JP5804270B2 - Learning device in article storage facility and learning method in the article storage facility - Google Patents

Description

  The present invention provides the article storage body having a plurality of storage units, the transfer unit moved to the target stop position of the storage unit by the lateral movement of the transfer unit and the up-and-down movement of the transfer unit. In an article storage facility provided with an article transporting device that puts and removes articles from and into the storage section, a reference lateral in a lateral movement direction of the transfer means with respect to the target stop position in each of the plurality of storage sections. Learning apparatus in an article storage facility provided with learning control means for obtaining target lateral movement distance information from a position, and target raising / lowering movement distance information from a reference raising / lowering position in the raising / lowering movement direction of the transfer means, and the article The present invention relates to a learning method in a storage facility.

  The article storage facility as described above is applied to, for example, an automatic warehouse, and the article storage body is provided with storage units arranged vertically and horizontally, and the transfer means of the article transport device in a moving space in front of the article storage body Is moved to the target stop position of the storage unit by moving it horizontally and moved up and down, and the article is loaded and unloaded by the transfer means at the target stop position. The goods are discharged from the storage part of the article storage body.

The target stop position of each storage unit is a position for properly taking in and out articles, and is set for each of the plurality of storage units. The target stop position is determined from the target lateral movement distance information from the reference lateral position in the lateral movement direction of the transfer means and the target up-and-down movement distance information from the reference elevation position in the vertical movement direction of the transfer means. .
Since it is difficult to assemble the article storage body so that each storage section is positioned at a predetermined design position without error, it is possible to store multiple objects by using the learning device in the article storage facility in the state where the article storage body is assembled. The target lateral movement distance information and the target up-and-down movement distance information about the target stop position in each of the sections are obtained.

  In the conventional learning apparatus, a plurality of learning mark bodies are installed in the article storage body so as to have a predetermined set positional relationship with respect to the respective installation positions of the plurality of storage units, and the lateral movement direction and the up-and-down movement direction are set. The target positions for the target stop positions in each of the plurality of storage units are determined from the respective installation positions of the plurality of learning mark bodies at The lateral movement distance information and the target up / down movement distance information are obtained (see, for example, Patent Document 1).

In the apparatus described in Patent Document 1, a light projecting / receiving type learning mark body detection sensor for detecting a learning mark body is provided in an article transporting apparatus in a state of moving integrally with the transfer means, A lateral movement distance detecting means for detecting a lateral movement distance from the reference lateral position to the transfer means in the movement direction, and an up / down movement for detecting an up / down movement distance from the reference lift position to the transfer means in the up / down movement direction of the transfer means. Distance detection means.
The learning control means performs the horizontal movement and the vertical movement of the transfer means in the article transport device so that the transfer means moves in one direction of the horizontal movement direction and the vertical movement direction with respect to each of the plurality of learning mark bodies. I have control. The learning control means detects the learning mark body with the learning mark body detection sensor when the transfer means moves in one direction of the lateral movement with respect to each of the plurality of learning mark bodies. The learning mark body in the lateral movement direction from the detection information of the lateral movement distance detection means and the detection information of the lateral movement distance detection means when the learning mark body detection sensor no longer detects the learning mark body (For example, the center position of the learning mark body in the lateral movement direction). Further, the learning control means also uses the learning mark body detection sensor to set the learning mark body in the up-and-down movement direction in the same manner as the learning mark body installation position in the lateral movement direction. From the detection information of the up-and-down movement distance detection means when detecting the detection mark and the detection information of the up-and-down movement distance detection means when the learning mark body detection sensor no longer detects the learning mark body detection sensor, The installation position of the learning mark body (for example, the center position of the learning mark body in the up-and-down movement direction) is obtained.

JP-A-8-244914

  In the apparatus described in Patent Document 1, when the transfer means moves in one direction of the lateral movement with respect to each of the plurality of learning mark bodies, the learning mark body detection sensor detects the learning mark body. The position of one end of the learning mark body in the lateral movement direction (lateral movement distance from the reference lateral position) is detected from the detection information of the lateral movement distance detection means at the rising timing when it is detected, and for learning The position of the other end of the learning mark body in the moving direction (reference lateral position) is detected from the detection information of the lateral movement distance detecting means at the falling timing when the learning mark body is no longer detected by the mark body detection sensor. The lateral movement distance from the position) is detected. Thereby, in the apparatus described in Patent Document 1, the positions of both ends of the learning mark body in the lateral movement direction (lateral movement distance from the reference lateral position) are detected, and the lateral movement direction is determined from the positions of both ends. The installation position (center position) of the mark body for learning is obtained.

  The rise timing is a timing that captures a phenomenon in which the learning mark body detection sensor shifts from the state in which the learning mark body detection sensor is not detected to the state in which the learning mark body detection sensor detects the learning mark body. In contrast, the fall timing shifts from a state where the learning mark body detection sensor detects the learning mark body to a state where the learning mark body detection sensor no longer detects the learning mark body. This is the timing when The rise timing and the fall timing are timings for capturing different phenomena as the learning mark body detection sensor. Therefore, for example, when the position of one end of the learning mark body in the lateral movement direction (lateral movement distance from the reference lateral position) is detected, such as a time difference in response time between the rise timing and the fall timing, Between the detection information of the movement distance detection means and the detection information of the movement distance detection means when detecting the position of the other end of the learning mark body in the horizontal movement direction (the horizontal movement distance from the reference horizontal position). May cause a difference, and the installation position of the learning mark body in the lateral movement direction may not be accurately obtained.

  In the device described in Patent Document 1, the learning mark body installation position (center position) in the up-and-down movement direction is the same as the learning mark body installation position (center position) in the lateral movement direction. Since it is obtained, there is a possibility that the installation position (center position) of the learning mark body in the up-and-down movement direction cannot be obtained accurately. As a result, in the apparatus described in Patent Literature 1, there is a possibility that the target lateral movement distance information and the target up / down movement distance information about the target stop position in each of the plurality of storage units cannot be obtained with high accuracy.

  The present invention has been made paying attention to such a point, and the purpose thereof is to accurately obtain the target lateral movement distance information and the target up-and-down movement distance information about the target stop position in each of the plurality of storage units. The object is to provide a learning device in an article storage facility and a learning method in the article storage facility.

In order to achieve this object, the first characteristic configuration of the learning apparatus in the article storage facility according to the present invention includes an article storage body having a plurality of storage units, lateral movement of the transfer means, and up-and-down movement of the transfer means. In an article storage facility provided with an article transporting device that moves the transfer means to a target stop position of the storage section and loads and removes articles from and into the storage section by the transfer means. Information on the target lateral movement distance from the reference lateral position in the lateral movement direction of the transfer means and the target vertical movement position from the reference lift position in the vertical movement direction of the transfer means for the target stop position in each. In a learning apparatus in an article storage facility provided with learning control means for obtaining distance information,
A light emitting / receiving type learning mark body in which a plurality of learning mark bodies are installed so as to have a predetermined set positional relationship with respect to each installation position of the plurality of storage units, and the learning mark body is detected. A detection sensor is provided in the article transporting device in a state of moving integrally with the transfer means, and detects a lateral movement distance from the reference lateral position to the transfer means in the horizontal movement direction of the transfer means. A moving distance detecting means; and an elevating movement distance detecting means for detecting an elevating movement distance from the reference elevating position to the transferring means in the elevating movement direction of the transferring means. When the learning means is detected by the learning mark body detection sensor by moving the mounting means in one direction of the lateral movement, the detection information of the lateral movement distance detection means and the transfer means are moved laterally. direction From the detection information of the lateral movement distance detecting means when the learning mark body detection sensor is moved in the other direction and detected by the learning mark body detection sensor, a plurality of learning mark bodies in the lateral movement direction are detected. A first calculation process for obtaining an installation position, obtaining the target lateral movement distance information from the installation positions of the plurality of learning mark bodies in the obtained lateral movement direction and the set position relationship; and the transfer means. When the learning mark body detection sensor is moved in one direction of the up-and-down movement direction and detects the learning mark body, the detection information of the up-and-down movement distance detection means and the transfer means are moved in the other direction of the up-and-down movement direction. A plurality of learning mark bodies in the up-and-down movement direction based on detection information of the up-and-down movement distance detection means when the learning mark body detection sensor is moved in the direction and detected by the learning mark body detection sensor position And a second calculation process for obtaining the target up / down movement distance information from the installation positions of the plurality of learning mark bodies in the obtained up / down movement direction and the set positional relationship. It is in.

  According to this characteristic configuration, the learning control means performs the first calculation process and the second calculation process, so that the target lateral movement distance information and the target up-and-down movement distance information about the target stop position in each of the plurality of storage units. Can be requested.

  In the first calculation process, the transfer means is moved in one direction of the horizontal movement direction, and the horizontal movement is detected from the detection information of the horizontal movement distance detection means when the learning mark body detection sensor detects the learning mark body. The position of one end portion of the learning mark body in the direction (lateral movement distance from the reference lateral position) can be detected. Further, the moving means is moved in the other direction of the lateral movement, and the learning in the lateral movement direction is detected from the detection information of the lateral movement distance detecting means when the learning mark body detection sensor detects the learning mark body. It is possible to detect the position of the other end portion of the mark body (the lateral movement distance from the reference lateral position). In this way, both when detecting the position of one end portion of the learning mark body in the lateral movement direction and when detecting the position of the other end portion of the learning mark body in the lateral movement direction, the detection mark body detection is performed. The detection information of the lateral movement distance detecting means at the rising timing that captures the same phenomenon that shifts from the state in which the learning mark body is not detected by the sensor to the state in which the learning mark body detection sensor detects the learning mark body Can be used. Therefore, the position of one end of the learning mark in the lateral movement direction (lateral movement distance from the reference lateral position) and the position of the other end of the learning mark in the lateral movement direction (lateral movement distance from the reference lateral position) Can be detected by capturing the same phenomenon, and the installation position of the learning mark body in the lateral movement direction can be accurately obtained. In addition, for example, there is a delay time from when the learning mark body detection sensor detects the learning mark body to when the learning mark body detection sensor outputs an output indicating that the learning mark body is actually detected. Even when detecting the position of one end of the learning mark in the lateral movement direction (lateral movement distance from the reference lateral position), the position of the other end of the learning mark in the lateral movement direction (reference lateral position) In the case of detecting the lateral movement distance from (1), a delay time similarly occurs. Therefore, for example, when obtaining the center position in the horizontal movement direction as the installation position of the learning mark body in the horizontal movement direction, the position of one end of the learning mark in the horizontal movement direction (the horizontal position from the reference horizontal position). The center position of the learning mark body in the lateral movement direction can be accurately obtained from the movement distance) and the position of the other end of the learning mark in the lateral movement direction (lateral movement distance from the reference lateral position). . In this way, the target lateral movement distance information can be accurately obtained from the learning mark body installation position and the set position relationship in the lateral movement direction that has been accurately obtained.

  In the second calculation process, as in the first calculation process, the position of the other end of the learning mark body in the up-and-down movement direction is also detected when the position of one end of the learning mark body in the up-and-down movement direction is detected. Detecting the same phenomenon in which the learning mark body detection sensor transitions from the state where the learning mark body detection sensor is not detected to the state where the learning mark body detection sensor detects the learning mark body. Detection information of the timing moving distance detecting means can be used. Therefore, the installation position of the learning mark body in the up-and-down movement direction can be accurately obtained, and the target up-and-down movement distance information can be obtained with high accuracy.

According to a second characteristic configuration of the learning apparatus in the article storage facility according to the present invention, the learning control unit is configured to perform the learning in both the one direction and the other direction of the lateral movement direction of the transfer unit relative to the learning mark body. A learning lateral movement control is performed to control the lateral movement of the transfer means so as to move at the learning lateral movement speed set as the movement speed when the mark body detection sensor detects the learning mark body. In the embodiment, the first arithmetic processing is performed, and the learning mark body is detected by the learning mark body detection sensor in both directions of the up-and-down movement direction of the transfer means relative to the learning mark body. The second calculation process is performed in a form in which learning elevating movement control is performed to control the elevating movement of the transfer means so that the moving means moves at a learning elevating movement speed set as a moving speed when detecting It is composed The article storage body includes a plurality of partition sections that are partitioned in a laterally moving direction, and is configured by arranging an article storage shelf in which the placement position of the storage section can be changed in each of the plurality of partition sections. And the learning control means, when the placement position of the storage section of the article storage shelf is changed, the learning section as a learning target and the other sections where the placement position of the storage section is changed. The first calculation process and the second calculation process to determine the target lateral movement distance information and the target up / down movement distance information about the storage unit in the learning target partition section. And when the transfer means moves in the non-learning target section corresponding to the partition part to be non-learned, the set lateral movement speed higher than the learning lateral movement speed and the learning up-and-down movement speed. Also fast To move said transfer means in the setting vertical movement velocity, in that it is configured to control the lateral movement and vertical movement of the transfer means.

According to this characteristic configuration, in the first calculation process, the learning lateral movement control is performed, so that the learning mark body detection sensor sequentially detects a plurality of learning mark bodies, and the shift is performed at the learning lateral movement speed. The mounting means can be reciprocated in the lateral movement direction. Also in the second calculation process, by performing the learning up / down movement control, the transfer means is moved in the up / down movement direction at the learning up / down movement speed so that the learning mark body detection sensor sequentially detects a plurality of learning mark bodies. Can be moved back and forth. Therefore, the transfer means can be moved with respect to a plurality of learning mark bodies at a speed for accurate detection by the learning mark body detection sensor, and the target lateral movement distance information and the target up / down movement distance information. Can be accurately performed.
For example, it may be necessary to change the arrangement position of the storage unit by changing the type of the article stored in the article storage shelf. In this case, the arrangement position of the storage unit of the article storage shelf can be changed as appropriate, and it is possible to flexibly cope with a change in the type of article. When the placement position of the storage section of the article storage shelf is changed, the learning control means does not target all the partition sections as learning targets, but sets the partition sections whose storage section layout positions are changed as learning targets. The first calculation process and the second calculation process can be performed so as to obtain the target lateral movement distance information and the target up-and-down movement distance information about the storage unit in the partition section to be learned. Therefore, the first calculation process and the second calculation process can be performed only on the partition part that needs to newly acquire the target lateral movement distance information and the target up / down movement distance information among the plurality of partition parts. Efficient learning. When the transfer control unit moves the transfer unit to the learning target partition, if the transfer unit moves in the non-learning target section corresponding to the non-learning target partition, the transfer at that time The speed can be set to a set lateral movement speed higher than the learning lateral movement speed and a set up / down movement speed higher than the learning up / down movement speed, and the transfer means can be moved at a higher speed. Therefore, it is possible to shorten the time required for learning for obtaining the target lateral movement distance information and the target up / down movement distance information about the storage section in the partition section to be learned.

The third characteristic configuration of the learning apparatus in the article storage facility according to the present invention is commonly installed as the learning mark body for the plurality of learning mark bodies arranged in the horizontal movement direction at the same position in the up-and-down movement direction. The learning control means is provided with an elevating common learning mark body, and the learning control means moves the transfer means to the learning mark body detection sensor in one direction and the other direction of the lateral movement direction with respect to the learning mark body. In the form of performing the learning lateral movement control for controlling the lateral movement of the transfer means so as to move at the learning lateral movement speed set as the movement speed when the learning mark body is detected. As the second calculation process, the transfer means moves the lifting / lowering means by the learning mark body detection sensor in one direction and the other direction of the lifting / lowering movement direction with respect to the lifting / lowering common learning mark body. Common To move at set learning vertical moving speed of the moving speed in the case of detecting the習用mark body in the form of performing common learning lifting movement control for controlling the lifting movement of the transfer means, in the vertical movement direction It is configured to perform a process for obtaining an installation position of the elevating common learning mark body, and the article storage body includes a plurality of partition sections that are aligned in the lateral movement direction, and each of the plurality of partition sections. And the learning control means is configured to arrange the storage section when the arrangement position of the storage section of the article storage shelf is changed. The partition section in which the arrangement position of the target section is changed is set as a learning target, and the other partition sections are set as non-learning targets, and the target lateral movement distance information and the target for the storage section in the learning target partition section are set. Elevating In order to obtain moving distance information, the first calculation process and the second calculation process are performed, and when the transfer means moves a non-learning target section corresponding to the partition part of the non-learning target, In order to move the transfer means at a set lateral movement speed higher than the learning lateral movement speed and a set up / down movement speed higher than the learning up / down movement speed, the lateral movement and the up / down movement of the transfer means are controlled. It is in the point comprised as follows.

According to this feature configuration, the common learning mark body is provided for the plurality of learning mark bodies arranged in the horizontal movement direction at the same position in the vertical movement direction. By obtaining the installation position in the up-and-down movement direction of the mark body, the installation positions in the up-and-down movement direction of the plurality of learning mark bodies at the same position in the up-and-down movement direction can be obtained.
In the second calculation process, the common learning ascent / descent movement control is performed, and the installation position of the ascending / descending common learning mark body in the ascending / descending movement direction is obtained. It is only necessary to move the transfer means. Therefore, it is possible to shorten the time required to obtain the installation positions in the up-and-down movement direction of the plurality of learning mark bodies at the same position in the up-and-down movement direction by shortening the distance for moving the transfer means as much as possible. it can.
For example, it may be necessary to change the arrangement position of the storage unit by changing the type of the article stored in the article storage shelf. In this case, the arrangement position of the storage unit of the article storage shelf can be changed as appropriate, and it is possible to flexibly cope with a change in the type of article. When the placement position of the storage section of the article storage shelf is changed, the learning control means does not target all the partition sections as learning targets, but sets the partition sections whose storage section layout positions are changed as learning targets. The first calculation process and the second calculation process can be performed so as to obtain the target lateral movement distance information and the target up-and-down movement distance information about the storage unit in the partition section to be learned. Therefore, the first calculation process and the second calculation process can be performed only on the partition part that needs to newly acquire the target lateral movement distance information and the target up / down movement distance information among the plurality of partition parts. Efficient learning. When the transfer control unit moves the transfer unit to the learning target partition, if the transfer unit moves in the non-learning target section corresponding to the non-learning target partition, the transfer at that time The speed can be set to a set lateral movement speed higher than the learning lateral movement speed and a set up / down movement speed higher than the learning up / down movement speed, and the transfer means can be moved at a higher speed. Therefore, it is possible to shorten the time required for learning for obtaining the target lateral movement distance information and the target up / down movement distance information about the storage section in the partition section to be learned.

According to a fourth characteristic configuration of the learning device in the article storage facility according to the present invention, the learning mark bodies are the same set of the learning mark bodies installed for all the storage sections of the one article storage shelf. In a state where a single group reference learning mark body that serves as a reference for the grouped learning mark body is installed at a predetermined position in the up and down movement direction. Provided for each article storage shelf, the positional relationship between the installation position of the set reference learning mark body and the installation positions of all the learning mark bodies belonging to the set is set in advance as a reference positional relationship, and the learning When obtaining the target lateral movement distance information and the target up / down movement distance information for the storage section in the target partition, the learning control means first moves the transfer means in one direction of the lateral movement. Let Detection information of the lateral movement distance detection means when the learning mark body detection sensor detects the group reference learning mark body, and the transfer means moves in the other direction of the lateral movement direction for the learning. A set reference calculation for obtaining the set position of the set reference learning mark body in the lateral movement direction from the detection information of the lateral movement distance detecting means when the set reference learning mark body is detected by a mark body detection sensor. Process, and then the first calculation process and the second calculation process. In the first calculation process and the second calculation process, the learning mark body detection sensor performs the learning based on the reference positional relationship. In order to move the transfer means to the mark body detection position for detecting the mark body for use, the learning body lateral movement control is performed after performing the mark body detection position movement control for controlling the lateral movement and the vertical movement of the transfer means. And, wherein the learning lifting movement control or form that performs the common learning lifting movement control, in that it is configured to perform the first calculation process and the second calculation process.

  According to this characteristic configuration, in obtaining the target lateral movement distance information and the target up / down movement distance information about the storage unit in the partition section to be learned, the learning control means first performs the group reference calculation process in the up / down movement direction. For the group reference learning mark body installed at a predetermined position, the installation position in the lateral movement direction and the up-and-down movement direction is determined for the group reference learning mark body by obtaining the installation position in the lateral movement direction. Can be obtained. Since the positional relationship between the installation position of the group reference learning mark body and the installation positions of all the learning mark bodies belonging to the group is preset as the reference positional relationship, the learning control means uses the reference positional relationship. By performing the mark body detection position movement control, the transfer means can be smoothly and efficiently moved to the mark body detection position in each of the plurality of learning mark bodies. The learning control means performs the first calculation process and the second calculation process in a state where the mark body detection position movement control is performed and the transfer means is moved to the mark body detection position, so that the target lateral movement distance information is obtained. Since the target up / down movement distance information can be obtained, the transfer means can be moved smoothly and efficiently, and the time required for learning can be appropriately shortened.

According to a fifth characteristic configuration of the learning device in the article storage facility according to the present invention, the learning control means has a set lateral movement speed higher than the learning lateral movement speed and the learning up-and-down movement in the mark body detection position movement control. In order to move the transfer means at a set ascending / descending movement speed higher than the speed, it is configured to control lateral movement and up-and-down movement of the transfer means.

  According to this characteristic configuration, in the mark body detection position movement control, the moving speed of the transfer means is set to a set lateral movement speed that is higher than the learning lateral movement speed and a set vertical movement speed that is higher than the learning vertical movement speed. And the transfer means can be moved at a higher speed. Therefore, it is possible to shorten the time required for learning for obtaining the target lateral movement distance information and the target up / down movement distance information about the storage section in the partition section to be learned.

According to a sixth characteristic configuration of the learning device in the article storage facility according to the present invention, when the learning control means performs the mark body detection position movement control, the learning mark body is detected by the learning mark body detection sensor. If it is not detected, an abnormality process is performed.

  According to this feature configuration, when the mark body detection position movement control is performed, the learning mark body detection sensor usually detects the learning mark body, so the learning mark body detection sensor detects the learning mark body. If not detected, the installation position of the learning mark body is different from the position indicated by the reference position relationship, and the reference position relationship is incorrect or a control abnormality has occurred. In such a case, since the installation position of the learning mark body cannot be obtained correctly, the learning control means, for example, stops the subsequent processing and causes the operator to be abnormal by an alarm or the like. By performing the above, it is possible to perform appropriate processing.

According to a seventh characteristic configuration of the learning device in the article storage facility according to the present invention, the lateral movement distance detecting means detects a distance in the lateral movement direction between the reference lateral position and the transfer means. A laser range sensor for the up-and-down movement direction detecting means for detecting a distance in the up-and-down movement direction between the reference elevation position and the transfer means. It is in the point which is comprised.

  According to this feature configuration, the lateral movement distance detection means is configured by the laser distance sensor for horizontal movement direction and the vertical movement distance detection means is configured by the laser distance sensor for vertical movement direction. It is possible to accurately detect the distance to the lateral position and the reference elevation position, and to contribute to accurately obtaining the target lateral movement distance information and the target elevation movement distance information.

  So far, the learning apparatus in the article storage facility according to the present invention has been described. Hereinafter, the learning method in the article storage facility according to the present invention will be described. The learning method in the article storage facility according to the present invention differs from the learning device in the article storage facility according to the present invention described above only in whether it is a learning device or a learning method, and has the same effect. It has an effect.

A learning method in an article storage facility according to the present invention includes an article storage body having a plurality of storage units, a lateral movement of the transfer means, and an up-and-down movement of the transfer means, thereby moving the transfer means to a target stop position of the storage unit. In the article storage facility provided with an article transporting device that moves the storage means to and from the storage section by the transfer means, the transfer means for the target stop position in each of the plurality of storage sections In the learning method in the article storage facility for obtaining the target lateral movement distance information from the reference lateral position in the lateral movement direction and the target lifting movement distance information from the reference lifting position in the lifting movement direction of the transfer means,
A light emitting / receiving type learning mark body in which a plurality of learning mark bodies are installed so as to have a predetermined set positional relationship with respect to each installation position of the plurality of storage units, and the learning mark body is detected. A detection sensor is provided in the article transporting device in a state of moving integrally with the transfer means, and detects a lateral movement distance from the reference lateral position to the transfer means in the horizontal movement direction of the transfer means. A moving distance detecting means; and an elevating movement distance detecting means for detecting an elevating movement distance from the reference elevating position to the transferring means in the elevating movement direction of the transfer means,
Detection information of the lateral movement distance detection means when the transfer means is moved in one direction of the lateral movement and the learning mark body detection sensor detects the learning mark body, and the transfer means A plurality of the learning in the lateral movement direction from the detection information of the lateral movement distance detecting means when the learning mark body detection sensor detects the learning mark body by moving in the other direction of the lateral movement direction. A first calculation process for obtaining the target lateral movement distance information from the installation position of the plurality of learning mark bodies in the obtained lateral movement direction and the set position relationship; When the transfer means is moved in one direction of the up-and-down movement direction and the learning mark body detection sensor detects the learning mark body, the detection information of the up-and-down movement distance detection means and the transfer means are moved up and down. The other direction of movement Based on the detection information of the ascending / descending movement distance detecting means when the learning mark object detecting sensor is moved and detected by the learning mark object detecting sensor, the installation positions of the plurality of learning mark objects in the ascending / descending movement direction are determined. In other words, the second calculation process for obtaining the target up / down movement distance information from the installation positions of the plurality of learning mark bodies in the obtained up / down movement direction and the set position relationship is performed.

  In this learning method, as described in the first characteristic configuration of the learning device in the article storage facility according to the present invention described above, the learning mark body detection sensor performs learning by performing the first calculation process. Using the detection information of the lateral movement distance detection means at the rising timing that captures the same phenomenon that shifts from the state where the mark body is not detected to the state where the learning mark body detection sensor is detected by the learning mark body detection sensor, The travel distance information can be obtained with high accuracy. Further, by performing the second calculation process, the same state shifts from the state where the learning mark body detection sensor does not detect the learning mark body detection sensor to the state where the learning mark body detection sensor detects the learning mark body. Using the detection information of the rising / lowering movement distance detecting means at the rising timing that captures the phenomenon, the target lifting / lowering movement distance information can be accurately obtained.

In the learning method in the article storage facility according to the present invention, in the first calculation process, the transfer means detects the learning mark body in one direction and the other direction of the lateral movement direction with respect to the learning mark body. In the form of performing the learning lateral movement control for controlling the lateral movement of the transfer means so as to move at the learning lateral movement speed set as the movement speed when the learning mark body is detected by the sensor, The first arithmetic processing is performed, and the learning is performed by the learning mark body detection sensor in the one direction and the other direction of the up-and-down movement direction with respect to the learning mark body. to move at set as the moving speed learning lifting movement speed when detecting the use mark body in the form of performing learning lifting movement control for controlling the lifting movement of the transfer means, the second calculation process Row have, the article storage body is provided with a plurality of partition portions which are partitioned in the state arranged in the horizontal direction of movement, in each of the plurality of the partition portion, disposed a freely article storage rack changing the arrangement position of the housing part When the arrangement position of the storage unit of the article storage shelf is changed, the partition unit in which the arrangement position of the storage unit is changed is set as a learning target and the other partition units are not used. Set as a learning target, perform the first calculation process and the second calculation process in order to obtain the target lateral movement distance information and the target up-and-down movement distance information about the storage unit in the partition section of the learning target, When the transfer means moves in the non-learning target section corresponding to the partition part to be non-learned, the set lateral movement speed higher than the learning horizontal movement speed and the learning up-and-down movement speed higher than the learning horizontal movement speed. Set up / down movement To move said transfer means in time, it is preferable to control the lateral movement and vertical movement of the transfer means.

In this learning method, as described in the second characteristic configuration of the learning device in the article storage facility according to the present invention, a plurality of learning mark bodies are accurately detected by the learning mark body detection sensor. Therefore, the transfer means can be moved at a speed for the purpose, and the target lateral movement distance information and the target up / down movement distance information can be accurately calculated.
Further, in this learning method, as described in the second characteristic configuration of the learning device in the article storage facility according to the present invention, the target lateral movement distance information and the target up-and-down movement about the storage unit in the partition unit to be learned The time required for learning to obtain distance information can be shortened.

In the learning method in the article storage facility according to the present invention, as the learning mark body, the common learning learning mechanism is commonly installed for the plurality of learning mark bodies arranged in the horizontal movement direction at the same position in the vertical movement direction. A mark body is provided, and for the first calculation process, the transfer means moves the learning means at the learning mark body detection sensor in both the one direction and the other direction with respect to the learning mark body. The first calculation process is performed in a form in which learning lateral movement control is performed to control lateral movement of the transfer means so as to move at a learning lateral movement speed set as a movement speed when the mark body is detected. As the second calculation process, the transfer means is used for the common learning learning with the learning mark body detection sensor in both the one direction of the vertical movement direction and the other direction with respect to the common mark for the vertical movement learning. To move at set as the moving speed learning lifting movement speed when detecting the over click member, in the form of performing common learning lifting movement control for controlling the lifting movement of the transfer means, in the vertical movement direction There line processing for obtaining the setting position of the elevating common learning mark body, the article storage body is provided with a plurality of partition portions which are partitioned in the state arranged in the horizontal direction of movement, in each of the plurality of the partition portion, said The section in which the placement position of the storage section is changed when the placement position of the storage section is changed and the placement position of the storage section of the article storage shelf is changed. In order to determine the target lateral movement distance information and the target up-and-down movement distance information about the storage unit in the learning target partitioning section, set the section as a learning target and the other partitioning section as a non-learning target First operation When the transfer means moves in a non-learning target section corresponding to the non-learning target section, the set lateral movement speed is higher than the learning lateral movement speed. Further, it is preferable to control the lateral movement and the vertical movement of the transfer means so as to move the transfer means at a set vertical movement speed higher than the learning vertical movement speed .

In this learning method, as described in the third characteristic configuration of the learning apparatus in the article storage facility according to the present invention, the distance for moving the transfer means is shortened as much as possible and is in the same position in the up-and-down movement direction. It is possible to shorten the time required to obtain the installation positions of the plurality of learning mark bodies in the up-and-down movement direction.
Further, in this learning method, as described in the third characteristic configuration of the learning apparatus in the article storage facility according to the present invention, the target lateral movement distance information and the target up-and-down movement about the storage unit in the partition unit to be learned The time required for learning to obtain distance information can be shortened.

  In the learning method in the article storage facility according to the present invention, the learning mark bodies are assembled in a state where the learning mark bodies installed for all the storage sections of one article storage shelf are the same set. Each of the article storage shelves in a state in which a single set reference learning mark body serving as a reference for the grouped learning mark body is set at a predetermined position in the up and down movement direction. Provided, and the positional relationship between the installation positions of the set reference learning mark bodies and the installation positions of all the learning mark bodies belonging to the set is set in advance as a reference positional relationship, When obtaining the target lateral movement distance information and the target up / down movement distance information for the storage unit, first, the transfer means is moved in one direction of the lateral movement direction to the learning mark body detection sensor. The detection information of the lateral movement distance detecting means when the set reference learning mark body is detected, and the transfer reference means is moved in the other direction of the horizontal movement direction and the learning reference mark detection sensor detects the set reference. Based on the detection information of the lateral movement distance detecting means when the learning mark body is detected, the group reference calculation processing for obtaining the installation position of the group reference learning mark body in the lateral movement direction is performed, and then the first Mark body detection in which the learning mark body detection sensor detects the learning mark body based on the reference positional relationship in the first computation process and the second computation process. In order to move the transfer means to a position, after performing the mark body detection position movement control for controlling the horizontal movement and the vertical movement of the transfer means, the learning horizontal movement control and the learning vertical movement control or In the form of performing serial common learning lifting movement control, it is preferable to perform the first calculation process and the second calculation process.

In this learning method, as described in the fourth characteristic configuration of the learning device in the article storage facility according to the present invention, the transfer means can be moved smoothly and efficiently, and the time required for learning can be reduced. Can be achieved appropriately.

Side view of goods storage equipment Front view of goods storage equipment Illustration showing a stacker crane An enlarged view of the compartment of the article storage facility An enlarged view of the main part of the compartment An enlarged view of the main part of the compartment Flow chart showing the operation of learning processing in the partition section to be learned The figure for demonstrating target lateral movement distance information and target raising / lowering movement distance information Front view of goods storage equipment Front view of article storage facility in the second embodiment The flowchart which shows the operation | movement of the learning process in the division part of learning object in 2nd Embodiment.

Embodiments of a learning apparatus in an article storage facility according to the present invention and an article storage facility to which a learning method in the article storage facility according to the present invention is applied will be described with reference to the drawings.
[First Embodiment]
As shown in FIGS. 1 and 2, the article storage facility includes an article storage body 2 having a plurality of storage portions 1a and 1b, and a moving space 3 formed in front of the article storage body 2 (left side in FIG. 1). 1, a stacker crane 5 (corresponding to an article conveying apparatus) provided with an article transferring apparatus 4 (corresponding to a transferring means) for transferring articles between the storage parts 1 a and 1 b so as to be laterally movable and movable up and down. And). As for the article storage body 2, for example, a pair of article storage bodies 2 is arranged in a state in which a moving space 3 is formed between the article storage bodies 2, but one article storage body 2 is omitted in FIG. 1. It is illustrated.

  FIG. 1 is a side view of the article storage body 2 in the lateral width direction view, and FIG. 2 is a front view of the article storage body 2 in the front-back width direction view. Since the vertical direction of the article storage body 2 is the up-and-down movement direction of the article transfer device 4 as indicated by the Y direction in the drawing, it will be simply referred to as the up-and-down movement direction Y hereinafter. Since the lateral width direction of the article storage body 2 is the lateral movement direction of the article transfer device 4 as indicated by the X direction in the drawing, it is simply referred to as the lateral movement direction X hereinafter.

  The article storage body 2 is connected to a plurality of support pillars 2a arranged in the lateral movement direction X at intervals, and a plurality of support pillars 2a adjacent to each other in the lateral movement direction X so that the article B can be placed and supported. It is comprised from this mounting support body 2b. In the article storage body 2, the placement support 2 b is provided only on the upper side, and the article storage body 2 is an article B in which an operator stores the picking storage section 1 a (corresponding to a storage section). The picking part 6 that performs picking work for picking up and the replenishment part 7 for storing the article B to be replenished in the picking storage part 1a of the picking part 6 in the replenishment storage part 1b. The picking part 6 has a plurality of picking storage parts 1a, and the replenishment part 7 also has a plurality of replenishing storage parts 1b. It is provided on the upper side. Although illustration is omitted, on the side of the article storage body 2 in the lateral movement direction X, there is provided a warehousing section (for example, a transport conveyor) for placing and supporting the article 1 that is admitted into the replenishment site 7.

  The picking part 6 is partitioned into a plurality of partition parts 8 (for example, three partition parts) in a state of being lined up in the lateral movement direction X by the support 2a. A picking shelf 9 (corresponding to an article storage shelf) in which the arrangement position of the picking storage unit 1a can be freely changed is arranged in each of the plurality of partition units 8. The picking part 6 includes a plurality of picking shelves 9 arranged in each of the plurality of partition parts 8. The picking shelf 9 is composed of an inclined fluidized shelf in which a placement support portion 9a on which the article B can be placed and supported is inclined in the front-rear width direction from the moving space 3 side to the opposite side. The operator can take out the article B from the side opposite to the moving space 3 in the width direction.

  As shown in FIG. 3, in the movement space 3, traveling rails 11 are installed on the floor surface across the entire range of the article storage body 2 and the warehousing section in the lateral movement direction X, and all of the article storage body 2 in the lateral movement direction X. A guide rail 12 extending over the range and the warehousing section is installed on the ceiling side. The stacker crane 5 is provided so as to move laterally on the traveling rail 11 while being guided by the guide rail 12.

  The stacker crane 5 includes a traveling carriage 13 that can travel along the traveling rail 11, a lifting platform 15 that can be moved up and down along a lifting mast 14 that is erected on the traveling carriage 13, and an article transfer that is mounted on the lifting platform 15. A mounting device 4 (for example, a clamp type transfer device) is provided. The stacker crane 5 is configured such that the article transfer device 4 can be moved laterally by the traveling operation of the traveling carriage 13 and the article transfer device 4 can be moved up and down by the lifting operation of the lifting platform 15. The stacker crane 5 is moved between the storage units 1 a and 1 b of the storage unit and the article storage body 2 by the traveling operation of the traveling carriage 13, the lifting operation of the lifting platform 15, and the transfer operation of the article transfer device 4. The article B is configured to be conveyed.

  In the stacker crane 5, a pair of elevating masts 14 are provided in the front and rear, one at each of the front end portion and the rear end portion of the traveling carriage 13. An upper frame 16 that connects the upper ends of the pair of front and rear masts 14 is provided at the upper end of the lift mast 14. The upper frame 16 is provided so as to be guided by the guide rail 12.

  The lifting platform 15 is guided and supported by a pair of front and rear lifting masts 14 erected on the traveling carriage 13 so as to be movable up and down, and is suspended and supported by lifting wires 17 connected to the left and right sides thereof. Yes. The lifting wire 17 is wound around a guide pulley 18 provided on the upper frame 16 and a guide pulley 19 provided on one lifting mast 14, and is wound around a winding drum 20 provided at one end of the traveling carriage 13. ing. The winding drum 20 is provided with an inverter type lifting electric motor 21. The lifting / lowering electric motor 21 is driven to rotate forward and backward, thereby performing a feeding operation and a winding operation of the lifting / lowering wire 17 and moving the lifting / lowering table 15 up and down to move the article transfer device 4 up and down. ing.

  The traveling carriage 13 is provided with an up / down movement direction laser distance sensor 22 that detects an up / down movement distance from the reference up / down position to the article transfer device 4 in the up / down movement direction Y. The reference raising / lowering position is set in the raising / lowering movement direction Y to the installation position of the laser ranging sensor 22 for the raising / lowering movement direction. The up-and-down moving direction laser distance sensor 22 can project the distance measuring laser beam in the up-and-down moving direction Y and can receive the light reflected by the up-and-down moving direction reflector 23 provided on the lifting table 15. It is configured. The up-and-down movement direction laser distance sensor 22 determines the distance in the up-and-down movement direction Y between the reference lifting position and the article transfer device 4 based on the time from projecting the laser light to receiving the light. Configured to detect.

  In the stacker crane 5, a pair of front and rear traveling wheels 24 are arranged on the traveling carriage 13 with an interval in the longitudinal direction of the traveling rail 11. Of the pair of front and rear traveling wheels 24, one traveling wheel 24a is configured as a driving wheel, and the other traveling wheel 24b is configured as a freely rotatable driven wheel. The drive wheel 24a is provided with an inverter type electric motor 25 for traveling. The traveling electric motor 25 is driven to rotate in the forward and reverse directions so that the traveling carriage 13 travels along the traveling rail 11 and the article transfer device 4 is moved laterally.

  The traveling carriage 13 is provided with a laser distance sensor 26 for the lateral movement direction that detects the lateral movement distance from the reference lateral position to the article transfer device 4 in the lateral movement direction X. The reference lateral position is determined at the end of the traveling rail 11, and a lateral movement direction reflector 27 that reflects the laser light emitted from the lateral movement direction laser distance measuring sensor 26 is installed at the reference lateral position. Has been. The lateral movement direction laser distance sensor 26 is configured to be able to project distance measurement laser light in the lateral movement direction X and to receive light reflected by the lateral movement direction reflector 27. The lateral movement direction laser ranging sensor 26 determines the distance in the lateral movement direction X between the reference lateral position and the article transfer device 4 based on the time from when the laser light is projected until the light is received. Configured to detect.

  An operation control device 28 that controls the operation of the stacker crane 5 is provided. The operation control device 28 is configured to control the operation of the stacker crane 5 in order to perform various transport operations such as warehousing work and replenishment transport work. The warehousing operation is an operation in which when the article B is conveyed to the warehousing section, the conveyed article B is admitted from the warehousing section to the replenishment storage section 1b of the replenishment site 7. In the replenishing and transporting operation, when there is a replenishment request for replenishing the article B in any picking storage section 1a of the picking part 6, the refilling operation has been requested for replenishment from the replenishment storage section 1b storing the article B to be replenished. This is an operation of transporting the article B to the storage unit 1a.

  The operation control device 28 selects the storage units 1a, 1b and the like to be transferred such as a transfer source and a transfer destination in performing the warehousing operation and the replenishment transfer operation, and corresponds to the storage units 1a and 1b to be transferred. In order to move the article transfer device 4 to the target stop position, the traveling operation of the traveling carriage 13 and the raising / lowering operation of the lift base 15 are controlled, and the article transfer device 4 is a storage unit to be transferred at the target stop position. It is configured to control the transfer operation of the article transfer device 4 so that the article B can be taken in and out of 1a, 1b and the like.

  Incidentally, the operation control device 28 is composed of two controllers including a ground-side controller provided on the ground side and a crane-side controller provided on the stacker crane side that can communicate with each other, or provided on the ground side. It is possible to apply one composed of a single controller provided with a communicable device such as the ground controller and the elevator electric motor 21 and the traveling electric motor 25 provided on the stacker crane side.

  The target stop positions for the storage units 1a and 1b and the warehousing unit are positions for appropriately putting the article B into and out of the storage units 1a and 1b and the warehousing unit. Each of the storage units 1a and 1b and the warehousing unit For each. The target stop position is determined by target lateral movement distance information from the reference lateral position in the lateral movement direction X and target up / down movement distance information from the reference lifting position in the up / down movement direction Y.

  In order to move the article transfer device 4 to the target stop position, the operation control device 28 stops the target in the lateral movement direction X based on the detection information of the lateral movement direction laser distance sensor 26 and the target lateral movement distance information. In order to laterally move the article transfer device 4 to a position, travel control for controlling the operation of the electric motor 25 for travel is performed, and the detection information of the laser distance sensor 22 for the up and down movement direction and the target up and down movement distance information are used. In order to move the article transfer device 4 up and down to the target stop position in the up-and-down movement direction Y, the up-and-down control for controlling the operation of the up-and-down electric motor 21 is performed.

As described above, in order to perform the travel control and the elevation control and move the article transfer device 4 to the target stop position corresponding to each of the storage unit and the plurality of storage units 1a and 1b, a plurality of operation control devices 28 are provided. It is necessary to acquire target lateral movement distance information and target up / down movement distance information for the target stop position. Therefore, the operation control device 28 is configured to acquire the target lateral movement distance information and the target up / down movement distance information for the installation processing of the article storage facility.
Hereinafter, a configuration for acquiring the target lateral movement distance information and the target up / down movement distance information will be described.

  As for the target stop position of the warehousing section, for example, the stacker crane 5 is manually operated so that the article transfer device 4 is positioned in the warehousing section, and then the laser ranging sensor 22 for the up-and-down movement direction and the lateral movement direction are used. From the detection information of the laser distance measuring sensor 26, the target lateral movement distance information and the target up / down movement distance information about the target stop position of the warehousing unit are obtained. In this way, the operation control device 28 stores the obtained target lateral movement distance information and target up / down movement distance information, so that the target lateral movement distance information and the target up / down movement distance information about the target stop position of the warehousing unit are stored. Like to get.

  Regarding the target stop position in each of the plurality of replenishment storage portions 1b of the replenishment site 7 in the article storage body 2, for example, a stacker crane so that the article transfer device 4 is positioned on each column 2a constituting the article storage body 2 5 is manually operated, and the installation position in the lateral movement direction X of each column 2a is obtained from the detection information of the laser distance sensor 22 for the up-and-down movement direction and the laser distance sensor 26 for the lateral movement direction at that time. The target stop position in each replenishment storage unit 1b is determined from the determined installation position of each column 2a in the lateral movement direction X and the preset design information of each replenishment storage unit 1b in the article storage body 2. The target lateral movement distance information and the target up-and-down movement distance information are obtained. In this way, the operation control device 28 stores the obtained target lateral movement distance information and target up-and-down movement distance information, so that the target lateral movement distance information and the target up-and-down information about the target stop position of the replenishment storage unit 1b are stored. The travel distance information is acquired.

  In the embodiment of the learning device in the article storage facility according to the present invention, the target lateral movement distance information and the target up / down movement distance information about the target stop position in each of the plurality of picking storage portions 1a of the picking part 6 are obtained. As shown in FIG. 3, the operation control device 28 is provided with learning control means 29 for obtaining the target lateral movement distance information and the target up / down movement distance information in the picking storage unit 1a.

  In the embodiment of the learning apparatus in the article storage facility according to the present invention, when the target lateral movement distance information and the target up / down movement distance information in the picking storage section 1a are obtained, learning is performed for each of the plurality of picking storage sections 1a. A mark body 30 is provided. Each of the plurality of learning mark bodies 30 is installed so as to have a predetermined set position relationship with respect to each installation position of the plurality of picking storage portions 1a, and the set position relationship is learned control means. 29. The learning control unit 29 obtains the installation positions of the plurality of learning mark bodies 30 in the lateral movement direction X, and determines the installation positions of the plurality of learning mark bodies 30 in the lateral movement direction X and the set positional relationship. The first calculation processing for obtaining the target lateral movement distance information from the above, the installation positions of the plurality of learning mark bodies 30 in the up-and-down movement direction Y are obtained, and the plurality of learning mark bodies 30 in the obtained up-and-down movement direction Y are obtained. And a second calculation process for obtaining target up / down movement distance information from the installation position and the set position relationship.

  The learning mark body 30 will be described. As shown in FIG. 2 and FIG. 4 in which a part of FIG. 2 is enlarged, the learning mark body 30 is configured by a quadrangular reflector. The set positional relationship is determined as a positional relationship for installing the learning mark body 30 at the target stop position with respect to the picking storage unit 1a, for example, and the target stop position and the installation position of the learning mark body 30 are the same. To be in position.

  The learning mark bodies 30 are grouped in a state in which the learning mark bodies 30 installed for all the picking storage units 1a of one picking shelf 9 are in the same set, and the grouped learning mark bodies 30 A single set reference learning mark body 31 serving as a reference with respect to the mark body 30 is provided for each picking shelf 9 in a state of being installed at a predetermined position in the up-and-down movement direction Y.

As described above, the picking portion 6 is partitioned into a plurality of partition portions 8 (for example, three partition portions) in a state of being aligned in the lateral movement direction X as shown in FIG. One or a plurality of picking shelves 9 are arranged in the above. In FIG. 2, the picking part 6 is divided into three division parts 8, and one picking shelf 9 is arranged in the division part 8 located on the left side and the center in the horizontal movement direction X, and is moved laterally. Two picking shelves 9 are arranged in the partition 8 located on the right side in the direction X. FIG. 4 is an enlarged view of the partition 8 located on the right side in the lateral movement direction X.
Therefore, in FIG. 2, since one picking shelf 9 is arranged in the partition unit 8 located on the left side and the center in the lateral movement direction X, the learning mark arranged on the one picking shelf 9 is arranged. All the bodies 30 are grouped into the same set, and one set reference learning mark body 31 is provided. Since the two picking shelves 9 are arranged in the partition unit 8 located on the right side in the lateral movement direction X, there are two sets divided by the picking shelves 9, and two sets of reference learning A mark body 31 is provided.

The positional relationship between the installation position of the set reference learning mark body 31 and the installation positions of all the learning mark bodies 30 belonging to the set is set in advance as the reference position relationship. Is remembered.
One picking shelf 9 is provided with one set reference learning mark body 31 and all the learning mark bodies 30 belonging to the set. In the picking shelf 9, the position of the picking storage unit 1 a is set in advance from design information and the like. Accordingly, the installation positions of all the learning mark bodies 30 belonging to the set are in the horizontal movement direction X and the up-and-down movement direction Y with respect to the installation position of the group reference learning mark body 31. The position of each learning mark body 30 with respect to the installation position of the set reference learning mark body 31 is set as a reference position relationship. For the learning mark body 30 and the set reference learning mark body 31, the installation positions of the learning mark body 30 and the set reference learning mark body 31 are adjusted so as to have the preset reference positional relationship. Has been.

  The stacker crane 5 is provided with a light projecting / receiving type learning mark body detection sensor 32 for detecting the learning mark body 30 and the group reference learning mark body 31 so as to move integrally with the article transfer device 4. Yes. Although the detailed description and illustration are omitted, the learning mark body detection sensor 32 projects detection light in a predetermined detection direction and is reflected by the learning mark body 30 and the group reference learning mark body 31. By receiving light, the learning mark body 30 and the group reference learning mark body 31 are detected. The learning mark body detection sensor 32 is provided on the traveling carriage 13 to detect the group reference learning mark body 31, and the learning mark body detection sensor 32 a is provided on the lifting platform 15 and includes the learning mark body 30. It comprises a second learning mark body detection sensor 32b for detection. Since the group reference learning mark body 31 is installed at a predetermined position in the up-and-down movement direction Y, the first learning mark body detection sensor 32a is also installed at a predetermined position in the up-and-down movement direction Y. ing.

  In obtaining the target lateral movement distance information and the target up / down movement distance information in the picking storage unit 1a, the learning control unit 29 picks the target lateral movement distance information and the target up / down movement distance information from the plurality of picking storage units 1a. The storage unit 1a can be selected in units of 8 partition units. The learning control unit 29 selects the partition unit 8 to be learned from among the plurality of partition units 8, and the target lateral movement distance information and the target in all the picking storage units 1a of the selected partition unit 8 to be learned are selected. It is configured to perform a learning process for obtaining up / down movement distance information. When a plurality of learning target partition units 8 are selected, the learning control unit 29 repeatedly performs the learning process for each of the learning target partition units 8, and picking storage units 1 a for all of the plurality of learning target partition units 8. The target lateral movement distance information and the target up / down movement distance information are obtained. The execution of the learning process by the learning control unit 29 is configured such that the learning control unit 29 automatically performs the learning process, for example, when a learning mode is commanded to the operation control device 28.

  Hereinafter, based on the flowcharts of FIGS. 4 to 6 and 7, the operation of the learning process for obtaining the target lateral movement distance information and the target up / down movement distance information in the picking storage section 1 a of the learning target partition section 8 will be described. 4 to 6, the arrow straight line indicates the path through which the learning mark body detection sensor 32 passes when the article transfer device 4 is moved, and is shown in FIGS. 6B and 6C. FIG. 4 shows an enlarged view of a path through which the learning mark body detection sensor 32 passes when the article transfer device 4 is moved in the region surrounded by the one-dot chain line in FIG.

In order to obtain the target lateral movement distance information and the target up / down movement distance information in the picking storage section 1a of the learning target section 8, it is necessary to first move the article transfer device 4 to the learning target section 8. Become.
Therefore, the learning control means 29 detects the detection information of the laser distance sensor 22 for the up-and-down movement direction and the laser distance sensor 26 for the lateral movement direction, and the installation position of the column 2a (positions indicated by P1 and P2 in FIG. 4). ) To move the article transfer device 4 to the installation position of the column 2a that divides the partitioning section 8 that is the learning target, based on the learning target movement that controls the operation of the lifting electric motor 21 and the traveling electric motor 25 Control is performed (step # 1 in FIG. 7). In this learning target movement control, with respect to the lateral movement direction X, one of the struts 2a (the strut located at the left end of the partitioning section 8 in FIG. 4) that divides the partitioning section 8 as the learning target in the lateral movement direction X. The article transfer device 4 is moved laterally to the installation position (the position indicated by P1 in FIG. 4), and the article transfer device 4 is moved so that the article transfer device 4 is at the lowest position in the up and down movement direction Y. Move up and down.
In the learning target movement control, the learning control means 29 moves up and down to move the article transfer device 4 at a set lateral movement speed higher than the learning lateral movement speed and a set up / down movement speed higher than the learning up / down movement speed. The operation of the electric motor 21 for traveling and the electric motor 25 for traveling is controlled. Here, the learning lateral movement speed and the learning up-and-down movement speed are speeds suitable for detecting the learning mark body 30 by the learning mark body detection sensor 32.
As for the installation position of the column 2a that divides the partitioning section 8 indicated by P1 and P2 in FIG. 4, the installation positions P1 and P2 of the column 2a are obtained in advance by manually operating the stacker crane 5 as described above. The learning control means 29 stores the obtained installation positions P1 and P2 of the column 2a.

In this way, after performing the above-described learning object movement control, the learning control means 29 moves the article transfer device 4 in the lateral movement direction X as indicated by K1 and K2 in FIG. A group reference calculation process for obtaining the installation position of the group reference learning mark body 31 in the direction X is performed (step # 2 in FIG. 7). Next, the learning control means 29 moves the article transfer device 4 to a mark body detection position where the second learning mark body detection sensor 32b detects the learning mark body 30 as indicated by L in FIG. Mark body detection position movement control is performed (step # 3 in FIG. 7). In this way, when the article transfer device 4 is moved to the mark body detection position where the second learning mark body detection sensor 32b detects the learning mark body 30, the learning control means 29 is changed to a one-dot chain line in FIG. 6B, as indicated by N1 to N3 in FIG. 6B, the article transfer device 4 is moved in the lateral movement direction X to determine the installation position of the learning mark body 30 in the lateral movement direction X. The first calculation process for obtaining the target lateral movement distance and the part surrounded by the alternate long and short dash line in FIG. 4 and as indicated by M1 to M3 in FIG. Then, the second calculation process is performed to obtain the target up / down movement distance by obtaining the setting position of the learning mark body 30 in the up / down movement direction Y (steps # 4 and # 5 in FIG. 7). Then, the learning control means 29 performs the first calculation process and the second calculation process on all the learning mark bodies 30 in the learning target partition section 8, and if the learning is not completed, the learning control means 29 is changed to L in FIG. As shown, the mark body detection position movement control is performed to move the article transfer device 4 to the next mark body detection position, and the first computation process and the second computation process are performed on the next learning mark body 30. (Steps # 3 to # 6 in FIG. 7).
In this way, in the learning process, the learning control unit 29 performs the mark body detection movement control, thereby sequentially moving to the mark body detection position in each of the plurality of learning mark bodies 30 and moving to the plurality of learning marks. The first calculation process and the second calculation process are repeatedly performed on each of the bodies 30, and the first calculation process and the second calculation process are performed on all the learning mark bodies 30.

  Hereinafter, the group reference calculation process, the mark body detection position movement control, the first calculation process, and the second calculation process will be described.

(Criteria calculation processing)
As shown in FIG. 4, in this group reference calculation process, the learning control means 29 moves the article transfer device 4 in the lateral movement direction X between the installation positions P1 and P2 of the struts 2a at both ends in the partition section 8 to be learned. In the form of performing reciprocal movement control between struts that are reciprocally moved in the horizontal direction, the installation position of the group reference learning mark body 31 in the lateral movement direction X is obtained.

Explaining the reciprocal movement control between pillars, the learning control means 29, as shown by K1 in FIG. 4, the detection information of the laser ranging sensor 26 for the lateral movement direction and the stored installation position P1 of the pillar 2a. , P2 is set so that the first reference mark body detection sensor 32a sequentially detects the group reference learning mark body 31 (see FIG. 4). , P1) to the installation position of the other column 2a (position indicated by P2 in FIG. 4) so that the article transfer device 4 is moved in one direction X in the lateral movement direction. The operation of the motor 25 is controlled. Subsequently, as indicated by K2 in FIG. 4, the learning control means 29 is based on the detection information of the laser distance sensor 26 for the lateral movement direction and the stored installation positions P1 and P2 of the support column 2a. The article is transferred from the installation position (position indicated by P2 in FIG. 4) of the other side support column 2a to the installation position (position indicated by P1 in FIG. 4) of the other side support column 2a in the partition 8 to be learned. The operation of the traveling electric motor 25 is controlled so that the device 4 is moved in the other direction of the lateral movement direction X.
In this reciprocation control between struts, the learning control means 29 controls the operation of the electric motor 25 for traveling so that the article transfer device 4 is moved at the learning lateral movement speed.

  In the reciprocation control between the columns, the article transfer device 4 is merely moved laterally without moving the article transfer device 4 up and down. Therefore, in FIG. 4 and FIG. However, for the convenience of explanation, the route indicated by K1 and the route indicated by K2 are shown without overlapping.

  In the group reference calculation process, as shown in FIG. 5, the learning control means 29 moves the article transfer device 4 in one direction of the lateral movement direction X, and the first learning mark body detection sensor 32a sets the group reference learning. When the mark body 31 is detected (one-direction rising timing indicated by T1 in the figure), the detection distance of the lateral movement direction laser distance sensor 26 and the article transfer device 4 in the other direction of the lateral movement direction X. Detection of the lateral movement direction laser distance sensor 26 when the pair reference learning mark body 31 is detected by the first learning mark body detection sensor 32a (the rising timing in the other direction indicated by T2 in the figure). From the distance, the installation position of the group reference learning mark body 31 in the lateral movement direction X is obtained. The detection distance of the lateral movement direction laser distance sensor 26 at the one-way rising timing indicated by T1 is one end portion (left end portion in the figure) in the lateral movement direction X of the set reference learning mark body 31 and the reference lateral position. Is the distance between The detection distance of the lateral movement direction laser ranging sensor 26 at the rise timing in the other direction indicated by T2 is the other end portion (right end portion in the figure) of the lateral movement direction X in the group reference learning mark body 31 and the reference lateral direction. It is the distance between the positions. Thus, since the positions of both ends of the lateral movement direction X in the set reference learning mark body 31 with respect to the reference horizontal position can be detected, the learning control means 29 can move the lateral movement direction in the set reference learning mark body 31. The center of the group reference learning mark body 31 in the lateral movement direction X is obtained from the positions of both ends of X, and the obtained center is set as the installation position of the group reference learning mark body 31 in the lateral movement direction X.

  When the first learning mark body detection sensor 32a does not detect the pair reference learning mark body 31 when the reciprocation control between the columns is performed, the setting of the group reference learning mark body 31 in the lateral movement direction X is performed. The position cannot be determined. Therefore, if the learning control means 29 does not detect the group reference learning mark body 31 by the first learning mark body detection sensor 32a when performing the reciprocal movement control between the columns, it is not shown in the figure. It is configured to perform an abnormal process such as displaying on the display device or the like and stopping the subsequent process. As shown in FIG. 4, a plurality of group reference learning mark bodies 31 may be provided in one partition portion 8. Therefore, the number of set reference learning mark bodies 31 provided in the partition unit 8 is set in advance, and the learning control means 29 performs the first learning mark body detection sensor 32a when performing reciprocal movement control between struts. If a predetermined number of set reference learning mark bodies 31 are not detected, an abnormality process is performed.

(Mark body detection position movement control)
As described above, as indicated by L in FIG. 4, when the article transfer device 4 is moved to the mark body detection position in each of the plurality of learning mark bodies 30, the learning control means 29 detects the mark body. It is configured to perform position movement control. In performing the mark body detection position movement control, a movement order of which of the plurality of learning mark bodies 30 is to be moved to which mark body detection position in which learning body 30 is to be moved is determined in advance. The article transfer device 4 is sequentially moved to the mark body detection position in each of the plurality of learning mark bodies 30 in accordance with the determined movement order. As for the movement order, as shown in FIG. 4, for example, the learning mark body 30 located on the lower side in the up-and-down movement direction Y has an earlier order and the learning mark located on the left side in the horizontal movement direction X. It is determined that the body 30 is in an earlier order.

  Since the positional relationship between the installation position of the group reference learning mark body 31 and the installation positions of all the learning mark bodies 30 belonging to the group is set in advance as a reference positional relationship, in the mark body detection position movement control, learning is performed. As shown in FIGS. 4 and 6A, the control means 29 is based on the reference positional relationship and the detection information of the laser distance sensor 22 for the up-and-down movement direction and the laser distance sensor 26 for the horizontal movement direction. In order to move the article transfer device 4 to a mark body detection position where the second learning mark body detection sensor 32b detects the learning mark body 30, the operations of the lifting and lowering electric motors 21 and 25 are controlled. ing. In FIG. 6A, the positions of the second learning mark body detection sensor 32 b and the learning mark body 30 in a state where the article transfer device 4 is moved to the mark body detection position for detecting the learning mark body 30. An example of the relationship is shown.

  In this mark body detection position movement control, the learning control means 29 moves the article transfer device 4 at a set lateral movement speed higher than the learning lateral movement speed and a set up / down movement speed higher than the learning up / down movement speed. In this way, the operations of the lifting electric motor 21 and the traveling electric motor 25 are controlled.

  The learning control means 29 detects the learning mark body 30 by the second learning mark body detection sensor 32b when the mark body detection position movement control is performed as shown by a dotted line in FIG. If not, it is configured to perform an abnormal process such as displaying an abnormality on a display device or the like (not shown) and stopping the subsequent process.

(First calculation process)
The learning control unit 29 performs the first calculation process after performing the above-described mark body detection position movement control. In this first calculation process, the learning control means 29 moves the article transfer device 4 with respect to the learning mark body 30 at the learning lateral movement speed in one direction of the lateral movement direction X and the other direction. In the form of performing learning lateral movement control for controlling the operation of the electric motor 25 for traveling, the installation position of the learning mark body 30 in the lateral movement direction X is obtained.

The learning lateral movement control will be described.
When the learning control means 29 performs the mark body detection movement control, the position of the second learning mark body detection sensor 32b becomes a position where the learning mark body 30 can be detected, as shown in FIG. Therefore, in the learning lateral movement control, the learning control means 29 determines the other of the lateral movement direction X based on the detection information of the lateral movement direction laser distance sensor 26, as indicated by N1 in FIG. The operation of the traveling electric motor 25 is controlled so that the article transfer device 4 is moved in the direction by a first set distance (a distance larger than the width of the learning mark body 30 in the lateral movement direction X), 2 The position of the learning mark body detection sensor 32b is set to a position deviated from the learning mark body 30 in the other direction of the lateral movement X. Next, as shown by N2 in FIG. 6B, the learning control means 29 determines the position of the second learning mark body detection sensor 32b based on the detection information of the lateral movement direction laser distance sensor 26. Moves the article transfer device 4 in one direction of the lateral movement direction X so that it passes through both ends of the learning mark body 30 in the lateral movement direction X (for example, more than twice the first set distance). The position of the second learning mark body detection sensor 32b is set to a position deviated from the learning mark body 30 in one direction X in the lateral movement direction by controlling the operation of the electric motor 25 for traveling so as to move by the distance). . Finally, the learning control unit 29 transfers the article in the other direction of the lateral movement direction X based on the detection information of the laser distance sensor 26 for the lateral movement direction, as indicated by N3 in FIG. 6B. The operation of the traveling electric motor 25 is controlled so that the device 4 is moved by the third set distance, and the position of the second learning mark body detection sensor 32b is set to a position where the learning mark body 30 can be detected.

  In the first calculation process, as shown in FIG. 6B, the learning control means 29 moves the article transfer device 4 in one direction of the lateral movement direction X, and the second learning mark body detection sensor 32b. When the learning mark body 30 is detected (one-direction rising timing indicated by T1 in the figure), the detection distance of the lateral movement direction laser ranging sensor 26 and the other direction of the article transfer device 4 in the lateral movement direction X When the learning mark body 30 is detected by the second learning mark body detection sensor 32b (rising timing in the other direction indicated by T2 in the figure), the detection distance of the lateral movement direction laser ranging sensor 26 is detected. From the above, the installation position of the learning mark body 30 in the lateral movement direction X is obtained. The detection distance of the lateral movement direction laser distance measuring sensor 26 at the one-way rising timing indicated by T1 is the distance between one end of the learning mark body 30 in the lateral movement direction X (the left end in the figure) and the reference lateral position. Is the distance between. The detection distance of the lateral movement direction laser distance measuring sensor 26 at the rising timing in the other direction indicated by T2 is the other end portion (right end portion in the figure) in the lateral movement direction X of the learning mark body 30 and the reference lateral position. Is the distance between. Thus, since the positions of both end portions of the learning mark body 30 in the lateral movement direction X can be detected with respect to the reference lateral position, the learning control means 29 can detect both ends of the learning mark body 30 in the lateral movement direction X. The center of the learning mark body 30 in the lateral movement direction X is obtained from the position of the position, and the obtained center is set as the installation position of the learning mark body 30 in the lateral movement direction X. As described above, the set positional relationship is determined as the positional relationship for installing the learning mark body 30 at the target stop position with respect to the picking storage portion 1a. The installation position of the learning mark body 30 and the target stop position are set. Since the position is the same position, the learning control unit 29 obtains the distance between the installation position of the learning mark body 30 and the reference lateral position in the lateral movement direction X as the target lateral movement distance.

(Second calculation process)
The learning control unit 29 performs the second calculation process after performing the first calculation process described above. In this second calculation process, the learning control means 29 moves the article transfer device 4 with respect to the learning mark body 30 at the learning up-and-down moving speed in one direction of the up-and-down moving direction Y and the other direction. In the form of performing learning up / down movement control for controlling the operation of the up / down electric motor 21, the installation position of the learning mark body 30 in the up / down movement direction Y is obtained.

The learning up / down movement control will be described.
The learning control means 29 can obtain the installation position (center position) of the learning mark body 30 in the lateral movement direction X when the first calculation process is performed. As shown in FIG. 6C, the position of the second learning mark body detection sensor 32b is set to the installation position (center position) of the learning mark body 30 in the obtained lateral movement direction X. The operation of the traveling electric motor 25 is controlled. Next, as shown by M1 in FIG. 6C, the learning control unit 29 transfers the article in the other direction of the up-and-down movement direction Y based on the detection information of the laser ranging sensor 22 for up-and-down movement direction. The second learning mark body is controlled by controlling the operation of the lifting electric motor 21 so as to move the device 4 by a fourth set distance (a distance larger than the width of the learning mark body 30 in the lifting movement direction Y). The position of the detection sensor 32b is set to a position deviated from the learning mark body 30 in the other direction of the up-and-down movement direction Y. Thereafter, the learning control means 29 determines the position of the second learning mark body detection sensor 32b based on the detection information of the laser ranging sensor 22 for the up-and-down movement direction, as indicated by M2 in FIG. The article transfer device 4 is moved in one direction of the up-and-down movement direction Y so as to pass through both end portions of the learning mark body 30 in the up-and-down movement direction Y (for example, a distance that is at least twice the fourth set distance). ), The operation of the lifting electric motor 21 is controlled so that the position of the second learning mark body detection sensor 32b deviates from the learning mark body 30 in one direction of the lifting movement direction Y. Finally, the learning control means 29 transfers the article in the other direction of the up-and-down movement direction Y based on the detection information of the up-and-down movement direction laser distance sensor 22 as indicated by M3 in FIG. The operation of the lifting electric motor 21 is controlled so that the device 4 is moved by the sixth set distance, and the position of the second learning mark body detection sensor 32b is set to a position where the learning mark body 30 can be detected.

  In the second calculation process, as shown in FIG. 6C, the learning control means 29 moves the article transfer device 4 in one direction of the up-and-down movement direction Y and uses the second learning mark body detection sensor 32b. When the learning mark body 30 is detected (one-direction rising timing indicated by T1 in the figure), the detection distance of the laser distance sensor 22 for the up-and-down movement direction and the other direction of the article transfer device 4 in the up-and-down movement direction Y When the learning mark body 30 is detected by the second learning mark body detection sensor 32b (rising timing in the other direction indicated by T2 in the figure), the detection distance of the laser ranging sensor 22 for the up and down movement direction is detected. From the above, the installation position of the learning mark body 30 in the up-and-down movement direction Y is obtained. The detection distance of the up / down movement direction laser distance sensor 22 at the one-way rising timing indicated by T1 is such that one end of the learning mark body 30 in the up / down movement direction Y (upper end in the figure) and the reference up / down position. Is the distance between. The detection distance of the up / down movement direction laser distance sensor 22 at the rising timing in the other direction indicated by T2 is the other end portion (lower end portion in the figure) of the learning mark body 30 in the up / down movement direction Y and the reference up / down position. Is the distance between Thus, since the positions of both end portions of the learning mark body 30 in the up-and-down movement direction Y can be detected with respect to the reference elevating position, the learning control means 29 has both ends of the learning mark body 30 in the up-and-down movement direction Y. The center of the learning mark body 30 in the up-and-down movement direction Y is obtained from this position, and the obtained center is set as the installation position of the learning mark body 30 in the up-and-down movement direction Y. As described above, the set positional relationship is determined as the positional relationship for installing the learning mark body 30 at the target stop position with respect to the picking storage portion 1a. The installation position of the learning mark body 30 and the target stop position are set. Since the position is the same position, the learning control unit 29 obtains the distance between the installation position of the learning mark body 30 and the reference lifting position in the lifting movement direction Y as the target lifting movement distance.

  In this way, in the learning process, as shown in FIG. 8, the learning control means 29 performs the group reference calculation process, so that the group reference learning mark body 31 is moved from the reference lateral position in the lateral movement direction X. The lateral movement distance (X01 to X02) is obtained. Then, the learning control unit 29 performs the mark body detection position movement control, the first calculation process, and the second calculation process, so that each learning mark body 30 is moved from the reference horizontal position in the horizontal movement direction X. The lateral movement distance (X11 to X52) is obtained, the elevation movement distance (Y11 to Y52) from the reference elevation position in the elevation movement direction Y is obtained, and the obtained lateral movement distance (X11 to X52) is directly used for each picking. In addition to the target lateral movement distance information of the storage unit 1a, the obtained vertical movement distances (Y11 to Y52) are directly used as the target vertical movement distance information of each picking storage unit 1a.

The learning control means 29 performs learning processing for performing the group reference calculation processing, the mark body detection position movement control, the first calculation processing, and the second calculation processing, so that the picking storage unit 1a of the partition unit 8 to be learned. The target lateral movement distance information and the target up / down movement distance information are obtained.
Since it is necessary to acquire the target lateral movement distance information and the target up-and-down movement distance information in the picking storage section 1a in all of the plurality of partition sections 8 at the beginning of installing the article storage facility, the learning control means 29 The target lateral movement distance information and the target up-and-down movement distance information in all the picking storage sections 1a of all the partition sections 8 are obtained with all of the plurality of partition sections 8 as learning targets.

In this article storage facility, the type or the like of the article B to be picked may be changed. In this case, it may be necessary to change the arrangement position of the picking storage portion 1a. Therefore, when changing the type or the like of the article B to be picked, as shown in FIG. 9, a picking shelf 9 is prepared in accordance with the article B after the arrangement position of the picking storage portion 1a is changed. The entire picking shelf 9 is changed. FIG. 9B shows a case where the picking shelf 9 of the partition section 8 located at the center of the three partition sections 8 is changed from FIG. 9A. In this way, when the arrangement position of the picking storage unit 1a is changed, the learning control means 29 sets the division unit 8 whose arrangement position of the picking storage unit 1a has been changed as a learning target and other division units 8 as the learning unit. It is set as a non-learning target. In FIG. 9B, among the three partition sections 8, the partition section 8 located at the center is set as a learning target, and the partition sections 8 positioned at both ends are set as non-learning targets.
When the arrangement position of the picking storage unit 1a is changed, the learning control unit 29 performs only the group reference calculation process, the mark body detection position movement control, the first calculation process, and the first calculation process only in the learning target partition unit 8. By performing the two-calculation processing, only the target section movement distance information and the target up-and-down movement distance information in the picking storage section 1a are obtained for the learning target partition section 8.

  At this time, since the learning control means 29 performs the learning target movement control before performing the group reference calculation process, the article transfer device 4 moves in the non-learning target section corresponding to the non-learning target partition section 8. Is configured to control the operation of the traveling electric motor 25 and the lifting electric motor 21 to move the article transfer device 4 at the set lateral movement speed and the set lifting movement speed. In FIG. 9B, among the three partition parts 8, the partition part 8 located at the center is a learning target, and the partition parts 8 located at both ends are non-learning objects, so the partition parts 8 located at both ends. Is moved at the set lateral moving speed and the set up / down moving speed.

  As described above, in the first embodiment of the learning method in the article storage facility according to the present invention, the first calculation process and the second calculation process are performed. For the first calculation process, the article transfer device 4 detects the learning mark body 30 with the learning mark body detection sensor 32 in both the one direction and the other direction of the lateral movement direction with respect to the learning mark body 30. The first arithmetic processing is performed in such a manner that learning lateral movement control for controlling the lateral movement of the article transfer device 4 is performed so as to move at a learning lateral movement speed suitable for the movement. For the second calculation process, the article transfer device 4 detects the learning mark body 30 by the learning mark body detection sensor 32 in one direction of the up-and-down movement direction and the other direction with respect to the learning mark body 30. The second calculation process is performed in such a manner that the learning lifting / lowering control for controlling the lifting / lowering movement of the article transfer device 4 is performed so as to move at the learning lifting / lowering movement speed suitable for the item.

When the placement position of the picking storage portion 1a of the picking shelf is changed, the partition portion 8 whose placement position of the picking storage portion 1a is changed is targeted for learning and the other partition portions 8 are not used. The first calculation process and the second calculation process are performed in order to obtain the target lateral movement distance information and the target up-and-down movement distance information about the picking storage unit 1a in the learning target partition unit 8 as a learning target. At this time, when the article transfer device 4 moves in the non-learning target section corresponding to the non-learning target partitioning section 8, it is faster than the set lateral movement speed and learning up-and-down movement speed higher than the learning lateral movement speed. In order to move the article transfer device 4 at the set up / down moving speed, the lateral movement and the up / down movement of the article transfer device 4 are controlled.
Further, when obtaining the target lateral movement distance information and the target up / down movement distance information about the picking storage section 1a in the learning target partition section 8, first, the group reference calculation process is performed, and then the second calculation process is performed. In order to move the article transfer device 4 to the mark body detection position where the learning mark body detection sensor 32 detects the learning mark body 30 based on the reference positional relationship, the article transfer device 4 is moved laterally and moved up and down. After performing the mark body detection position movement control to be controlled, the first calculation process and the second calculation process are performed in such a manner that the learning lateral movement control and the learning lifting movement control are performed.

[Second Embodiment]
Since the second embodiment is another embodiment of the second arithmetic processing in the first embodiment, the description will focus on that point. Since other configurations are the same as those in the first embodiment, detailed description thereof is omitted.

In the first embodiment, in the second calculation process, the plurality of learning mark bodies 30 are obtained by performing the second calculation process in a form in which the learning up / down movement control is performed on each of the plurality of learning mark bodies 30. For each of these, the installation position in the up-and-down movement direction Y is obtained separately.
In the second embodiment, as shown in FIG. 10, the learning mark body 30 is installed in common for a plurality of learning mark bodies 30 arranged in the horizontal movement direction X at the same position in the up-and-down movement direction Y. An elevating common learning mark body 33 is provided. The raising / lowering common learning mark body 33 is provided on the support 2a of the article storage body 2, and is arranged so as to correspond to the installation position of the picking storage section 1a of each partition section 8 in the up-and-down movement direction Y. .

As the second calculation process, the learning control unit 29 causes the article transfer device 4 to move at the learning up-and-down movement speed in one direction of the up-and-down movement direction Y and the other direction with respect to the up-and-down common learning mark body 33. In the form of performing the common learning lifting movement control for controlling the operation of the traveling electric motor 25 and the lifting electric motor 21, the processing for obtaining the installation position of the lifting common learning mark body 33 in the lifting movement direction Y is performed. It is configured.
In the second embodiment, the second arithmetic processing is performed in the form in which the common learning lifting / lowering movement control is performed on the lifting / lowering common learning mark body 33, and the installation position of the lifting / lowering common learning mark body 33 in the lifting / lowering movement direction Y is performed. The determined installation position is set as the installation position in the up-and-down movement direction Y of the plurality of learning mark bodies 30 arranged in the horizontal movement direction X at the same position in the up-and-down movement direction Y.

In the first embodiment, as shown in FIG. 7, in the learning process, after the learning control means 29 performs the learning object movement control and the group reference calculation process, the mark body detection position movement is performed until the learning is completed. In a state where the article transfer device 4 is moved to the mark detection position by performing control, the processing performed in the order of the first calculation processing and the second calculation processing is repeatedly performed.
In the second embodiment, as shown in FIG. 11, in the learning process, the learning control means 29 performs the second calculation process after performing the learning target movement control and the group reference calculation process (steps # 11 to # 11). # 13) After that, until the learning is completed by performing the first calculation process on all the learning mark bodies 30 in the learning target partition section 8, the mark body detection position movement control is performed and the article is moved to the mark detection position. The transfer device 4 is moved so that the first calculation process is repeated (steps # 14 to # 16). In the second calculation process at this time, as described above, the learning control unit 29 obtains the installation position of the common lifting / lowering learning mark body 33 in the lifting / lowering movement direction Y in the form of performing the common learning lifting / lowering movement control. Yes.

As described above, in the second embodiment, when the installation position of the learning mark body 30 in the up-and-down movement direction Y is obtained, instead of obtaining each of the learning mark bodies 30 separately, the same in the up-and-down movement direction Y. The raising / lowering common learning mark body 33 located at the position is provided, and the installation position of the raising / lowering common learning mark body 33 in the up / down movement direction Y is obtained.
Therefore, since the object for obtaining the installation position is different only in the learning mark body 30 or the ascending / descending common learning mark body 33 with respect to the first embodiment, detailed illustration is omitted, and the second embodiment will be described below. Arithmetic processing will be described.

First, the common learning lifting / lowering control in the second calculation process will be described.
The learning control means 29 is based on the detection information of the laser ranging sensor 22 for the up-and-down movement direction, and the second learning mark body based on the stored upper and lower positions of the partition section 8 in the up-and-down movement direction Y. The article transfer device 4 is moved in one direction (upper side) in the up-and-down movement direction Y from the lower end position to the upper end position of the learning target partition section 8 so that the detection sensor 32b sequentially detects the up / down common learning mark body 33. The operation of the lifting electric motor 21 is controlled so as to be moved. Subsequently, the learning control means 29 performs the second learning based on the detection information of the laser distance sensor 22 for the up-and-down movement direction and the stored upper and lower positions of the partition unit 8 in the up-and-down movement direction Y. The object transfer device 4 is moved in the other direction of the up-and-down movement direction Y (downward) from the upper end position to the lower end position in the partition 8 to be learned so that the mark body detection sensor 32b sequentially detects the up-and-down common learning mark body 33. The operation of the lifting electric motor 21 is controlled so as to be moved to the side).

  In the second calculation process, the learning control means 29 moves the article transfer device 4 in one direction of the up-and-down movement direction Y, and detects the up-and-down common learning mark body 33 by the second learning mark body detection sensor 32b. The detection distance of the laser distance sensor 22 for the up-and-down movement direction, and the article transfer device 4 is moved in the other direction of the up-and-down movement direction Y, and the second learning mark body detection sensor 32b moves up and down common learning mark body. Based on the detection distance of the laser distance sensor 22 for the up-and-down movement direction when 33 is detected, the installation position of the up-and-down common learning mark body 33 in the up-and-down movement direction Y is obtained. In this way, since the positions of both ends in the up-and-down movement direction Y in the up-and-down common learning mark body 33 with respect to the reference up-and-down position can be detected, the learning control means 29 can move up and down in the up-and-down common learning mark body 33. The center in the up-and-down movement direction Y in the up-and-down common learning mark body 33 is obtained from the positions of both ends of Y, and the obtained center is set as the installation position of the up-and-down common learning mark body 33 in the up-and-down movement direction Y.

  As described above, in the second embodiment of the learning method in the article storage facility according to the present invention, as the second calculation process, the article transfer device 4 moves in one direction of the up-and-down movement direction with respect to the up-and-down common learning mark body 33. The lifting / lowering movement of the article transfer device 4 is controlled so as to move at a learning lifting / lowering speed suitable for detecting the lifting / lowering common learning mark body 33 by the learning mark body detection sensor 32 in both directions of the other direction. In the form of performing the common learning up / down movement control, the processing for obtaining the installation position of the up / down common learning mark body 33 in the up / down movement direction is performed.

[Another embodiment]
(1) In the first and second embodiments, the set positional relationship is determined as a positional relationship for installing the learning mark body 30 at the target stop position with respect to the picking storage portion 1a. The installation position of the learning mark body 30 is set to the same position. Instead of this configuration, for example, the learning mark body 30 is located in the same position in the lateral movement direction X with respect to the target stop position with respect to the picking storage portion 1a, and is lower by a predetermined distance in the vertical movement direction Y. The target stop position and the installation position of the learning mark body 30 may be different from each other.

(2) In the first embodiment, the learning control unit 29 repeatedly performs the first calculation process and the second calculation process for each of the plurality of learning mark bodies 30, so that a plurality of learning mark bodies are obtained. The movement of the article transfer device 4 with respect to all the learning mark bodies 30 in a form in which the movement of the article transfer apparatus 4 and the calculation of the installation position of the learning mark body 30 are repeated for each of 30. And the calculation of the installation position of the learning mark body 30. Instead of this configuration, the learning control unit 29 repeatedly performs only the learning lateral movement control in the first calculation process and only the learning up / down movement control in the second calculation process for each of the plurality of learning mark bodies 30. Then, only the movement of the article transfer device 4 is performed with respect to all the learning mark bodies 30, and then the calculation of the setting positions of the learning mark bodies in the first calculation process and the second calculation process is performed for all learning. It is also possible to concentrate on the mark body. In this case, the learning control means 29 stores the distance information when the learning mark body detection sensor 32 detects the learning mark body 30 obtained by performing the learning lateral movement control and the learning up-and-down movement control. In addition, using the stored distance information, the calculation of the installation position of the learning mark body 30 in the first calculation process and the second calculation process is concentrated on all the learning mark bodies 30.
In this manner, in the first calculation process and the second calculation process, the learning mark body obtained by performing the movement control of the article transfer device 4 such as the learning lateral movement control and the learning lifting movement control, and the movement control. The calculation processing of the installation position of the learning mark body 30 based on the distance information when the learning mark body 30 is detected by the detection sensor 32 is performed simultaneously on each of the plurality of learning mark bodies 30; It is possible to appropriately change whether to perform only the arithmetic processing thereafter.

(3) In the first embodiment, the learning control unit 29 performs the second calculation process after performing the first calculation process. Conversely, after performing the second calculation process, It is also possible to perform one calculation process.

(4) In the first and second embodiments, the learning mark body detection sensor 32 includes the first learning mark body detection sensor 32a and the second learning mark body detection sensor 32b. It is also possible to implement by providing one learning mark body detection sensor 32.

(5) In the first and second embodiments, the lateral movement distance detecting means is constituted by the lateral movement direction laser distance sensor 26, and the up / down movement distance detection means is replaced by the upward / downward movement direction laser distance sensor 22. Instead of this configuration, for example, the lateral movement distance detection means is configured by a lateral movement direction rotary encoder that can detect the movement distance of the traveling carriage 13 from the reference lateral position, It is also possible to configure the lifting / lowering movement distance detecting means by a lifting / lowering moving direction rotary encoder capable of detecting the moving distance of the lifting / lowering platform 15 from the reference lifting / lowering position.

(6) In the first and second embodiments, the replenishment storage unit 1b is a method different from the method using the learning device in the article storage facility according to the present invention and the learning method in the article storage facility according to the present invention. Thus, the target lateral movement distance information and the target up-and-down movement distance information about the target stop position are acquired. However, the replenishment storage unit 1b is also included in the learning apparatus and the present invention in the article storage facility according to the present invention. Using the learning method in the article storage facility, the target lateral movement distance information and the target up / down movement distance information about the target stop position can be acquired.

DESCRIPTION OF SYMBOLS 1a Storage part 2 Article storage body 4 Transfer means 5 Stacker crane 9 Article storage shelf 29 Learning control means 30 Learning mark body 31 Pair reference learning mark body 32 Learning mark body detection sensor 33 Lifting common learning mark body B Article X Horizontal movement direction Y Vertical movement direction

Claims (11)

An article storage body having a plurality of storage units, and the transfer unit is moved to a target stop position of the storage unit by lateral movement of the transfer unit and up and down movement of the transfer unit, and the storage unit by the transfer unit In an article storage facility provided with an article transporting device that takes in and out articles, a target from a reference lateral position in a lateral movement direction of the transfer means with respect to the target stop position in each of the plurality of storage units A learning apparatus in an article storage facility provided with learning control means for obtaining lateral movement distance information and target lifting movement distance information from a reference lifting position in the lifting movement direction of the transfer means,
A light emitting / receiving type learning mark body in which a plurality of learning mark bodies are installed so as to have a predetermined set positional relationship with respect to each installation position of the plurality of storage units, and the learning mark body is detected. A detection sensor is provided in the article transporting device in a state of moving integrally with the transfer means, and detects a lateral movement distance from the reference lateral position to the transfer means in the horizontal movement direction of the transfer means. A moving distance detecting means; and an elevating movement distance detecting means for detecting an elevating movement distance from the reference elevating position to the transferring means in the elevating movement direction of the transfer means,
The learning control means includes
Detection information of the lateral movement distance detection means when the transfer means is moved in one direction of the lateral movement and the learning mark body detection sensor detects the learning mark body, and the transfer means A plurality of the learning in the lateral movement direction from the detection information of the lateral movement distance detecting means when the learning mark body detection sensor detects the learning mark body by moving in the other direction of the lateral movement direction. A first calculation process for obtaining the target lateral movement distance information from the installation positions of the plurality of learning mark bodies in the obtained lateral movement direction and the set position relationship;
When the transfer means is moved in one direction of the up-and-down movement direction and the learning mark body detection sensor detects the learning mark body, detection information of the up-and-down movement distance detection means, and the transfer means A plurality of the learning in the up-and-down movement direction from the detection information of the up-and-down movement distance detection means when the learning mark body detection sensor detects the learning mark body by moving in the other direction of the up-and-down movement direction A second calculation process is performed for obtaining the target elevating movement distance information from the setting positions of the plurality of learning mark bodies in the ascending / descending movement direction and the set positional relationship. A learning apparatus in an article storage facility configured as described above. The learning control means, when detecting the learning mark body said transfer means to said learning mark body in both one direction and the other direction of the transverse movement direction with the learning mark body detection sensor In the form of performing learning lateral movement control for controlling the lateral movement of the transfer means so as to move at the learning lateral movement speed set as the movement speed, the first calculation process is performed,
The transfer means is set as a moving speed when the learning mark body detection sensor detects the learning mark body in one direction of the up-and-down movement direction and the other direction with respect to the learning mark body . It is configured to perform the second calculation process in a form that performs learning lifting movement control for controlling the lifting movement of the transfer means so as to move at a learning lifting movement speed ,
The article storage body includes a plurality of partition sections that are partitioned in a laterally moving direction, and is configured by arranging an article storage shelf in which the placement position of the storage section can be changed in each of the plurality of partition sections. And
When the placement position of the storage portion of the article storage shelf is changed, the learning control means sets the partition portion where the placement position of the storage portion is changed as a learning target and the other partition portions. While setting as a non-learning target, performing the first calculation process and the second calculation process in order to obtain the target lateral movement distance information and the target up / down movement distance information about the storage unit in the partition section to be learned When the transfer means moves in the non-learning target section corresponding to the partition part to be non-learned, the set lateral movement speed higher than the learning horizontal movement speed and the learning up-and-down movement speed are higher. The learning apparatus in the article storage facility according to claim 1 , configured to control a lateral movement and a vertical movement of the transfer means so as to move the transfer means at a set vertical movement speed . As the learning mark body, an elevating common learning mark body that is installed in common with respect to a plurality of the learning mark bodies arranged in the lateral movement direction at the same position in the up / down movement direction is provided,
The learning control means, when detecting the learning mark body said transfer means to said learning mark body in both one direction and the other direction of the transverse movement direction with the learning mark body detection sensor In the form of performing learning lateral movement control for controlling the lateral movement of the transfer means so as to move at the learning lateral movement speed set as the movement speed, the first calculation process is performed,
As said 2nd calculation process, said transfer means is said up-and-down common learning mark body by said learning mark body detection sensor in both directions of the up-and-down movement direction with respect to said up-and-down common learning mark body. In the form of common learning lifting movement control for controlling the lifting movement of the transfer means so as to move at the learning lifting movement speed set as the movement speed when detecting It is configured to perform the process of determining the installation position of the learning mark body ,
The article storage body includes a plurality of partition sections that are partitioned in a laterally moving direction, and is configured by arranging an article storage shelf in which the placement position of the storage section can be changed in each of the plurality of partition sections. And
When the placement position of the storage portion of the article storage shelf is changed, the learning control means sets the partition portion where the placement position of the storage portion is changed as a learning target and the other partition portions. While setting as a non-learning target, performing the first calculation process and the second calculation process in order to obtain the target lateral movement distance information and the target up / down movement distance information about the storage unit in the partition section to be learned When the transfer means moves in the non-learning target section corresponding to the partition part to be non-learned, the set lateral movement speed higher than the learning horizontal movement speed and the learning up-and-down movement speed are higher. The learning apparatus in the article storage facility according to claim 1 , configured to control a lateral movement and a vertical movement of the transfer means so as to move the transfer means at a set vertical movement speed . The learning mark bodies are grouped in a state where the learning mark bodies installed in all the storage units of one of the article storage shelves are in the same set, and the grouped learning marks A set reference learning mark body is provided for each article storage shelf in a state where a single set reference learning mark body serving as a reference for the body is installed at a predetermined position in the up-and-down movement direction. The positional relationship between the position and the installation positions of all the learning mark bodies belonging to the set is preset as a reference positional relationship,
When obtaining the target lateral movement distance information and the target up / down movement distance information for the storage section in the learning target partition section, the learning control means first moves the transfer means in one direction of the lateral movement direction. When the learning reference mark detection sensor detects the pair reference learning mark object, the detection information of the lateral movement distance detection means and the transfer means are moved in the other direction of the horizontal movement. The detection position of the set reference learning mark body in the horizontal movement direction is determined from the detection information of the horizontal movement distance detecting means when the set reference learning mark body is detected by the learning mark body detection sensor. Perform the required group standard calculation processing,
Thereafter, the first calculation process and the second calculation process are performed. In the first calculation process and the second calculation process, the learning mark body detection sensor detects the learning mark body based on the reference positional relationship. In order to move the transfer means to the mark body detection position to be detected, after performing the mark body detection position movement control for controlling the lateral movement and the vertical movement of the transfer means, the learning lateral movement control and the learning The learning apparatus in the article storage facility according to claim 2 or 3 , wherein the first calculation process and the second calculation process are performed in a form in which the vertical movement control or the common learning vertical movement control is performed. In the mark body detection position movement control, the learning control means moves the transfer means at a set lateral movement speed higher than the learning lateral movement speed and a set up / down movement speed higher than the learning up / down movement speed. The learning apparatus in the article storage facility according to claim 4 , wherein the learning apparatus is configured to control a lateral movement and a vertical movement of the transfer means. The learning control means is configured to perform an abnormality process when the learning mark body detection sensor does not detect the learning mark body when the mark body detection position movement control is performed. Item 6. A learning device in an article storage facility according to Item 4 or 5 . The lateral movement distance detection means includes a lateral movement direction laser distance sensor for detecting a distance in the lateral movement direction between the reference lateral position and the transfer means, and the up / down movement distance detection means includes: The laser ranging sensor for a raising / lowering movement direction which detects the distance in the raising / lowering movement direction between the said reference raising / lowering position and the said transfer means is comprised in any one of Claims 1-6 . A learning device in an article storage facility. An article storage body having a plurality of storage units, and the transfer unit is moved to a target stop position of the storage unit by lateral movement of the transfer unit and up and down movement of the transfer unit, and the storage unit by the transfer unit In an article storage facility provided with an article transporting device that takes in and out articles, a target from a reference lateral position in a lateral movement direction of the transfer means with respect to the target stop position in each of the plurality of storage units A learning method in the article storage facility for obtaining lateral movement distance information and target lifting movement distance information from a reference lifting position in the lifting movement direction of the transfer means,
A light emitting / receiving type learning mark body in which a plurality of learning mark bodies are installed so as to have a predetermined set positional relationship with respect to each installation position of the plurality of storage units, and the learning mark body is detected. A detection sensor is provided in the article transporting device in a state of moving integrally with the transfer means, and detects a lateral movement distance from the reference lateral position to the transfer means in the horizontal movement direction of the transfer means. A moving distance detecting means; and an elevating movement distance detecting means for detecting an elevating movement distance from the reference elevating position to the transferring means in the elevating movement direction of the transfer means,
Detection information of the lateral movement distance detection means when the transfer means is moved in one direction of the lateral movement and the learning mark body detection sensor detects the learning mark body, and the transfer means A plurality of the learning in the lateral movement direction from the detection information of the lateral movement distance detecting means when the learning mark body detection sensor detects the learning mark body by moving in the other direction of the lateral movement direction. A first calculation process for obtaining the target lateral movement distance information from the installation positions of the plurality of learning mark bodies in the obtained lateral movement direction and the set position relationship;
When the transfer means is moved in one direction of the up-and-down movement direction and the learning mark body detection sensor detects the learning mark body, detection information of the up-and-down movement distance detection means, and the transfer means A plurality of the learning in the up-and-down movement direction from the detection information of the up-and-down movement distance detection means when the learning mark body detection sensor detects the learning mark body by moving in the other direction of the up-and-down movement direction A second calculation process is performed for obtaining the target elevating movement distance information from the setting positions of the plurality of learning mark bodies in the ascending / descending movement direction and the set positional relationship. A learning method in an article storage facility. For the first processing, when said transfer means detects the lateral movement direction of the one direction and the other direction both in the learning mark body in the learning mark body detection sensor with respect to the learning mark body In the form of performing the learning lateral movement control for controlling the lateral movement of the transfer means so as to move at the learning lateral movement speed set as the movement speed , the first calculation process is performed.
For the second processing, the case where the transfer means relative to the learning mark body to detect the learning mark body in the learning mark body detection sensor in both the one direction and the other direction of the lifting movement direction of to move at set learning vertical moving speed of the moving speed in the form of performing learning lifting movement control for controlling the lifting movement of the transfer means, have rows the second arithmetic processing,
The article storage body includes a plurality of partition sections that are partitioned in a laterally moving direction, and is configured by arranging an article storage shelf in which the placement position of the storage section can be changed in each of the plurality of partition sections. And
When the placement position of the storage section of the article storage shelf is changed, the partition section where the placement position of the storage section is changed is set as a learning target, and the other partition sections are set as non-learning targets. The first calculation process and the second calculation process are performed to obtain the target lateral movement distance information and the target up / down movement distance information about the storage unit in the learning target partition unit, and the transfer unit includes When moving a non-learning target section corresponding to the partition part of the non-learning target, the set lateral movement speed is higher than the learning lateral movement speed and the set vertical movement speed is higher than the learning vertical movement speed. The learning method in the article storage facility according to claim 8 , wherein a lateral movement and a vertical movement of the transfer means are controlled to move the transfer means . As the learning mark body, an elevating common learning mark body that is installed in common with respect to a plurality of the learning mark bodies arranged in the lateral movement direction at the same position in the up / down movement direction is provided,
For the first processing, when said transfer means detects the lateral movement direction of the one direction and the other direction both in the learning mark body in the learning mark body detection sensor with respect to the learning mark body In the form of performing the learning lateral movement control for controlling the lateral movement of the transfer means so as to move at the learning lateral movement speed set as the movement speed , the first calculation process is performed.
As said 2nd calculation process, said transfer means is said up-and-down common learning mark body by said learning mark body detection sensor in both directions of the up-and-down movement direction with respect to said up-and-down common learning mark body. In the form of common learning lifting movement control for controlling the lifting movement of the transfer means so as to move at the learning lifting movement speed set as the movement speed when detecting There line the process of obtaining the installation position of the learning mark body,
The article storage body includes a plurality of partition sections that are partitioned in a laterally moving direction, and is configured by arranging an article storage shelf in which the placement position of the storage section can be changed in each of the plurality of partition sections. And
When the placement position of the storage section of the article storage shelf is changed, the partition section where the placement position of the storage section is changed is set as a learning target, and the other partition sections are set as non-learning targets. The first calculation process and the second calculation process are performed to obtain the target lateral movement distance information and the target up / down movement distance information about the storage unit in the learning target partition unit, and the transfer unit includes When moving a non-learning target section corresponding to the partition part of the non-learning target, the set lateral movement speed is higher than the learning lateral movement speed and the set vertical movement speed is higher than the learning vertical movement speed. The learning method in the article storage facility according to claim 8 , wherein a lateral movement and a vertical movement of the transfer means are controlled to move the transfer means . The learning mark bodies are grouped in a state where the learning mark bodies installed in all the storage units of one of the article storage shelves are in the same set, and the grouped learning marks A set reference learning mark body is provided for each article storage shelf in a state where a single set reference learning mark body serving as a reference for the body is installed at a predetermined position in the up-and-down movement direction. The positional relationship between the position and the installation positions of all the learning mark bodies belonging to the set is preset as a reference positional relationship,
When obtaining the target lateral movement distance information and the target up-and-down movement distance information for the storage unit in the learning target partition, first, the transfer means is moved in one direction of the lateral movement direction to perform the learning. Detection information of the lateral movement distance detection means when the mark reference detection mark body is detected by the mark body detection sensor, and the learning mark body by moving the transfer means in the other direction of the lateral movement. A group reference calculation process for obtaining an installation position of the group reference learning mark body in the lateral movement direction from detection information of the lateral movement distance detecting means when the group reference learning mark body is detected by a detection sensor. Done
Thereafter, the first calculation process and the second calculation process are performed. In the first calculation process and the second calculation process, the learning mark body detection sensor detects the learning mark body based on the reference positional relationship. In order to move the transfer means to the mark body detection position to be detected, after performing the mark body detection position movement control for controlling the lateral movement and the vertical movement of the transfer means, the learning lateral movement control and the learning The learning method in the article storage facility according to claim 9 or 10 , wherein the first arithmetic processing and the second arithmetic processing are performed in a form in which the vertical movement control or the common learning vertical movement control is performed.

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