JP2020121867A - Conveyance system - Google Patents

Abstract

To provide a conveyance system possible to shorten a conveyance path required to detect a load condition.SOLUTION: A storage station 1 includes a conveyor 5, a first detection unit 7, a second detection unit 9, a controller 51, and an alarm device 33. The conveyor 5 has a first area 5A and a second area 5B that are lined up in a conveyance direction and have overlapping portions with each other, and conveys a load A from the first area 5A to the second area 5B. The first detection unit 7 is provided at a position where only the second area 5B is located in the conveyance direction, and detects an abnormality of load attitude of a front end of the load A conveyed from the first area 5A. The second detection unit 9 is provided at a position where only the first area 5A is located in the conveyance direction, and detects an abnormality of load attitude of a rear end of the load A conveyed to the second area 5B. The controller 51 determines detection results of the first detection unit 7 and the second detection unit 9. When the first detection unit 5 and/or the second detection unit 9 detects an abnormality of load attitude, the alarm device 33 notifies the abnormality.SELECTED DRAWING: Figure 2

Description

The present invention relates to a transport system, and more particularly to a transport system having a conveyor for transporting loads thereon.

A transport system for loading a load into a rack of an automated warehouse is known (see Patent Document 1).
The transport system described in Patent Document 1 has an automated warehouse 1 and a carry-in conveyor 18 arranged adjacent to the automated warehouse 1. The carry-in conveyor 18 is provided with a transmitter/receiver 21 for detecting the load-bearing of the load on the carry-in conveyor 18.

JP, 2001-294303, A

Conveyors that carry loads directly into racks in automated warehouses are also known. In such a conveyor, for example, the downstream side portion in the transport direction is arranged inside the rack, and the upstream side portion in the transport direction is arranged outside the rack as a loading portion. Then, for example, when the forklift places the load on the upstream side portion of the conveyor in the transport direction, the conveyor loads the load into the rack.
In the case of the above-mentioned conveyor, the upstream side portion of the conveyor in the conveying direction largely protrudes from the rack, and as a result, the conveying path for detecting the state of the load is long. Specifically, the conveyor needs to be at least twice the length of the load in the transport direction.

An object of the present invention is to shorten the transport path required to detect the state of a load in a transport system.

A plurality of modes will be described below as means for solving the problems. These aspects can be arbitrarily combined as needed.

A transport system according to one aspect of the present invention includes a conveyor, a first detection unit, a second detection unit, a controller, and a notification unit.
The conveyor has a first region and a second region which are lined up in the transport direction and have portions overlapping each other, and transport the load from the first region to the second region.
The first detection unit is provided at a position where only the second region is located in the transport direction, and detects the abnormal shape of the load at the front end of the load transported from the first region.
The second detection unit is provided at a position where only the first region is located in the transport direction, and detects the abnormal shape of the rear end of the load transported to the second region.
The controller determines the detection results of the first detection unit and the second detection unit.
The notification unit notifies the abnormality when the first detection unit and/or the second detection unit detects a package shape abnormality.
The first detection unit and the second detection unit are, for example, various sensors such as photoelectric sensors and cameras.
The abnormal packing shape is, for example, a front and rear load, a widthwise load, and an abnormal height.
The abnormality notification is, for example, one or more operations such as stopping the conveyance of the load, returning the load to the upstream side in the conveying direction, and issuing an alarm.
In this transport system, the first detection unit is provided on the downstream side in the transport direction, and the second detection unit is provided on the upstream side in the transport direction. Since the first region and the second region are lined up in the transport direction and have overlapping portions, the transport path required to detect the front and back of the load can be shortened. In other words, the conveyor can be made shorter than twice the length of the load by devising the mounting position of the sensor and overlapping a part of the first region and the second region.

The load may be transported while being placed on the load support member.
The first detection unit may have a first sensor and a second sensor. The first sensor detects the load supporting member. The second sensor detects the load.
The controller determines whether the load is detected by the second sensor at the timing when the load supporting member is detected by the first sensor.
The second detection unit may have a third sensor and a fourth sensor. The third sensor detects the load supporting member. The fourth sensor detects the load.
The controller determines whether or not the load is detected by the second sensor at the timing when the load supporting member is no longer detected by the third sensor.
The notifying unit uses the fourth sensor when the load is detected by the second sensor at the timing when the load supporting member is detected by the first sensor and/or when the load supporting member is not detected by the third sensor. If a load is detected, an abnormality may be reported.
In this transport system, the transport of the load with the load can be stopped, for example, by detecting the load (deviation from the load reference position with respect to the load support member). As a result, it is possible to prevent an abnormality from occurring in the transportation of the load further downstream in the transportation direction.

The transport system may further include a fifth sensor.
The fifth sensor is located between the first detection unit and the second detection unit in the transport direction, and at a position where only the second region is located, and is located inside the first detection unit in the width direction. Good.
The fifth sensor may be provided such that the optical axis is in the vertical direction and may detect a load.
The notification unit may notify the abnormality when the load is detected by the fifth sensor.
In this transport system, the fifth sensor is provided inside the first detection unit in the width direction. Therefore, when the load sensor in the width direction (deviation from the load reference position with respect to the load support member) is detected by the fifth sensor, the load may collide with the first detection unit by, for example, stopping the transport of the load. Can be prevented. This is particularly effective when the installation position of the first detector is limited in the width direction.

The second detection unit may be arranged in the first region on the downstream side in the transport direction with respect to the center of the first region in the transport direction.
In this transport system, the second detection unit can reliably detect the upstream portion of the load in the transport direction. This is because if the load is properly placed in the first area, the upstream side portion of the load in the transport direction is located upstream of the second detection unit in the transport direction.

The transport system may further include a sixth sensor. The sixth sensor may be provided at the upstream end of the conveyor in the transport direction and detect the load when the load is placed on the conveyor.
When the load is placed on the conveyor and the load is not detected by the sixth sensor, the controller causes the conveyor to move the load to the upstream side in the transport direction, and then to move the load to the downstream side in the transport direction. You may move it to the side.
In this transport system, for example, when a load is placed on the downstream side in the transport direction from a predetermined position of the conveyor by a forklift, the load is moved to the upstream side in the transport direction and then to the downstream side in the transport direction. Therefore, the second detection unit can reliably detect the upstream side portion of the load in the conveyance direction.

The first detection unit may be arranged in the second region on the upstream side in the transport direction with respect to the center of the second region in the transport direction.
In this transport system, the first detection unit can reliably detect the downstream side portion of the load in the transport direction. This is because if the load is correctly placed in the first area, the downstream side portion of the load in the transport direction is located upstream of the first detection unit in the transport direction.

In the transport system according to the present invention, the transport path required to detect the load condition can be shortened.

A schematic plan view of an automated warehouse. The schematic front view of a storage station. The schematic side view of a storage station. The block diagram which shows the control structure of a receiving station. The flowchart which shows the warehousing control operation of a warehousing station. The schematic front view of a storage station. The schematic front view of a storage station. The schematic front view of a storage station. The schematic front view of a storage station.

1. First Embodiment (1) Automated Warehouse System An automated warehouse system 100 will be described with reference to FIG. FIG. 1 is a schematic plan view of an automated warehouse.
The automatic warehouse system 100 has a plurality of racks 3. The rack 3 has a plurality of shelves. In FIG. 1, the racks 3 extend in the Y direction and are arranged side by side in the X direction.
The automatic warehouse system 100 has a stacker crane 4 that travels between racks in the Y direction. The stacker crane 4 can load a load from the receiving station 1 (described later) using a transfer device.

The automated warehouse system 100 has a plurality of receiving stations 1 (an example of a transfer system). The storage station 1 is a place on which a load A stored in the rack 3 from the outside is placed. The load A is conveyed while being placed on the pallet P (FIG. 2, an example of the load supporting member). The device that carries the load A into the storage station 1 is, for example, a forklift 6.

The receiving station 1 will be described with reference to FIGS. 2 and 3. FIG. 2 is a schematic front view of the storage station. FIG. 3 is a schematic side view of the storage station.
The receiving station 1 has a conveyor 5. In the conveyor 5, the width direction coincides with the Y direction, and the conveying direction coincides with the X direction orthogonal to the Y direction.

The conveyor 5 has a first area 5A and a second area 5B. The first area 5A and the second area 5B are arranged in the carrying direction and have overlapping portions, and carry the load A from the first area 5A to the second area 5B. In this embodiment, the lengths of the first region 5A and the second region 5B in the carrying direction are the same, and further, the lengths of the load A in the carrying direction are the same. Further, a part of the first region 5A is arranged inside the rack 3, that is, inside the rack 3 with respect to the outer column 3a, and a part is arranged outside the rack 3, that is, outside the outer column 3a. Further, the second area 5B is located on the shelf of the rack 3, that is, it is arranged between the outer pillar 3a and the inner pillar 3b. The first area 5A is an area where the load A is transferred by the forklift 6. The second area 5B is an area where the load A is transferred by the stacker crane 4.
Specifically, the conveyor 5 is a chain conveyor. However, the conveyor 5 may be another type such as a belt conveyor or a roller conveyor.

(2) Various Sensors As described later, the receiving station 1 has various sensors for detecting an abnormal load appearance during the transport operation of the load A.
(2-1) First Detecting Section The receiving station 1 has a first detecting section 7. The first detection unit 7 is provided at a position where only the second region 5B is located in the transport direction, and detects the abnormal shape of the front end of the load A transported from the first region 5A.
Specifically, the 1st primary detecting element 7 has the 1st timing sensor 11 (an example of the 1st sensor). The first timing sensor 11 detects the pallet P. More specifically, as shown in FIG. 3, the first timing sensor 11 is a transmissive photoelectric sensor that is arranged on both sides in the width direction and has an optical axis (detection line) extending in the width direction. When the light is blocked, the first timing sensor 11 turns from OFF to ON.

The 1st primary detecting element 7 has front end packing style sensor 13 (an example of the 2nd sensor). When the first timing sensor 11 detects the pallet P, the front-end package sensor 13 detects the presence or absence of the package A at that timing. Specifically, the controller 51 (described later) performs control, and at the timing at which the first timing sensor 11 detects the pallet P, the controller 51 (described later) controls the front end package sensor 13 to emit an optical pulse to load the package A. To detect. As another example, the controller 51 (determines whether the optical pulse is always emitted from the front end package sensor 13 and the front end package sensor 13 detects the package A at the timing when the first timing sensor 11 detects the pallet P. Check later).
The position of the front end package sensor 13 in the transport direction is downstream of the first timing sensor 11 by a predetermined distance in the transport direction. The above "predetermined distance" is the allowable length of the load pallet with respect to the reference point of the pallet P when the front end of the pallet P is detected by the first timing sensor 11 (if the load lash is larger than this, a stacker This will hinder the transportation by crane etc.).
Specifically, as shown in FIG. 3, the front-end package sensor 13 is a pair of transmissive photoelectric sensors 13a and 13b arranged diagonally, and an optical pulse is emitted at the above timing to detect the front end of the package A. Detect the presence or absence. If the front end blocks light, the pair of transmissive photoelectric sensors 13a and 13b are ON, and as a result, it is possible to detect that a load collapse or a load has occurred. The front-end package sensor 13 is not limited to a combination of a plurality of diagonal arrangements, but may be a combination of a diagonal arrangement and a horizontal arrangement, or a combination of a plurality of horizontal arrangements.

As described above, the first detection unit 7 is provided at a position that does not detect the load A or the pallet P when the load A is located in the second area 5B. Therefore, the first detection unit 7 is switched from ON to OFF and from OFF to ON, and can detect the front end of the load A.
The first detection unit 7 is arranged in the second region 5B on the upstream side in the transport direction with respect to the center C2 in the transport direction of the second region 5B. With this configuration, the first detection unit 7 can reliably detect the downstream side portion of the load A in the transport direction. This is because, as shown in FIG. 2, if the load A is correctly placed on the first region 5A, the downstream side portion of the load A in the transport direction is located upstream of the first detection unit 7 in the transport direction.
Although not shown, the first timing sensor 11 and the front-end package appearance sensor 13 of the first detector 7 are provided on plates fixed to, for example, the inner column 3b of the rack 3.

The first detection unit 7 has a first height sensor 15 as shown in FIGS. 2 and 3. The first height sensor 15 is a transmissive photoelectric sensor arranged such that the optical axis extends in the width direction at a position slightly higher than the uppermost end of the load A. The position of the sensor 15 in the conveyance direction is the same as that of the front end package sensor 13.
As shown in FIG. 3, a pair of first width sensors 17 (an example of a fifth sensor) is provided. As shown in FIG. 3, the pair of first width sensors 17 are transmissive photoelectric sensors provided so that their optical axes are in the vertical direction, and detect the presence or absence of the load A. The pair of first width sensors 17 is provided between the first detection unit 7 and the second detection unit 9 (described later) in the transport direction and at a position where only the second region 5B is located. Specifically, the positions of the pair of first width sensors 17 in the transport direction are the same as those of the front end package sensor 13. Further, the pair of first width sensors 17 is located inside the first detection unit 7 in the width direction and is located at the edge of the conveyor surface of the conveyor 5. The pair of first width sensors 17 may be located at a position separated from the pallet P by a predetermined distance, and thus may be located inside or outside the conveyance surface of the conveyor 5.
In the above configuration, the pair of first width sensors 17 is provided inside the front end package sensor 13 of the first detection unit 7 in the width direction. Therefore, if the pair of first width sensors 17 detects the widthwise load, it is possible to prevent the load A from colliding with the front end shape sensor 13 by, for example, stopping the conveyance of the load A. This is particularly effective when the installation position is limited in the width direction because the front end package sensor 13 is provided in the rack 3.
The pair of first width sensors 17 are provided between the proper position of the load A on the conveyor 5 and the position where the load A collides with the front end load type sensor 13.

(2-2) Second Detecting Section The receiving station 1 has a second detecting section 9. The second detection unit 9 is provided at a position where only the first area 5A is located in the transport direction, and detects the abnormal shape of the rear end of the load A transported to the second area 5B.
Specifically, the second detection unit 9 has a second timing sensor 21 (an example of a third sensor). The second timing sensor 21 detects the pallet P. More specifically, the second timing sensor 21 is a photoelectric sensor arranged on both sides in the width direction, and turns from ON to OFF when the rear end of the pallet P finishes blocking light.

The second detection unit 9 includes a trailing edge package appearance sensor 23 (FIG. 4, an example of a fourth sensor). When the second timing sensor 21 finishes detecting the pallet P, the trailing edge package sensor 23 detects the presence or absence of the package A at that timing. Specifically, at the timing when the controller 51 (described later) performs control and the second timing sensor 21 finishes detecting the pallet P, the controller 51 (described later) controls the trailing edge package sensor 23 to emit an optical pulse. Load A is detected. As another example, whether the optical pulse is always emitted from the rear end package sensor 23, and the rear end package sensor 23 detects the package A at the timing when the second timing sensor 21 finishes detecting the pallet P. Is confirmed by the controller 51 (described later).
The position of the trailing edge package sensor 23 in the transport direction is upstream of the second timing sensor 21 by a predetermined distance in the transport direction. The above-mentioned "predetermined distance" is the allowable length of the load margin with respect to the reference point of the pallet P when the rear end of the pallet P finishes being detected by the second timing sensor 21 (if the load margin is larger than this, This will hinder the transportation by stacker crane, etc.).
Specifically, as shown in FIG. 3, the trailing edge package sensor 23 is a pair of transmissive photoelectric sensors 23a and 23b that are diagonally arranged. The presence or absence of the end face is detected. If the rear end blocks light, the pair of transmissive photoelectric sensors 23a and 23b are ON, and it can be detected that a load collapse or a load has occurred. The trailing edge package sensor 23 is not limited to a combination of a plurality of diagonal arrangements, and may be, for example, a combination of a diagonal arrangement and a horizontal arrangement, or a combination of a plurality of horizontal arrangements.

As described above, when the load A is located in the first area 5A, the second detection unit 9 is provided at a position that does not detect the load A or the pallet P. Since it is the above-mentioned installation position, the 2nd detection part 9 can switch ON->OFF and OFF->ON, and can detect the rear end of a load.
The second detection unit 9 is arranged in the first region 5A on the downstream side in the transport direction from the transport direction center C1 of the first region 5A. With this configuration, the second detection unit 9 can reliably detect the upstream side portion of the load A in the transport direction. This is because, if the load A is correctly placed in the first area 5A as shown in FIG. 2, the upstream side portion of the load A in the transport direction is located upstream of the second detection unit 9 in the transport direction.

The second detection unit 9 has a second height sensor 25. The second height sensor 25 is a transmissive photoelectric sensor arranged so that the optical axis extends in the width direction at a position slightly higher than the uppermost end of the load A. The position of the sensor 25 in the transport direction is the same as that of the trailing edge package sensor 23.
The second detection unit 9 further includes a pair of second width sensors 27, as shown in FIG. The pair of second width sensors 27 are transmissive photoelectric sensors provided so that the optical axis is in the vertical direction, and detect the presence or absence of the load A. The positions of the pair of second width sensors 27 in the transport direction may be the same as those of the trailing edge package appearance sensor 23. The reason is that since the second detector 9 is provided outside the rack 3, there is no limitation on the installation position of each sensor in the width direction.
Although not shown, each sensor of the second detector 9 is provided on a pair of poles (not shown) provided outside the rack 3, although not shown.

(2-3) Effects of the first detection unit and the second detection unit In the above configuration, the first detection unit 7 is provided on the downstream side in the transport direction, and the second detection unit 9 is further provided on the upstream side in the transport direction. Since the first area 5A and the second area 5B are arranged in the carrying direction and have overlapping portions, the carrying path required to detect the front and rear of the load A can be shortened.

(2-4) Alarm device The warehousing station 1 has an alarm device 33 (FIG. 4, an example of a notification unit). When the first detection unit 7 and/or the second detection unit 9 detect a package shape abnormality, the alarm device 33 notifies the abnormality by sound, light, or other means.
The alarm device 33 detects that the load A is detected by the front end package appearance sensor 13 at the timing when the pallet P is detected by the first timing sensor 11 and/or the pallet P is not detected by the second timing sensor 21. When the rear end package sensor 23 detects the package A at the timing, the abnormality is notified.
In addition to or instead of the alarm device 33, the notification may be given by, for example, stopping or retracting the transportation of the load in the above case. This allows the operator to modify the packing style. As a result, it is possible to prevent an abnormality from occurring in the transportation of the load A further downstream in the transportation direction.

(2-5) Others The storage station 1 has an on-board sensor 28 (Fig. 4). The mounting sensor 28 is a sensor that detects that the load A is placed on the conveyor 5. Instead of the on-board sensor 28, the trailing edge package appearance sensor 23 or the second timing sensor 21 may be used.
The receiving station 1 further includes a striker 29 (an example of a sixth sensor). The striker 29 is a sensor that is provided at the upstream end of the conveyor 5 in the transport direction and detects the load A when the load A is correctly placed on the first area of the conveyor 5.

(3) Control Configuration of Storage Station The control configuration of the storage station 1 will be described with reference to FIG. FIG. 4 is a block diagram showing the control configuration of the receiving station.
The storage station 1 has a controller 51.
The controller 51 is a computer having a processor (eg, CPU), a storage device (eg, ROM, RAM, HDD, SSD, etc.), and various interfaces (eg, A/D converter, D/A converter, communication interface, etc.). System. The controller 51 performs various control operations by executing a program stored in a storage unit (corresponding to a part or all of the storage area of the storage device).
The controller 51 may be composed of a single processor, but may be composed of a plurality of processors independent for each control.
Some or all of the functions of each element of the controller 51 may be realized as a program that can be executed by a computer system that constitutes a control unit. In addition, a part of the function of each element of the controller 51 may be configured by a custom IC.

The controller 51 includes an on-board sensor 28, a striker 29, a first timing sensor 11, a front end packing appearance sensor 13, a second timing sensor 21, a rear end packing appearance sensor 23, a first height sensor 15, and a second height sensor 25. , The first width sensor 17, and the second width sensor 27 are connected.
A conveyor drive unit 31 and an alarm device 33 are further connected to the controller 51.
Although not shown, a sensor for detecting the size, shape and position of the load A, a sensor and a switch for detecting the state of each device, and an information input device are connected to the controller 51.

(4) Storage Control Operation of Storage Station The storage control operation of the storage station will be described with reference to FIGS. FIG. 5 is a flowchart showing the storage control operation of the storage station. 6 to 9 are schematic front views of the storage station.
The control flowchart described below is an example, and each step can be omitted or replaced as necessary. Also, a plurality of steps may be executed simultaneously, or some or all of them may be overlapped and executed.
Furthermore, each block of the control flowchart is not limited to a single control operation, and can be replaced with a plurality of control operations represented by a plurality of blocks.
The operation of each device is the result of a command from the control unit to each device, and these are represented by each step of the software application.

In step S1, the controller 51 determines whether the load A is placed on the first area 5A of the conveyor 5. Specifically, the detection result of the on-board sensor 28 is used.

In step S2, the controller 51 determines whether the striker 29 is turned on. If turned on, the process moves to step S3, and if not turned on, the process moves to step S11.
In step S11, the controller 51 controls the conveyor drive unit 31 to move the conveyor 5 backward. As a result, the load A is moved to the upstream side in the transport direction and returned to the correct position in FIG. The reason for the above operation is as follows. The fact that the striker 29 is not turned on in step S2 means that the load A is erroneously placed downstream of the predetermined position of the conveyor 5 in the transport direction by the forklift 6 as shown in FIG. 9, for example. In this case, if the load A is transported as it is, the front end face of the load A is located downstream of the first timing sensor 11 in the transport direction, so that the load appearance of the front end of the load A cannot be detected. In addition, the second height 25 of the second detector 9 and the second width sensor 27 cannot detect the entire upstream portion of the load A in the transport direction.

In step S3, the controller 51 drives the conveyor 5 forward by controlling the conveyor driving unit 31. Thereafter, the load A is transported from the first area 5A to the second area 5B.

In step S4, the controller 51 waits for the first timing sensor 11 to detect the front end of the pallet P. When the front edge of the pallet P is detected as shown in FIG. 6, the process proceeds to step S5.

In step S5, in the state shown in FIG. 6, the controller 51 controls the front end package sensor 13 to determine whether or not the light pulse is skipped from the light projector to be received by the light receiver. If the light is received (if OFF), there is no abnormality at the front end, and the process proceeds to step S6. If the light cannot be received (if ON), there is an abnormality at the front end, so the process proceeds to step S10. Actually, step S4 and step S5 have almost the same timing.

In step S6, the controller 51 waits for the second timing sensor 21 to finish detecting the rear end of the pallet P. When the detection of the trailing edge of the pallet P is completed (OFF) as shown in FIG. 7, the process proceeds to step S7.

In step S7, in the state shown in FIG. 7, the controller 51 controls the trailing edge package sensor 23 to determine whether or not the light pulse is skipped from the light projector to be received by the light receiver. If the light is received (if it is OFF), there is no abnormality at the front end, so the process proceeds to step S8. If the light cannot be received (if ON), there is an abnormality at the rear end, so the process proceeds to step S10. Actually, step S6 and step S7 have almost the same timing.

In step S8, the controller 51 determines whether the load A has reached a predetermined position in the second area 5B. This determination is made based on a sensor (not shown) or a control amount of the conveyor drive unit 31. When the pallet P and the load A reach the predetermined position in the second area 5B as shown in FIG. 8, the process proceeds to step S8.

In step S9, the controller 51 controls the conveyor drive unit 31 to stop the conveyor 5.

In step S10, various abnormality processes are performed. For example, the conveyor 5 may be stopped, the conveyor 5 may be retracted, the alarm 33 may be driven, or a combination thereof may be used.
During the above-described transport operation, the first height sensor 15, the second height sensor 25, the first width sensor 17, and the second width sensor 27 normally emit light from the projector and receive light from the receiver. Therefore, it is always in the OFF state. Then, if there is no abnormal packaging, the OFF state is maintained, and if there is abnormal packaging, the light is shut off and turned on. Then, the abnormality processing is performed thereafter.

2. Features of the Embodiment The above embodiment can be described as follows.
The storage station 1 (an example of a transfer system) includes a conveyor 5 (an example of a conveyor), a first detection unit 7 (an example of a first detection unit), a second detection unit 9 (an example of a second detection unit), The controller 51 (an example of a controller) and the alarm device 33 (an example of an alerting|reporting part) are provided.
The conveyor 5 has a first area 5A and a second area 5B that are lined up in the X direction (an example of the carrying direction) and that have overlapping portions, and carry the load A from the first area 5A to the second area 5B. To do.
The first detection unit 7 is provided at a position where only the second region 5B is located in the X direction, and detects the abnormal shape of the load A at the front end of the load A conveyed from the first region 5A.
The second detection unit 9 is provided at a position where only the first region 5A is located in the X direction, and detects the abnormal shape of the rear end of the load A conveyed to the second region 5B.
The controller 51 determines the detection results of the first detection unit 7 and the second detection unit 9.
The alarm device 33 notifies the abnormality when the first detection unit 7 and/or the second detection unit 9 detect a package shape abnormality.
In this storage station 1, the first detection unit 7 is provided on the downstream side in the transport direction, and the second detection unit 9 is further provided on the upstream side in the transport direction. Since the first area 5A and the second area 5B are arranged in the carrying direction and have overlapping portions, the carrying path required to detect the front and rear of the load A can be shortened.

3. Other Embodiments A plurality of embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments, and various modifications can be made without departing from the gist of the invention. In particular, the plurality of embodiments and modifications described in this specification can be arbitrarily combined as needed.
In the above-described embodiment, the package sensor is located outside the pallet with respect to the timing sensor (eg, the rear-end package sensor 23 is located at a position upstream of the second timing sensor 21 by a predetermined distance). It may be inside the pallet (downstream side in the above example).
The type of sensor is not limited to that of the above embodiment. For example, the first detection unit and the second detection unit may be cameras. The sensor may be a reflection type photoelectric sensor, an infrared sensor or an ultrasonic sensor.
The receiving station may also serve as the exit station. In the case of warehousing, the upstream side and the downstream side of the embodiment are reversed, and the first area and the second area are also reversed.
The device for loading the load into the loading station may be an AGV or a guided vehicle that travels on a track, in addition to the forklift.
A combination other than a forklift and a stacker crane may be used, for example, a combination of a forklift and an AGV may be used.

INDUSTRIAL APPLICABILITY The present invention can be widely applied to a transportation system having a conveyor for transporting a load thereon.

1 :Automatic warehouse 3 :Rack 3a :Outer pillar 3b :Inner pillar 4 :Stacker crane 5 :Conveyor 5A :First area 5B :Second area 6 :Forklift 7 :First detector 9 :Second detector 11 :Second 1 timing sensor 13: front end package sensor 13a: transmissive photoelectric sensor 13b: transmissive photoelectric sensor 15: first height sensor 17: first width sensor 21: second timing sensor 23: rear end package sensor 23a: transparent Type photoelectric sensor 23b: transmission type photoelectric sensor 25: second height sensor 27: second width sensor 28: mounted sensor 29: striker 31: conveyor drive unit 33: alarm device 51: controller 100: automatic warehouse system A: load P :palette

Claims (6)

A conveyor that has a first region and a second region that are arranged in the transport direction and that have overlapping portions, and that transports a load from the first region to the second region,
A first detection unit that is provided at a position where only the second region is located in the transport direction, and that detects an abnormal shape of a package at the front end of the package transported from the first region;
A second detection unit that is provided at a position where only the first region is located in the transport direction, and that detects an abnormal shape of the rear end of the load transported to the second region;
A controller that determines the detection results of the first detection unit and the second detection unit;
An alerting unit that alerts the user when the first detecting unit and/or the second detecting unit detects a package abnormality,
A transport system including. The load is conveyed while being placed on the load support member,
The first detector is
A first sensor for detecting the load supporting member;
A second sensor for detecting the load,
The controller determines whether or not the load is detected by the second sensor at a timing when the load supporting member is detected by the first sensor,
The second detector is
A third sensor for detecting the load supporting member;
A fourth sensor for detecting the load,
The controller determines whether or not the load is detected by the second sensor at a timing when the load supporting member is not detected by the third sensor,
The notification unit,
When the load is detected by the second sensor at the timing when the load supporting member is detected by the first sensor, and/or
The transport system according to claim 1, wherein when the load is detected by the fourth sensor at a timing when the load supporting member is not detected by the third sensor, an abnormality is notified. Further comprising a fifth sensor,
The fifth sensor is a position between the first detection unit and the second detection unit in the transport direction, and a position where only the second region is located, and is inside the first detection unit in the width direction. Is located in
The fifth sensor is provided so that the optical axis is in the vertical direction, detects the load,
The transport system according to claim 1 or 2, wherein the notification unit reports an abnormality when the load is detected by the fifth sensor. The said 2nd detection part is a conveyance system in any one of Claims 1-3 arrange|positioned rather than the conveyance direction center of the said 1st area|region in the conveyance direction downstream side. Further comprising a sixth sensor which is provided at an upstream end of the conveyor in the transport direction and which detects the load when the load is placed on the conveyor,
If the sixth sensor does not detect the load when the load is placed on the conveyor, the controller causes the conveyor to move the load to the upstream side in the transport direction, and then the transport direction. The transport system according to claim 1, wherein the transport system is moved to the downstream side. The said 1st detection part is a conveyance system in any one of Claims 1-5 arrange|positioned rather than the conveyance direction center of the said 2nd area|region in the conveyance direction upstream side in the said 2nd area|region.

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