JPH05278807A - Intrusion detecting device for load receiving platform in automatic warehouse - Google Patents

Abstract

PURPOSE:To carry out changeover control of operator's side intrusion sensors and a crane-side intrusion sensor without resorting to a communication means being very complicate in control. CONSTITUTION:An automatic warehouse is provided with a load receiving platform 5 for receiving or delivering a housing case 4 via a stacker crane 6 between a plurality of housing parts 2 arranged in shelves 3a, 3b; operator's side intrusion sensors 14 that have been provided on the operator inlet/outlet side 12 of the load receiving platform 5, a crane-side intrusion sensor 15 that has been provided on the crane transportation port side 13 of the load receiving platform 5, and a load detecting sensor 16 for detecting the presence of the housing case 4 on the load receiving platform 5. This automatic warehouse is provided with a sensor driving circuit by which when the load detecting sensor 16 detects the housing case 4, the intrusion sensors 14 are made inoperative and also the intrusion sensor 15 is operated; while when the load detecting sensor 16 becomes not to detect the housing case 4, the intrusion sensor 14 is operated, and also the intrusion sensor 15 is made inoperative.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for detecting intrusion of a receiving tray in an automatic warehouse, and more particularly to control of switching operation of an intrusion sensor arranged on the receiving tray.

[0002]

2. Description of the Related Art Conventionally, an automatic warehouse 41 of this type is constructed, for example, as follows. That is, as shown in FIG. 7, the automated warehouse 41 is provided upright in the front and rear and includes a pair of shelves 43a and 43b having a plurality of storage sections 42 in the length direction (left and right direction in the figure) and the height direction. .. The pair of shelves 43
Of the storage portions 42 of the rear shelf 43a of a and 43b,
On the one end side of the lowermost stage, a cargo receiving table 45 for loading and unloading the storage box 44 is installed.

A pair of front and rear shelves 43a and 43b are also provided.
A stacker crane 46 is provided between them. This stacker crane 46 is used for rail 4 laid on the ground.
7, a traveling base 48, a pair of masts 49 standing from both ends of the traveling base 48, and a carriage 50 vertically movable between the masts 49. Further, the carriage 50 is provided with a fork 51 movable in the front-rear direction.

The cargo receiving table 45 is provided with a work entrance / exit 52 for an operator to enter and exit to carry out a cargo handling operation, and a crane carrying opening 53 for the stacker crane 46 to enter and exit to carry the storage box 44.

As shown in FIG. 8, a pair of intrusion sensors (hereinafter, referred to as an operator side intrusion sensor) 54 for detecting an intrusion of an operator are arranged on both columns of the work entrance / exit 52 so as to face each other. There is. On the other hand, a pair of intrusion sensors (hereinafter, referred to as crane side intrusion sensors) 55 for detecting the intrusion of the worker and the stacker crane 46 are arranged opposite to each other on both columns of the crane conveyance port 53. The worker-side intrusion sensor 54 and the crane-side intrusion sensor 55 are controlled so as to operate in a complementary manner. When one intrusion sensor 54 (55) is operating, the other intrusion sensor 55 ( 54) is deactivated. When a foreign object passes through the detection area of each intrusion sensor 54, 55 while these intrusion sensors 54, 55 are operating, the passage (intrusion) is detected and a detection signal is output to output the automatic warehouse 4
The operation of 1 is stopped.

A ground control panel 56 is provided at a position separated from the shelves 43a and 43b, and the intrusion sensors 54,
55 and the intrusion sensors 54, 55
The detection signal from is input. Further, the ground control panel 56 is adapted to communicate with the crane control panel 58 of the stacker crane 46 via the communication devices 57a and 57b, and the stacker crane 46 can be operated by a known method in order to perform work such as warehousing and warehousing. The drive is controlled by. Further, the fork 51 is attached to the ground control panel 56.
That is, there is provided a work completion button 59 that is operated when the replenishment work or the picking work of the items in the storage box 44 placed on the cargo receiving table 45 by the delivery is completed.

When the storage box 44 is placed on the cargo receiving table 45 by the stacker crane 46 at the time of unloading, the operation information of the stacker crane 46 at this time is transmitted to the communication devices 57a, 57.
It is transmitted from the crane control panel 58 to the ground control panel 56 via b. Upon receipt of this operation information, the controller built in the ground control panel 56 recognizes that the storage box 44 is placed on the cargo receiving table 45, deactivates the worker-side intrusion sensor 54, and the crane-side intrusion sensor 55. Had been switched to the operating state. As a result, the worker invades the work receiving port 45 from the work entrance 52 without being detected by the worker-side intrusion sensor 54, and replenishes or picks the items stored in the storage box 44.

At the time of warehousing, the worker goes out of the cargo receiving table 45 and presses the work completion button 59 on the ground control panel 56. Based on the push down signal of the work completion button 59, the controller of the ground control panel 56 is operated by the operator side intrusion sensor 54.
And the crane side intrusion sensor 55 was switched to an inactive state. As a result, even if a worker accidentally enters the cargo receiving tray 45 from the work entrance 52 while the stacker crane 46 is operating, the worker-side intrusion sensor 54 detects the worker, and thus the stacker crane 46 stops operating. ,
The safety of workers was ensured.

[0009]

However, as described above, the operation of the worker-side intrusion sensor 54 and the crane-side intrusion sensor 55 is switched between the communication device 57a and the communication device 57a when leaving the warehouse.
57b from the crane control panel 58 to the ground control panel 56
It was carried out based on the operation information of the stacker crane 46 transmitted to. Therefore, since the storage control for temporarily storing the signal transmitted by the communication means in the ground control panel 56 is involved, the switching of the operation of the intrusion sensors 54, 55 is complicated control.

When a trouble occurs once, the ground control panel 56 is a storage control for temporarily storing the received information, so that the restoration method is very complicated. The present invention has been made to solve the above problems, and its purpose is to control the operation switching between the worker-side intrusion sensor and the crane-side intrusion sensor without using a communication means whose control is very complicated. Especially.

[0011]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides a fork provided in a crane for delivering and receiving articles to and from a plurality of storage sections arranged on shelves for storing articles. Load receiving platform on which the article is placed or taken out, and load detection that is arranged so as to detect that the article is placed on the load receiving platform and that the detection area does not detect the fork extending on the load receiving platform. A sensor, a worker-side intrusion sensor that is installed on the work entrance / exit side of the cargo receiving table to detect entry into the cargo receiving table, and a crane transfer port side provided on the cargo receiving table, from the cargo receiving table to the crane travel path. A crane-side intrusion sensor arranged to detect an intrusion inside and not to detect the fork extending to the load receiving base when the load detecting sensor detects an article, and the load is placed on the load receiving base. When a work operation switch for storing an article in a predetermined storage section via a crane and a load detection sensor detect the article, the crane side intrusion sensor is activated and the worker side intrusion sensor is inactivated. When the work operation switch is operated and the load detection sensor no longer detects the article in the state in which the article is placed on the load receiving table, the first switching control means controls the crane-side intrusion sensor in the operating state. The gist is a device for detecting an intrusion of a cradle in an automatic warehouse, which comprises a second switching control means for switching an inoperative sensor on an inoperative side to an inoperative state.

[0012]

Therefore, according to the present invention, when the load detection sensor detects an article, the first switching control means sets the crane side intrusion sensor to the operating state and the worker side intrusion sensor to the inoperative state.

The second switching control means enters the operating side of the crane when the load detection sensor stops detecting the article after the work operation switch is operated while the article is placed on the load receiving table. The sensor is deactivated, and the worker-side intrusion sensor in the deactivated state is switched to the activated state.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment embodying the present invention will now be described with reference to FIGS.
This will be described with reference to FIG. The automated warehouse 1 of this embodiment is configured as follows. That is, as shown in FIG. 1, the automatic warehouse 1 is erected in front and rear, and has a pair of shelves 3a, 3b having a plurality of storage portions 2 in the length direction (left and right direction in the figure) and the height direction.
(However, the front shelf 3b is shown only in the lowermost stage). Of the storage section 2 of the rear shelf 3a of the pair of shelves 3a and 3b, a receiving tray 5 for loading and unloading a storage box 4 (only one is shown) is installed at one end side of the lowest stage. There is.

A stacker crane 6 as a crane is provided between the pair of front and rear shelves 3a and 3b. The stacker crane 6 is provided with a traveling platform 8 traveling on rails 7 laid on the ground, a pair of masts 9 standing from both ends of the traveling platform 8, and vertically movable between the masts 9. The carriage 10 is provided. Further, the carriage 10 is provided with a fork 11 movable in the front-rear direction. When the stacker crane 6 is not in operation, the stacker crane 6 is adjacent to the load receiving stand 5 and stands by at the returning position where the carriage 10 is lowered.

A work entrance / exit 12 and a stacker crane 6 into / from the cargo receiving stand 5 for a worker to carry out cargo handling work.
A crane transfer port 13 is provided to move the storage box 4 in and out.

As shown in FIG. 2, a pair of intrusion sensors (hereinafter referred to as an operator side intrusion sensor) 14 for detecting an intrusion of an operator are disposed on both columns of the work entrance / exit 12 so as to face each other. There is. The pair of worker-side intrusion sensors 14 are arranged along the support columns, and the lower ends thereof extend to the same position as the height H2 of the load receiving tray 5 as shown in FIG. Has been extended to.

On the other hand, a pair of intrusion sensors (hereinafter referred to as crane-side intrusion sensors) for detecting the intrusion of the worker and the stacker crane 6 are provided on both columns of the crane carrying port 13.
15 are arranged to face each other. The pair of crane-side intrusion sensors 15 are arranged along the support column, and the lower end of the pair of crane-side intrusion sensors 15 is higher than the height H2 of the load receiving base 5 as shown in FIG.
It is arranged to be 1. That is, the lower ends of the pair of crane-side intrusion sensors 15 are at a position higher than the position of the fork 11 of the stacker crane 6 when the storage box 4 is placed on the load receiving tray 5, and the storage box is placed on the load receiving tray 5. The fork 11 that moves to the stacker crane 6 side near the height of the load receiving table 5 after placing 4 is not detected.

The crane side intrusion sensor 15 and the worker side intrusion sensor 14 are controlled so as to operate complementarily,
When one of the intrusion sensors 14 (15) is operating, the other intrusion sensor 15 (14) is in the inoperative state. When a foreign object passes through the detection area of the intrusion sensors 14 and 15 while the intrusion sensors 14 and 15 are operating, the operation of the automated warehouse 1 is stopped by the H-level detection signal output by detecting the passage (intrusion). It is supposed to be done.

A pair of load detection sensors 16 for detecting the storage box 4 placed on the load receiving base 5 are arranged on the load receiving base 5 so as to face each other. One of the pair of load detection sensors 16 is provided on the upper portion of the load receiving base 5 facing the work entrance / exit 12, and the other is provided on the upper portion of the load receiving base 5 facing the crane transfer port 13. The mounting position of the pair of load detection sensors 16 is higher than that of the load receiving base 5, and the upper end thereof is the same as or lower than the lower end of the crane side intrusion sensor 15. Therefore, when the load detection sensor 16 detects the storage box 4 placed on the load receiving table 5 by the fork 11, the fork 11 is located below the detection area of the crane-side intrusion sensor 15.

A ground control panel 17 is provided at a position apart from the shelves 3a and 3b, and the intrusion sensors 14 and 15 are provided.
Is controlled, and the detection signals from the sensors 14, 15 and 16 are input. Further, this ground control panel 17 is adapted to communicate with the crane control panel 19 of the stacker crane 6 via the communication devices 18a and 18b, and the stacker crane 6 can be operated by a known method in order to perform work such as warehousing and warehousing. The drive is controlled by. Further, the ground control panel 17 is provided with a work completion button 20 as a work operation switch, which is operated when the replenishment work or the picking work of the items in the storage box 4 placed on the cargo receiving stand 5 by the delivery is completed. It

Next, the electrical configuration of the main controller and the sensors 14 to 16 built in the ground control panel 17 will be described with reference to FIG. In FIG. 4, the ground control panel 1
The main controller 21 built in 7 is the communication device 18
It is connected to a. The communication device 18a is adapted to perform data communication with the communication device 18b on the stacker crane 6 side by optical communication, and outputs operation command data from the main controller 21 to the crane drive controller 22 built in the crane control panel 19. At the same time, the operation information from the crane drive controller 22 is output to the main controller 21.

The main controller 21 is connected to the sensor drive circuit 23, and activates or deactivates the respective sensors 14 to 16 via the sensor drive circuit 23. Then, the main controller 21 uses the load detection sensor 1
6 is always kept in an operating state, and is always controlled to be in a state capable of detecting a load. The main controller 21 complementarily operates the operator-side intrusion sensor 14 and the crane-side intrusion sensor 15 to control them. That is, when one of the intrusion sensors is operating, the other intrusion sensor is inactivated.

The detection signals of the sensors 14 to 16 are directly output to the main controller 21 and the abnormality determination circuit 24. The abnormality determination circuit 24 is composed of AND circuits 25, 26, an OR circuit 27, and a knot circuit 28 as shown in FIG. Then, the detection signals from the worker-side intrusion sensor 14 and the load detection sensor 16 are input to the AND circuit 25. The detection signal of the crane side intrusion sensor 15 is input to the AND circuit 26, and
The detection signal from the load detection sensor 16 is input via the knot circuit 28. The outputs of the AND circuits 25 and 26 are output to the OR circuit 27, and the output of the OR circuit 27 is output to the main controller 21.

When there is the storage box 4 on the load receiving table 5 (when the load detection sensor 16 detects the storage box 4 and outputs a detection signal of H level), the operating crane side intrusion sensor 15 is When a foreign object is detected and an H level detection signal is output, the OR circuit 26 outputs an H level abnormality signal to the main controller 21. Further, when there is no storage box 4 in the load receiving table 5 (when the load detection sensor 16 outputs an L level detection signal), the worker-side intrusion sensor 1 in operation
When 4 detects a foreign substance and outputs an H level detection signal,
An OR circuit 27 outputs an H-level abnormality signal to the main controller 21.

The main controller 21 is the abnormality determination circuit 2
When the abnormal signal from 4 is input, an operation command signal for stopping all operations of the stacker crane 6 is output to the crane drive controller 22 of the crane control panel 19. In addition, the main controller 21 uses the work completion button 2
It is connected to 0 and inputs an ON signal based on the button 20 being pressed.

Next, the operation of the cargo receiving platform intrusion detection device in the automatic warehouse 1 configured as described above will be described based on the flowchart of FIG. 6 showing the processing operation of the main controller 21.

At the time of warehousing, the main controller 21 causes the stacker crane 6 to perform a warehousing operation via the crane drive controller 22. That is, the stacker crane 6 is operated based on the predetermined shipping information, the carriage 10 is moved to the predetermined storage section 2, and the storage box 4 is placed on the carriage 10 by the fork 11. And storage box 4
The carriage 10 on which is mounted is moved to the load receiving table 5. At the time of this warehousing, the main controller 21 activates the worker-side intrusion sensor 14 and controls the crane-side intrusion sensor 15 to the inoperative state.

Therefore, when a worker enters the cargo receiving tray 5 through the work entrance / exit 12, the worker-side intrusion sensor 14 detects the intrusion and outputs an abnormality signal to the main controller 21 via the abnormality determination circuit 24. Further, since the crane-side intrusion sensor 15 is in the inoperative state, the storage box 4 placed on the carriage 10 can be moved and guided by the fork 11 to the load receiving table 5.

When the storage box 4 placed on the carriage 10 is guided by the fork 11 to a position above the load receiving table 5 and then lowered and placed on the load receiving table 5, the load detecting sensor 16 operates. The storage box 4 is detected. The detection signal of the load detection sensor 16 is the main controller 21 and the abnormality determination circuit 24.
Is output to.

The main controller 21 is the load detection sensor 1
6 in response to the H level detection signal (step 10
1) First, the worker-side intrusion sensor 14 is deactivated, and the crane-side intrusion sensor 15 is activated (step 102). Therefore, when an operator enters the stacker crane 6 side from the crane transfer port 13 or the storage box 4 enters the load receiving stand 5, the crane side intrusion sensor 15 detects the intrusion and the main controller 21 via the abnormality determination circuit 24. An abnormal signal is output to. At this time, the fork 11 that has entered the cargo receiving table 5 is the crane-side intrusion sensor 1
The crane side intrusion sensor 15 does not detect the intrusion of the fork 11 because it is located at a lower position outside the detection area of No. 5. Therefore, if the fork 11 is moved to the carriage 10 side as it is, the exit operation is completed without the intrusion of the fork 11 being detected.

On the other hand, since the worker-side intrusion sensor 14 is in the inoperative state, the worker can intrude into the cargo receiving table 5. Therefore, the worker can carry out the replenishment work and the picking work of the articles stored in the storage box 4 by entering the receiving tray 5. When these operations are completed, the worker separates from the cargo receiving stand 5 and presses the operation completion button 20 on the ground control panel 17.

In response to the ON signal based on the depression of the work completion button 20 (step 103), the main controller 21 determines whether the detection signal of the load detection sensor 16 is L level, that is, whether the storage box 4 is on the load receiving tray 5. Make a decision. In addition, in response to the ON signal based on the pressing of the work completion button 20, the main controller 21 stores the storage box 4 placed on the load receiving table 5 in a predetermined storage section 2.

At the time of warehousing, the main controller 21 causes the stacker crane 6 through the crane drive controller 22.
Let the storage operation be performed. That is, the stacker crane 6 is moved to a position facing the load receiving base 5 based on the predetermined warehousing information, and the fork 11 is moved to the load receiving base 5.
At this time, the fork 11 enters the cargo receiving table 5, but enters through the lower position outside the detection area of the operating crane side intrusion sensor 15. Not detected. Therefore,
Storage box 4 in which the fork 11 is placed on the receiving table 5 as it is
Move to the bottom of. Then, the fork 11 coming to the lower side of the storage box 4 rises to lift the storage box 4 from the load receiving table 5. Based on this rise, the storage box 4 separates from the cargo receiving table 5. As a result, the load detection sensor 16 changes from H level to L level.
It becomes a level.

The main controller 21 is the load detection sensor 1
6 in response to the L-level detection signal (step 10
4) The worker side intrusion sensor 14 is activated and the crane side intrusion sensor 15 is deactivated (step 105). Therefore, the crane side intrusion sensor 1
Since 5 is in the inoperative state, the fork 11 that lifts the storage box 4 on the load receiving table 5 can be moved to the carriage 10 side and the storage box 4 can be placed on the carriage 10. On the other hand, since the worker-side intrusion sensor 14 is in an operating state, when a worker invades from the work entrance / exit 12 into the load receiving table 5, the worker-side intrusion sensor 14 detects the intrusion,
An abnormality signal is output to the main controller 21 via the abnormality determination circuit 24. Then, the storage box 4 placed on the carriage 10 is stored in a predetermined storage section 2 and waits for the next delivery operation.

As described in detail above, according to the automatic warehouse of the present embodiment, the switching of the operation of each intrusion sensor 14, 15 is based on the detection signal when the load detection sensor 16 detects the storage box 4. This is performed by the main controller 21 built in the ground control panel 17. Therefore, the intrusion sensor 1
Since the switching of the operations of 4, 15 does not depend on the communication means performed based on the communication information transmitted from the stacker crane 6, the switching control of the operations of the intrusion sensors 14, 15 becomes simple. Therefore, when trouble occurs,
The return method can be simplified.

The present invention is not limited to the above-described embodiments, but can be implemented as follows with a part of the configuration appropriately modified without departing from the spirit of the invention. (1) In the above embodiment, the pair of load detection sensors 1
Although 6 is arranged in the cargo receiving table 5, the number thereof is not limited to one and may be plural. In this case, if the operation of the intrusion sensors 14 and 15 is switched when at least one of the plurality of pairs of load detection sensors 16 detects a foreign substance, the storage box 4 can be detected more reliably. In addition, even when the storage boxes 4 having different sizes are mixed, the size can be surely detected without being affected by the size of the storage boxes 4.

(2) In the above embodiment, a pair of load detection sensors 16 for detecting foreign matter blocking the detection area are provided on the side of the load receiving platform 5 facing the work doorway 12 and the crane carrier port 13. Although each is provided, for example, a proximity sensor that detects that a foreign object enters within a predetermined distance may be installed. In this case, a plurality of proximity sensors may be provided, but it is also possible to install only one proximity sensor having a detection area set so that the side surface of the storage box 4 can be detected. Further, when the storage box 4 is placed on the load receiving table 5, the proximity sensor may be installed at a position on the load receiving table 5 that can detect the lower surface of the storage box 4 from below.

[0039]

As described in detail above, according to the present invention, it is possible to perform the operation switching control of the worker side intrusion sensor and the crane side intrusion sensor without using a communication means whose control is very complicated. It has an excellent effect.

[Brief description of drawings]

FIG. 1 is a perspective view of an automated warehouse according to an embodiment of the present invention.

FIG. 2 is a top view of a main part of an automated warehouse.

FIG. 3 is a side view of a main part of an automated warehouse.

FIG. 4 is a block diagram showing an electrical configuration of an automated warehouse.

FIG. 5 is a logic circuit diagram of an abnormality determination circuit.

FIG. 6 is a flowchart showing the processing operation of the main controller.

FIG. 7 is a perspective view of a conventional automated warehouse.

FIG. 8 is a top view of a main part of a conventional automated warehouse.

[Explanation of symbols]

2 ... Storage section, 3a, 3b ... Shelf, 4 ... Storage box as article, 5 ... Receiving stand, 6 ... Stacker crane as crane, 11 ... Fork, 12 ... Work entrance / exit, 13 ... Crane transfer opening, 14 ... Work Person side intrusion sensor, 15 ... Crane side intrusion sensor, 16 ... Load detection sensor, 20 ... Work completion button as work operation switch, 21 ... Main controller as first switching control means and second switching control means, 23 ... Sensor drive circuit as first switching control means and second switching control means

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[Procedure amendment]

[Submission date] July 22, 1992

[Procedure Amendment 1]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 1

[Correction method] Change

[Correction content]

[Figure 1]

[Procedure Amendment 2]

[Document name to be corrected] Drawing

[Correction target item name] Figure 7

[Correction method] Change

[Correction content]

[Figure 7]

Claims (1)

[Claims] 1. A cargo cradle on which an article is placed or taken out by a fork provided in a crane for delivering the article to and from a plurality of storage sections arranged on shelves for storing the article, and the cargo receiving station. While detecting that an article is placed on the table,
A load detection sensor whose detection area is arranged so as not to detect the fork extending on the load receiving base, and a worker side intrusion which is provided on the work entrance side provided on the load receiving base and detects intrusion into the load receiving base A sensor and a crane conveyance port side provided on the load receiving table, which detects an intrusion into the crane traveling path from the load receiving table, and the detection area is on the load receiving table when the load detection sensor detects an article. A crane-side intrusion sensor arranged so as not to detect the extending fork, a work operation switch for storing an article placed on the load receiving base in a predetermined storage portion via a crane, and the load detection sensor When the article is detected, the crane-side intrusion sensor is activated and the worker-side intrusion sensor is deactivated, and the article is placed on the load receiving table. In the state, when the work operation switch is operated and the load detection sensor no longer detects an article, the crane-side intrusion sensor in the operating state is deactivated, and the worker-side intrusion sensor in the deactivated state is activated. And a second receiving control means in the automatic warehouse.