JP7069594B2 - Transport system - Google Patents

Description

The present invention relates to a transport system.

A conventional automated warehouse includes, for example, a pair of racks, a stacker crane, a warehousing station, and a warehousing station. The pair of racks are provided so as to be spaced apart from each other in the front-rear direction. The stacker crane is provided so as to be movable in the left-right direction between the front and rear racks. The warehousing station is located on the side of one of the racks. The shipping station is located on the side of the other rack. The rack has a large number of shelves on the top, bottom, left, and right.
The stacker crane has a traveling carriage, a lifting platform provided on the mast that can be raised and lowered, and a transfer device (for example, a slide fork that is provided so as to be slidable in the front-rear direction). ing. The stacker crane is further equipped with a sensor for detecting a load shift or a load collapse for a load mounted on a lift.

Once the cargo is placed at the warehousing station, the stacker crane then loads the cargo and transports it to the desired shelf. When loading luggage, the luggage placed on the lift may cause abnormal packaging (including misalignment and collapse). As a means for dealing with this problem of packaging abnormality, a stacker crane for accurately grasping the situation of packaging abnormality and quickly recovering it has been proposed (see, for example, Patent Document 1).
In the stacker crane described in Patent Document 1, two types of reference regions are set, and when an abnormality in the packaging is detected, the abnormality portion is highlighted on the image.

Japanese Patent No. 6040576

When an abnormality occurred in the stacker crane, it was often difficult for the operator or the operator to identify the content of the abnormality and the location of the abnormality even if the automatically saved image was confirmed.
Further, when an abnormality occurs, the operator confirms the abnormality name on the host controller, but in that case, the confirmation work is troublesome and inefficient.

An object of the present invention is to make it easy to grasp an abnormality in a transport system.

Hereinafter, a plurality of aspects will be described as means for solving the problem. These aspects can be arbitrarily combined as needed.

The transport system according to the seemingly present aspect of the present invention includes a transport device, an image pickup device, and a controller. The transport device transports the load. The image pickup device continuously images the load placed by the transfer device.
The controller has an abnormality grasping unit, a storage unit, an abnormality display unit, and an output unit.
The abnormality grasping unit compares the load with the reference area on which the load should be placed based on the image pickup information imaged by the image pickup device, and grasps the abnormal part of the load. The types of imaging information include moving images and continuously shot still images.
The storage unit stores the imaging information at the time when the abnormality portion is grasped by the abnormality grasping unit and before and after the time point.
The abnormality display unit displays the abnormality location display information superimposed on the image pickup information stored in the storage unit.
The output unit outputs the image pickup information displayed by superimposing the abnormality location display information on the abnormality display unit to the display device.
In this system, when an abnormality is grasped, the imaging information before and after the abnormality grasping time is stored, and the abnormality location display information is displayed in the imaging information. Therefore, when the operator sees the image pickup information on the display device, the operator can see the abnormality portion display information superimposed on the image pickup information. As a result, it becomes easy for the operator to grasp the method of occurrence of the abnormality, the state after the occurrence of the abnormality, the location of the abnormality, and the content of the abnormality.

The abnormality location display information may be displayed in an overlapping manner over the abnormality location display information display time, which is a time region in the vicinity including the time when the abnormality is grasped, among the imaging information stored in the storage unit. The "nearby time domain" is, for example, a total time of 3 seconds before and after the time point, and is appropriately set within that range. In addition, the ratio of time before and after the time point is also set as appropriate.
As an example, the set time before and after the abnormality grasping time (the stored image pickup information storage time) is about 20 seconds in total (10 seconds before the abnormality grasping time, 10 seconds after the abnormality grasping time), and the abnormality is grasped. The set time in the vicinity including the time point is about 6 seconds in total (3 seconds before the time when the abnormality is grasped and 3 seconds after the time when the abnormality is grasped).
The set time before and after the time when the abnormality is grasped may be the same as the set time in the vicinity including the time when the abnormality is grasped.
Further, the set time before and after the abnormality grasping time and the setting time in the vicinity including the time when the abnormality is grasped may not be equal to the time before and after the abnormality grasping time, respectively.
In this system, the abnormality location display information is displayed in the nearby time domain including the time when the abnormality is grasped, so if an abnormality occurs only for a moment, the abnormality location is displayed over the time domain including before and after that moment. Information is displayed. As a result, the operator does not overlook the occurrence of an abnormality, and it is easy to know that it has been completed in a short time, so that it is easy to determine the restart.
Furthermore, when a momentary abnormality is grasped, the abnormality part display information is displayed so that the abnormality part can be known even at times other than the time of the abnormality, so that the operator can grasp in advance the abnormality part that will occur before the abnormality. It can be done, and if it is after the abnormality, the current state of the place where the abnormality is grasped can be grasped.

The abnormality location display information may change before and after the time when the abnormality is grasped.
In this system, the operator can predict the occurrence of an abnormal part by recognizing the abnormal part display information displayed before the time when the abnormality is grasped. Further, the operator can grasp the occurrence of the abnormality by recognizing the abnormality location display information displayed after the time when the abnormality is grasped. From the above, it becomes easier for the operator to find an abnormality that is displayed only for a moment.

In the transfer system according to the present invention, the operator can easily grasp the abnormality of the transfer system.

The schematic plan view of the automated warehouse which adopted the 1st Embodiment of this invention. It is the II-II arrow view of FIG. 1, and is the figure for demonstrating the rack and the stacker crane. It is an enlarged view of FIG. 2, and is the figure which shows the structure of the stacker crane. Functional block diagram of the control unit of the stacker crane. A flowchart showing an abnormal state display control operation. A display screen that displays the luggage image data before the occurrence of an abnormality. A display screen that displays baggage image data when an abnormality occurs. A display screen that displays baggage image data after an abnormality has occurred. A graph showing the relationship between the video display time, the abnormal location display information display time, and the abnormal occurrence time. The flowchart which shows the display control operation of the abnormal state of 2nd Embodiment.

1. 1. First Embodiment (1) Overall Automatic Warehouse The automated warehouse 1 as the first embodiment according to the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is a schematic plan view of an automated warehouse in which the first embodiment of the present invention is adopted. In this embodiment, the vertical direction of FIG. 1 is the left-right direction of the automated warehouse 1, and the left-right direction of FIG. 1 is the front-back direction of the automated warehouse 1.
The automated warehouse 1 is mainly composed of a pair of racks 2 and a stacker crane 3 (an example of a transport device).

(2) Racks The pair of racks 2 are arranged so as to sandwich the stacker crane passage 5 extending in the left-right direction. The rack 2 is provided on a large number of front columns 7 arranged side by side at predetermined intervals, a rear column 9 arranged behind the front column 7 at a predetermined interval, and a front column 7 and a rear column 9. It has a large number of luggage bearing members 11. The shelf 13 is composed of a pair of left and right luggage bearing members 11. As is clear from the figure, luggage W can be placed on each shelf 13. Each luggage W is placed on the pallet P (see FIGS. 2 and 3) and moved together with the pallet P. The pair of left and right luggage bearing members 11 are provided with a fork passing gap 15 that allows the slide fork 29 to move in the vertical direction, which will be described later.

(3) Stacker Crane The stacker crane 3 will be described with reference to FIG. FIG. 2 is a view taken along the line II-II of FIG. 1 for explaining a rack and a stacker crane.
A pair of upper and lower traveling rails 21 are provided along the stacker crane passage 5, and the stacker crane 3 is guided to these traveling rails 21 so as to be movable to the left and right. The stacker crane 3 mainly includes a traveling carriage 23 having a front mast 22A and a rear mast 22B, which are a pair of masts 22, and an elevating platform 27 freely mounted on the front mast 22A and the rear mast 22B. The pedestal 27 has a slide fork 29 slidably provided in the front-rear direction by an advancing / retreating mechanism (not shown). The traveling carriage 23 has traveling wheels 24.

The lift 27 has a lift guide roller 28 guided by the front mast 22A and the rear mast 22B. A total of four elevating guide rollers 28 are in contact with one mast, one pair at the top and one at the bottom. More specifically, the pair of elevating guide rollers 28 are in contact with the inner portions of the mast 22 on both left and right sides in the traveling direction.
In FIG. 2, the pallet P and the luggage W are placed on the slide fork 29 of the elevating table 27. In this embodiment, the luggage W has a configuration in which 3 × 3 × 3 rectangular parallelepipeds are stacked without gaps. However, the number, shape, and stacking method of each piece of luggage W are not limited to the above embodiment.
The lower ends of the front mast 22A and the rear mast 22B are connected by the lower frame 25, and the upper ends are connected by the upper frame 26.

The stacker crane 3 has a control panel 41, a traveling motor 59, and an elevating motor 63. The control panel 41 is provided on the side opposite to the front mast 22A with respect to the rear mast 22B in the traveling direction. The traveling motor 59 is provided on the front mast 22A. The elevating motor 63 is provided on the front mast 22A.
The control panel 41 has internal electrical equipment such as an inverter, a converter, and a breaker for the traveling motor 59 and the elevating motor 63. The control panel 41 further has a control board box (not shown). The control panel 41 has a frame that covers these electrical devices. The control panel 41 is connected to a power supply (not shown), a traveling motor 59, an elevating motor 63, a slide fork 29, etc. via a power cable (not shown). The control panel 41 is further connected to the ground control panel, sensors, slide forks 29, and control power supply via a communication interface via a control cable.
As shown in FIG. 2, the elevating motor 63 can drive the drum 64. A wire 40 extends from the drum 64. The wire 40 is hung around a roller 44 provided on the upper frame 26 and further connected to the elevating table 27.

(4) Control Configuration of Stacker Crane With reference to FIG. 4, a crane controller 50 arranged in a control board box (not shown) will be described. FIG. 4 is a functional block diagram of the control unit of the stacker crane.
The crane controller 50 is mounted on the stacker crane 3 and can communicate with the system controller 51 that controls the entire automated warehouse 1.

The crane controller 50 is a computer including computer hardware such as a CPU and a memory, and is represented in FIG. 4 as a functional block realized by collaboration between computer hardware and software. It should be noted that each of these control units may be realized by a single computer.
In addition, each functional block may be composed of hardware. Further, the crane controller 50 is not limited to the one mounted on the traveling carriage 23, and may be arranged on the ground side in a state of being electrically connected.

The crane controller 50 has a function of controlling the drive of the traveling wheels 24 of the traveling carriage 23, and is connected to the traveling unit 71 including the traveling motor 59. The crane controller 50 has a function for moving the elevating table 27 up and down along the front mast 22A and the rear mast 22B, and is connected to the elevating portion 72 including the elevating motor 63. The crane controller 50 has a function of moving the slide fork 29 in the front-rear direction, and is connected to a transfer unit 73 including a transfer motor (not shown).

A camera 77 (an example of an image pickup device) is mounted on the lift 27. The camera 77 is a so-called video camera, and the captured image is input to the camera unit 79 as a video signal. The camera 77 is a device that captures an image of the luggage W placed on the elevating table 27. As shown in FIGS. 2 and 3, the camera 77 is attached to the lift 27 via the frame 31. In this embodiment, the camera 77 can take a picture of the luggage W placed on the elevating table 27 from directly above.

The camera 77 may be capable of continuously capturing the luggage W, and the type, installation position, shooting direction, and number of cameras are not limited to the above embodiment.
The camera 77 is connected to the camera unit 79. The camera unit 79 is a device that controls the imaging of the camera 77. The camera unit 79 has image processing solution software for performing image processing. The camera unit may be configured as a part of another controller.

An image server 53 is connected to the system controller 51. The image server 53 has a storage unit for storing image data captured by the camera 77. The image server 53 is a computer including computer hardware such as a CPU and a memory. The image server may be configured as a storage device of the system controller 51.

The system controller 51 is a computer including computer hardware such as a CPU and a memory. The system controller 51 may be a general personal computer or a portable information terminal.
The system controller 51 has, for example, a function of editing a moving image file and a function of outputting a moving image to a display device 83 (described later).

An input device 81 and a display device 83 are connected to the system controller 51. The input device 81 is a device for the operator to input data and commands to the system controller 51. The input device 81 is, for example, a keyboard, a mouse, and a touch panel. The input device 81 may be, for example, another computer connected by a network.
The display device 83 is a display such as a liquid crystal display or an organic EL. However, the type, number, and installation position of the display are not limited to the above embodiment.
The camera unit 79 and the image server 53 may be mounted on the stacker crane 3 or may be arranged on the ground side while being electrically connected to the camera 77 or the like.

(5) Control operation In the stacker crane 3 configured as described above, the state on the elevating table 27 is continuously imaged by the camera 77 during the automatic operation of the stacker crane 3. Specifically, an image is taken when the cargo is received by the elevator 27, and the data is stored in the image server 53. After that, imaging is executed periodically or irregularly, and the image data is stored in the image server 53.

The display control of the abnormal state will be described with reference to FIG. FIG. 5 is a flowchart showing a display control operation of an abnormal state.
The control flowchart described below is an example, and each step can be omitted or replaced as necessary. Further, a plurality of steps may be executed at the same time, or some or all of them may be executed in an overlapping manner.

Further, each block of the control flowchart is not limited to a single control operation, and can be replaced with a plurality of control operations represented by a plurality of blocks.
The operation of each device is the result of a command from the control unit to each device, and these are represented by each step of the software application.

In step S1, the camera 77 starts shooting the luggage W. The image pickup data is stored in, for example, the memory of the image server 53.
In step S2, the image processing solution software of the camera unit 79 constantly monitors changes in the image and determines whether or not there is an abnormality (that is, a problematic part) in the setting conditions. That is, the camera unit 79 compares the luggage W with the reference region on which the luggage W should be placed based on the image pickup information captured by the camera 77, and grasps the abnormal portion. For example, there are the following two methods for grasping the abnormal part. In the first method, when the object moves beyond the reference area (goes out), it is regarded as abnormal. In the second method, the initial state outside the reference region is stored, and the initial state and the current state are compared to detect an abnormality.
If an abnormality is detected, the process proceeds to step S3.

In step S3, the camera unit 79 transmits an abnormality signal created based on the grasp of the above-mentioned abnormality portion to the crane controller 50 of the stacker crane 3. The abnormality signal may include the coordinates of the abnormality location (XY coordinates with respect to the image), the time when the abnormality occurs, and the like.
As a result, the crane controller 50 stops the automatic operation of the stacker crane 3. Specifically, the crane controller 50 stops traveling by the traveling unit 71, stops the ascending / descending of the elevating table 27 by the elevating unit 72, and further, the slide fork 29 does not move forward / backward with respect to the shelf 13 by the transfer unit 73. Interlock like.

In step S4, the crane controller 50 outputs an IO signal to the camera unit 79.
In step S5, the camera unit 79 reads out the images before and after the occurrence of the abnormality from the image server 53 and notifies the system controller 51 based on the IO signal. However, the method of transmitting and receiving image data is not particularly limited. This image is an image before and after the time when the abnormal part is grasped. The time before and after the occurrence of the abnormality is, for example, several seconds to several tens of seconds.
In step S6, the system controller 51 draws the abnormality location display information (described later) for the image in which the abnormality is grasped in the images before and after the occurrence of the abnormality (abnormality display function).

In step S7, the system controller 51 saves the images before and after the occurrence of the abnormality (the image in which the abnormality portion display information is drawn + the image in which the abnormality portion is not drawn) as one moving image file in the memory.
In the above embodiment, the camera unit 79 notifies the system controller 51 of the images before and after the occurrence of the abnormality, and then the system controller 51 edits the moving image, but the camera unit 79 may edit all the moving images. In that case, for example, the camera unit 79 creates a moving image file and then notifies the system controller 51.

After that, when the moving image file is searched from the operator, the moving image file is displayed on the display device 83. The operator performs the above search, for example, when the operator recovers the abnormal state, the operator uses the input device 81 for the system controller 51 to detect the abnormal packing shape in order to know the cause of the abnormal packing shape. This is the case when a video related to the detected baggage W is searched.
Specifically, the system controller 51 reads the moving image file from the memory, and then outputs the above data to the display device 83 (output function).
Further, the system controller 51 may superimpose the abnormality name, the abnormality code, the time when the abnormality occurs, the baggage carried at the time of the abnormality, and other information on the moving image file and display it on the display device 83.

Changes in the moving image in the display device 83 will be described with reference to FIGS. 6 to 9. 6 to 8 are display screens displaying the baggage imaging data before, when the abnormality occurs, and after the abnormality occurs, respectively. Further, FIGS. 6 to 8 are display screens when the luggage is photographed from directly above. FIG. 9 is a graph showing the relationship between the moving image display time, the abnormality location display information display time, and the abnormality occurrence time. The following description is a moment before the occurrence of the abnormality, a moment when the abnormality occurs, and a moment after the occurrence of the abnormality.
FIG. 6 shows a moment (for example, time A in FIG. 9) before the occurrence of an abnormality in the display information display time of the abnormal portion of the moving image. In FIG. 6, the vinyl V is wrapped around the luggage W, and the cargo tag, that is, the label L is normally attached to the surface thereof. Since this is a moment before the occurrence of the abnormality within the abnormality location display information display time, the line A1 of ◯ is blinking and superimposed on a part of the moving image. This is information for displaying an abnormal part in advance (abnormality notice information which is a kind of abnormal part display information). As a result, the operator can know in advance where the abnormality occurs.

FIG. 7 shows a moment when the occurrence of an abnormality is grasped. Since this is a moment when an abnormality occurs within the abnormality location display information display time (for example, time B in FIG. 9), the line A2 of ◯ is superimposed and displayed in the lit state at the abnormality portion of the moving image. This is information (abnormal part display information) for displaying the abnormal part while the abnormality is occurring. As a result, the operator can accurately know the abnormal location when the abnormality occurs. The abnormal state in this example is a state in which a part of the tag, that is, the label L, which is affixed to the vinyl V wound around the baggage W, is peeled off and goes out beyond the reference area.
FIG. 8 shows a moment after the occurrence of an abnormality. Since this is a moment within the abnormality location display information display time (for example, time C in FIG. 9), the line A1 of ◯ is displayed blinking at the location where the abnormality has occurred on the moving image screen. In addition, in FIG. 8, vinyl V is wound around the luggage W, and the cargo tag, that is, the label L is normally attached to the surface thereof (the pattern of abnormality occurrence is pattern 1 in FIG. 9). ). As a result, the operator can know that the abnormal state has been resolved and the normal state has been reached. If the normal state is not reached within the abnormal part display information display time, for example, the state shown in FIG. 7 is displayed until the end of the abnormal part display information display time (the pattern of abnormality occurrence is pattern 2 in FIG. 9). Or pattern 3). In addition, the pattern 2 is a pattern in which the abnormality occurrence ends and returns to the normal state after the abnormality place display information display time. Pattern 3 is a pattern in which the abnormality continues to occur after the abnormality location display information display time.
During the abnormal part display information display period, even if the abnormality ends, the abnormal part display information is displayed so that the abnormal part can be known. Therefore, in pattern 1, during the abnormality location display information display period, the display of FIG. 8 is performed after the abnormality occurrence is completed.
Further, when the abnormal part display information display ends, the abnormal part display information continues to be displayed while the abnormality is grasped. For example, in pattern 2 and pattern 3, the display of FIG. 7 is performed even after the abnormality location display information display period, while the abnormality is occurring.
As a result, the operator can confirm the moving image, and therefore, the cause of the abnormality can be easily identified. As a result, recurrence prevention is realized.

In addition to the circle, the abnormality location display information may be, for example, a figure such as a square, a triangle, an arrow, a character, a symbol, or a combination thereof.
Information for displaying an abnormal part in advance (abnormality notice information) does not necessarily have to be displayed. The abnormality notice information may be a countdown to the display of the abnormal portion.
The difference between the information for displaying the abnormal part in advance (abnormality notice information) and the abnormal part display information is, for example, a change in color, a change in shape, a change in character information, and a combination thereof, in addition to the combination of blinking and lighting. You may.

As described above, in the automated warehouse 1, when an abnormality is grasped, the imaging information before and after the abnormality grasping time is stored, and the abnormality location display information (for example, ○ mark) is displayed in the imaging information. Therefore, when the operator sees the image pickup information on the display device 83, the abnormality portion display information can be superimposed on the image pickup information. As a result, the operator can visually recognize the abnormal part. That is, the operator does not have to bother to identify the abnormal part from the image, and can identify the cause at a glance.
More specifically, it becomes easier for the operator to understand how the abnormality occurs, the state after the abnormality occurs, the location of the abnormality, and the content of the abnormality. As a result, it is possible to identify the cause of the abnormality and take prompt measures to prevent recurrence.

Further, the abnormality location display information is superimposed and displayed over a time region in the vicinity including the time when the abnormality is grasped among the imaging information stored in the storage unit. Therefore, when an abnormality that is grasped only for a moment occurs, the abnormality location display information is displayed over a time area including before and after the moment. As a result, the operator does not overlook the occurrence of an abnormality, and it is easy to know that it has been completed in a short time, so that the cause can be easily grasped and the restart can be easily determined.
In addition, the abnormality location display information changes before and after the time when the abnormality is grasped. Therefore, the operator can predict the occurrence of the abnormal part by recognizing the abnormal part display information displayed before the time when the abnormality is grasped. From the above, it becomes easier for the operator to find an abnormality that is displayed only for a moment.
Furthermore, when a momentary abnormality is grasped, the abnormality part display information is displayed so that the abnormality part can be known even at times other than the time of the abnormality, so that the operator can grasp in advance the abnormality part that will occur before the abnormality. It can be done, and if it is after the abnormality, the current state of the place where the abnormality is grasped can be grasped.

2. 2. 2nd Embodiment In the 1st embodiment, after drawing the abnormality location display information for the image in which the abnormality is grasped, the images before and after the occurrence of the abnormality (the image in which the abnormality location display information is drawn + the image in which the abnormality is not drawn). ) Was saved in the memory as one video file, but you may edit it after creating the video fill and write the abnormal part display information.
With reference to FIG. 10, the control for displaying the abnormal state of the second embodiment as such an embodiment will be described. FIG. 10 is a flowchart showing a display control operation of an abnormal state. The basic configuration and basic operation of the second embodiment are the same as those of the first embodiment.

In step S1, the camera 77 starts shooting the luggage W. The image pickup data is stored in, for example, the memory of the image server 53.
In step S2, the image processing solution software of the camera unit 79 constantly monitors changes in the image and determines whether or not there is an abnormality (that is, a problematic part) in the setting conditions. If an abnormality is detected, the process proceeds to step S3.

In step S3, the camera unit 79 transmits an abnormality signal to the crane controller 50 of the stacker crane 3. The abnormality signal may include the coordinates of the abnormality location (XY coordinates with respect to the image), the time when the abnormality occurs, and the like.
As a result, the crane controller 50 stops the automatic operation of the stacker crane 3. Specifically, the crane controller 50 stops traveling by the traveling unit 71, stops the ascending / descending of the elevating table 27 by the elevating unit 72, and further, the slide fork 29 does not move forward / backward with respect to the shelf 13 by the transfer unit 73. Interlock like.

In step S4, the crane controller 50 outputs an IO signal to the camera unit 79.
In step S5, the camera unit 79 reads out the images before and after the occurrence of the abnormality from the image server 53 and notifies the system controller 51 based on the IO signal.
In step S11, the system controller 51 creates an image over a time area before and after including the time when the abnormality is grasped as one moving image file, and stores the image in the memory.

In step S12, the system controller 51 edits the moving image file based on the abnormal location and the abnormal time, and saves the moving image file in the memory. Specifically, the abnormality location display information is displayed on the frame (image) in which the abnormality is grasped. Alternatively, the abnormal location display information is displayed at a specific location from how many seconds to how many seconds for the moving image (abnormal display function).
After that, if there is a search for the moving image file from the operator, the moving image file is displayed on the display device 83. The operator performs the above search, for example, after the recovery of the abnormal state, the operator detects the package abnormality by using the input device 81 for the system controller 51 in order to know the cause of the package abnormality. This is the case when a video related to the baggage W is searched.
Specifically, the system controller 51 reads the moving image file from the memory and then outputs it to the display device 83 (output function).

3. 3. Third Embodiment In the first embodiment and the second embodiment, a moving image file in which the abnormal portion display information is drawn is created, but it is not always necessary to create such a moving image.
For example, the system controller 51 stores the abnormality location display information and the abnormality time, outputs them to the display device 83 at the same time as the moving image file, and displays them in a superimposed manner (abnormality display function, output function).

4. Common Matters of the Embodiment The transport system (for example, the automated warehouse 1) according to the seemingly present aspect of the present invention includes a transport device (for example, a stacker crane 3), an image pickup device (for example, a camera 77), and a controller (for example, a camera unit). 79, a system controller 51) is provided. The transport device transports the load. The image pickup device continuously images the load placed by the transfer device.
The controller has an abnormality grasping unit, a storage unit, an abnormality display unit, and an output unit.
The abnormality grasping unit compares the load with the reference area on which the load should be placed based on the image pickup information imaged by the image pickup device, and grasps the abnormal part of the load. The types of imaging information include moving images and continuously shot still images.
The storage unit stores the imaging information at the time when the abnormality portion is grasped by the abnormality grasping unit and before and after the time point.
The abnormality display unit displays the abnormality location display information superimposed on the image pickup information stored in the storage unit.
The output unit outputs the image pickup information displayed by superimposing the abnormality location display information on the abnormality display unit to the display device.

In this system, when an abnormality is grasped, the imaging information at the time of grasping the abnormality and before and after the time is stored, and the abnormality location display information is displayed in the imaging information. Therefore, when the operator views the image pickup information on the display device, the abnormality location display information can be superimposed on the image pickup information. As a result, it becomes easy for the operator to understand how the abnormality occurs, the state after the abnormality occurs, the location of the abnormality, and the content of the abnormality.

5. Other Embodiments Although the plurality of embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the gist of the invention. In particular, the plurality of embodiments and modifications described herein can be arbitrarily combined as needed.
(A) In the first and second embodiments, the automated warehouse is taken as an example as the transport system, but other transport systems may be used.
(B) In the first and second embodiments, the storage unit is located in the image server, but the location of the storage unit is not particularly limited. The storage unit may be provided in, for example, the crane controller 50 and the system controller 51.

(C) In the first and second embodiments, the display device is provided in the system controller, but the arrangement location thereof is not particularly limited. The display may be provided on, for example, the crane controller 50 or another controller (not shown).
(D) The connection of each device of the first and second embodiments may be any method such as wired radio.
(E) The abnormal packing shape includes not only the case where the luggage has changed its posture, but also the case where, for example, a part of the luggage is deformed.

(F) In the first and second embodiments, the moving image is adopted as the baggage image pickup data, but a plurality of still images arranged in time series may be used.
(G) In the first and second embodiments, the cargo is placed on the pallet, but the cargo may be stored in the tray container.
(H) In addition to the abnormality location display information, the abnormality content (error code) may also be displayed on the display device.
(I) In the above-described embodiment, the abnormality location display information is displayed both before and after the abnormality grasping time, but the abnormality location display information may be displayed on only one of them.

The present invention is widely applicable to transport systems.

1: Automated warehouse 2: Rack 3: Stacker crane 5: Stacker crane passage 7: Front support 9: Rear support 11: Luggage support member 13: Shelf 15: Fork passage gap 21: Travel rail 22: Mast 22A: Front mast 22B : Rear mast 23: Traveling carriage 24: Traveling wheel 25: Lower frame 26: Upper frame 27: Lifting platform 28: Lifting guide roller 29: Slide fork 31: Frame 40: Wire 41: Control panel 44: Roller 50: Crane Controller 51: System controller 53: Image server 59: Travel motor 63: Elevating motor 64: Drum 71: Travel unit 72: Elevating unit 73: Transfer unit 77: Camera 79: Camera unit 81: Input device 83: Display device W: load

Claims (2)

A transport device that transports loads and
An image pickup device that continuously images the load mounted by the transfer device, and an image pickup device.
With a controller,
The controller
Based on the image pickup information captured by the image pickup device, the abnormality grasping unit that compares the load with the reference area on which the load should be placed and grasps the abnormality location, and the abnormality grasping unit.
A storage unit that stores the imaging information at the time when the abnormality portion is grasped by the abnormality grasping unit and before and after the time point.
An abnormality display unit that superimposes and displays abnormality location display information on the image pickup information stored in the storage unit, and
An output unit that outputs the imaging information displayed by superimposing the abnormality location display information on the abnormality display unit to the display device, and the output unit.
Equipped with
The abnormal location display information is displayed superimposed on the imaging information stored in the storage unit over the abnormal location display information display time .
The abnormality location display information display time is a time domain in the vicinity including the time when the abnormality is grasped, and includes the time from the time before the time when the abnormality is grasped to the time when the abnormality is grasped.
Transport system. The transport system according to claim 1, wherein the abnormality location display information changes before and after the time when the abnormality is grasped.

Images