit.

  In this automatic warehouse, the execution of the measurement travel is instructed by the measurement instruction unit, and the distance detected by the distance sensor during the measurement travel is associated with the position of the distance sensor in the travel direction when the distance is detected. The obtained measurement results are acquired almost continuously. Based on the measurement results obtained in this way, the positional deviation of the luggage in the traveling direction (that is, the arrangement direction of the luggage on the shelf) and the depth direction (that is, the direction orthogonal to the arrangement direction of the luggage on the shelf) is accurately determined. It becomes possible to grasp. Therefore, according to this automatic warehouse, it is possible to easily and accurately grasp the state of the load placed on the rack shelf by causing the transport vehicle to execute the above-described measurement traveling.

  In the automatic warehouse of the present invention, the output unit is in the form of waveform data obtained by plotting the measurement result on a two-dimensional plane determined by the first axis corresponding to the traveling direction and the second axis corresponding to the depth direction. The measurement result may be output. According to this configuration, it is possible to intuitively grasp the misalignment state of the load from the measurement result processed as waveform data. As a result, the operator can quickly and intuitively understand the state of the luggage, so that it becomes easy to identify a location where the restoration work is necessary, and the restoration work can be facilitated.

  The automatic warehouse according to the present invention is based on a placement information storage unit for storing placement information indicating a normal position in a traveling direction and a depth direction of a luggage set in advance for a shelf, and a measurement result output by the output unit. A calculation unit that calculates a positional deviation amount from the normal position of the load by comparing the position in the traveling direction and the depth direction of the specified load with the placement information on the shelf on which the load is placed. And may be further provided. According to this configuration, it is possible to automatically calculate the amount of misalignment of the baggage in both the traveling direction and the depth direction based on the comparison between the placement information and the measurement result. It becomes easy.

  The automatic warehouse of the present invention includes a shelf information output unit that outputs shelf information indicating the position of the shelf on which the package is placed when the amount of positional deviation of the package calculated by the calculation unit is equal to or greater than a predetermined threshold. Further, it may be provided. According to this configuration, the worker can place a shelf on which a load whose positional deviation amount is equal to or greater than the threshold is placed based on the shelf information (ie, a shelf that requires a recovery operation such as correction of the positional deviation of the luggage). The position of can be easily grasped. As a result, the restoration work can be further facilitated.

  The automatic warehouse according to the present invention determines whether or not the load is in a state that can be transferred by the transfer device based on the positional deviation amount of the load calculated by the calculation unit, and outputs a determination result May be further provided. According to this configuration, based on the determination result output by the determination unit, it is possible to grasp in advance whether or not the load to be transferred is in a state that can be transferred by the transfer device. Thereby, for example, when the load is not in a state where it can be transferred by the transfer device, the operation of the transport vehicle can be controlled so as not to execute the transfer operation of the load. As a result, useless operation of the transport vehicle can be suppressed. In addition, it is possible to prevent a situation in which a load is dropped by force to transfer a load that is not transferable by the transfer device.

  The automatic warehouse according to the present invention may further include an adjustment unit that adjusts the operation of the transport vehicle when the load is transferred based on the positional deviation amount of the load calculated by the calculation unit. According to this configuration, by adjusting the operation of the transport vehicle in consideration of the positional deviation amount of the load to be transferred, it is possible to appropriately transfer the package in which the positional deviation has occurred.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the automatic warehouse which can grasp | ascertain the state of the load loaded in the rack shelf easily and accurately.

It is a perspective view showing the whole automatic warehouse composition of one embodiment of the present invention. It is a figure which shows the taking-in operation | movement of the package by a transfer apparatus. It is a block diagram which shows the function structure of a controller. It is a figure which shows the example of the waveform data obtained by measurement driving | running | working. It is a figure which shows the example of the waveform data obtained by measurement driving | running | working.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

  As shown in FIG. 1, the automatic warehouse 1 according to this embodiment includes a stacker crane 2 having a transfer device 21 for transferring a load L, and a traveling direction of the stacker crane 2 (X-axis direction in FIG. 1). A rack 3 having a plurality of shelves 31 on which a plurality of loads L are placed (in the present embodiment, five shelves and two rows as an example), and a controller 4 that controls the operation of the stacker crane 2 are provided. The plurality of shelves 31 of the rack 3 are supported by a plurality of support columns 32 provided at predetermined intervals along the traveling direction. Further, the automatic warehouse 1 includes a station 5 for placing the luggage when the luggage L is loaded and unloaded. In the automatic warehouse 1, the stacker crane 2 operates under the control of the controller 4, so that the loading (unloading) of the load L into the rack 3 and the unloading (loading) from the rack 3 are automated. That is, the transfer of the load L between a predetermined position on the shelf 31 of the rack 3 and the station 5 is automated by the stacker crane 2.

  The stacker crane 2 is an example of a transport vehicle that transports the luggage L. The stacker crane 2 is movable along a traveling rail 6 laid in the automatic warehouse 1. The stacker crane 2 includes a transfer device 21 and a lifting platform 22 that raises and lowers the transfer device 21 in the vertical direction (Z-axis direction in FIG. 1).

  As shown in FIGS. 1 and 2, the transfer device 21 includes a loading platform 211 for placing the load L and a pair of forks 212. Each of the pair of forks 212 is bent in an L shape at one end (the end on the rack 3 side in FIG. 1) in the depth direction (Y-axis direction in FIG. 1) where the stacker crane 2 and the rack 3 face each other. Claw portion 212a. In addition, each of the pair of forks 212 has a claw portion 212b whose tip is bent in an L shape similarly to the claw portion 212a at the other end in the depth direction. The claw portion 212a and the claw portion 212b are provided to be rotatable around a rotation axis along the depth direction. By moving the stacker crane 2 along the traveling rail 6 and moving the lifting platform 22 up and down, the transfer device 21 can be moved in front of an arbitrary shelf 31. In this state, the luggage L can be transferred between the transfer device 21 (loading platform 211) and the rack 3 (shelf 31) by moving the pair of forks 212 back and forth along the depth direction.

  The operation when the transfer device 21 takes in the luggage L placed on the shelf 31 will be described with reference to FIG. In this case, first, the pair of forks 212 advances to the side of the luggage L on the shelf 31 with the front end of the claw 212a facing upward so that the claw 212a does not interfere with the luggage L on the shelf 31. To do. After the claw portion 212a exceeds the rear end of the load L (the end portion on the front side in the Y-axis direction in FIG. 2), the pair of claw portions 212a are rotated so that the front end of the claw portion 212a faces inward. Thereafter, as shown in FIG. 2, the luggage L on the shelf 31 can be taken into the loading platform 211 by retracting the pair of forks 212 while bringing the inside of the claw portion 212 a into contact with the rear end of the luggage L.

  When sending the luggage L on the loading platform 211 onto the shelf 31, for example, the luggage L on the loading platform 211 can be pushed onto the shelf 31 by the claw portion 212b in the same manner as the operation for taking in the luggage L described above. That's fine. Alternatively, the luggage L on the loading platform 211 can be sent out on the shelf 31 as follows. That is, the pair of forks 212 is moved backward in the direction away from the shelf 31 with the tip of the claw portion 212a facing upward so that the claw portion 212a does not interfere with the load L on the loading platform 211. Thereafter, the pair of forks 212 are advanced to the shelf 31 side while the outside of the claw portion 212a is in contact with the front end of the load L (the end on the rear side in the Y-axis direction in FIG. 2). It can be sent out on the shelf 31.

  A distance sensor 23 is provided on the side surface of the lifting platform 22 facing the rack 3. The distance sensor 23 detects the distance to the object facing the distance sensor 23 in the depth direction. In the present embodiment, as an example, the distance sensor 23 includes a laser light projector and a light receiver. The laser beam emitted from the projector hits and reflects an object facing the distance sensor 23, and the light receiver receives the reflected light, whereby the distance between the distance sensor 23 and the object is detected. Specifically, the distance sensor 23 detects the distance between the distance sensor 23 and the object by measuring the time from when the laser light is emitted from the projector until the light receiver receives the reflected light.

  When no object such as luggage L exists at the front position of the distance sensor 23, the light receiver receives the reflected light from the background (that is, the object existing behind the rack 3 or the wall surface of the building). There is a possibility. Therefore, if the threshold time dt is set to the time until the light receiver receives the reflected light, and the light receiver cannot receive the reflected light within the threshold time dt, the distance sensor 23 detects a preset threshold distance dmax. You may acquire as a result. The process of acquiring the threshold distance dmax as the detection result based on the threshold time dt may be executed by the distance sensor 23 as described above, or the controller 4 that receives the detection result (distance data) from the distance sensor 23. (The measurement result acquisition part 42 mentioned later) may perform.

  Next, the controller 4 will be described with reference to FIG. In this embodiment, as an example, the controller 4 is an electronic control unit arranged on the ground side, and is electrically connected to the stacker crane 2 so that the operation of the stacker crane 2 can be controlled. The controller 4 is configured to instruct the stacker crane 2 to perform measurement traveling while traveling with the distance sensor 23 measuring the distance from the luggage L placed on the shelf 31. . For example, immediately after the occurrence of an earthquake or the like, the measurement travel is performed in order to grasp the state (positional deviation or the like) of the luggage L on the shelf 31. The controller 4 is configured to output a measurement result obtained by performing the measurement travel and to execute various processes (details will be described later) using the measurement result.

  The controller 4 includes, as functional components, a measurement instruction unit 41, a measurement result acquisition unit 42, an output unit 43, a calculation unit 44, a placement information storage unit 45, a misregistration amount storage unit 46, a shelf An information output unit 47, a determination unit 48, and an adjustment unit 49 are provided. The controller 4 is an electronic control unit including a CPU, a ROM, a RAM, and the like. The above-described functional components are configured by software by loading a program stored in the ROM onto the RAM and executing the program by the CPU. To do. However, the above-described functional components of the controller 4 may be configured by hardware.

  The measurement instruction unit 41 instructs the stacker crane 2 to perform measurement traveling. For example, the measurement instruction unit 41 instructs the stacker crane 2 to execute the measurement travel when the measurement travel execution instruction from the operator is received via the touch panel, the operation key, or the like. Moreover, the measurement instruction | indication part 41 may instruct | indicate execution of measurement driving | running | working to the stacker crane 2 automatically without an operator's manual operation. For example, the measurement instructing unit 41 may instruct the stacker crane 2 to perform the measurement traveling when the earthquake occurrence information is received from outside via a communication line such as the Internet. Moreover, the measurement instruction | indication part 41 may instruct | indicate execution of measurement driving | running | working to the stacker crane 2 triggered by having reached preset start time, such as a night time slot | zone. The stacker crane 2 that has received the control signal instructing the execution of the measurement travel from the measurement instruction section 41 executes a pre-programmed measurement travel operation. Hereinafter, an example of the operation of measurement travel will be described.

  When the stacker crane 2 receives an instruction from the measurement instructing unit 41, the laser beam emitted from the distance sensor 23 is the measurement target shelf 31 (in the example of FIG. The height position of the lifting platform 22 is set so as to hit the luggage L placed on 31). It should be noted that the height position of the distance sensor 23 is set as close as possible to the top surface of the shelf 31 in order to appropriately detect the distance for all the loads L on the shelf 31 including the luggage L having a low height. Is preferred. More specifically, the height position of the distance sensor 23 is preferably set to a height position at which the pair of forks 212 are entered in the transfer operation of the luggage L. This makes it possible to accurately grasp the width of the luggage L at the height position where the pair of forks 212 are advanced.

  Subsequently, the stacker crane 2 fixes the height position of the lifting platform 22 to the position set as described above, and turns the distance sensor 23 on from one end of the measurement target shelf 31 with the detection operation turned on. Drive towards the edge. At this time, the stacker crane 2 continuously travels at a speed at which the distance can be detected by the distance sensor 23 at each position in the traveling direction, for example. Alternatively, the stacker crane 2 may repeatedly stop and travel in order to reliably detect the distance by the distance sensor 23 at each position.

  The distance sensor 23 in a state in which the detection operation is turned on repeatedly executes emission of laser light from the projector and reception of reflected light by the light receiver at predetermined intervals. Here, since one detection operation by the distance sensor 23 using laser light is completed in a very short time, distance detection at each position in the traveling direction is executed almost continuously. The distance sensor 23 has, for example, the detected distance (measured distance) and the position of the distance sensor 23 in the traveling direction (the traveling position of the stacker crane 2) when the distance is detected for each detection operation. The associated measurement result is transmitted to the controller 4. Here, the position of the distance sensor 23 in the traveling direction is represented, for example, as a distance (distance in the traveling direction) from the origin position when the initial position of the stacker crane 2 is the origin position.

  In the case where the above-described measurement traveling is performed for all the shelves 31 of the rack 3, the stacker crane 2 performs the measurement traveling for one stage, and then moves the elevator 22 to the height position of the next measurement target stage. What is necessary is just to implement the measurement driving | running | working about the stage of the next measurement object. In addition, in order to perform such measurement traveling efficiently, the stacker crane 2 may operate as follows. That is, the stacker crane 2 adjusts the height position of the lifting platform 22 to the height position of the uppermost shelf 31, and then from one end (end on the station 5 side) of the uppermost shelf 31 to the other end (from the station 5). Carry out measurement travel toward the far end. Subsequently, the stacker crane 2 adjusts the height position of the lifting platform 22 to the height position of the shelf 31 that is one step below the uppermost level, and then the other end of the shelf 31 that is one level lower than the uppermost level. Carry out measurement running from one side to the other. Hereinafter, the stacker crane 2 performs the measurement traveling in the same manner with respect to the shelves 31 of other stages. In this way, by alternately changing the direction of measurement travel of the shelves 31 of each stage, the travel distance in the travel direction of the stacker crane 2 is minimized, and the measurement travel of the shelves 31 of each stage is performed. be able to. In addition, the order of execution of the measurement traveling by the stacker crane 2 for each shelf 31 of the rack 3 is not limited to the above example, and may be performed in the order from the lowest shelf 31 to the highest shelf 31, for example.

  The measurement result acquisition unit 42 acquires the above-described measurement result from the distance sensor 23. In the present embodiment, as an example, the distance sensor 23 is configured to generate a measurement result in which the measurement distance is associated with the travel position, but the measurement result acquisition unit 42 may generate the measurement result. For example, the distance sensor 23 sequentially transmits the measurement distance and the measurement time (measurement time) to the controller 4, and the measurement result acquisition unit 42 determines the measurement distance received from the controller 4 and the travel position at the measurement time. The measurement results described above may be generated in association with each other.

  The output unit 43 outputs the measurement result acquired by the measurement result acquisition unit 42. In this embodiment, as an example, the output unit 43 plots the measurement result on a two-dimensional plane determined by a first axis (travel position) corresponding to the travel direction and a second axis (measurement distance) corresponding to the depth direction. The measurement results are output in the form of waveform data obtained.

  An example of waveform data obtained when the above-described measurement travel is performed on a specific shelf 31 will be described with reference to FIGS. 4 and 5. FIG. 4 shows an example in the case where there is no displacement in the luggage L. On the other hand, FIG. 5 shows an example in the case where a positional deviation has occurred in some of the luggage L. In the example of FIG.4 and FIG.5, three support | pillars 32A, 32B, and 32C are provided in the stacker crane 2 side of the shelf 31 at equal intervals. In the traveling direction (X-axis direction), two loads L1, L2 are disposed between the support columns 32A, 32B, and three loads L3, L4, L5 are disposed between the support columns 32B, 32C.

  First, an example in the case where no positional deviation has occurred in the luggage L will be described with reference to FIG. 4A shows the positions of the loads L1 to L5 on the shelf 31. FIG. In this example, each of the luggage L1 to L5 is placed at a normal position (that is, a position set in advance as a position on which the luggage L is placed on the shelf 31) without being displaced. FIG. 4B shows the waveform data P1 output by the output unit 43 when the measurement travel is performed in the situation shown in FIG.

  As shown in (b) of FIG. 4, the waveform data P1 is data that can intuitively grasp the positions of the luggage L1 to L5 in the traveling direction (X-axis direction) and the depth direction (Y-axis direction). . In the waveform data P1, sections A1, A2, and A3 are sections corresponding to the columns 32A, 32B, and 32C, respectively. The widths of the sections A1, A2, A3 correspond to the widths of the supports 32A, 32B, 32C in the traveling direction, and the measured distances in the sections A1, A2, A3 are from the distance sensor 23 to the supports 32A, 32B, 32C. It corresponds to the distance.

  In the waveform data P1, a section S1 is a section corresponding to the luggage L1. In the example of FIG. 4B, since the measurement distance of the waveform data P1 is constant (measurement distance d1) and there is no inclination in the section S1, the baggage L1 rotates in the vertical direction (Z-axis direction). It can be understood that there is no positional deviation (rotational deviation) in the rotational direction of the shaft. Further, the width of the luggage L1 can be grasped from the width of the section S1. Further, the position of the luggage L1 in the depth direction can also be grasped from the measurement distance d1. From the waveform data P1, the same information as the information grasped about the luggage L1 is obtained for the other luggage L2 to L5.

  Next, with reference to FIG. 5, a description will be given of an example of a case where a positional deviation has occurred in some of the packages L (here, packages L1, L3 to L5 as an example). 5A shows the positions of the luggage L1 to L5 on the shelf 31. FIG. In this example, only the luggage L2 is placed at a normal position without any positional deviation, and positional deviation occurs in the other luggage L1, L3 to L5. FIG. 5B shows the waveform data P2 output by the output unit 43 when the measurement travel is performed in the situation shown in FIG.

  Similarly to the waveform data P1, the waveform data P2 is data that allows intuitively grasping the positions of the luggage L1 to L5 in the traveling direction (X-axis direction) and the depth direction (Y-axis direction). For example, from the waveform of the section S2, it can be easily grasped visually that a rotational deviation has occurred in the luggage L1. Moreover, it can be easily grasped from the waveform of the section S3 that the baggage L3 has a rotational deviation. Furthermore, since the interval between the section A2 and the section S3 is smaller than the regular interval (interval in the state shown in FIG. 4B), the position of the luggage L3 is larger than the regular position in the traveling direction. It can also be understood that the column 32B is displaced.

  In the waveform data P2, the measurement distance d2 in the section S4 is substantially the same as the measurement distances in the sections A1, A2, and A3 corresponding to the columns 32A, 32B, and 32C. From this, it can be understood that the position of the luggage L4 in the depth direction is shifted to the front side (stacker crane 2 side) from the regular position. Specifically, it can be understood that the luggage L4 protrudes from the shelf 31 so that the front surface position of the luggage L4 is substantially the same position as the front surface position of the support column 32. In addition, it is possible to estimate that the section S5 between which the measurement distance is the threshold distance dmax and the section A3 is a section corresponding to the luggage L5, but the section S4 and the section S5 are connected. (The section where the measurement distance is the threshold distance dmax does not exist between the sections S4 and S5). From such a waveform, the operator can intuitively grasp that the two loads L4 and L5 are in contact.

  The calculation unit 44 is placed on the shelf 31 based on the waveform data output from the output unit 43 (specifically, coordinate information of each point on the waveform data (a set of travel position and measurement distance)). The position of the luggage L in the traveling direction and the depth direction is specified. For example, the calculation unit 44 performs a predetermined calculation on the waveform data P1 and P2 as shown in FIG. 4B and FIG. Is identified. Hereinafter, an example of processing of the calculation unit 44 will be described.

  The calculation unit 44 holds waveform patterns corresponding to the columns 32A, 32B, and 32C in advance, and performs a matching process with the waveform patterns, thereby performing the section A1 corresponding to the columns 32A, 32B, and 32C in the waveform data P1 and P2. , A2 and A3 are specified. Subsequently, the calculation unit 44 specifies sections corresponding to the respective packages L1 to L5 based on the relative positions from the sections A1, A2, and A3 thus specified. For example, the calculation unit 44 extracts a group of sections whose measurement distance is not the threshold distance dmax from the waveform data P1, P2, and the section extracted next to the section A1 (the section S1 in the example of FIG. In the example of FIG. 5, the section S2) can be specified as the section corresponding to the luggage L1. Similarly, the section corresponding to the packages L2 to L5 can be specified.

  Here, in the case of the above-described method, in the example of FIG. 5, the calculation unit 44 extracts a section obtained by combining the sections S4 and S5 as one section. Therefore, for example, the calculation unit 44 stores in advance pattern information related to a waveform pattern that cannot be a waveform pattern corresponding to one package L, and the extracted section corresponds to a section indicated by such pattern information. Alternatively, a process of dividing the section based on the pattern information may be performed. In this way, the calculation unit 44 can specify that the section S4 is a section corresponding to the luggage L4 and the section S5 is a section corresponding to the luggage L5. In addition, when the luggage L that should exist has disappeared from the shelf 31 due to dropping or the like, the number of sections to be extracted does not match the number of luggage L that should originally exist. In such a case, the calculation unit 44 may output information indicating that the luggage L has disappeared as a calculation result.

  The calculation unit 44 identifies a section corresponding to each piece of luggage L on the waveform data by the processing as described above, and then determines a waveform pattern of each section (for example, a travel position and a measurement distance corresponding to a bending point on the waveform data, Based on the length, inclination, etc. of the straight line portion other than the bending point, the position of each load L in the travel direction and the depth direction (for example, the XY coordinates of the center position of the load L) is specified. Note that the position of the luggage L specified by the calculation unit 44 may include a rotational deviation amount (rotation angle or the like) specified from the inclination of the straight line portion in the waveform pattern of each section.

  Subsequently, the calculation unit 44 compares the position of the luggage L identified as described above with the placement information stored in the placement information storage unit 45, thereby determining the position of the luggage L from the normal position. The amount of deviation is calculated. Here, the placement information storage unit 45 stores placement information indicating a normal position in the traveling direction and the depth direction of the luggage L that is set in advance for each shelf 31. For example, in the case of the example of FIG. 4, the placement information storage unit 45 uses the positions of the luggage L1 to L5 (for example, the luggage L1) shown in FIG. 4 as the placement information of the shelf 31 shown in FIG. To XY coordinates of the center position of L5).

  Therefore, as an example in the present embodiment, the calculation unit 44 uses the XY coordinates of the center positions of the packages L1 to L5 specified as described above and the center positions of the packages L1 to L5 stored as placement information. The distance from the XY coordinates can be calculated as the amount of displacement. Further, the calculation unit 44 can also calculate the positional deviation direction (shift direction) of the luggage L1 to L5 as information accompanying the positional deviation amount. In this manner, the amount of positional deviation from the normal position is calculated for each load L placed on each shelf 31 of the rack 3. The displacement amount calculated for each load L on each shelf 31 by the calculation unit 44 is stored in the displacement amount storage unit 46 so that it can be used by a shelf information output unit 47, a determination unit 48, and an adjustment unit 49 described later. Is done. Even if the center position of the baggage L coincides with the normal center position stored as the placement information, the baggage L is not rotated as in the baggage L1, L3, L4, L5 in the example of FIG. If it has occurred, it may be displaced from the normal position by the amount of the rotational deviation. Therefore, the calculation unit 44 may calculate the positional deviation amount of the luggage L based on the rotational deviation amount after specifying the rotational deviation quantity of the luggage L as described above. That is, a positional deviation amount that takes into account the rotational deviation amount may be calculated.

  The shelf information output unit 47 refers to the positional deviation amount of each baggage L stored in the positional deviation amount storage unit 46, and when the positional deviation amount of a certain baggage L is equal to or larger than a predetermined threshold, the baggage L is placed. The shelf information indicating the shelf 31 being output is output. Whether or not the positional deviation amount is equal to or larger than the threshold value may be individually determined for any of the positional deviation amount in the traveling direction, the positional deviation amount in the depth direction, and the rotational deviation amount, for example. A combination of quantities may be determined.

  The shelf information output unit 47 creates list information that lists, for example, shelf information (for example, the number of stages and combinations of columns) indicating the position of the shelf 31 on which the luggage L having a positional deviation amount equal to or greater than a threshold is placed. Then, the list information is printed out or displayed on a display or the like connected to the controller 4. Accordingly, the operator can easily locate the position of the shelf 31 on which the luggage L having a positional deviation amount equal to or greater than the threshold is placed (that is, the shelf 31 that requires a recovery operation such as correction of the positional deviation of the luggage L). I can grasp it. As a result, the restoration work can be further facilitated. In the example of FIG. 1, there are ten shelves 31 in five rows and two rows. However, the division of the shelf 31 can be arbitrarily determined independently of the number of physical shelves 31. For example, when one shelf 31 is very long in the traveling direction, the shelf 31 may be divided into a plurality of areas, and each of the divided areas may be regarded as one shelf 31 and the above processing may be executed. .

  The determination unit 48 determines whether or not the load L is in a state that can be transferred by the transfer device 21 based on the position shift amount of the load L stored in the position shift amount storage unit 46. Is output. For example, as with the shelf information output unit 47, the determination unit 48 determines whether the positional deviation amount of the luggage L is equal to or larger than a predetermined threshold value. It may be determined that the transfer is possible. In addition, even if the positional deviation amount of one piece of luggage L is less than a predetermined threshold, when another piece of luggage L adjacent to the one piece of luggage L is displaced in a direction approaching the one piece of luggage L, etc. Can be considered. In such a case, depending on the degree of positional deviation of the other luggage L, when the one luggage L is transferred by the transfer device 21, the other luggage L becomes an obstacle and is appropriately transferred. It may not be possible. Therefore, the determination unit 48 may make the above determination based on the positional deviation amount of the load L to be transferred by the transfer device 21 and the positional deviation amount of the other luggage L adjacent to the luggage L. .

  By including the determination unit 48, it is possible to grasp in advance whether or not the load L to be transferred is in a state that can be transferred by the transfer device 21. Thereby, for example, when the load L is not in a state that can be transferred by the transfer device 21 based on the determination result of the determination unit 48, the controller 4 does not execute the transfer operation of the load L. 2 operations can be controlled. As a result, useless operation of the stacker crane 2 can be suppressed. In addition, it is possible to prevent a situation in which the load L that is not transferable by the transfer device 21 is forcibly transferred and dropped.

  The adjustment unit 49 adjusts the operation of the stacker crane 2 when the load L is transferred based on the position shift amount of the load L stored in the position shift amount storage unit 46. For example, when the load L to be transferred is displaced in the traveling direction, the adjustment unit 49 moves the stop position of the stacker crane 2 for carrying out (loading) the load L from the normal stop position. Then, the load L is moved by the amount of positional deviation in the traveling direction. As a specific example, a case will be described in which the load L3 having a positional deviation in the traveling direction (a positional deviation from the normal position to the column 32B) is transferred as in the example of FIG. In this case, the adjustment unit 49 sets the stop position of the stacker crane 2 for carrying out the load L3 to the position of the load L3 from the normal stop position (that is, the center position in the traveling direction of the load L3 shown in FIG. 4). Move to the column 32B side by the amount of displacement. Thereby, in the traveling direction, the center position of the transfer device 21 at the time of transfer can be matched with the center position of the load L, and the transfer operation can be appropriately performed. Further, for example, when the load L to be transferred is misaligned in the depth direction, the adjustment unit 49 indicates the advance / retreat distance of the pair of forks 212, and the load L is in a regular position (position in the depth direction). From the default advance / retreat distance set for, the amount of displacement of the luggage L in the depth direction is increased or decreased. As a specific example, as in the example of FIG. 5, a description will be given of a case where a load L4 that is displaced in the depth direction (position displacement toward the near side (stacker crane 2 side) from the normal position) is transferred. To do. In this specific example, description will be made assuming that there is no baggage L5 that hinders transfer of the baggage L4. In this case, the adjustment unit 49 reduces the advance / retreat distance of the pair of forks 212 when carrying out the luggage L4 by the amount of positional deviation in the depth direction of the luggage L4 from the default advance / retreat distance. That is, the adjustment unit 49 decreases the advance / retreat distance so that the pair of forks 212 enter the front side position by the amount of positional deviation in the depth direction of the luggage L4. In contrast to the example of FIG. 5, when the baggage L4 is displaced in the depth direction from the normal position to the back side, the adjustment unit 49 performs the pairing when carrying out the baggage L4. The advancing / retreating distance of the fork 212 is increased by the amount of positional deviation in the depth direction of the luggage L4 from the default advancing / retreating distance. That is, the adjustment unit 49 increases the advancing / retreating distance so that the pair of forks 212 enter the position on the back side by the amount of the positional deviation in the depth direction of the luggage L4. As described above, the adjustment unit 49 adjusts the operation of the stacker crane 2 (including the operation of the transfer device 21) in consideration of the amount of position shift of the load L to be transferred, thereby causing the position shift. It becomes possible to transfer the luggage L appropriately.

  In the automatic warehouse 1 described above, the execution of the measurement travel is instructed by the measurement instruction unit 41, so that the distance detected by the distance sensor 23 during the measurement travel and the distance sensor in the travel direction when the distance is detected. The measurement results associated with the 23 positions are acquired almost continuously. Based on the measurement result thus obtained, it is possible to accurately grasp the positional deviation of the luggage L in the traveling direction (that is, the arrangement direction of the luggage L on the shelf 31) and the depth direction. Therefore, according to the automatic warehouse 1, the stacking crane 2 performs the above-described measurement travel, so that the state of the load L placed on the rack 31 of the rack 3 (positional deviation in the arrangement direction and the depth direction) can be easily performed. And it becomes possible to grasp accurately.

  In the automatic warehouse 1, the output unit 43 outputs the measurement results in the form of waveform data (for example, waveform data P1 and P2 as shown in FIGS. 4 and 5), so the measurement results processed as waveform data. Therefore, it is possible to intuitively grasp the positional deviation state of the luggage L. As a result, the operator can quickly and intuitively grasp the state of the luggage L, so that it is easy to identify a location where the restoration work is necessary, and the restoration work can be facilitated.

  The automatic warehouse 1 also includes a calculation unit 44 and a placement information storage unit 45. As a result, it is possible to automatically calculate the amount of misalignment of the load in both the traveling direction and the depth direction based on the comparison between the placement information and the measurement result, so that it becomes easier to grasp the state of the load. .

  As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said one Embodiment. For example, in the present embodiment, the rack 3 is disposed only in front of the transfer device 21 (front in the Y-axis direction in FIG. 1), but the rack ( Hereinafter, a “rear rack” may be provided. In this case, the load L can be transferred also to the rear rack by moving the pair of forks 212 of the transfer device 21 forward and backward (backward in the Y-axis direction in FIG. 1). Furthermore, not only the side surface of the lifting platform 22 facing the rack 3 but also the side surface facing the rear rack of the lifting platform 22 (that is, the side surface of the lifting platform 22 facing the rack 3 in the depth direction) A distance sensor (hereinafter referred to as “rear sensor”) may be provided on the opposite side surface. In this case, in the above-described measurement running, the distance sensor 23 and the rear sensor simultaneously execute the distance measurement for the luggage L placed on the rack 3 and the distance measurement for the luggage L placed on the rear rack. It becomes possible to do.

  In addition, when there is no positional deviation of the luggage L in the uppermost shelf 31 that is most likely to shake when an earthquake occurs, there is a possibility that no positional deviation has occurred in the luggage L of the shelf 31 that is lower than that. high. Therefore, the measurement instruction unit 41 may instruct the stacker crane 2 to perform measurement travel in the order from the uppermost shelf 31 of the rack 3 to the lowermost shelf 31. Then, the controller 4 determines whether or not a position shift has occurred in each baggage L on the shelf 31 at the time when the measurement travel is completed for the shelf 31 in a certain stage, and the position shift is not detected for any baggage L. When it does not occur, the measurement traveling for the shelf 31 located at a position lower than the stage may be stopped. As a result, the measurement travel can be executed within the minimum necessary range, and the time required for the measurement travel can be shortened.

  Moreover, although the said embodiment demonstrated the case where the regular position (coordinate of center position) of the luggage | load L was utilized as mounting information, the expression format of mounting information is not restricted to the said example. For example, the placement information storage unit 45 stores the waveform data when the luggage L is placed at a regular position on the shelf 31 (in the example of FIG. 4, the waveform data P1 shown in FIG. 4B). May be stored. In this case, the calculation unit 44 compares the actual waveform data output by the output unit 43 with the waveform data stored as placement information, calculates the similarity between the waveform data by some method, The amount of misalignment of the luggage L on the shelf 31 may be calculated based on the similarity.

  Moreover, although the so-called fork type transfer device 21 has been described in the above embodiment, the transfer method by the transfer device 21 is not limited to the above example. For example, the transfer method by the transfer device provided in the stacker crane 2 may be a method (so-called clamp method) in which both sides in the width direction of the load L are sandwiched and lifted by an arm.

  DESCRIPTION OF SYMBOLS 1 ... Automatic warehouse, 2 ... Stacker crane (conveyance vehicle), 3 ... Rack, 4 ... Controller, 21 ... Transfer equipment, 23 ... Distance sensor, 31 ... Shelf, 41 ... Measurement instruction | indication part, 42 ... Measurement result acquisition part, DESCRIPTION OF SYMBOLS 43 ... Output part, 44 ... Calculation part, 45 ... Placement information storage part, 47 ... Shelf information output part, 48 ... Judgment part, 49 ... Adjustment part, L, L1, L2, L3, L4, L5 ... Luggage.

Claims (6)

A transport vehicle having a transfer device for transferring a load;
A rack having a shelf on which a plurality of the loads are placed along the traveling direction of the transport vehicle;
A distance sensor provided in the transport vehicle, wherein the distance sensor detects a distance to an object facing the distance sensor in a depth direction in which the transport vehicle and the rack face each other;
A measurement instructing unit for instructing the transport vehicle to perform measurement traveling while detecting a distance from the luggage placed on the shelf with the distance sensor;
A measurement result acquisition unit that acquires a measurement result associated with a distance detected by the distance sensor during the measurement travel and a position of the distance sensor in the travel direction when the distance is detected;
An output unit for outputting the measurement result acquired by the measurement result acquisition unit;
Automatic warehouse equipped with. The output unit is a waveform data format obtained by plotting the measurement result on a two-dimensional plane determined by a first axis corresponding to the traveling direction and a second axis corresponding to the depth direction. Output the result,
The automatic warehouse according to claim 1. A placement information storage unit that stores placement information indicating a normal position in the travel direction and the depth direction of the luggage set in advance for the shelf;
Comparing the position in the traveling direction and the depth direction of the luggage specified based on the measurement result output by the output unit with the placement information about the shelf on which the luggage is placed. And a calculation unit for calculating a positional deviation amount from the regular position of the package,
The automatic warehouse according to claim 1 or 2. A shelf information output unit that outputs shelf information indicating a position of the shelf on which the package is placed when the amount of positional deviation of the package calculated by the calculation unit is equal to or greater than a predetermined threshold;
The automatic warehouse according to claim 3. Based on the positional deviation amount of the load calculated by the calculation unit, the determination unit further determines whether or not the load is in a state that can be transferred by the transfer device, and further includes a determination unit that outputs a determination result. ,
The automatic warehouse according to claim 3 or 4. An adjustment unit that adjusts an operation of the transport vehicle when the load is transferred based on the positional deviation amount of the load calculated by the calculation unit;
The automatic warehouse as described in any one of Claims 3-5.

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