JPH06345211A - Drive control system for stacker crane for automatic warehouse - Google Patents

Abstract

PURPOSE:To improve the operation performance and safety in the manual operation by installing a manual instruction means for manually controlling a variety of driving systems of a stacker crane arbitrarily from a remote place, on an operation part on the ground. CONSTITUTION:On the liquid crystal panel 2 of an operating panel on the ground for executing the load taking-in/out for the accommodation part of a stacker crane, a manual operating type raising/lowering switch group 27 for controlling a variety of motors of the stacker crane at an arbitrary position, manual operating traveling switch group 32, and a manual operating fork switch group 27 are installed in free selection on the basis of the operation of a selection display part. Accordingly, an operator can operate a variety of driving systems of the stacker crane from a remote place arbitrarily As a result, the necessity for an operator to go into the traveling area of the stacker crane and to operate the manual operation part of a crane controller is obviated, and the safety of the operator can be surely secured, and the workability in manual operation can be improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control system for a stacker crane in an automated warehouse, and more particularly to a drive control system for manually and remotely controlling a stacker crane.

[0002]

2. Description of the Related Art A conventional automated warehouse, as shown in FIG.
When the operation panel 2 on the ground control panel 1 is operated, an optical command signal based on the operation is transmitted from the ground side transmitter / receiver 3 via a control device (not shown) of the ground control panel 1. Then, the crane side transceiver 6 of the stacker crane 5 traveling along the traveling rail 4 receives the optical command signal transmitted from the ground transceiver 3. The command signal received by the crane side transceiver 6 is output to the crane controller 7.

The crane controller 7 controls the traveling motor 8 and the lifting motor 9 mounted on the stacker crane 5 based on the command signal, and the storage section 12 of the shelf 11 designated by the operation panel 2 of the ground control panel 1. The slide fork 14 of the carriage 13 is made to correspond to. And the operation panel 2
Crane controller 7 based on the command signal instructed by
The slide fork 14 is slid by the fork slide motor 10 to load or unload the storage unit 12.

Therefore, in the automatic warehouse constructed as described above, the storage section 1 is constructed by the operation panel 2 of the ground operation panel 1.
The crane control device 7 controls the traveling motor 8, the lifting motor 9, and the fork slide motor 10 only by instructing the loader 2 to load or place the loader 2 and which storage unit 12 of the shelf 11 to stack the stacker crane. The cargo handling work can be done at 5.

[0005]

However, in the above-mentioned automated warehouse, the traveling motor 8, lift motor 9 and fork slide motor 10 of the stacker crane 5 are operated by the crane control device 7 by operating the operation panel 2 on the ground operation panel 1. All are automatically controlled by. Therefore, the operator manually controls the traveling motor 8, the lifting motor 9, and the fork slide motor 10 of the stacker crane 5 to arbitrarily move the stacker crane 5, stop it at an arbitrary position, or raise and lower the carriage 13 arbitrarily. ,
There is a problem that it cannot be stopped at an arbitrary position, or the slide fork 14 can be arbitrarily slid to stop at an arbitrary position.

As a countermeasure against this, the crane control device 7 in the stacker crane 5 is provided with a manual operation equipped with a switch (not shown) capable of individually controlling and driving the traveling motor 8, the lifting motor 9 and the fork slide motor 10. A section 15 is provided. Therefore, while the switches of the manual operation unit 15 are being operated individually, the traveling motor 8 corresponding to the operated switch,
By controlling the lifting motor 9 and the fork slide motor 10, the stacker crane 5, the carriage 13 and the slide fork 14 can be moved to arbitrary positions.

However, the traveling motor 8, the lifting motor 9 and the fork slide motor 10 are controlled, and the stacker crane 5, the carriage 13 and the slide fork 1 are controlled.
When moving 4 to any position, the crane controller 7
It is necessary to operate the manual operation part 15 of. Then,
Since the manual operation unit 15 also moves due to the operation of the stacker crane 5, the stacker crane 5 and the carriage 1
3 and the slide fork 14 cannot be moved accurately.

Further, since the worker is in a state of approaching the stacker crane 5, there is also a demand from the viewpoint of safety to prevent the worker from entering the traveling area where the stacker crane 5 travels as much as possible.

The present invention has been made in order to solve the above problems, and its purpose is to allow an operator to arbitrarily control various drive systems of a stacker crane from a distance and to improve the operability and safety of manual operation. It is to provide a drive control system for a stacker crane in an automated warehouse that can improve the efficiency.

[0010]

In order to solve the above problems, the present invention controls various drive systems of a stacker crane traveling along a shelf having a storage portion for storing a load, A ground operation unit for performing the unloading of the storage unit or the unloading of the storage unit by the stacker crane, and the ground operation unit provided for instructing the unloading or placing work and corresponding to the operation. Instructing means for instructing the storage section, transmission control means for transmitting a command signal to the stacker crane based on an instruction operation from the instructing means, and reception control means for receiving the command signal transmitted from the transmission control means, In an automatic warehouse equipped with crane control means for controlling various drive systems of the stacker crane based on the command signal received by the reception control means,
The gist of the invention is that the above-mentioned ground operation part is provided with a manual instructing means for arbitrarily manually controlling a drive system in various kinds of stacker cranes.

[0011]

By means of the instruction means provided in the ground operation section, instructions for picking up or placing a load and an instruction for the storage section of the shelf corresponding to the cargo handling work are given. A command signal based on the instruction operation of the instruction means is transmitted to the stacker crane by the transmission control means. The reception control means controls various drive systems in the stacker crane on the basis of the command signal transmitted from the transmission control means, causes the stacker crane to travel, and moves to the designated storage portion of the shelf. Then, the unloading of the storage unit or the loading of the storage unit is performed.

When the manual instruction means provided on the ground operation section is operated, the transmission control means sends a command signal to the reception control means based on the operation. The reception control means manually controls various drive systems of the stacker crane based on the command signal from the manual instruction means.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment embodying the present invention is shown in FIG.
It will be described with reference to FIG. Since the configuration of the automatic warehouse is the same as the conventional one, FIG. 3 is referred to in the present embodiment, and the detailed description is omitted.

Next, an electrical configuration for controlling the stacker crane 5 of the automatic warehouse will be described. As shown in FIG. 1, a ground operation panel 1 as a ground operation unit is composed of a liquid crystal panel 2 as a liquid crystal instruction means, a controller 16 as a transmission control means, and a ground side transceiver 3. The liquid crystal panel 2 displays a main menu for carrying out cargo handling work under the control of the controller 16. When the liquid crystal panel 2 on which this main menu is displayed is operated, the controller 16 outputs a command signal based on the operation to the ground side transceiver 3.

The ground transmitter / receiver 3 uses the command signal from the controller 16 as an optical command signal for the stacker crane 5
It is adapted to be output to the crane-side transmitting / receiving device 6 as the reception control means. The crane side transceiver 6 outputs the received light command signal to the crane controller 7 as a reception controller. Crane controller 7
Various sensors 17 are connected to the various sensors 1.
7 is provided at each position of the stacker crane 5, the shelf 11, and the storage unit 12.

Therefore, the various sensors 17 detect the abnormality of the stacker crane 5, the carriage 13 and the slide fork 14, and output the detection signal to the crane controller 7 or the detection signal indicating the on / off state of the sensor 17. Is output. The crane control device 7 is adapted to transmit detection signals from various sensors 17 to the ground-side transceiver device 3 as light detection signals. The ground-side transceiver device 3 receives the received light detection signal from the controller 16
The controller 16 outputs the sensor 17 to the liquid crystal panel 2 based on the detection signal from the ground-side transceiver 3.
Detects an abnormality, displays what kind of abnormality has occurred, and displays the on / off state of the sensor 17.

The crane controller 7 is also equipped with various sensors 1.
In a state where it is determined that the stacker crane 5 has no abnormality based on the detection signal from 7, the traveling motor 8, the lifting motor 9, and the fork slide motor 10 are driven based on the command signal transmitted from the ground control panel 1. The stacker crane 5 is controlled to carry out cargo handling work.

Also in this embodiment, the manual operation section 15 is provided, and the crane control device 7 operates the plurality of operation switches by individually operating a plurality of operation switches (not shown) of the manual operation section 15. In the meantime, the crane controller 7 controls the traveling motor 8, the lifting motor 9, and the fork slide motor 10 corresponding to the operation switches.

On the other hand, the liquid crystal panel 2 is provided with a switching display portion 2a, and the controller 16 switches the display of the liquid crystal panel 2 to the manual operation menu as shown in FIG. 2 based on the operation of the switching display portion 2a. Has become. That is,
The traveling motor 8, the lifting motor 9, and the fork slide motor 10 of the stacker crane 5 can be arbitrarily operated by manual operation based on the operation of the switching display unit 2a.

A main menu switch 20 is displayed on the upper left side of the liquid crystal panel 2. By operating the main menu switch 20, the controller 16 switches to a normal main menu screen. An end switch 21 is displayed on the upper right side. The end switch 21 is a switch for ending the manual operation processing screen, and when pressed, the other auxiliary function processing menu screen is displayed.

An abnormality canceling switch 22 is displayed below the end switch 21, and when the abnormality canceling switch 22 is pressed, the abnormality of the stacker crane 5 and the alarm are canceled. A crane movement switch 23 is displayed below the abnormality canceling switch 22, and when the crane movement switch 23 is pressed, the stacker crane movement processing screen is displayed. An abnormality treatment switch 24 is displayed below the crane movement switch 23, and when the abnormality treatment switch 24 is pressed, it is possible to switch to the abnormality treatment screen.

A count display section 25 is displayed on the left side of the end switch 21, and the count display section 25 shows the carriage 13 of the stacker crane 5 at that time.
The position of is displayed corresponding to the storage section 12. Further, a sensor monitor unit 26 is displayed at substantially the center of the liquid crystal panel 2, and the states of various sensors 17 and the like provided on the stacker crane 5 are displayed.

On the left side of the sensor monitor 26, a group of manual elevating and lowering switches 27 as manual instruction means is displayed. The manual elevating switch group 27 includes a raising switch 28, a lowering switch 29, a fixed position upper switch 30, and a fixed position lower switch 31.

That is, when the switch 30 on the fixed position is pushed, the controller 16 outputs a command signal based on the operation to the ground side transceiver 3 and an optical command signal to the crane side transceiver 6. Then, the crane control device 7 controls the lift motor 9 while detecting the state of each sensor 17 based on the command signal, and can raise the carriage 13 for each storage unit 12.

Similarly, when the fixed position lower switch 31 is pressed,
The controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3 and outputs an optical command signal to the crane side transmitter / receiver 6. Then, the crane control device 7 controls the lift motor 9 while detecting the state of each sensor 17 based on the command signal, so that the carriage 13 can be lowered for each storage unit 12.

When the raising switch 28 is pushed, the controller 16 outputs a command signal based on the operation to the ground side transceiver 3, and an optical command signal is transmitted to the crane side transceiver 6.
Output to. Then, the crane control device 7 controls the lift motor 9 while detecting the state of each sensor 17 based on the command signal, so that the carriage 13 can be lifted while the lift switch 28 is being pressed. .

Further, when the lowering switch 29 is pressed, the controller 16 outputs a command signal based on the operation to the ground side transmitting / receiving device 3 and an optical command signal to the crane side transmitting / receiving device 6. The crane controller 7 controls the lift motor 9 while detecting the state of each sensor 17 based on the command signal, and can lower the carriage 13 while the lower switch 29 is being pressed. .

On the right side of the sensor monitor 26, a manual traveling switch group 32 as manual display means is displayed. The manual traveling switch group 32 is a fixed position right switch 33,
It is composed of a fixed position left switch 34, a forward switch 35, and a reverse switch 36.

That is, when the fixed position right switch 33 is pushed, the controller 16 outputs a command signal based on the operation to the ground-side transceiver device 3 and an optical command signal to the crane-side transceiver device 6. Then, the crane control device 7 controls the traveling motor 8 while detecting the state of each sensor 17 based on the command signal, and causes the stacker crane 5 to receive the stacker crane 5.
Every two cars can be driven to the right (see FIG. 3).

Similarly, when the fixed position left switch 34 is pressed,
The controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3 and outputs an optical command signal to the crane side transmitter / receiver 6. Then, the crane control device 7 controls the traveling motor 8 while detecting the state of each sensor 17 based on the command signal so that the stacker crane 5 can travel to the left side (see FIG. 3) for each storage unit 12. It has become.

When the forward switch 35 is pressed, the controller 16 outputs a command signal based on the operation to the ground side transceiver 3, and an optical command signal is transmitted to the crane side transceiver 6.
Output to. Then, the crane control device 7 controls the traveling motor 8 while detecting the state of each sensor 17 based on the command signal, and travels the stacker crane 5 in the forward direction (see FIG. 3) while the forward switch 35 is being pressed. It can be done.

Further, when the reverse switch 36 is pushed, the controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3 and an optical command signal to the crane side transmitter / receiver 6. Then, the crane control device 7 controls the traveling motor 8 while detecting the state of each sensor 17 based on the command signal, and travels the stacker crane 5 in the reverse direction (see FIG. 3) while the reverse switch 36 is being pressed. It can be done.

Below the manual traveling switch group 32, a manual fork switch group 37 as a manual instruction means is displayed. The manual fork switch group 37 includes a right feed switch 38, a left feed switch 39, a right feed high speed switch 40, and a left feed high speed switch 41.

That is, when the left feed switch 39 is pushed, the controller 16 outputs a command signal based on the operation thereof to the ground side transmitter / receiver 3 and an optical command signal to the crane side transmitter / receiver 6. Then, the crane control device 7 controls the fork slide motor 10 while detecting the state of each sensor 17 based on the command signal, and the left feed switch 39
The slide fork 14 can be slid to the right side (the side projecting into the storage section 12) while is pressed.

Similarly, when the right feed switch 38 is pushed, the controller 16 outputs a command signal based on the operation to the ground side transceiver 3, and an optical command signal to the crane side transceiver 6. Then, the crane control device 7 controls the fork slide motor 10 while detecting the state of each sensor 17 based on the command signal, and the right feed switch 3
The slide fork 14 can be slid to the left side (the direction of returning from the storage section 12) while 8 is being pressed.

Further, when the left feed high speed switch 41 is pressed,
The controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3 and outputs an optical command signal to the crane side transmitter / receiver 6. Then, the crane control device 7 controls the fork slide motor 10 while detecting the state of each sensor 17 based on the command signal, and while the left feed high speed switch 41 is being pressed, the slide fork 14 is operated at a high speed. It can be slid to the right side (the side projecting into the storage section 12).

When the right feed high speed switch 40 is pressed, the controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3 and an optical command signal to the crane side transmitter / receiver 6. Then, the crane control device 7 controls the fork slide motor 10 while detecting the state of each sensor 17 based on the command signal, and while the right feed high speed switch 40 is being pressed, the slide fork 14 is operated at a high speed. It can be slid to the left side (direction returning from the storage section 12).

Next, the operation of the drive control system for the stacker crane constructed as described above will be described.
First, in a state where a normal main menu is displayed on the liquid crystal panel 2 of the ground control panel 1, a worker can carry out cargo loading or unloading with respect to the storage section 12 of the shelf 11 and the storage section 12 to the liquid crystal panel. Operate with 2 and give instructions. Then, the controller 16 outputs a command signal based on the operation to the ground side transceiver 3. The ground-side transceiver 3 outputs the command signal from the controller 16 to the crane-side transceiver 6 as an optical command signal.

The crane control device 7 confirms that no abnormality has occurred based on the detection signals from the respective sensors 17, and then controls the traveling motor 8 and the lifting motor 9 based on the command signal received by the crane side transceiver device 6. Control. Then, when the carriage 13 of the stacker crane 5 is located in the designated storage section 12, the crane controller 7 stops the traveling motor 8 and the lifting motor 9. After that, the crane control device 7 controls the fork slide motor 10 based on the load placement or the load pickup instruction, and the slide fork 1
4 is slid to load or unload the storage unit 12.

When the switching display section 2a of the liquid crystal panel 2 is operated, the controller 16 switches to the display of the manual operation menu based on the operation. In addition, the crane controller 7 to the crane transceiver 6 and the ground transceiver 3
The controller 16 displays the ON / OFF state of each sensor 17 on the sensor monitor unit 26 based on the detection signal of each sensor 17 transmitted via the.

When an operator presses the abnormality release switch 22 while an abnormality is occurring, the controller 16 sends a command signal based on the operation through the ground side transmitter / receiver 3 and the crane side transmitter / receiver 6 to the crane. Output to the control device 7. The crane controller 7 cancels the abnormality and the alarm based on the command signal from the ground control panel 1. In addition, the controller 16 uses the sensor 1 transmitted from the crane controller 7.
The position of the carriage 13 in the stacker crane 5 is calculated based on the detection signal of No. 7, and the calculated position is displayed on the count display unit 25.

Here, when the switch 30 on the fixed position is pushed,
The controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3 and outputs an optical command signal to the crane side transmitter / receiver 6. Then, the crane controller 7 controls the lifting motor 9 while detecting the state of each sensor 17 based on the command signal. Therefore, the carriage 13 rises for each storage unit 12.

Similarly, when the home position lower switch 31 is pressed,
The controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3 and outputs an optical command signal to the crane side transmitter / receiver 6. Then, the crane controller 7 controls the lifting motor 9 while detecting the state of each sensor 17 based on the command signal. Therefore, the carriage 13 descends for each storage unit 12.

When the raising switch 28 is pressed, the controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3, and an optical command signal is sent to the crane side transmitter / receiver 6.
Output to. Then, the crane controller 7 controls the lifting motor 9 while detecting the state of each sensor 17 based on the command signal. Therefore, the carriage 13 rises while the rise switch 28 is being pressed.

Further, when the lowering switch 29 is pressed, the controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3 and an optical command signal to the crane side transmitter / receiver 6. Then, the crane controller 7 controls the lifting motor 9 while detecting the state of each sensor 17 based on the command signal. Therefore, the carriage 13 descends while the descending switch 29 is being pressed.

When the fixed position right switch 33 is pressed, the controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3 and an optical command signal to the crane side transmitter / receiver 6. Then, the crane control device 7 controls the traveling motor 8 while detecting the state of each sensor 17 based on the command signal. Therefore, the stacker crane 5 travels to the right (see FIG. 3) for each storage unit 12.

Similarly, when the fixed position left switch 34 is pressed,
The controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3 and outputs an optical command signal to the crane side transmitter / receiver 6. Then, the crane control device 7 controls the traveling motor 8 while detecting the state of each sensor 17 based on the command signal. Therefore, the stacker crane 5 travels to the left (see FIG. 3) for each storage unit 12.

When the forward switch 35 is pressed, the controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3 and an optical command signal to the crane side transmitter / receiver 6.
Output to. Then, the crane control device 7 controls the traveling motor 8 while detecting the state of each sensor 17 based on the command signal. Therefore, the stacker crane 5 travels in the forward direction (see FIG. 3) while the forward switch 35 is being pressed.

Further, when the reverse switch 36 is pressed, the controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3 and an optical command signal to the crane side transmitter / receiver 6. Then, the crane control device 7 controls the traveling motor 8 while detecting the state of each sensor 17 based on the command signal. Therefore, the stacker crane 5 travels in the reverse direction (see FIG. 3) while the reverse switch 36 is being pressed.

When the left feed switch 39 is pressed, the controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3 and an optical command signal to the crane side transmitter / receiver 6. Then, the crane controller 7 controls the fork slide motor 10 while detecting the state of each sensor 17 based on the command signal. Therefore, while the left feed switch 39 is being pressed, the slide fork 1
4 slides to the right (the side protruding into the storage portion 12).

When the right feed switch 38 is pressed, the controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3 and an optical command signal to the crane side transmitter / receiver 6. Then, the crane controller 7 controls the fork slide motor 10 while detecting the state of each sensor 17 based on the command signal. Therefore, while the left feed switch 38 is being pressed, the slide fork 14 slides to the left (the direction in which the storage section 12 returns).

When the left feed high speed switch 41 is pressed,
The controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3 and outputs an optical command signal to the crane side transmitter / receiver 6. Then, the crane controller 7 controls the fork slide motor 10 while detecting the state of each sensor 17 based on the command signal. Therefore, the slide fork 14 slides to the right side (the side projecting into the storage portion 12) in a high speed state while the left feed high speed switch 39 is being pressed.

When the right feed high speed switch 40 is pressed, the controller 16 outputs a command signal based on the operation to the ground side transmitter / receiver 3 and an optical command signal to the crane side transmitter / receiver 6. Then, the crane controller 7 controls the fork slide motor 10 while detecting the state of each sensor 17 based on the command signal. Therefore, the slide fork 14 slides to the left side (direction returning from the storage section 12) in a state where the speed is high while the right feed high speed switch 40 is being pressed.

When the main menu switch 20 is pressed, the controller 16 switches the display on the liquid crystal panel 2 to the main menu. Therefore, a manual operation menu is displayed on the liquid crystal panel 2 by operating the switching display unit 2a, and the stacker crane 5 is moved to an arbitrary position by operating the manual lifting switch group 27, the manual traveling switch group 32, and the manual fork switch group 37. The carriage 13 can be moved to a desired position, the carriage 13 can be moved up and down to an arbitrary position, and the slide fork 14 can be slid to an arbitrary position.

Therefore, the operator is required to use the stacker crane 5
It becomes unnecessary to enter the traveling area of No. 2 and operate the manual operation unit 15 of the crane control device 7 to move the stacker crane 5, move the carriage 13 up and down, and slide the slide fork 14.

As a result, the working stacker crane 5
Since the manual operation unit 15 is not operated, the operability of the manual operation can be improved. Further, even if the manual operation of the liquid crystal panel 2 of the stacker crane 5 is mistaken, the worker is operating the stacker crane 5 remotely and manually, so that the safety of the worker can be reliably ensured.

In this embodiment, the command signal is transmitted and received between the ground side transmitting / receiving device 3 and the crane side transmitting / receiving device 6 by light, but it may be transmitted / received by using radio waves or the like. Further, the light in this embodiment may be any light such as visible light or infrared light.

Further, in this embodiment, a group of manual lifting switches 27, a group of manual running switches 32 and a group of manual fork switches 37 for controlling the traveling motor 8, lifting motor 9 and fork slide motor 10 of the stacker crane 5 to arbitrary positions. Was displayed on the liquid crystal panel 2. Besides this,
It is also possible to configure the liquid crystal panel 2 to display control switches for arbitrarily controlling drive systems other than these.

Further, in the present embodiment, the liquid crystal panel 2 is configured to display the manual lifting switch group 27, the manual traveling switch group 32 and the manual fork switch group 37, but it is simply the manual lifting switch group 27 and the manual traveling. The switch group 32 and the manual fork switch group 37 may be configured by switches, and the switches may be provided on the ground control panel 1.

Instead of the liquid crystal panel 2 serving as a liquid crystal, a switch for instructing the cargo handling work of the main menu may be provided on the ground control panel 1.

[0061]

As described above in detail, according to the present invention, an operator can arbitrarily control various drive systems of a stacker crane from a distance and improve the operability and safety of manual operation. There is an effect.

[Brief description of drawings]

FIG. 1 is an electric block diagram showing a drive control system for a stacker crane in an automated warehouse according to the present invention.

FIG. 2 is an explanatory diagram showing a manual operation menu displayed on a liquid crystal panel.

FIG. 3 is a system configuration diagram of an automatic warehouse and a stacker crane.

[Explanation of Codes] 1 ... Ground control panel as ground control unit, 2 ... Liquid crystal panel as instructing means, 3 ... Ground side transmitting / receiving device as transmission control means, 5 ... Stacker crane, 6 ... Crane as reception control means Side transceiver device, 7 ... Crane control device as reception control means, 8 ... Traveling motor as drive system,
9 ... Elevating motor as drive system, 10 ... Fork slide motor as drive system, 11 ... Shelf, 12 ... Storage section, 1
6 ... Controller as transmission control means, 27 ... Manual lifting switch group as manual instruction means, 32 ... Manual traveling switch group as manual instruction means, 37 ... Manual fork switch group as manual instruction means

Claims (1)

[Claims] 1. The stacker crane controls the various drive systems of a stacker crane that travels along a shelf having a storage unit for storing a load, so that the stacker crane can take a load of the storage unit or a storage unit. A ground operation section for carrying out load placement, an instruction means provided on the ground operation section for instructing a work for picking up or placing a load, and for instructing a storage section corresponding to the work, and an instruction from the instruction means Transmission control means for transmitting a command signal to the stacker crane based on an operation, reception control means for receiving a command signal transmitted from the transmission control means, and a stacker crane based on the command signal received by the reception control means In an automated warehouse equipped with crane control means for controlling various drive systems, the ground operation unit may optionally include drive systems for various stacker cranes. Drive control system of the stacker crane in an automated warehouse equipped with the manual instruction means for turning control.