JP4400491B2 - Warehouse equipment - Google Patents

Description

  The present invention relates to a warehouse facility including a plurality of article storage units in which goods are loaded or unloaded, or goods are picked up by a forklift.

An example of the conventional warehouse facility is disclosed in Patent Document 1, for example.
The warehouse facility disclosed in Patent Document 1 is a moving shelf facility, which is capable of performing inventory management with certainty and reducing the burden on the operator. And the forklift that handles the fixed shelf is equipped with an ultrasonic transmitter, and the forklift is received or received by receiving a transmission signal of the ultrasonic transmitter by a plurality of ultrasonic receivers provided on the movable shelf and the fixed shelf. It is configured to detect the shelf number (position) of the compartment storage space of the moving shelf or the fixed shelf facing each other for delivery, and determine that the entry or exit has been executed for the detected compartment storage space. . According to this configuration, at the time of warehousing or unloading, the operator can specify the zoning storage space where the warehousing or unloading has been executed simply by operating the forklift so as to face the zoning storage space. Inventory management in the space can be reliably performed, and the burden on the operator can be greatly reduced.
JP 2003-306213 A

  In recent years, even when a picking operation is executed from a compartment storage space of a shelf, it is desired to be able to specify the compartment storage space for performing the work reliably and to perform inventory management reliably. However, a picking forklift is indispensable to perform the picking work in the compartment storage space at a high shelf position. At this time, the operator changes the picking position according to the height of the article placed in the compartment storage space. Therefore, there is a problem that the vertical compartment storage space for actually executing the picking operation cannot be specified accurately.

  In recent years, the height of shelves has increased, and ultrasonic waves may be blocked by articles in the compartment storage space at a high height, so that the ultrasonic waves may not reach. Due to this, an ultrasonic receiver in an adjacent passage may be received and an erroneous compartment storage space may be recognized.

  Therefore, the present invention has an object to provide a warehouse facility capable of reliably recognizing a compartment storage space in the height direction not only on a plane but also in inventory management even during picking work. .

  In order to achieve the above-mentioned object, the invention according to claim 1 of the present invention is a plurality of articles in which an article or a container in which an article or an article is stored or an article picking operation is performed by a forklift. A warehouse facility provided with a storage unit, comprising: a management controller that performs inventory management of the articles or containers of each article storage unit, and instructs the forklift to instruct the operation, and the forklift has a position of the forklift And a terminal device capable of transmitting and receiving data including the command between the management controller, and transmitted from the ultrasonic transmitter above the article storage unit. A plurality of ultrasonic receivers for receiving ultrasonic waves, and the ultrasonic detection results respectively received by the plurality of ultrasonic receivers; A position measuring device for detecting the space absolute coordinates of the ultrasonic transmitter, and the management controller includes a map for setting a space for identifying each article storage unit by the space absolute coordinates, the forklift is a reach forklift Or the picking forklift separately, and the management controller detects whether the position measuring device detects the spatial absolute coordinates of the ultrasonic transmitter, whether the forklift that transmitted the command is a reach forklift or picking The map is selected depending on whether it is a forklift, the article storage unit is specified by the space absolute coordinate of the map and the detected space absolute coordinate, and it is confirmed whether it matches the article storage unit instructed by the command. Transmitting the result to the terminal device of the forklift, Is shall.

  In the case of reach forklifts, containers are transferred (incoming or outgoing work) using forks, and in the case of picking forklifts, goods are transferred (picking) by workers in the cab. When the article or container is transferred, the height position of the ultrasonic transmitter facing the article storage unit is different.

  According to the above configuration, maps are separately provided depending on whether the forklift is a reach forklift or a picking forklift, and the forklift is either a reach forklift or a picking forklift by changing the setting of the space that identifies the same article storage unit. However, the article storage unit that is performing the work is accurately identified, and it is confirmed whether the identified article storage unit matches the article storage unit designated by the command, and the confirmation result is transmitted to the terminal device of the forklift. The Therefore, it is possible to prevent the work from being performed with the wrong article storage unit, and it is possible to perform reliable inventory management.

  The invention according to claim 2 is the invention according to claim 1, wherein when the plurality of article storage portions are arranged to face each other across the work passage of the forklift, the map has A dead zone that does not specify the article storage portion is formed on a substantially central line along the working path.

  According to the above configuration, when the ultrasonic transmitter is substantially on the center line, the article storage unit on which the forklift is performing work is prevented from being erroneously determined as the article storage unit on which side. Is done.

  Further, the invention according to claim 3 is the invention according to claim 1 or claim 2, wherein when the article storage unit is formed as a moving shelf of a moving shelf facility, in the map of the management controller The same space is set in another article storage unit by a passage formed between the moving shelves.

  In the case of mobile shelf equipment, the passages formed between the mobile shelves partially overlap on both sides. Therefore, when the space which specifies a different article storage part overlaps partially and an ultrasonic transmitter is located in the overlapping space, it cannot be judged which goods storage part. That is, it is not possible to specify the article storage unit that performs the loading / unloading work or the picking work.

  According to the above configuration, even when the forklift (ultrasonic transmitter) is located in the overlapping space, the article storage unit that is performing the work can be accurately specified by the passage that is performing the work.

  Moreover, invention of Claim 4 is invention of any one of Claims 1-3, Comprising: When the said article storage part is formed as a movement shelf of movement shelf equipment, Information specifying a path formed between the mobile shelves is transmitted from the terminal device to the management controller.

  According to the above configuration, the management controller accurately sends the article storage unit that is performing the loading / unloading work or the picking work by transmitting the passage performing the loading / unloading work from the terminal device of the forklift to the management controller. Can be identified.

  The invention according to claim 5 is the invention according to claim 1 or claim 2, wherein when the article storage portion is formed by designating a range on a plane, a map of these article storage portions is provided. Is set by plane coordinates, and inventory management of the articles or containers in the height direction in the article storage unit of the plane coordinates is performed according to the number of times of loading and unloading operations.

  An article storage section (flat area) formed by designating a range on a plane does not have an article storage section preset in the height direction. Therefore, the article storage unit cannot be specified even if the spatial coordinates of the ultrasonic transmitter in the height direction are detected.

  According to the above configuration, the position of the ultrasonic transmitter, that is, the position of the forklift is specified by plane coordinates, and the articles or containers stacked in the article storage unit are increased in the number of stages during the warehousing operation, and the inventory data is increased. When the goods are shipped, the number of steps is reduced to obtain the inventory data.

  The invention according to claim 6 is the invention according to any one of claims 1 to 5, wherein the ultrasonic transmitter is configured to move up and down together with the fork when the forklift is a reach forklift. It is mounted on a rest and is mounted on a head guard of a driver's cab that moves up and down with the fork at the time of picking forklift.

  According to the above configuration, the ultrasonic transmitter is mounted on the backrest when the forklift is a reach forklift, moves up and down together with the fork, is closest to the position of the fork, and has no hindrance to transfer of articles or containers, Placed in a non-contact position. Also, the ultrasonic transmitter is mounted on the head guard of the operator's cab that moves up and down with the fork during picking forklifts, and is close to the head position of the operator who transfers the article or container, which may hinder the transfer operation. Placed in no position. Therefore, it is possible to more easily specify the article storage unit that is performing the loading / unloading operation.

  The invention according to claim 7 is the invention according to any one of claims 1 to 6, wherein the ultrasonic wave transmitter is perpendicular to the direction of the fork when the forklift is a reach forklift. The ultrasonic waves are transmitted in the direction of the proper direction, and the ultrasonic waves are transmitted in the direction parallel to the direction of the fork in the picking forklift.

  When the forklift is a reach forklift during the loading / unloading operation, the forklift is inserted into the article storage unit, and when the forklift is a picking forklift, the fork is not inserted into the article storage unit. It becomes a form. Therefore, when the forklift is a reach forklift and when it is a picking forklift, the attitude of the forklift differs by 90 degrees.

  According to the above configuration, the position of the forklift is 90 degrees different between the reach forklift and the picking forklift during the loading / unloading operation. Therefore, the reach forklift is in a direction perpendicular to the direction of the fork. By transmitting ultrasonic waves and transmitting ultrasonic waves in a direction parallel to the direction of the fork during picking forklifts, the ultrasonic waves fly through the work passage 3 without being blocked by the compartment storage space (article storage unit), Reach the ultrasonic receiver.

  The invention according to claim 8 is the invention according to claim 7, wherein the ultrasonic transmitter is a transmitter that emits ultrasonic waves radially in three directions, vertically upward and obliquely upward. It is characterized by.

  When working with a fork or cab raised to the highest position, etc., when the ultrasonic transmitter is close to the ceiling, simply sending ultrasonic waves radially in the vertical direction will cause ultrasonic waves to be sent to multiple ultrasonic receivers. May not reach.

  According to the above configuration, the ultrasonic waves are transmitted radially upward and vertically upward, so that even when the ultrasonic transmitter is located near the ceiling, the ultrasonic waves are reliably transmitted to the plurality of ultrasonic receivers. Can be reached.

  The invention according to claim 9 is the invention according to any one of claims 1 to 8, wherein the ultrasonic transmitter transmits ultrasonic waves according to a command from the terminal device. It is characterized by.

  Although it is possible to transmit ultrasonic waves from the ultrasonic transmitter with a command from the position measuring device, when a large number of forklifts are active, commands to the forklifts in order according to commands from the position measuring device. If it is, the position of the forklift that actually needs to be measured may not be specified.

  According to the above configuration, the coordinates of the forklift that actually needs to be measured can be obtained by transmitting ultrasonic waves according to a command from the terminal device of the forklift and causing the position measuring device to measure the position of the forklift.

  The invention according to claim 10 is the invention according to any one of claims 1 to 9, wherein the plurality of article storage portions are opposed to each other across the work passage of the forklift. When arranged, the ultrasonic receivers are grouped for each work path, and the position measuring device is based on the detection result of the ultrasonic receiver of the group to which the ultrasonic receiver that first receives the ultrasonic waves belongs. Thus, the absolute coordinates of the space are obtained.

  Ultrasound may be received by an ultrasonic receiver that has crossed the path, and the spatial coordinates are determined based on the ultrasonic detection results of the ultrasonic receiver that first received the ultrasonic wave and the ultrasonic receiver that has passed the path. If detected, there is a risk of false detection.

  According to the above configuration, based on the detection result of the ultrasonic receiver of the group to which the ultrasonic receiver that first received the ultrasonic wave belongs, the space absolute coordinates are obtained, so that the work path where the forklift is located is accurately determined. The space absolute coordinates of the facing article storage are determined.

  In the warehouse facility according to the present invention, a map for specifying an article storage unit is separately provided depending on whether the forklift is a reach forklift or a picking forklift. By changing the setting of the space for specifying the same item storage unit, the forklift can reach the reach forklift. In addition, in any of the picking forklifts, it is possible to accurately specify the article storage unit that is performing the work and to perform reliable inventory management.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[Embodiment 1]
FIG. 1 is a perspective view of a main part of a storage area of a warehouse facility according to Embodiment 1 of the present invention, and FIG. 2 is a plan view of the storage area of the warehouse facility.

A plurality of fixed shelf groups (groups) 1 are provided in the storage area of the warehouse facility.
Each fixed shelf group 1 stores a pallet (an example of a container) 5 on which a case (an example of an article) 4 is placed with the work passage 3 of the forklift 2 interposed therebetween (or facing the work passage 3). A fixed shelf 7 having a plurality of rows and a plurality of stages (three stages in the figure) of compartment storage spaces (an example of an article storage unit) 6 is arranged.

  In the warehouse facility, the reach forklift 10 and the picking forklift 30 are used as the forklift 2 that is a cargo handling vehicle. The reach forklift 10 and the picking forklift 30 will be described.

  As shown in FIG. 3, the reach forklift 10 includes a vehicle body 11, a pair of left and right forks 12 projecting forward of the vehicle body 11 (perpendicular to the front-rear direction), and a side surface of the pallet 5 supported by the forks 12. The mast 15 is configured by a pair of left and right outriggers 16 on both sides of the front portion of the vehicle body 11. And can be moved back and forth along the outrigger 16 in the front-rear direction. The mast 15 is moved back and forth in the front-rear direction, and the fork 12 and the backrest 14 of the mast 15 are moved up and down, so that the pallet 5 is scooped and wholesaled.

  The vehicle body 11 is provided with a driving space 17 where a driver gets on and a cargo handling / traveling operation device (such as an operation lever and a handle for raising and lowering the fork 12) 18. A guard 19 is provided.

  On the upper surface of the substantially upper central portion of the backrest 14 (the position that moves up and down together with the fork 12, is closest to the position of the fork 12, and does not interfere with or transfer the case 4 or the pallet 5), In order to notify the position of 2, an ultrasonic transmitter 21 </ b> A that transmits ultrasonic waves radially in three directions, both diagonally upward and vertically upward, on one straight line is attached. In addition, a terminal device 22 capable of transmitting and receiving data including an entry / exit command and the like with a management controller 51 described later is attached above the mast 15 toward the operation space 17 of the vehicle body 11. Furthermore, a controller 23 of an ultrasonic transmitter is attached to the upper surface of the head guard 19 that covers the upper portion of the operating space 17. The controller 23 of this ultrasonic transmitter is connected to the terminal device 22, drives the ultrasonic transmitter 21 </ b> A in accordance with a drive signal from the terminal device 22, and transmits an ultrasonic wave. It has a function of outputting to the device 22. A label issuing machine (printer) 24 is provided in the operation space 17 of the vehicle body 11.

  The ultrasonic transmitter 21A of the reach forklift 10 has a rectangular parallelepiped shape in which both ends in the long axis direction are cut into diagonal triangles in the long axis direction, and the ultrasonic wave transmitting port 25 has both diagonal cutout portions and At the center upper part, it is provided toward the upper and lower sides of the both sides and vertically upward, and ultrasonic waves are transmitted in the left-right direction (direction perpendicular to the direction in which the fork 12 protrudes) during the loading / unloading operation. That is, it is attached to the backrest 14 so that the ultrasonic wave is transmitted in the direction of the working passage 3.

  As shown in FIG. 4, the picking forklift 30 includes a vehicle body 31, a driver's cab 32 disposed in front of the vehicle body 31, and a pair of left and right masts 33 that support the driver's cab (driver's cab) 32 so as to be movable up and down. And a pair of left and right forks 34 that protrude in front of the cab 32 and move up and down integrally with the cab 32. The cab 32 is lifted and lowered by the up and down movement of the mast 33, so that the cab 32 is boarded. The picking work is performed on the case 4 of the compartment storage space 6 by the worker who performs the above operation, and the pallet 5 is picked and wholesaled by moving the fork 34 up and down by moving the cab 32 up and down.

  A head guard 35 is provided at the upper part of the cab 32 so as to cover the cab 32. Further, a cargo handling / traveling operation device (driving and raising / lowering the cab 32, etc.) is provided at the front of the cab 32. ) 36 is provided.

  And a predetermined position of the head guard 35 (nearly above the position of the operator who transfers the case 4 and does not interfere with the transfer operation, substantially above the position where the operator stands in the cab 32) Is attached to the upper surface of the head guard 35, and an ultrasonic transmitter 21B that radiates the ultrasonic waves radially upward and obliquely upward is attached to the upper surface of the head guard 35. A transmitter controller 23 is attached. Further, in the cab 32, a terminal device 22 and a label issuing machine 24 similar to the reach forklift 10 are attached.

  In addition, the ultrasonic transmitter 21B of the picking forklift 30 has a rectangular parallelepiped shape in which both ends of the rectangular parallelepiped are cut into diagonal triangles in different directions in the short axis direction. Ultrasonic waves are provided in the diagonal notch and the central upper part toward both the diagonally upper side and the vertical upper side in the front-rear direction during the picking operation (the direction parallel to the direction in which the fork 34 protrudes). Is attached to the head guard 34 so that ultrasonic waves are transmitted in the direction of the working passage 3.

  That is, when performing work on the compartment storage space 6, when the forklift 2 is the reach forklift 10, the fork 12 is inserted into the compartment storage space 6, whereas when the forklift 2 is the picking forklift 30, the fork 34 is not inserted into the compartment storage space 6, and the picking forklift 30 is laterally attached to the compartment storage space 6. When the forklift 2 is the reach forklift 10 and the picking forklift 30, the forklift 2 has a posture of 90 degrees. Different. Therefore, as shown by the arrows in FIG. 8, when the reach forklift 10 is used, the ultrasonic wave is transmitted in the left-right direction, and when the picking forklift 30 is used, the ultrasonic wave is transmitted in the front-rear direction. The ultrasonic waves fly through the passage 3 and can reach an ultrasonic receiver 45 described later without being blocked by the pallet 5 and the case 4 in the compartment storage space 6.

Each of the reach forklift 10 and the picking forklift 30 is provided with a hand-held bar code reader 26.
The terminal device 22 is connected with a controller 23 of an ultrasonic transmitter, a label issuer 24, and a barcode reader 26, and a controller 40 of the terminal device 22 and a wireless communication device 43 (FIG. 5) are provided inside. Is provided with a liquid crystal display panel 42 with a touch panel 41 functioning by the controller 40. The wireless communication device 43 is assigned a number unique to the forklifts 10 and 30 in advance.

  As shown in FIG. 6, by the liquid crystal display panel 42, the compartment storage space 6 for executing a work mode (separate operation of warehousing, delivery, picking) and work (entry, delivery, picking) for an operator. Are displayed (work passage number, row number and section number of the compartment storage space 6 of the fixed shelf group 1; hereinafter referred to as an instruction location), and the location of the compartment storage space 6 where the work is performed (work The passage number, the row number of the compartment storage space 6 of the fixed shelf group 1, the column number; hereinafter referred to as the current location) are displayed. Further, the code of the case 4 for performing the work (product code; an example of information for specifying the article) and the quantity of the case 4 to be taken out from the compartment storage space 6 (only during picking work) are displayed. In addition, in order to perform an operation input using the touch panel 41, a shelf confirmation pushbutton switch that is operated at the time of shelf confirmation (details will be described later) is displayed, and determination of pass / fail of the compartment storage space 6 that is performing the work described later is performed. (Good or bad) is displayed.

  As shown in FIG. 1 and FIG. 2, each of the ceiling portions above the work path 3 of each fixed shelf group 1 is provided with a predetermined interval, and is transmitted from the ultrasonic transmitters 21A and 21B of the forklift 2. A plurality (five in the figure) of ultrasonic receivers 45 for receiving sound waves are provided. In addition, a position measuring device (measuring instrument) that is connected to the ultrasonic receiver 45 and measures the spatial absolute coordinates (three-dimensional coordinates with one point in the warehouse as the origin) of the ultrasonic transmitters 21A and 21B that transmit ultrasonic waves. (Main body) 46 (FIG. 5) is provided. The ultrasonic receivers 45 are grouped for each fixed shelf group 1, and the position measuring device 46 detects the detection results of the ultrasonic receivers 45 of the fixed group 1 to which the ultrasonic receiver 45 that first received the ultrasonic waves belongs. The absolute coordinates of the space are obtained on the basis of the above, and the time (an example of a detection result) until they are received by the three ultrasonic receivers 45 of the fixed shelf group 1 is measured, and the ultrasonic transmitters are respectively measured. By calculating the distance to 21A and 21B and comparing them (triangulation), the space absolute coordinates of the ultrasonic transmitters 21A and 21B are obtained. The position measuring device 46 forms a combination of the three ultrasonic receivers 45 in the fixed shelf group 1 to which the ultrasonic receiver 45 that first receives the ultrasonic waves belongs, and the spatial absolute coordinates for each combination. If the error between these spatial absolute coordinates exceeds a preset value, it is considered as an error. If the error is within the specified value, it is determined to be correct, and its representative value is, for example, an intermediate value among a plurality of spatial absolute coordinates. Are selected and output to the management controller 51.

  As shown in FIG. 5, a storage controller of the warehouse is provided with a management controller 51 including a computer as a management / instruction means for the warehouse equipment. A bus 52 is connected to the management controller 51, and a wireless communication device 54 for transmitting and receiving data to and from the wireless communication device 43 of the forklift 2 and a position measuring device 46 are connected to the bus 52. Yes.

  As shown in FIG. 7, the management controller 51 stores, as inventory data, for each compartment storage space 6 specified by a location (work path number, row number of the compartment storage space 6 of the fixed shelf group 1, column number). , Managing the code of the pallet 5 (an example of information for identifying the container) and the product code and quantity of the case 4 placed on the pallet 5, and the terminal device 22 via the wireless communication devices 54, 43. Work warehousing data, delivery data, or picking data is transmitted to instruct the forklift 2 operator to perform work. Further, the number of the forklift 2 (an example of data for specifying the forklift 2) that has transmitted the warehousing data, the shed data, or the picking data is managed, that is, the forklift 2 that is performing the work is managed.

  Further, the management controller 51 is provided in advance with a map for setting the space for identifying each compartment storage space 6 by space absolute coordinates for each reach forklift 10 and picking forklift 30, and the management controller 51 is a terminal device of the forklift 2. 22, when shelf confirmation data (including a specific number of the forklift 2 and the transmission time of the ultrasonic wave) transmitted when the shelf confirmation pushbutton switch is operated is input, the forklift 2 of which the shelf confirmation pushbutton switch is operated is input. A specific number is determined, whether the forklift 2 is the reach forklift 10 or the picking forklift 30 is selected, a map is selected, and the ultrasonic transmission time data is output to the position measuring device 46, and then the position measuring device 46 When the spatial absolute coordinates of the ultrasonic transmitter 21 are detected, The compartment storage space 6 is specified by the detected space absolute coordinates and the space absolute coordinates set as the map, and coincides with the compartment storage space 6 instructed by the loading / unloading command to the forklift 2 of the specific number. Then, the data (including the specific number) of the quality check result is transmitted to the terminal device 22 of the forklift 2 via the wireless communication devices 54 and 43. As a result, when the terminal device 22 inputs the data of the quality confirmation result (including the specific number) from the wireless communication device 43, the terminal device 22 confirms whether the data is transmission data to itself by the specific number. When the transmission data is confirmed, the result of quality confirmation (good or bad) is displayed on the liquid crystal display panel 42.

A map provided in advance in the management controller 51 (a map in which a space for specifying each compartment storage space 6 is set by space absolute coordinates) will be described with reference to FIGS.
In the plane map (X axis-Y axis), as shown in FIG. 8, a central dead zone 61 that does not specify the compartment storage space 6 is formed on the substantially central line along the work path 3. Adjacent dead zone zones 62 are formed between the compartment storage spaces 6 arranged side by side, and detection plane areas (set by XY absolute coordinates) 63 are provided for each of the compartment storage spaces 6 except for these dead zone zones 61 and 62. Is formed. When the space absolute coordinates of the ultrasonic transmitter 21 are located in the dead zone 61, 62, the compartment storage space 6 is not specified by mistake, so that the compartment storage space 6 is not specified. Note that the width of the dead zone 61, 62 can be changed depending on whether the forklift 2 is the reach forklift 10 or the picking forklift 30. At this time, the range of the detection plane area 63 depends on whether the reach forklift 10 or the picking forklift 30 is used. Is different.

  Also, in the step direction (height direction) map (Z axis), the space fork lift 10 and the picking fork lift 30 change the space absolute coordinates of the space for specifying the compartment storage space 6.

  In the reach forklift 10, as shown in FIG. 9, since the ultrasonic transmitter 21 is provided on the upper portion of the backrest 14, the ultrasonic transmitter 21 and the fork 12 inserted into the pallet 5 are connected. There is a distance z1 (height direction) between them. Therefore, a predetermined width in the height direction (resolution that can be detected by the position measuring device 46) is obtained by subtracting the distance z1 from the Z coordinate of the ultrasonic transmitter 21 for each stage of each compartment storage space 6. The detection height area 64 is set by providing In FIG. 9, reference numeral 60 denotes a measurement area where the actual ultrasonic transmitter 21 is measured. The detection height area 64 is set for each fixed shelf 7 and the vertical correction is performed depending on the model of the reach forklift 10.

  Therefore, when the work is performed by the reach forklift 10, when the management controller 51 inputs the Z coordinate of the ultrasonic transmitter 21, the distance z1 is subtracted from the Z coordinate. The detection height area 64 of the detection height area 64 set for each stage of the partition storage space 6 of the shelf 7 is determined, and the partition storage space 6 that the fork 12 faces is specified.

  In the case of the picking forklift 30, as shown in FIG. 10, an ultrasonic transmitter 21 </ b> B is provided on the head guard 34 of the cab 32, and the operator in the cab 32 depends on the stacked state of the cases 4 on the pallet 5. Work positions (height positions at which work is performed with respect to the case 4) are different from each other. There is a distance z2 (height direction) to the position. Therefore, for each stage of the compartment storage space 6, the upper and lower work ranges are set to the height coordinate obtained by subtracting the distance z2 to the work position of the operator in the average cab 32 from the Z coordinate of the ultrasonic transmitter 21. The detection height area 65 is set to have a width of. Reference numeral 60 denotes a measurement area. The detection height area 65 is set for each fixed shelf 7, and the vertical correction is performed depending on the model of the picking forklift 30.

  Therefore, when the work is being executed by the picking forklift 30, when the management controller 51 inputs the Z coordinate of the ultrasonic transmitter 21, the distance z2 is subtracted from the Z coordinate. The detection height area 65 of the detection height area 65 set for each stage of the partition storage space 6 of the shelf 7 is determined, and the partition storage space 6 facing the cab 32 is specified.

The work procedure according to the above configuration will be described with reference to the flowchart of FIG. Basically, entering or leaving the pallet 5 is executed by the reach forklift 10, and picking for each case 4 is executed by the picking forklift 30.
* Receiving work step-a1
When the management controller 51 is placed on the pallet 5 in the arrival area and the case (product) 4 is carried in, the management controller 51 confirms the product code and quantity of the case 4 and corresponds to a specific number for each pallet 5 unit. A label with a barcode is issued by a label issuing machine (not shown) in the arrival area. The worker in the arrival area attaches the issued label to the pallet 5. Subsequently, the location of the compartment storage space 6 in which the pallet 5 is empty (no inventory data) is obtained from the inventory data shown in FIG. 7, and the work code (warehousing), the obtained location, the label number of the attached pallet 5 and the case 4 are obtained. Receipt data consisting of the product code is formed.
Step-a2
The operator of the reach forklift 10 reads the barcode corresponding to the label number of the pallet 5 by the barcode reader 26. Then, barcode data (label number) is input from the barcode reader 26 to the wireless communication device 43 via the controller 40 of the terminal device 22, and the number of the reach forklift 10 is given by the wireless communication device 43. Further, the barcode data with the number of the reach forklift 10 is transmitted to the wireless communication device 54 and transmitted to the management controller 51 via the wireless communication device 54. The management controller 51 searches the warehousing data based on the received bar code data (label number), obtains the location of the compartment storage space 6 and the product code of the case 4, and attaches the number of the reach forklift 10 to the warehousing. Send data. The receipt data received from the management controller 51 is displayed on the terminal device 22.
Step-a3
The operator of the reach forklift 10 picks up the pallet 5 whose label number has been read by the bar code reader 26 with the fork 12 and transports it to the compartment storage space 6 at the location specified by the warehousing data displayed on the terminal device 22. The fork 12 on which the pallet 5 is placed is inserted into the storage space 6 and the shelf confirmation pushbutton switch of the terminal device 22 is operated before the pallet 5 is taken out into the compartment storage space 6.
Step-a4
When the shelf confirmation pushbutton switch is operated, a drive signal is output from the terminal device 22 to the controller 23 of the ultrasonic transmitter, and ultrasonic waves are transmitted in three directions from the ultrasonic transmitter 21A for a certain period of time. Then, the ultrasonic transmission time is fed back from the controller 23 of the ultrasonic transmitter to the terminal device 22, and the operation of the shelf confirmation pushbutton switch including the ultrasonic transmission time and the number for specifying the forklift is operated from the terminal device 22. Is transmitted to the management controller 51. When the shelf controller data is input, the management controller 51 determines the specific number of the forklift 2 that has operated the shelf confirming pushbutton switch, and selects the map of the reach forklift 10 because the forklift that has output the command is the reach forklift 10. The transmission time of the ultrasonic wave included in the shelf confirmation data is output to the position measuring device 46.

The ultrasonic waves are detected by the ultrasonic receivers 45 in the work passage 3 where the reach forklift 10 is located, and the detection results of these ultrasonic receivers 45 are input to the position measuring device 46. The ultrasonic reception time of the acoustic wave receiver 45 is obtained. Subsequently, the position measuring device 46 selects the fixed shelf group 1 to which the ultrasonic receiver 45 that first received the ultrasonic wave belongs from these ultrasonic reception times, and the ultrasonic receiver 45 of the selected fixed shelf group 1 is selected. Among them, a combination of three ultrasonic receivers 45 is formed, and for each combination, each ultrasonic receiver is determined by the time difference between the ultrasonic reception time and the ultrasonic transmission time input from the management controller 51. The distance between 45 and the ultrasonic transmitter 21A is measured, and the spatial absolute coordinates of the ultrasonic transmitter 21A are detected by triangulation. Subsequently, the position measuring device 46 calculates an error of the spatial absolute coordinate of each combination. If these errors exceed a specified value, it is determined as an error, and is correct when the error is within the specified value. An intermediate value among a plurality of spatial absolute coordinates) is selected and output to the management controller 51.
Step-a5
When the position measuring device 46 detects the spatial absolute coordinates of the ultrasonic transmitter 21, the management controller 51 detects the detected spatial absolute coordinates and the spatial absolute coordinates (detection) set as a map for the reach forklift 10. The plane area 63 and the detected height area 64) identify the location of the compartment storage space 6 and confirm whether it matches the location of the compartment storage space 6 indicated by the delivery data to the reach forklift 10 of the number, The data of the result of confirming the quality (including the number) is transmitted to the terminal device 22 of the reach forklift 10 via the wireless communication devices 54 and 43. Thereby, the pass / fail confirmation result (good or bad) is displayed on the liquid crystal display panel 42 of the terminal device 22.
Step-a6
When the operator of the reach forklift 10 displays “good” on the terminal device 22, the pallet 5 is unloaded from the fork 12 to the compartment storage space 6 and the warehousing operation is completed.
Step-a7
The management controller 51 updates the inventory data when the quality check result is good. That is, the label number, product code, and quantity of the pallet 5 are stored in the location where the goods are received, and it is managed that the reach forklift 10 is not in operation.
Step-a8
When a defect is displayed on the terminal device 22, the operator of the reach forklift 10 confirms the designated location of the terminal device 22, moves to the correct compartment storage space 6, inserts the fork 12, and enters the compartment storage space 6. Before the pallet 5 is taken out, the shelf confirmation pushbutton switch of the terminal device 22 is operated. As a result, the steps are re-executed from step-a4.
* Outgoing work The management controller 51 executes the outgoing work according to the outgoing list in which the product codes are specified.
Step-b1
The management controller 51 searches the inventory data by the product code in the delivery list, finds the location of the compartment storage space 6 where the pallet 5 to be delivered is placed, and obtains the work code (delivery), the obtained location, and the pallet 5 Delivery data consisting of the label number, the product code of case 4 and the shipping destination data (for example, store name). Subsequently, the reach forklift 10 not performing the work is obtained, and the number of the reach forklift 10 is assigned to the reach forklift 10 and the delivery data is transmitted. Thereby, the delivery data is displayed on the terminal device 22 of the reach forklift 10 of this number, excluding the shipping destination data. Further, the reach forklift 10 to which the delivery data is output is managed as being in operation.
Step-b2
The operator of the reach forklift 10 moves to the compartment storage space 6 of the designated location according to the delivery data displayed on the terminal device 22, inserts the fork 12 into the compartment storage space 6, and crawls the pallet 5. The shelf confirmation pushbutton switch of the terminal device 22 is operated.
Step-b3
When the shelf confirmation pushbutton switch is operated, a drive signal is output from the terminal device 22 to the controller 23 of the ultrasonic transmitter, and ultrasonic waves are transmitted in three directions from the ultrasonic transmitter 21A for a certain period of time. Then, the ultrasonic transmission time is fed back from the controller 23 of the ultrasonic transmitter to the terminal device 22, and the operation of the shelf confirmation pushbutton switch including the ultrasonic transmission time and the number for specifying the forklift is operated from the terminal device 22. Is transmitted to the management controller 51. When the shelf controller data is input, the management controller 51 determines the specific number of the forklift 2 that has operated the shelf confirming pushbutton switch, and selects the map of the reach forklift 10 because the forklift that has output the command is the reach forklift 10. The transmission time of the ultrasonic wave included in the shelf confirmation data is output to the position measuring device 46.

The ultrasonic waves are detected by the ultrasonic receivers 45 in the work passage 3 where the reach forklift 10 is located, and the detection results of these ultrasonic receivers 45 are input to the position measuring device 46. The ultrasonic reception time of the acoustic wave receiver 45 is obtained. Subsequently, the position measuring device 46 selects the fixed shelf group 1 to which the ultrasonic receiver 45 that first received the ultrasonic wave belongs from these ultrasonic reception times, and the ultrasonic receiver 45 of the selected fixed shelf group 1 is selected. Among them, a combination of three ultrasonic receivers 45 is formed, and for each combination, each ultrasonic receiver is determined by the time difference between the ultrasonic reception time and the ultrasonic transmission time input from the management controller 51. The distance between 45 and the ultrasonic transmitter 21A is measured, and the spatial absolute coordinates of the ultrasonic transmitter 21A are detected by triangulation. Subsequently, the position measuring device 46 calculates an error of the spatial absolute coordinate of each combination. If these errors exceed a specified value, it is determined as an error, and is correct when the error is within the specified value. An intermediate value among a plurality of spatial absolute coordinates) is selected and output to the management controller 51.
Step-b4
When the position measurement device 46 detects the spatial absolute coordinates of the ultrasonic transmitter 21, the management controller 51 uses the detected spatial absolute coordinates and the spatial absolute coordinates set as a map for the reach forklift 10, The location of the compartment storage space 6 is specified, it is confirmed whether it matches the location of the compartment storage space 6 instructed by the delivery data to the reach forklift 10 of the number, and the result of the quality confirmation result (including the number) ) Is transmitted to the terminal device 22 of the reach forklift 10 via the wireless communication devices 54 and 43.
Step-b5
The terminal device 22 displays the pass / fail confirmation result received from the management controller 51 on the liquid crystal display panel 42, and when the result is good, outputs the shipping destination data of the delivery data to the label issuing machine 24, and issues the label issuance. The machine 24 issues a shipping label.
Step-b6
When the operator of the reach forklift 10 displays “good” on the terminal device 22, the fork 12 picks up the pallet 5 from the compartment storage space 6 by the fork 12, transports the pallet 5 to the carry-out port, wholesales it to the carry-out port, and then issues the issued shipping A label is affixed to the case 4 or the pallet 5, and the delivery operation is completed.
Step-b7
The management controller 51 updates the inventory data when the quality check result is good and the shipping label is issued. The label number, product code, and quantity on the pallet 5 are deleted at the location where the goods are delivered, and it is managed that the reach forklift 10 is not in operation.
Step-b8
When a defect is displayed on the terminal device 22, the operator of the reach forklift 10 confirms the designated location of the terminal device 22, moves to the correct compartment storage space 6, and inserts the fork 12 into this compartment storage space 6. Before the pallet 5 is removed from the compartment storage space 6, the shelf confirmation pushbutton switch of the terminal device 22 is operated. Thereby, the step is re-executed from step-b3.
* Picking Work The management controller 51 executes a delivery work based on a picking list in which the product code, quantity, and shipping destination are specified.
Step-c1
The management controller 51 searches the inventory data based on the product code and quantity in the picking list, finds the location of the compartment storage space 6 in which the pallet 5 satisfying the quantity is placed, the work code (picking), and the obtained location The picking data including the label number of the pallet 5 and the product code and quantity of the case 4 and the shipping destination is formed. Subsequently, a picking forklift 30 that is not performing work is obtained, and the number of the picking forklift 30 is assigned to the picking forklift 30 and the picking data is transmitted. Thereby, the picking data is displayed on the terminal device 22 of the picking forklift 30 of this number, excluding the shipping destination. The picking forklift 30 to which the picking data is output is managed as being in operation.
Step-c2
The operator of the picking forklift 30 moves to the compartment storage space 6 at the designated location according to the picking data displayed on the terminal device 22, lifts and lowers the cab 32 in the step direction, and before picking up the product 4. Then, the shelf confirmation pushbutton switch of the terminal device 22 is operated.
Step-c3
When the shelf confirmation pushbutton switch is operated, a drive signal is output from the terminal device 22 to the controller 23 of the ultrasonic transmitter, and ultrasonic waves are transmitted in three directions from the ultrasonic transmitter 21B for a certain period of time. Then, the ultrasonic transmission time is fed back from the controller 23 of the ultrasonic transmitter to the terminal device 22, and the operation of the shelf confirmation pushbutton switch including the ultrasonic transmission time and the number for specifying the forklift is operated from the terminal device 22. Is transmitted to the management controller 51. When the shelf confirmation data is input, the management controller 51 confirms the specific number of the forklift 2 in which the shelf confirmation pushbutton switch is operated, and selects the map of the picking forklift 30 because the forklift that has output the command is the picking forklift 30 The transmission time of the ultrasonic wave included in the shelf confirmation data is output to the position measuring device 46.

The ultrasonic waves are detected by the ultrasonic receivers 45 in the work passage 3 where the picking forklift 30 is located, and the detection results of these ultrasonic receivers 45 are input to the position measuring device 46. The ultrasonic reception time of the acoustic wave receiver 45 is obtained. Subsequently, the position measuring device 46 selects the fixed shelf group 1 to which the ultrasonic receiver 45 that first received the ultrasonic wave belongs from these ultrasonic reception times, and the ultrasonic receiver 45 of the selected fixed shelf group 1 is selected. Among them, a combination of three ultrasonic receivers 45 is formed, and for each combination, each ultrasonic receiver is determined by the time difference between the ultrasonic reception time and the ultrasonic transmission time input from the management controller 51. 45 and the ultrasonic transmitter 21B are measured, and the spatial absolute coordinates of the ultrasonic transmitter 21B are detected by triangulation. Subsequently, the position measuring device 46 calculates an error of the spatial absolute coordinate of each combination. If these errors exceed a specified value, it is determined as an error, and is correct when the error is within the specified value. An intermediate value among a plurality of spatial absolute coordinates) is selected and output to the management controller 51.
Step-c4
When the position measurement device 46 detects the spatial absolute coordinates of the ultrasonic transmitter 21, the management controller 51 detects the detected spatial absolute coordinates and the spatial absolute coordinates (detection) set as a map for the picking forklift 30. The plane area 63 and the detected height area 65) specify the location of the compartment storage space 6 and confirm whether it matches the location of the compartment storage space 6 indicated by the picking data for the picking forklift 30 of the number, The data of the result of confirming the quality (including the number) is transmitted to the terminal device 22 of the picking forklift 30 via the wireless communication devices 54 and 43. As a result, the quality check result (good or bad) is displayed on the liquid crystal panel 42 of the terminal device 22.
Step-c5
The terminal device 22 displays the quality confirmation result received from the management controller 51 on the liquid crystal display panel 42, and when the result is good, outputs the quantity of picking data and the data of the shipping destination to the label issuing machine 24, The label issuing machine 24 issues a number of picking labels corresponding to the quantity.
Step-c6
When the operator of the picking forklift 30 displays “good” on the terminal device 22, the designated number of cases 4 are transferred (picked) from the pallet 5 to the cab 32, and the picking cases 4 are picked. Affix the label for use, transport it to the designated place, wholesale it, and finish the picking work.
Step-c7
The management controller 51 updates the inventory data when the result of the quality check is good and the picking label is issued. It is stored by subtracting the quantity of the picked case 4 from the quantity of the goods at the picked location, and it is managed that the picking forklift 30 is not working.
Step-c8
When a defect is displayed on the terminal device 22, the operator of the picking forklift 30 confirms the instruction location of the terminal device 22, moves to the correct compartment storage space 6, moves the cab 32 up and down in the step direction, Before picking the product 4, the shelf confirmation pushbutton switch of the terminal device 22 is operated. As a result, the steps are re-executed from step-c3.

  As described above, according to the first embodiment, when the position measuring device 46 detects the space absolute coordinates of the ultrasonic transmitter 21, that is, the loading / unloading or picking position of the forklift 2, this detected space absolute The compartment storage space 6 is specified by the coordinates and the absolute coordinates of the space set as a map, and it is confirmed whether it matches the compartment storage space 6 designated by the loading / unloading or picking command, and the confirmation result is sent to the terminal device 22 of the forklift 2. By being transmitted, the operator of the forklift 2 can check whether the compartment storage space 6 for executing the entry / exit or picking is the compartment storage space 6 designated by the entry / exit instruction or the picking instruction. Can be checked before work is done, and mistakes can be prevented. Necessary to confirm the location of the compartment housing space 6 of the stomach position looking up from the bottom is eliminated, work efficiency is improved. In addition, the management controller 51 can perform reliable inventory management and can sequentially check the progress of work.

  Further, according to the first embodiment, when the ultrasonic transmitter 21 is substantially on the center line, the compartment storage space on either side is not specified by not identifying the compartment storage space 6 in which the forklift 2 is performing work. It can be prevented that 6 is erroneously determined.

  Further, according to the first embodiment, the position where the ultrasonic transmitters 21A and 21B are stopped at the time of work is spatially different depending on whether the forklift 2 is the reach forklift 10 or the picking forklift 30. By changing the setting of the specified map (space), the compartment storage space 6 in which the loading / unloading work or picking work is executed can be accurately specified.

  Further, according to the first embodiment, the ultrasonic transmitter 21A is attached to the substantially upper center of the backrest 14 when the forklift 2 is the reach forklift 10, moves up and down together with the fork, and is closest to the position of the fork 12. The ultrasonic transmitter 21B is mounted on the head guard 35 of the cab 32 that moves up and down together with the fork 34 when the picking forklift 30 is used. It is possible to make it easier and more accurate to specify the compartment storage space 6 in which the loading / unloading work or picking work is performed by being placed in a position that is close to the head position of the paper and does not interfere with the transfer work. Become.

  Further, according to the first embodiment, when working on the compartment storage space 6, when the reach forklift 10 is different from the picking forklift 30 at the time of the forklift 2, the position of the forklift 2 is 90 degrees. Ultrasound is transmitted in the left-right direction (direction perpendicular to the direction in which the fork 12 is projected), and in the picking forklift 30, the ultrasonic wave is transmitted in the direction in the front-rear direction (direction parallel to the direction in which the fork 34 is projected). By transmitting, the ultrasonic wave can reach the ultrasonic receiver 45 without being blocked by the case 4 or the pallet 5 article storage part of the compartment storage space 6, thereby avoiding measurement being impossible or erroneous measurement. it can.

  Also, according to the first embodiment, by transmitting ultrasonic waves radially upward and vertically upward, even when the ultrasonic transmitters 21A and 21B are located near the ceiling, a plurality of ultrasonic waves can be reliably obtained. Ultrasonic waves can be made to reach the sonic wave receiver 45, and it is possible to avoid measurement failure or erroneous measurement.

  Further, according to the first embodiment, an ultrasonic wave is transmitted in response to a command from the terminal device 22 of the forklift 2 and the position of the forklift 2 is measured by the position measuring device 46, so that the forklift that actually needs to measure the position is used. The coordinates of 2 can be obtained quickly.

In addition, ultrasonic waves may be received by the ultrasonic receiver 45 that has passed through the work passage 3, and the ultrasonic receiver 45 that has first received the ultrasonic wave and the ultrasonic receiver 45 that has passed through the work passage 3. However, according to the first embodiment, the absolute coordinates of the group to which the ultrasonic receiver 45 that first receives the ultrasonic wave belongs may be detected. Based on the detection result of the ultrasonic receiver 45, the absolute coordinates of the compartment storage space 6 facing the work passage 3 where the forklift 2 is located can be accurately obtained by obtaining the absolute coordinates of the space.
[Embodiment 2]
In the first embodiment, the article storage unit is configured by the fixed shelf group 1, but in the second embodiment, the article storage unit is configured by a movable shelf. In addition, the same code | symbol is attached | subjected to the structure similar to Embodiment 1, and description is abbreviate | omitted.

Hereinafter, differences from the first embodiment will be described when the fixed shelf group 1 is a movable shelf.
FIG. 12 is a perspective view of the moving shelf facility, and FIG. 13 is a plan view. As shown in FIGS. 12 and 13, a plurality (two in the figure) of moving shelves 71 are arranged on the floor surface 72, and each moving shelf 71 is capable of reciprocating on the floor surface 72. In addition, fixed shelves 75 are provided on both sides of a traveling path i direction (hereinafter referred to as the front-rear direction) A of the movable shelves 71 group with securing work passages 73 that are opened. In addition, the plurality of movable shelves 71 are arranged in order of No. 1 moving shelf 71, No. 1 No. 2 moving shelf 71 and the rear fixed shelf 75 and No. 2 shelf. The work passage 73 opened between the mobile shelf 71 and the moving shelf 71 is a “yellow” passage, 1 and No. The work passage 73 opened between the two movable shelves 71 is designated as a “red” passage, The work path 73 opened between the two movable shelves 71 and the front fixed shelf 5 is a “green” path.

  Each movable shelf 71 has two rows in the front-rear direction A and a plurality of rows and a plurality of sections of compartment storage spaces (hereinafter referred to as the left-right direction) B in a direction perpendicular to the travel route i of the movable shelf 71 group (hereinafter referred to as the left-right direction). An example of an article storage unit) 6 is provided, and each fixed shelf 75 has one row in the front-rear direction A and a plurality of rows and a plurality of stages of compartment storage spaces (an example of the item storage unit) 6 in the left-right direction B. The pallet 5 on which the case (an example of the article) 4 is placed can be loaded and unloaded by the fork 2 with respect to the compartment storage space 6 facing the work passage 73, and each work passage 73 is configured. The frame or beam of the compartment storage space 6 facing the passage is color-coded (for example, a color tape is attached) so that the operator can recognize the passage 73 working by color. ing. In addition, each moving shelf 71 can be arbitrarily formed with a working path 73 by an operator's operation.

  As shown in FIG. 13, in the mobile shelf equipment having such a configuration, a part of the space of each work passage 73 overlaps. Therefore, in the map of the management controller 51, two compartments are stored by the work passage 73. A part of the detection plane area 63 of the space 6 is set to overlap. At this time, if the ultrasonic transmitter 21 is located in this overlapping space, the management controller 51 cannot determine which side of the compartment storage space 6 of the movable shelf 71 is being operated by the forklift 2. For example, in FIG. The detection plane area 63 overlaps in the compartment storage space 6x facing the yellow passage of the one moving shelf 71 and the compartment storage space 6y facing the red passage.

  Therefore, as shown in FIG. 6B, a shelf confirmation pushbutton switch that is displayed on the liquid crystal display panel 42 of the terminal device 22 for operation input using the touch panel 41 when used in a moving shelf facility. Is a shelf confirmation pushbutton switch for identifying each work path 73 by color, and data for specifying the work path 73 performing the work is transmitted to the management controller 51. That is, “yellow passage shelf confirmation”, “red passage shelf confirmation”, and “green passage shelf confirmation” are displayed. When working in the yellow passage, if the yellow passage shelf confirmation pushbutton switch is operated, the management controller 51 can confirm that the forklift 2 is working in the working passage 73 of the yellow passage. As shown, when the ultrasonic transmitter 21 is present in the same space, it can be confirmed that the user is working in the compartment storage space 6x facing the yellow passage.

The operations in the warehousing work, the warehousing work, and the picking work are the same except that the shelf confirmation push button switch for identifying the work passage 73 by color is operated as described above.
As described above, according to the second embodiment, as in the first embodiment, a map is provided for each partition storage space 6 facing each work passage 73 and the color of the passage (passage is determined by the shelf confirmation pushbutton switch). The data for specifying the data) is input to the management controller 51, so that the duplication of the detection plane area 63 generated in the moving shelf equipment can be dealt with, and the partition storage space 6 in which the work is being performed can be accurately performed. Can be specified.

  In the second embodiment, in the case of the fixed shelf 75, since the detection plane areas 63 do not overlap, “yellow passage shelf confirmation”, “red passage shelf confirmation”, and “green passage shelf confirmation” are displayed. There is no need to display only “shelf confirmation” as shown in FIG. In addition, since the ultrasonic transmitter 21 only needs to be within the detection plane area 63 during the leaving operation, only “shelf confirmation” may be displayed as shown in FIG.

  In the second embodiment, the data specifying the passage is the color of the passage. However, the color is not limited to the color, and any data specifying the passage may be used, and other specifying data such as a number may be used. . At this time, the three displays of “yellow passage shelf confirmation”, “red passage shelf confirmation”, and “green passage shelf confirmation” are changed in accordance with other data.

  In the first embodiment and the second embodiment, when the pallet 5 is received, the location of the compartment storage space 6 to be stocked is specified. It is also possible to wholesale the pallet 5. At this time, the shelf confirmation pushbutton switch of the terminal device 22 is always operated before the pallet 5 is unloaded to the compartment storage space 6. Then, the management controller 51 checks the inventory data of the location of the compartment storage space 6 obtained from the space absolute coordinates input from the position measuring device 46, and determines that it is good when the pallet 5 is not received by the inventory data. The inventory data is updated, and when the pallet 5 is received with the inventory data, it is determined as defective.

In the first embodiment and the second embodiment, only the loading / unloading or picking work is performed, but the inter-shelf moving work of the pallet 5 can also be performed. At this time, the shelf confirmation pushbutton switch is operated before receiving the pallet 5 from the partition storage space 6 as the transfer source, and the shelf confirmation pushbutton switch is operated before the pallet 5 is unloaded to the partition storage space 6 as the transfer destination. There is a need.
[Embodiment 3]
In the first embodiment, the article storage unit is configured by the fixed shelf group 1, but in the third embodiment, the article storage unit is formed by designating a range on the floor surface (plane). That is, the pallet 5 is configured to be laid flat. In addition, the same code | symbol is attached | subjected to the structure similar to Embodiment 1, and description is abbreviate | omitted.

Hereinafter, differences between the first embodiment and the second embodiment will be described.
As shown in FIG. 14, the compartment storage space 6 formed by providing a frame (an example of a range) 82 on the floor (flat area) 81 does not have a compartment storage space preset in the height direction. Therefore, it does not make any sense to detect the absolute coordinates of the ultrasonic transmitter 21 in the height direction. Therefore, as shown in FIG. 15, a map of only the detection plane area 63 is provided in the management controller 51 in the partition storage space 6 of the flat placement area. In FIG. 15, reference numeral 83 denotes a work passage.

  The inventory management of each compartment storage space 6 in the flat placement area in the management controller 51 is executed as follows. In principle, in the case of flat placement, the picking operation is not executed, and the pallets 5 are stacked directly on the case 4 in the vertical direction.

  In the flat placement area, as the inventory data, the code of the pallet 5 and the pallet 5 are stored for each of the compartment storage space 6 specified by the location (work passage number, row number of the compartment storage space 6) and the number of upper and lower stacks. The product code and quantity of the case 4 that is placed are managed.

  When the pallet 5 on which the case 4 is placed is loaded during the warehousing operation, the pallet number of the pallet 5 and the product code and quantity of the case 4 placed on the pallet 5 are confirmed. Warehousing), pallet number of pallet 5 and warehousing data consisting of product code of case 4 are formed. Since the location is not specified, the compartment storage space 6 to be received by the worker is left.

  The warehousing operation is executed based on the warehousing data, the shelf confirmation pushbutton switch is operated, the position of the ultrasonic transmitter 21 is measured by the position measuring device 46, and the spatial coordinate of the ultrasonic transmitter 21 is transmitted from the position measuring device 46. Then, the compartment storage space 6 is specified by the plane coordinates and the map, and when the work end data is transmitted, the inventory data is updated. That is, when there is no inventory data in the same compartment storage space 6, as the data of the first compartment storage space 6, the pallet number of the pallet 5 that has been carried in and the product of the case 4 placed on the pallet 5 When the code and quantity are stored and there is inventory data in the same compartment storage space 6, the pallet number of the pallet 5 that has been carried in and the pallet 5 are loaded as data of the compartment storage space 6 with one stage added. The product code and quantity of case 4 being stored are stored.

  In addition, when the case 4 to be delivered is designated during the delivery operation, the inventory data (however, the inventory data of the uppermost pallet) is searched with the product code of this case 4, and the designated case 4 is placed. The location of the pallet 5 is obtained, and delivery data including the work code (warehousing), the obtained location, the pallet number of the pallet 5 and the product code of the case 4 is formed.

  The pre-shipment operation is executed based on the shipping data, the shelf confirmation pushbutton switch is operated, the position of the ultrasonic transmitter 21 is measured by the position measuring device 46, and the spatial absolute coordinates of the ultrasonic transmitter 21 are determined from the position measuring device 46. When it is sent, the compartment storage space 6 is specified by the plane coordinates and the map, the quality is judged, and if the work end data is sent, the inventory data is updated. That is, the uppermost inventory data of the specified compartment storage space 6 is deleted.

  As described above, according to the third embodiment, the position of the ultrasonic transmitter 21, that is, the position of the forklift 2 is specified by plane coordinates, and the pallet 5 that is stacked in the compartment storage space 6 and put out after first-in. The inventory data can be managed even if there is no data in the height direction by increasing the number of steps to the inventory data at the time of warehousing work and reducing the number of steps to the inventory data at the time of warehousing. That is, the inventory management in the height direction in the compartment storage space 6 in the plane coordinates can be performed according to the number of times of loading / unloading operations.

  In the first to third embodiments, the ultrasonic transmitter 21 </ b> B is attached to the picking forklift 30. However, the ultrasonic transmitter 21 </ b> A is fixed on the head guard 35 of the picking forklift 30 by the picking forklift 30. Needless to say, the picking operation may be performed so that ultrasonic waves are transmitted in the direction of the working passage 3 when the picking operation is performed on the seven compartment storage spaces 6.

  In the first to third embodiments, the ultrasonic detection result is the time difference between the ultrasonic wave reception time and the ultrasonic wave transmission time. However, the ultrasonic wave intensity detected by the ultrasonic receiver 45 may be used as the time difference. it can. At this time, the distance to the ultrasonic transmitters 21A and 21B is obtained for each ultrasonic receiver 45, and the spatial absolute coordinates of the ultrasonic transmitters 21A and 21B are detected by triangulation.

In the first to third embodiments, the container is the pallet 5 on which the case 4 is placed, but may be a container or cardboard.
In the first to third embodiments, a map of each compartment storage space 6 is set in the management controller 51. However, when the model is a reach forklift 10 in the controller 40 of the terminal device 22 of each forklift 2, In the case of the picking forklift 30, a map composed of the detection plane area 63 and the detection height area 64 may be set. At this time, the space storage coordinates are transmitted from the position measurement device 46 to the terminal device 22 via the wireless communication devices 54 and 43, and the compartment storage in which the controller 40 of the terminal device 22 performs the warehousing operation, the warehousing operation, and the picking operation. The quality of the space 6 is judged.

  In the first to third embodiments, the picking forklift 30 is used exclusively for picking work. However, it can be used as a forklift using the fork 34. At this time, it is registered in the management controller 51 in advance as the picking forklift 30 using the fork 34, or the operator of the picking forklift 30 using the terminal device 22 is used as a forklift or used as a picking forklift. To be registered in the management controller 51.

It is a principal part perspective view of the warehouse equipment in Embodiment 1 of this invention. It is a schematic plan view of the warehouse facility. It is a schematic perspective view of the reach forklift used in the warehouse equipment. It is a schematic perspective view of the picking forklift used in the warehouse equipment. It is a control block diagram of the warehouse equipment. It is a screen figure of the terminal device of the warehouse equipment. It is explanatory drawing of the inventory data of the warehouse equipment. It is explanatory drawing of the detection plane area of the division storage space of the warehouse equipment. It is explanatory drawing of the detection height area of the division storage space of the warehouse equipment. It is explanatory drawing of the detection height area of the division storage space of the warehouse equipment. It is a work procedure figure of the warehouse equipment. It is a perspective view of the warehouse equipment in Embodiment 2 of this invention. It is explanatory drawing of the detection plane area of the movement shelf of the warehouse equipment. It is a perspective view of the warehouse installation in Embodiment 3 of this invention. It is explanatory drawing of the detection plane area of the horizontal placement area of the warehouse equipment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Fixed shelf group 2 Forklift 3,73,83 Work passage 4 Case 5 Pallet 6 Compartment storage space 9 Ultrasonic receiver 10 Reach forklift 12 Fork 14 Backrest 21A, 21B Ultrasonic transmitter 22 Terminal device 30 Picking forklift 32 Operation Chamber 35 Head guard 41 Touch panel 42 Liquid crystal display panel 43, 54 Wireless communication device 45 Ultrasonic receiver 46 Position measuring device 51 Management controller 61 Central dead zone 62 Adjacent dead zone 63 Detection plane area 64, 65 Detection height area 71 Movement Shelf 72,81 Floor 75 Fixed shelf 82 Frame

Claims (10)

A warehouse facility provided with a plurality of article storage units in which goods or goods are stored or forged by a forklift, or picking work of goods,
Performs inventory management of the article or container of each article storage unit, and includes a management controller that instructs the forklift to command the work,
An ultrasonic transmitter for notifying the forklift of the position of the forklift and a terminal device that enables transmission and reception of data including the command between the management controller,
A plurality of ultrasonic receivers for receiving ultrasonic waves transmitted from the ultrasonic transmitters above the article storage unit,
A position measuring device for detecting spatial absolute coordinates of the ultrasonic transmitter according to the detection results of the ultrasonic waves respectively received by the plurality of ultrasonic receivers;
In the management controller, a map for setting the space for identifying each article storage unit by the space absolute coordinate is separately provided in advance depending on whether the forklift is a reach forklift or a picking forklift, and the management controller When the absolute position of the ultrasonic transmitter is detected by the position measuring device, the map is selected based on whether the forklift that has transmitted the command is a reach forklift or a picking forklift. A warehouse facility characterized in that the article storage unit is specified by the absolute space coordinates, whether the article storage unit matches the article storage unit instructed by the command, and the confirmation result is transmitted to the terminal device of the forklift. When the plurality of article storage units are arranged to face each other across the work passage of the forklift, the article storage unit is specified on the map along a substantially central line along the work passage. 2. A warehouse facility according to claim 1, wherein a dead zone is formed. When the article storage unit is formed as a moving shelf of a moving shelf facility, in the map of the management controller, the same space is set in another article storage unit by a work path formed between the moving shelves. The warehouse equipment according to claim 1 or 2, characterized by things. When the article storage unit is formed as a moving shelf of a moving shelf facility, the terminal device transmits information specifying a passage formed between the moving shelves to the management controller. The warehouse facility according to any one of claims 1 to 3. When the article storage section is formed by designating a range on a plane, the map of the article storage section is set by plane coordinates, and the article or container in the height direction in the article storage section of the same plane coordinates The warehouse management according to claim 1 or 2, wherein the inventory management is performed according to the number of times of execution of loading and unloading operations. The ultrasonic transmitter is mounted on a backrest that moves up and down with a fork when the forklift is a reach forklift, and is mounted on a head guard of a cab that moves up and down with the fork when it is a picking forklift. The warehouse facility according to any one of claims 1 to 5. The ultrasonic transmitter transmits ultrasonic waves in a direction perpendicular to the direction of the forks when the forklift is a reach forklift, and transmits ultrasonic waves in a direction parallel to the direction of the forks when the forklift is a picking forklift. The warehouse facility according to any one of claims 1 to 6, characterized in that: 8. The warehouse facility according to claim 7, wherein the ultrasonic transmitter is a transmitter that transmits ultrasonic waves radially in three directions, vertically upward and obliquely upward. The warehouse facility according to any one of claims 1 to 8, wherein the ultrasonic transmitter transmits an ultrasonic wave according to a command from the terminal device. When the plurality of article storage units are arranged to face each other across the work path of the forklift, the ultrasonic receivers are grouped for each work path,
10. The position measuring device according to claim 1, wherein the position measuring device obtains spatial absolute coordinates based on a detection result of a group of ultrasonic receivers to which the ultrasonic receiver that first receives the ultrasonic waves belongs. The warehouse facility described in any one item.

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