JP3722676B2 - Package detection device - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a package form detection apparatus, and more particularly to a package form detection apparatus suitable for use in automatic warehouse entry / exit.
[0002]
[Prior art]
Conventionally, in an automatic warehouse system, an automated guided vehicle, etc., by detecting in advance the packing state of the transported object, it is possible to prevent the unnecessary trouble associated with the transport in advance as well as accurately transporting the transported object. For this purpose, the package detection device is used. A conventional load state detection device has, for example, a plurality of optical sensors at regular intervals across the frames on both sides of a load carrier that can move in the front-rear direction (left and right as viewed from the traveling direction) or on the upper and lower sides of separately provided support columns. In some cases, when the optical sensor is attached, the load appearance is judged to be abnormal, and the movement operation of the loading platform and the movement operation of the stacker crane / automatic guided vehicle are also stopped.
[0003]
A load state detection device for a load carrying device proposed in Japanese Patent Application Laid-Open No. 9-40109 fixes pillars at the four corners of a movable carrier, and a pair of the pillars has a U-shaped detection bar opening. The machine is suspended in a direction that intersects perpendicularly to the direction of movement of the loading platform, and mechanical operation detectors are placed at the bottom of both sides of this detection bar. This is detected by an operation detector.
[0004]
In addition, the load state sensor proposed in Japanese Patent Application Laid-Open No. 10-236606 is provided with pillars at the four corners of the loading platform of a stack crane that travels between each row of three-dimensional shelves, and allows loading and unloading to the loading platform. Fillers that rotate in the direction to be performed are provided on each of the columns, and optical sensors are arranged on the columns facing each other on the traveling direction side of the stacker crane so that the rays of each other coincide with each other. When the optical axis is cut by moving, the displacement of the load height and the load form is detected.
[0005]
An example of a conventional package state detection apparatus using an optical sensor will be described with reference to FIG. In FIG. 3, optical sensors 4 (structures in which light emitting elements and light receiving elements are arranged above and below) are arranged at the four left and right corners of the gate-shaped package sensor base 1. The electric carriage 2 is configured to pass through. That is, the electric trolley 2 is, for example, equipment installed around an article shelf in an automatic warehouse, and is configured to appropriately move the article (article 10) placed on the electric trolley 2; The pallet on which the article 10 is placed is placed on the pallet placing part 2a on the pillars erected at the four corners of the electric carriage 2 so that it can travel on the rail 21. Then, when the electric carriage 2 passes under the load form sensor mount 1, the load form is detected depending on whether or not the article 10 on the pallet is detected by the optical sensor 4.
[0006]
This conventional method of detecting the load form uses an exaggerated load form detection device with a gate-shaped frame, and requires the movement operation of the electric carriage 2. The detection using the optical sensor 4 allows the load form to be detected. If there is an abnormality in the system, an error is detected and the system is stopped. In addition, this requires movement of the carriage (movement passing under the gantry) for detection, requires a wide installation location, and is expensive, such as machines and control devices. That is, in the conventional detection device, the installation space is large, and the load (electric trolley or conveyor) is moved for detection. Therefore, when a load state error occurs, the transport system stops and the load state is corrected. In addition, there were problems such as the need to restore the transport system.
[0007]
[Problems to be solved by the invention]
The present invention eliminates the above-mentioned drawbacks, such as the package-type detection device using the conventional gate-type gantry and the optical sensor, and provides a package configuration detection device with a simple configuration and a small installation space. For the purpose.
[0008]
[Means for Solving the Problems]
The load form detection apparatus according to the present invention is a load form detection apparatus configured to detect a load form of a conveyed product, the holding means for holding the conveyed product, and the transfer held by the holding means. A light emitting means that allows predetermined light to pass through the vicinity of the load form limit of the transported object, and a board-like shape that can be visually detected by receiving light from the light emitting means . It is characterized by having irradiation means (Claim 1), and thereby the above-mentioned object can be achieved.
[0009]
Moreover, in the above-described packing state detection apparatus according to the present invention,
The light emitting means is a laser pointer that emits laser light attached to the holding means (claim 2);
A line indicating the position limit of the package is provided in the irradiated means (Claim 3);
A scale is provided on the irradiated means (Claim 4);
-The said irradiation means is comprised by a wall surface, a rack, or a board (Claim 5), It is characterized by the above-mentioned.
[0010]
(Function)
According to the package shape detection apparatus according to the present invention, the predetermined light passes through the vicinity of the package shape of the conveyed object with respect to the holding means for holding the conveyed object and the conveyed object held by the holding means. In addition, the light emitting means made and the irradiated means that can receive the light from the issuing means and can visually detect the packing state can be used, and no complicated confirmation device or equipment is required. It is easy to visually check the packaging. (Claim 1)
[0011]
Further, in the above-described package shape detection apparatus according to the present invention, the light emitting means is a laser pointer that emits laser light attached to the holding means, so that if the package shape exceeds the limit, the laser light is cut off. As a result, the irradiation light on the wall surface, rack or board can no longer be seen, and the operator can easily determine whether the load is abnormal. (Claim 2)
[0012]
Further, in the above-described package shape detection apparatus according to the present invention, according to the case where the irradiation means is provided with a line indicating the position limit of the package shape, the position of the contour of the shadow appropriately projected and this line It is easy for the operator to determine whether or not the package is abnormal simply by making a comparison. (Claim 3)
[0013]
Further, in the above-described package shape detection apparatus according to the present invention, according to the configuration in which the scale is provided on the irradiated unit, the operator can simply compare the position of the contour of the projected shadow with this scale. It is easy to determine the package state. (Claim 4)
[0014]
Further, in the above-described package shape detection apparatus according to the present invention, the irradiation means is configured by a wall surface, a rack, or a board, so that a proper place of the warehouse facility can be used as a configuration that reflects the shadow of the projected transported object. it can.
[0015]
Embodiment
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
FIG. 1 shows an embodiment of a package form detection apparatus according to the present invention, and in particular, a package form detection apparatus using a laser pointer. The same parts as those of the conventional apparatus shown in FIG.
[0016]
The load state detection apparatus 20 in this embodiment is an apparatus using an electric carriage 2 as in the conventional apparatus shown in FIG. 3, and the electric carriage 2 is arranged around an article shelf in an automatic warehouse (not shown). The transported goods (article 10) are placed on the electric carriage 2 so that the transported goods 10 or the pallet 11 can be gripped by a stacker crane, for example. It is configured to move as appropriate as possible.
[0017]
In addition, this electric trolley | bogie 2 is comprised so that the pallet 11 on which the article | item 10 was mounted may be mounted in the pallet mounting part 2a on the support | pillar standing upright at the four corners. And it can drive | work on the rail 21 via the driving wheel 3 with the driving force of the motor 25. FIG.
[0018]
The package shape detection apparatus 20 according to the present embodiment is configured so that predetermined light is transmitted to the electric carriage 2 that is a holding unit that holds the conveyed object 10 and the conveyed object 10 that is held by the electric carriage 2. The light emitting means 7 set so as to pass near the limit of the load form, and the rack side surface 8a and the board 8b are provided as the irradiated means 8 for receiving the light from the issuing means 7. By visually confirming this irradiated means 8, it is possible to detect the loaded form of the conveyed object 10 on the pallet 11. With such a configuration, it is possible to visually confirm the package appearance without providing a complicated confirmation device or facility.
[0019]
As shown in the figure, the light emitting means 7 can be configured to have a plurality of the light emitting means 7 attached at appropriate positions on the column 5 of the electric carriage 2. For example, a laser pointer that emits laser light can be used. As described above, when the laser pointer is used as the light emitting means 7 and, for example, if the package of the transported object 10 exceeds the limit, the laser light is blocked by the transported object 10, so that irradiation of the rack side surface 8a or the board 8b is performed. I can't see the light. Therefore, in this case, it is easy for the operator to determine that the load is abnormal. The light emitting means 7 may be another light emitting means 7 of the laser pointer, and for example, a spotlight may be considered. With this spotlight, the entire load is projected, or the corner portion of the load is projected.
[0020]
The position of the board 8b may be an appropriate position where the light of the light emitting means 7 hits from a predetermined position where the electric carriage 2 stops, and may be a position that can be easily seen by the operator. It does not specifically limit about.
[0021]
Further, the board 8b may have a structure fixed to the electric carriage 2. As described above, the structure in which the board 8b is fixed to the electric carriage 2 has an advantage that there is no restriction on the position at which the electric carriage 2 stops (position for detecting the load state).
[0022]
Further, in the irradiated means 8 such as the rack side surface 8a and the board 8b, for example, a limit line 9 (the board 8 is shown in FIG. 2) indicating the position limit of the load form as shown in FIG. 2 can be provided. With such a configuration, it is only necessary to compare the position of the contour of the projected shadow with the limit line 9, and whether the contour exceeds the limit line 9 or not may cause Judgment can be made easily.
[0023]
As shown in FIG. 2, in addition to the limit line 9 provided on the board 8b, a scale 9a graduated in the left-right direction of the limit line 9 is provided. According to such a configuration, the position of the outline of the shadow projected on the board 8b by the light emission of the light emitting means 7 can be easily determined for the operator by the scale 9a.
[0024]
Further, in the present embodiment, the rack side surface 8a and the board 8b are used as the irradiated means 8, but as the irradiated means, for example, a wall surface at an appropriate place in the room can be used. Further, as shown in FIG. 2, when the scale 9a is provided, the operator can know how much the load is, and the position of the load on the electric carriage 2 can be easily corrected. In the case of the board 8b, the board 8b can be installed at an arbitrary place, so that the board 8b can be installed at an arbitrary place in accordance with a change in load.
[0025]
With the apparatus according to the present invention, it is possible to easily detect a load appearance abnormality when a load is loaded on the electric carriage 2. In addition, a large facility such as a gate-type load state sensor mount in a conventional load state detection device of the conventional type is not required. In the above embodiment, a laser pointer is used as the light emitting means 7, but it is needless to say that any light source may be used as long as it can detect an abnormal packaging condition.
[0026]
【The invention's effect】
As described above, according to the package shape detection apparatus according to the present invention, predetermined light is transmitted to the package of the conveyed product with respect to the holding unit that holds the conveyed product and the conveyed product that is held by the holding unit. By having the light emitting means that passes near the limit and the irradiated means that can receive the light from the issuing means and can visually detect the packing state, complicated confirmation devices and equipment In addition, it is possible to provide a package state detection apparatus that can easily check the package form visually, has a simple structure, has a small installation space, and does not cause a system shutdown. (Claim 1)
[0027]
Further, according to the package shape detection apparatus of the present invention, the light emitting means is a laser pointer that emits laser light attached to the holding means, so that if the package shape exceeds the limit, the laser beam is emitted. Since it is blocked and the irradiation light on the wall surface, rack or board can no longer be seen, it is easy for the operator to judge the abnormal state of the load, so that it is possible to provide an inexpensive load shape detection device with a simple configuration and a small mounting space. (Claim 2)
[0028]
According to the package shape detection apparatus according to the present invention, according to the case where the irradiation means is provided with a line indicating the position limit of the package shape, the position of the contour of the projected shadow is compared with this line. Therefore, it is possible for the operator to easily determine the abnormal state of the load, and therefore, it is possible to provide an inexpensive load state detection apparatus with a simple configuration and a small installation space. (Claim 3)
[0029]
Moreover, according to the package shape detection apparatus according to the present invention, according to the configuration in which the scale is provided on the irradiated means, the operator only has to compare the position of the contour of the appropriately projected shadow with this scale. Therefore, it is possible to easily determine the package state, and thus it is possible to provide an inexpensive package state detection device with a simple configuration and a small installation space. In addition, for example, it is possible to know more than the appearance of the load at the stage where the electric cart is loaded, and also to know the amount of abnormality. (Claim 4)
[0030]
Further, according to the package appearance detection device according to the present invention, the irradiation means is configured by a wall surface, a rack, or a board, so that a suitable place of the warehouse facility is used as a configuration that reflects the shadow of the projected transported object. Therefore, it is possible to provide a package state detection device with a simple configuration and an inexpensive mounting space .
[Brief description of the drawings]
FIG. 1 is a schematic perspective view showing a load appearance detecting apparatus according to the present invention.
FIG. 2 is a schematic view showing a board used in the package appearance detection apparatus according to the present invention.
FIG. 3 is a schematic perspective view showing a conventional load state detection apparatus.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Gate-type cargo state sensor stand 2 Electric trolley 3 Drive wheel 4 Sensor 5 Prop 6 Drive wheel 7 Light emission means (laser pointer)
8 Board (Irradiated means)
9 Limit line
9a Scale
10 Transported goods (goods)
11 palettes
20 Package detection device
21 rails

Claims (4)

A load state detection apparatus configured to detect a load shape of a conveyed object, wherein a predetermined light is applied to the holding means for holding the conveyed object and the conveyed object held by the holding means. It has a light emitting means adapted to pass near the limit of the package shape of the conveyed product, and a board-shaped irradiated means capable of visually detecting the package shape by receiving light from the light emitting means . Packing state detection device characterized by.   2. The package appearance detection apparatus according to claim 1, wherein the light emitting means is a laser pointer that emits laser light attached to the holding means.   2. The package form detection device according to claim 1, wherein the irradiation means is provided with a line indicating a position limit of the package form.   The package appearance detection device according to claim 1, wherein the irradiated means is provided with a scale.

Images