JP2020026336A - Position-data generation method and automatic warehouse - Google Patents

Abstract

To provide a position-data generation method capable of generating position data of storage means in a rack in a short time.SOLUTION: There is provided a position-data generation method for generating position data of storage means in an automatic warehouse comprising: a rack having a plurality of storage means arranged side by side in the vertical direction and the horizontal direction; a conveying device 105 for conveying cargoes; and a transfer device for transferring the cargoes. The position-data generation method comprises the steps of: generating reference position data by measuring a positional relationship between reference storage means and the transfer device using a first sensor 161; generating extracted position data by measuring a positional relationship between extracted storage means and the transfer device using a second sensor 162; and generating other position data indicating positions of other storage means on the basis of the reference position data and the extracted position data.SELECTED DRAWING: Figure 7

Description

  The present invention relates to an automatic warehouse for automatically transporting packages by a transport device and storing the packages in storage means, and to a method for generating position data of storage means.

  2. Description of the Related Art Conventionally, automatic warehouses for automatically loading and unloading goods from a rack provided with a plurality of storage means using a transfer device mounted on a transport device have been widely used.

  In order for the transfer device to transfer the package safely and reliably, it is necessary to know the exact position of the storage means. For example, Patent Literature 1 discloses a technique in which a mark is attached to each of a plurality of storage units, and the position of each storage unit is grasped using the mark.

JP 2001-158507 A

  However, in the case of an automatic warehouse that stores small packages at a high density, a large number of storage means are arranged in the rack. There is a problem that a long period must be secured.

  Also, after maintenance of the transport device, even after replacement of the transfer device, etc., since it is necessary to check the marks attached to all the storage means and obtain the position data again, There is also a problem that the maintenance period is long.

  The present invention has been made in view of such a problem, and an object of the present invention is to provide a position data generation device that can accurately generate position data of a storage unit in a short time, and an automatic warehouse.

  In order to achieve the above object, a position data generation method according to one aspect of the present invention includes a rack having a plurality of storage units arranged vertically and horizontally in a vertical plane; In an automatic warehouse including a transport device that transports luggage along a vertical plane where the transport device is disposed, and a transfer device that is mounted on the transport device and that transfers luggage between the storage device, each of the storage units A position data generation method for generating position data indicating a position of the rack, wherein at least one of the storage units of the rack is a reference storage unit, and a positional relationship between the reference storage unit and the transfer device is determined by a first sensor. A reference position measuring step of generating reference position data by using the plurality of storage means extracted from the storage means other than the reference storage means as extraction storage means. An extraction position measuring step of causing a positional relationship between a storage unit and the transfer device to be measured using a second sensor different in type from the first sensor to generate extraction position data; the reference storage unit; And generating another position data indicating the position of the other storage unit based on the reference position data and the extracted position data, wherein the storage unit other than the storage unit is another storage unit.

  In order to achieve the above object, an automatic warehouse according to another aspect of the present invention includes a rack having a plurality of storage units arranged vertically and vertically in a vertical plane, and A transfer device for transferring the load along the vertical plane on which the storage means is disposed, a transfer device mounted on the transfer device and transferring the load between the storage means, and a position of each of the storage means. A position data generating device that generates position data indicating the position data, wherein the position data generating device uses at least one of the storage units of the rack as a reference storage unit, and determines a positional relationship between the reference storage unit and the transfer device. A reference position measuring unit for measuring the position using the first sensor and generating reference position data; and a plurality of the storage units extracted from the storage unit other than the reference storage unit as an extraction storage unit. An extraction position measuring unit that causes a positional relationship between the means and the transfer device to be measured using a second sensor different in type from the first sensor, and generates extraction position data; the reference storage unit; and the extraction storage The storage unit other than the storage unit is another storage unit, and another position data generating unit that generates other position data indicating the position of the other storage unit based on the reference position data and the extracted position data.

  According to these, since position data of another storage unit can be generated based on the reference position data and the extracted position data, which are the position data of some storage units, the teaching of the storage unit can be accurately performed by short-time teaching. Position data can be generated.

  The reference position measuring step includes attaching the first sensor to the reference storage unit, attaching a target jig to the transfer device, and measuring the position of the target jig using the first sensor. Reference position data may be generated.

  According to this, it is possible to improve the accuracy of the reference position data.

  Further, the extraction position measuring step includes: measuring the two-dimensional code attached to each of the reference storage unit and the extraction storage unit using the second sensor attached to the transfer device; May be generated.

  According to this, it is possible to easily and quickly generate the relative relationship between the reference position data and the extracted position data.

  Further, the transfer device includes a plurality of the transfer devices, and causes the respective positional relationships between the reference storage unit and the plurality of the transfer devices to be measured using a first sensor. And generating stop position information indicating a stop position of the transfer device using the transfer device data and the position data.

  According to this, it is possible to reduce the position data even when a plurality of transport devices are provided by using the data indicating the difference between the transfer devices.

  In addition, the transport device includes a plurality of the transfer devices, and the extraction position measuring step includes a second sensor that determines a positional relationship between the reference storage unit or the extraction storage unit and the plurality of the transfer devices. To generate transfer machine data indicating a relative positional relationship between the transfer apparatuses, and the transfer machine data, and stop position information indicating a stop position of the transfer apparatus using the position data. May be further included.

  According to this, it is possible to easily and quickly acquire data indicating the machine difference of the transfer device.

  It should be noted that implementing the position data generation method and a program for causing a computer to execute each process included in the automatic warehouse also corresponds to the implementation of the present invention. Of course, the embodiment of the present invention also includes implementing a recording medium on which the program is recorded.

  ADVANTAGE OF THE INVENTION According to this invention, the teaching using a conveyance apparatus can also generate | occur | produce the position data of a storage means for a rack provided with many storage means quickly and accurately.

FIG. 1 is a perspective view showing an automatic warehouse according to the embodiment. FIG. 2 is a perspective view showing an automatic warehouse for holding packages. FIG. 3 is a perspective view showing a part of the rack. FIG. 4 is a perspective view showing a state in which the load contact member is removed. FIG. 5 is a perspective view showing the support member attached to the base member. FIG. 6 is a plan view showing the end portions of the lined load contact members in a cross section of the load contact member 130. FIG. 7 is a block diagram illustrating a functional unit of the position data generation device. FIG. 8 is a perspective view showing a state of measurement for generating reference position data. FIG. 9 is a perspective view showing a state of measurement for generating extraction position data. FIG. 10 is a diagram showing the positional relationship between the reference storage unit, the extraction storage unit, and another storage unit. FIG. 11 is a perspective view showing a state of measurement for generating transfer machine data. FIG. 12 is a diagram illustrating another positional relationship between the reference storage unit, the extraction storage unit, and another storage unit.

  Next, an embodiment of an automatic warehouse and a position data generation method according to the present invention will be described with reference to the drawings. Each of the embodiments described below shows a comprehensive or specific example. Numerical values, shapes, materials, constituent elements, arrangement positions and connection forms of constituent elements, steps, order of steps, and the like shown in the following embodiments are merely examples, and do not limit the present invention. In addition, among the components in the following embodiments, components not described in the independent claims indicating the highest concept are described as arbitrary components.

  In addition, the drawings are schematic diagrams in which emphasis, omission, and adjustment of ratios are appropriately performed to illustrate the present invention, and may be different from actual shapes, positional relationships, and ratios.

  FIG. 1 is a perspective view showing an automatic warehouse according to the embodiment. FIG. 2 is a perspective view showing the automatic warehouse in a state where the luggage is stored in the rack. FIG. 3 is a perspective view showing a part of the rack. FIG. 4 is a perspective view showing a state in which the load contact member is removed. As shown in these drawings, the automatic warehouse 101 is a facility for holding a load 200, and includes a rack 100, a transport device 105, a transfer device 106, and a position data generation device 107.

  The rack 100 is a facility including a plurality of storage means 140 arranged vertically and horizontally in the vertical plane. In the case of the present embodiment, the base member 110 and a support forming the storage means 140 are provided. A member 120 and a load contact member 130 are provided.

  The base member 110 is a member that is arranged in an upright state and serves as a structural base of the rack 100. The shape and structure of the base member 110 are not particularly limited, and examples thereof include a plate-shaped member and a columnar member. In the case of the present embodiment, the base member 110 has a structure in which metal extruded materials are arranged side by side in a vertical plane as pillars, and these are connected by extruded materials extending in the lateral direction.

  FIG. 5 is a perspective view showing the support member attached to the base member. As shown in FIG. 4, the support member 120 extends in the horizontal direction by being fixed at one end to the base member 110, and as shown in FIG. 4 and the like, a rod-shaped member arranged in a horizontal plane. It is. In the case of the present embodiment, the supporting member 120 is formed by bending a highly rigid plate material made of iron or the like, and is used to hold the held portion 131 of the load contact member 130 in the mounted state. An installation surface 121 is provided.

  The width (length in the X-axis direction in the figure) of the mounting surface 121 has a width capable of holding the two held portions 131 in the contact state, and the length of the mounting surface 121 (FIG. The length in the middle Y-axis direction) has a length that can hold the load 200 via the load contact member 130.

  The method of attaching the support member 120 to the base member 110 is not particularly limited, but in the case of the present embodiment, a bolt or the like is attached to a columnar member extending in the vertical direction (Z-axis direction) of the base member 110. And is fixed by fastening. Specifically, the columnar member is a member provided with a T-groove extending in a vertical direction called a so-called aluminum profile, and the support member 120 is fixed by fastening using a T-bolt fitted in the T-groove. Have been.

  The support member 120 includes a restricting portion 122 that engages with the load contact member 130 and restricts the movement of the load contact member 130 in the extending direction of the support member 120 (Y-axis direction in the drawing). In the case of the present embodiment, the regulating portion 122 is a portion that protrudes in the width direction (the X-axis direction in the drawing) of the support member 120 at the end of the support member 120 on the base member 110 side, Each is arranged. The restricting portion 122 is formed by cutting and raising a part of a plate-like member constituting the supporting member 120.

  At least one of the support members 120 arranged in the horizontal plane protrudes upward from the mounting surface 121 as shown in FIGS. 4 and 6, and contacts the load contact member 130 to determine the position of the load contact member 130. The position determination unit 123 is provided. In the case of the present embodiment, the position determining unit 123 is disposed at the extreme end of the support members 120 arranged in a horizontal plane. Although the shape of the position determining unit 123 is not particularly limited, in the case of the present embodiment, the position determining unit 123 is a short angle-shaped member so that the side surface of the position determining unit 123 comes into contact with the load contact member 130 with the side surface. The support member 120 is mounted in surface contact with the mounting surface 121.

  In addition, the support member 120 includes a pressing mechanism 124 that presses the plurality of adjacent luggage contact members 130 together against the position determining unit 123. The structure of the pressing mechanism 124 is not particularly limited, and a structure in which the pressing mechanism 124 is pressed using a thrust of a screw or the like can be exemplified. In the case of the present embodiment, the pressing mechanism 124 includes an urging member such as a spring, and presses the luggage contact member 130 against the position determining unit 123 collectively by the urging force of the urging member. By pressing the luggage contact member 130 against the position determination unit 123 by the urging member, the pressing force is not loosened due to vibration or the like, and the luggage contact member 130 can be stably pressed against the position determination unit 123.

  The load contact member 130 is made of a material softer than the support member 120, and extends in the longitudinal direction (Y-axis direction in the drawing) of the support member 120, and is held by the mounting surface 121 of the support member 120. This is a member having a portion 131 and a connecting portion 132 protruding from the end of the held portion 131 on the base member 110 side toward the adjacent support member 120 in the horizontal plane. In the case of the present embodiment, the luggage contact member 130 includes a pair of held portions 131 as shown in FIGS. 4 and 6, and the connecting portion 132 is provided with a pair of support members 120 adjacent to each other in the horizontal plane. The pair of held portions 131 are connected in a cross-linked manner so that the held portions 131 are held, and the luggage contact member 130 can be stably mounted on the adjacent support member 120 in a cross-linked manner. ing. Further, the contact area between the adjacent load contact members 130 can be increased, and the displacement of the load contact members 130 due to the friction generated when the load 200 is carried in and out can be suppressed. Further, the interval between the held portions 131 can be maintained constant, and the accuracy of the pitch of the tip of the held portion 131 when the luggage contact members 130 are arranged side by side can be improved. In the load contact member 130, the held portion 131 and the connecting portion 132 may be separate bodies, but in the case of the present embodiment, the held portion 131 and the connecting portion 132 are integrally formed.

  Further, the material of the luggage contact member 130 is not particularly limited as long as it is softer than the support member 120. In the case of the present embodiment, a resin is used. It is preferable that the type of resin is selected according to the material of the package 200 to be stored. For example, when the luggage 200 is a polypropylene container, an ABS (Acrylonitrile Butadiene Styrene) resin or the like is selected in consideration of the friction at the time of carrying in and out, the friction at the time of storage, and the relationship with the support member 120. It is preferable that the material of the load contact member 130 has a higher restoring force than the support member 120. According to this, even when an undesired force is applied to the tip of the support member 120 and the held portion 131 and the support member 120 is distorted, the held portion 131 is restored, and the held portion 131 is restored. , It is possible to maintain the accuracy of the pitch of the tip.

  As shown in a cross section in FIG. 6, the load contact member 130 includes an engagement recess 133 and an engagement protrusion 134 at a position where the load contact member 130 is mutually engaged with the adjacent load contact member 130. The engaging concave portion 133 and the engaging convex portion 134 are for positioning the load contact member 130 when the load contact member 130 is connected. In the case of the present embodiment, the depth of the engaging projections 134 and the height of the engaging projections 134 expand the space between the adjacent load contact members 130 against the urging force of the pressing mechanism 124 and the like. The depth and the height are set such that the engagement can be released. This makes it possible to extract the defective baggage abutment member 130 from the baggage abutment members 130 pressed side by side, and to incorporate another baggage abutment member 130.

  The storage means 140 is a member capable of holding and storing the luggage 200, and in the case of the present embodiment, as shown in FIGS. 1, 3, and 6, the adjacent support members 120 and the support members 120 The luggage contact member 130 placed on the storage device 140 functions as storage means 140. The storage means 140 is not limited to the present embodiment, and may be a member that supports the bottom surface of the package 200 and holds the package 200, or that holds the package in a state where the package is suspended by hooking the top portion of the package. And the like.

  The transport device 105 is a device that transports the luggage 200 along a vertical plane on which the storage unit 140 is arranged. The type of the transport device 105 is not particularly limited, and examples thereof include a device that transports the luggage 200 in a suspended state and a device that includes a transport vehicle that travels in the left-right direction at each stage of the storage unit 140. can do. In the case of the present embodiment, as shown in FIG. 1 and FIG. 2, the transport device 105 is a so-called stacker crane, and includes a bogie 151 that can travel in the left-right direction, and a mast that stands vertically with respect to the bogie. 152, and an elevating table 153 that is attached to the mast 152 so as to be able to move up and down.

  The transfer device 106 is a device that is mounted on the transport device 105 and transfers the package 200 to and from the storage unit 140 of the rack 100. The type of the transfer device 106 is not particularly limited. For example, the transfer device 106 includes a fork and scoops and transfers the load 200 placed on the pallet together with the pallet. For example, a device that hooks the inner surface of the baggage 200 stored in the storage unit 140, pushes out the front surface of the baggage 200 held by the drawer transfer device 106, and transfers the baggage 200 to the storage unit 140 can be exemplified. . In the case of the present embodiment, the rack 100 is a rack 100 for storing the luggage 200 at a high density, and on the front surface of the luggage 200, an engagement portion capable of hooking an engagement claw (not shown) of the transfer device 106 is provided. Is provided. The transfer device 106 can make the engaging claw protrude and retract toward the storage means 140, pull out the package 200 by hooking the engaging claw on the engaging portion, and push out the front surface of the package 200 with the engaging claw or the like. The storage means 140 can hold the luggage 200.

  The position data generating device 107 is a so-called computer that generates position data of the storage unit 140, and includes a reference position measuring unit 171 and an extracted position measuring unit 171 as shown in FIG. And a second position data generation unit 173. In the case of the present embodiment, the position data generation device 107 includes a stop position generation unit 174. The position data generation device 107 is not limited to the case where it exists independently, and may be included in other devices, for example, a control device that controls the transport device 105, a general computer that controls the entire automatic warehouse 101, and the like. .

  As shown in FIG. 8, the reference position measuring unit 171 uses at least one storage unit 140 of the rack 100 as a reference storage unit 141 and uses a first sensor 161 to determine the positional relationship between the reference storage unit 141 and the transfer device 106. And generates reference position data.

  The reference storage means 141 can be arbitrarily selected from the storage means 140. In the case of the present embodiment, as shown by the broken line in FIG. 10, the storage means 140 arranged in a 3 × 3 matrix form is one block. The storage means 140 at the center of any one block including the luggage contact member 130 which is in contact with the position determining unit 123 attached to the support member 120 is defined as the reference storage means 141. By including the luggage contact member 130 that is structurally a position reference and the reference storage unit 141 that is a position reference on data in one block, it is possible to improve the accuracy of the generated position data. Become.

  Further, in the case of the present embodiment, in the reference position measurement step, the first sensor 161 is attached to the reference storage means 141, and the target jig 169 is attached to the transfer device 106 by an operator.

  The type of the first sensor 161 is not particularly limited, but in the case of the present embodiment, a distance measuring sensor is used. In addition, since the positional relationship between the reference storage means 141 and the transfer device 106 in the vertical plane (the ZX plane in the figure) is measured by the distance measurement sensor, the distance from the target jig 169 in the left-right direction (X axis in the figure) is measured. And a vertical sensor 164 for measuring the distance from the target jig 169 in the vertical direction (Z-axis in the figure) are attached to the reference storage means 141 as a first sensor 161. I have.

  After performing the preparation as described above, the reference position measuring unit 171 determines the position of the target jig 169 having a clear positional relationship with the transfer device 106 in the second position having the clear positional relationship with the reference position measuring unit 171. Measurement is performed using one sensor 161 (horizontal sensor 163, vertical sensor 164) to generate reference position data. Although the format of the reference position data is not particularly limited, for example, the format of the design value and the difference between the design value linked to the design value and the measured value can be exemplified.

  As illustrated in FIG. 9, the extraction position measurement unit 172 includes a plurality of storage units 140 extracted from the storage units 140 other than the reference storage unit 141 as extraction storage units 142, and is mounted on the extraction storage unit 142 and the transport device 105. The processing unit is configured to measure the positional relationship with the transfer device 106 using a second sensor 162 different in type from the first sensor 161 and generate extracted position data.

  The extraction storage means 142 can be arbitrarily selected from the storage means 140 other than the reference storage means 141, but in the case of the present embodiment, the storage means 140 arranged in a 3 × 3 matrix are set as one block. Therefore, for a block that does not include the reference storage unit 141, the storage unit 140 (the storage unit 140 at the center of the block in the present embodiment) having the same positional relationship as the reference storage unit 141 in the block is extracted and stored. 142.

  Further, in the case of the present embodiment, in the extraction position measurement step, an operator attaches the second sensor 162 to the transfer device 106 via the measurement jig 168. Further, the worker attaches the two-dimensional code 182 to the reference storage unit 141 and the extraction storage unit 142, respectively.

  Although the type of the second sensor 162 is not particularly limited, in the case of the present embodiment, a two-dimensional code reader is used. The two-dimensional code reader can detect a relative position of the two-dimensional code 182 relative to the two-dimensional code reader in a plane (vertical surface) on which the two-dimensional code 182 is attached. Specifically, for example, the two-dimensional code reader includes an imaging device that can image a two-dimensional code, and a control device that can analyze the imaging result, and the control device determines a position of the two-dimensional code in the captured image. The relative position of the two-dimensional code 182 in the vertical plane with respect to the two-dimensional code reader is detected.

  In the case of the present embodiment, a third sensor 183 for measuring the distance between the transfer device 106 and the two-dimensional code 182 is also attached.

  After performing the above preparation, the extraction position measuring unit 172 transfers the two-dimensional code 182 provided in the storage unit 140 so that the relative positional relationship is constant to the transfer device 106 by using the measuring jig 168. The measurement is performed by using the second sensor 162 attached via the sensor, and the extraction position data is generated.

  In the case of the present embodiment, in the block including the reference storage unit 141, first, the extraction position measurement unit 172 controls the transfer device 105 based on the previously measured reference position data to store the transfer device 106 in the reference storage unit. 141, the two-dimensional code 182 attached to the reference storage unit 141 is read, and the position data of the reference storage unit 141 is acquired. This is to create a reference for data indicating the relative positional relationship between the reference storage unit 141 and the extraction storage unit 142.

  Next, the extraction position measuring unit 172 reads the two-dimensional code 182 by sequentially moving the transfer device 106 to the storage unit 140 set as the extraction storage unit 142 for each block that does not include the reference storage unit 141, and reads the two-dimensional code 182. Generate data.

  The other position data generation unit 173 uses the storage unit 140 other than the reference storage unit 141 and the extraction storage unit 142 as another storage unit 143, and stores the other position data indicating the position of the other storage unit 143 as the reference position data and the extraction position. This is a processing unit that generates based on data. Although the method of generating the other position data is not particularly limited, in the case of the present embodiment, as shown in FIG. The other position data is generated by calculating the position data of each of the other storage units 143 using. In the block including the extraction position measurement unit 172, the other position data is generated by calculating the position data of the respective other storage means 143 using the design value and the design value, based on the extraction position data.

  In the case of this embodiment, the reference position data generated by the reference position measurement unit 171, the generated extraction position data measured by the extraction position measurement unit 172 by a simpler method than the reference position data, and the other position data The integrated position data generation unit 175 integrates the other position data generated by the generation unit 173 to generate integrated position data for controlling the transport device 105.

  As described above, teaching is performed for the position of the reference position measurement unit 171, and for blocks not including the reference position measurement unit 171, teaching is performed only for the extraction storage unit 142. By generating the integrated position data by reflecting the data in the data, it is possible to respond to a rack having many storage units 140 in a short time. In particular, in the case of the rack 100 in which the plurality of load contact members 130 are collectively pressed against the position determining unit 123 by the pressing mechanism 124, the difference between the design value and the actual position tends to be constant throughout the rack 100. , It is possible to generate accurate position data.

  In the case of the present embodiment, since one transfer device 105 is provided with a plurality of (two in the present embodiment) transfer devices 106, the stop position generation unit 174 performs a plurality of transfer operations. The positional relationship of each of the devices 106 is measured using the first sensor 161 to generate transfer machine data indicating the relative positional relationship between the transfer devices 106. Specifically, as shown in FIG. 11, in order to generate the basic position data, the target jig 169 attached by one worker to one transfer device 106 is replaced by another transfer device 106, and the reference storage means The position data of the target jig 169 is measured using the horizontal sensor 163 as the first sensor 161 attached to the target 141 and the vertical sensor 164. Thereby, the position data of one transfer device 106 and the position data of the other transfer device 106 with respect to the reference storage unit 141 can be acquired, and the stop position generation unit 174 generates the transfer device data based on these. Although the format of the transfer machine data is not particularly limited, for example, a design value indicating a positional relationship between the plurality of transfer devices 106, and a difference between the design value linked to the design value and the measured value are measured. The format can be exemplified. Further, the stop position generation unit 174 generates stop position information indicating a stop position of the transport device 105 corresponding to each of the transfer devices 106 using the transfer device data and the integrated position data.

  According to the rack 100 according to the above-described embodiment, even if a certain error occurs in the pitch of the support members 120 arranged in a horizontal plane at the time of construction, the support member 120 is mounted on the support member 120 by placing the load contact member 130 on the support member 120. Irrespective of the error, the accuracy of the pitch of the tip of the held portion 131 can be maintained high. Therefore, even if the position data of the storage means 140 of the entire rack 100 is generated based on the reference position data and the extracted position data, and the transport device 105 is controlled based on the generated data, the load 200 can be correctly transferred.

  In particular, since the plurality of luggage contact members 130 arranged in a horizontal plane are pressed against the position determining unit 123 by the pressing mechanism 124, the position of the tip of the held unit 131 can be accurately determined based on the position determining unit 123. Is determined. Therefore, even if the teaching is not performed for all the storage units 140 and the position data is generated in a short time, the transfer device 105 can correctly arrange the transfer device 106 at the position where the load 200 is transferred.

  Note that the present invention is not limited to the above embodiment. For example, another embodiment that is realized by arbitrarily combining the components described in this specification and excluding some of the components may be an embodiment of the present invention. Further, the gist of the present invention with respect to the above-described embodiment, that is, modified examples obtained by performing various modifications conceivable by those skilled in the art without departing from the meaning indicated by the words described in the claims are also included in the present invention. It is.

  For example, as shown in FIG. 12, the reference storage means 141 may be set to the storage means 140 at a corner of a block formed by the luggage contact member 130 which contacts the position determining unit 123. The block is not limited to 3 × 3, but may be 4 × 4 or more. In addition, blocks having different numbers of vertical and horizontal storage units 140 such as 3 × 4 may be used.

  Further, the stop position generation unit 174 uses a second sensor to determine the positional relationship between any one of the reference storage unit 141 or the extraction storage unit 142 and the plurality of transfer devices 106 mounted on one transport device 105. May be used to generate transferer data.

  INDUSTRIAL APPLICABILITY The present invention can be used in an automatic warehouse or the like, and in particular, can be used in an automatic warehouse provided with a rack for storing fixed-sized packages at high density.

REFERENCE SIGNS LIST 100 rack 101 automatic warehouse 105 transfer device 106 transfer device 107 position data generation device 110 base member 120 support member 121 mounting surface 122 regulating unit 123 position determination unit 124 pressing mechanism 130 luggage contact member 131 held unit 132 connection unit 133 Engagement concave part 134 Engagement convex part 140 Storage means 141 Reference storage means 142 Extraction storage means 143 Other storage means 151 Cart 152 Mast 153 Lifting platform 161 First sensor 162 Second sensor 163 Horizontal sensor 164 Vertical sensor 168 Measurement jig 169 Target Jig 171 Reference position measurement unit 172 Extraction position measurement unit 173 Other position data generation unit 174 Stop position generation unit 175 Integrated position data generation unit 182 Two-dimensional code 183 Third sensor 200 Baggage

Claims (6)

A rack including a plurality of storage means arranged vertically in the vertical plane, and a storage apparatus arranged side by side in the left and right direction, a transport apparatus for transporting luggage along the vertical plane on which the storage means is arranged, and A position data generation method for generating position data indicating a position of each of the storage means, in an automatic warehouse including a transfer device that transfers a package between the storage means and the storage means;
A reference position measuring step of setting at least one of the storage units of the rack as a reference storage unit, causing a positional relationship between the reference storage unit and the transfer device to be measured using a first sensor, and generating reference position data;
A plurality of storage means extracted from the storage means other than the reference storage means as an extraction storage means, and the positional relationship between the extraction storage means and the transfer device is a second sensor different in type from the first sensor An extraction position measurement step of generating extraction position data by using
The reference storage unit, and another storage unit that uses the storage unit other than the extraction storage unit as another storage unit, and generates other position data indicating the position of the other storage unit based on the reference position data and the extraction position data. A position data generating method including a data generating step. The reference position measuring step includes:
Attach the first sensor to the reference storage means,
Attach a target jig to the transfer device,
The position of the target jig is measured using the first sensor to generate the reference position data,
The position data generation method according to claim 1. The extraction position measuring step includes:
The method according to claim 1, wherein the two-dimensional codes attached to the reference storage unit and the extraction storage unit are measured using the second sensor attached to the transfer device to generate extraction position data. Described position data generation method. The transport device includes a plurality of the transfer devices,
A first sensor is used to measure a positional relationship between the reference storage unit and the plurality of transfer devices using a first sensor, and transfer device data indicating a relative positional relationship between the transfer devices is generated. The position data generating method according to any one of claims 1 to 3, further comprising a stop position generating step of generating stop position information indicating a stop position of the transport device using the machine data and the position data. The transport device includes a plurality of the transfer devices,
The reference storage unit, or the extraction storage unit and a plurality of the transfer device to measure the respective positional relationship using a second sensor, the transfer device data indicating the relative positional relationship between the transfer device 4. The method according to claim 1, further comprising a stop position generating step of generating stop position information indicating a stop position of the transfer device using the transfer machine data and the position data. 5. Position data generation method. A rack having a plurality of storage means arranged side by side in the vertical direction and in the horizontal direction in a vertical plane,
A transport device that transports the load along the vertical plane where the storage means is arranged,
A transfer device that is mounted on the transfer device and transfers a package between the storage device and the storage device;
A position data generation device that generates position data indicating the position of each of the storage units,
The position data generation device,
A reference position measuring unit configured to use at least one of the storage units of the rack as a reference storage unit, to measure a positional relationship between the reference storage unit and the transfer device using a first sensor, and to generate reference position data;
A plurality of storage means extracted from the storage means other than the reference storage means as an extraction storage means, and the positional relationship between the extraction storage means and the transfer device is a second sensor different in type from the first sensor An extraction position measurement unit that causes the measurement using the extraction position data,
The reference storage unit, and another storage unit that uses the storage unit other than the extraction storage unit as another storage unit, and generates other position data indicating the position of the other storage unit based on the reference position data and the extraction position data. An automatic warehouse including a data generation unit.

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