JP6891898B2 - 自動倉庫 - Google Patents
自動倉庫 Download PDFInfo
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- JP6891898B2 JP6891898B2 JP2018543763A JP2018543763A JP6891898B2 JP 6891898 B2 JP6891898 B2 JP 6891898B2 JP 2018543763 A JP2018543763 A JP 2018543763A JP 2018543763 A JP2018543763 A JP 2018543763A JP 6891898 B2 JP6891898 B2 JP 6891898B2
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- Prior art date
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- 238000003384 imaging method Methods 0.000 claims description 238
- 230000003028 elevating effect Effects 0.000 claims description 27
- 238000000034 method Methods 0.000 claims description 9
- 239000000284 extract Substances 0.000 claims description 4
- 238000005286 illumination Methods 0.000 description 24
- 238000007726 management method Methods 0.000 description 18
- 230000007774 longterm Effects 0.000 description 16
- 230000005856 abnormality Effects 0.000 description 7
- 239000004065 semiconductor Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000036544 posture Effects 0.000 description 5
- 239000004973 liquid crystal related substance Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000001454 recorded image Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67763—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading
- H01L21/67769—Storage means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/16—Special arrangements of articles in storage spaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/188—Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Warehouses Or Storage Devices (AREA)
Description
図1から図3は、実施形態に係る自動倉庫の一例を概念的に示す図である。図1は−Y側から見た正面図である。図2は+Z側から見た上面図である。図3は、−X側から見た側面図である。本実施形態の自動倉庫S(ストッカ)は、搬送装置1を備える。搬送装置1は、スタッカクレーンである。自動倉庫Sは、例えば、半導体工場などに設けられ、半導体ウエハを収容したFOUP、あるいはレチクルなどの加工用部材を収容したレチクルポッドなどの物品2を保管する。
図12は、第2実施形態に係る自動倉庫SAを概念的に示す正面図である。本実施形態の自動倉庫SAは、管理装置16Aの制御部37A及び表示制御部40の構成が、第1実施形態の管理装置16と異なっている。他の構成については、第1実施形態と同様であり、同一の符号を付してその説明を適宜、省略あるいは簡略化する。以下、第1実施形態との相違点を中心に説明する。
1・・・搬送装置
2・・・物品
4・・・保管棚(移載先)
8、8a、8b・・・固定側撮像部
12・・・昇降台
13・・・移載装置
14、14aから14d・・・移動側撮像部
15、15aから15d・・・照明部
34・・・表示部
35・・・入力部
36・・・記録部
37、37A・・・制御部
40・・・表示制御部
Im1、Im2・・・画像(動画または静止画)
T0・・・指定時刻
Claims (8)
- 物品を載置可能な複数の移載先と、複数の前記移載先の間を移動し、前記移載先に対して物品を移載する搬送装置と、を備える自動倉庫であって、
前記搬送装置に設けられ、前記移載先、及び前記搬送装置による前記移載先への物品の移載動作の一部または全部を撮像する移動側撮像部と、
前記自動倉庫内の所定位置に設けられ、前記搬送装置、及び前記搬送装置による前記移載先への物品の移載動作の一部または全部を前記移動側撮像部とは異なる方向から撮像する固定側撮像部と、を備え、
前記搬送装置は、複数の前記移載先の間を移動する本体部と、前記本体部に設けられて前記移載先に対して物品を受け渡す移載装置と、を備え、
前記移動側撮像部は、前記移載装置が物品を受け渡す方向に向けて前記本体部に設けられ、前記移載先それぞれの内部を撮像し、
前記固定側撮像部は、前記自動倉庫内における上方でかつ前記搬送装置の走行端側に配置され、前記搬送装置を含む前記自動倉庫内を斜め上方から撮像可能に設けられ、複数の前記移載先の間を移動する前記移載装置を撮像する、自動倉庫。 - 前記移動側撮像部及び前記固定側撮像部の少なくとも一方が撮像した動画または静止画を表示する表示部を備える、請求項1に記載の自動倉庫。
- 前記表示部は、前記移動側撮像部及び前記固定側撮像部による動画または静止画を並べて同時に表示可能である、請求項2に記載の自動倉庫。
- 前記移動側撮像部及び前記固定側撮像部の少なくとも一方が撮像した動画または静止画を記録する記録部を備える、請求項2または請求項3に記載の自動倉庫。
- 前記動画または前記静止画は、撮像した時刻と関連付けされて前記記録部に記録される、請求項4に記載の自動倉庫。
- 前記自動倉庫を制御する制御部または入力部から指定された指定時刻を基点として、前後の所定時間範囲における動画または静止画を前記記録部から抽出して前記表示部に表示させる表示制御部を備える、請求項4または請求項5に記載の自動倉庫。
- 前記移動側撮像部は、物品を載置して昇降する昇降台に支持され、前記移載先に対して斜め上方から撮像する、請求項1から請求項6のいずれか1項に記載の自動倉庫。
- 前記昇降台に設けられ、前記移動側撮像部の撮像時に前記移載先を照明する照明部を備える、請求項7に記載の自動倉庫。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016198634 | 2016-10-07 | ||
JP2016198634 | 2016-10-07 | ||
PCT/JP2017/029463 WO2018066236A1 (ja) | 2016-10-07 | 2017-08-16 | 自動倉庫 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2018066236A1 JPWO2018066236A1 (ja) | 2019-08-08 |
JP6891898B2 true JP6891898B2 (ja) | 2021-06-18 |
Family
ID=61831801
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018543763A Active JP6891898B2 (ja) | 2016-10-07 | 2017-08-16 | 自動倉庫 |
Country Status (8)
Country | Link |
---|---|
US (1) | US10970544B2 (ja) |
EP (1) | EP3508442B1 (ja) |
JP (1) | JP6891898B2 (ja) |
KR (1) | KR102233405B1 (ja) |
CN (1) | CN109789970B (ja) |
SG (1) | SG11201902970VA (ja) |
TW (1) | TWI716643B (ja) |
WO (1) | WO2018066236A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7353747B2 (ja) * | 2018-01-12 | 2023-10-02 | キヤノン株式会社 | 情報処理装置、システム、方法、およびプログラム |
JP7143145B2 (ja) * | 2018-08-09 | 2022-09-28 | 住友重機械搬送システム株式会社 | 自動倉庫システム |
DE102019118046A1 (de) * | 2019-07-04 | 2021-01-07 | Hänel & Co. | Lagerregal zur Lagerung mindestens eines Lagergutträgers und Verfahren zum Erfassen eines Lagerbestands eines Lagerregals |
CN111301911B (zh) * | 2019-11-14 | 2021-07-06 | 广州键宇货架有限公司 | 一种用于堆垛机的视觉逻辑控制方法 |
Family Cites Families (22)
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JPS6058134B2 (ja) * | 1981-08-07 | 1985-12-18 | 川崎製鉄株式会社 | 原料ヤ−ドの管理方法 |
JPH0295605A (ja) * | 1988-10-03 | 1990-04-06 | Daifuku Co Ltd | 自動倉庫および自動倉庫の在庫管理方法 |
JP2556199B2 (ja) * | 1992-07-10 | 1996-11-20 | 村田機械株式会社 | 昇降台の荷姿検出装置 |
JP3317878B2 (ja) * | 1997-06-03 | 2002-08-26 | 日本輸送機株式会社 | ロケーション管理方法 |
JPH11301811A (ja) | 1998-04-16 | 1999-11-02 | Daifuku Co Ltd | 搬送設備管理装置 |
JP4461203B2 (ja) * | 1999-09-21 | 2010-05-12 | ムラテックオートメーション株式会社 | ストッカ用ロボットの教示方法、ストッカ用ロボットの教示装置及び記録媒体 |
JP2004182451A (ja) * | 2002-12-06 | 2004-07-02 | Daifuku Co Ltd | 物品搬送設備 |
SE0203906D0 (sv) * | 2002-12-31 | 2002-12-31 | Abb Ab | Container character recognition system |
JP2005094080A (ja) * | 2003-09-12 | 2005-04-07 | Hitachi Kokusai Electric Inc | 監視カメラの照明装置及び監視カメラ、監視カメラシステム |
JP2005239357A (ja) * | 2004-02-26 | 2005-09-08 | Mitsubishi Heavy Ind Ltd | 港湾用監視システム、ヤードクレーン、及び港湾監視方法 |
JP2007230707A (ja) * | 2006-02-28 | 2007-09-13 | Mitsubishi Heavy Ind Ltd | 港湾用監視システム |
JP2009292582A (ja) * | 2008-06-04 | 2009-12-17 | Ihi Corp | スタッカクレーン |
WO2010010795A1 (ja) | 2008-07-23 | 2010-01-28 | 株式会社ダイフク | 物品搬送設備における学習装置及び学習方法 |
JP5170554B2 (ja) * | 2008-09-29 | 2013-03-27 | 株式会社ダイフク | 物品収納設備における学習装置 |
JP5641763B2 (ja) * | 2010-04-07 | 2014-12-17 | 三菱電機株式会社 | 映像監視レコーダ装置 |
CN101867793A (zh) | 2010-05-14 | 2010-10-20 | 蔡晓东 | 分布式智能视频搜索系统及使用方法 |
WO2013042447A1 (ja) * | 2011-09-22 | 2013-03-28 | 村田機械株式会社 | 物流システムと物流システムの異常からの復旧方法 |
CN202503607U (zh) * | 2012-03-12 | 2012-10-24 | 上海集森电器有限公司 | 基于电信级网络的视频监控调度装置 |
US20150059374A1 (en) * | 2013-09-04 | 2015-03-05 | Logan Hebel | System for Monitoring the Contents of a Refrigerator |
JP6210634B2 (ja) * | 2013-09-24 | 2017-10-11 | 株式会社日立国際電気 | 画像検索システム |
JP6332115B2 (ja) * | 2015-04-06 | 2018-05-30 | 株式会社ダイフク | 物品収納設備 |
CN104944037B (zh) * | 2015-06-25 | 2017-05-17 | 渤海现代物流股份有限公司 | 仓储监控系统 |
-
2017
- 2017-08-16 JP JP2018543763A patent/JP6891898B2/ja active Active
- 2017-08-16 US US16/336,767 patent/US10970544B2/en active Active
- 2017-08-16 SG SG11201902970VA patent/SG11201902970VA/en unknown
- 2017-08-16 CN CN201780061224.5A patent/CN109789970B/zh active Active
- 2017-08-16 WO PCT/JP2017/029463 patent/WO2018066236A1/ja active Search and Examination
- 2017-08-16 EP EP17858076.7A patent/EP3508442B1/en active Active
- 2017-08-16 KR KR1020197009614A patent/KR102233405B1/ko active IP Right Grant
- 2017-10-02 TW TW106133990A patent/TWI716643B/zh active
Also Published As
Publication number | Publication date |
---|---|
CN109789970A (zh) | 2019-05-21 |
US10970544B2 (en) | 2021-04-06 |
US20190228226A1 (en) | 2019-07-25 |
KR102233405B1 (ko) | 2021-03-26 |
TW201815641A (zh) | 2018-05-01 |
CN109789970B (zh) | 2021-06-11 |
JPWO2018066236A1 (ja) | 2019-08-08 |
EP3508442A4 (en) | 2020-05-27 |
WO2018066236A1 (ja) | 2018-04-12 |
KR20190043608A (ko) | 2019-04-26 |
EP3508442A1 (en) | 2019-07-10 |
EP3508442B1 (en) | 2021-03-31 |
SG11201902970VA (en) | 2019-05-30 |
TWI716643B (zh) | 2021-01-21 |
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