JPS6013921B2 - Automatic warehouse - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION A stacker crane in an automated warehouse that automatically takes goods in and out of shelving booths at a number of different positions has a large number of stopping positions and moves to an arbitrarily designated stopping position. In conventional article processing machines that repeatedly stop and process the required articles, searching for a specified stopping position involves finding the difference between the machine's current stopping position and the specified stopping position, and searching for the specified stopping position as the machine moves. a relative address search method in which the number of movements of the machine is counted, and a specified position is searched when the difference becomes zero or when the difference and the counted value become equal;
There was an absolute address search method in which a code plate or the like was assigned to every stop position, and a detector installed in the machine searched for the same address as the specified stop position.

However, in the former relative address search method, if the detector picks up noise or malfunctions and stops at a stop position different from the designated stop position, it is completely impossible to detect the error.

Furthermore, even with the latter absolute address search method, the vehicle may stop at a position different from the designated stop position due to noise pickup or malfunction of the detector.

With both of the methods described above, it is extremely difficult to always reliably judge whether the machine has stopped accurately at the designated stop position, and the next item will be processed in the event of a malfunction. It was not possible to trace the location at which the article was processed later, which sometimes caused serious problems in the processing of the article.

The present invention relates to an improvement of an automatic warehouse that overcomes these difficulties, and includes a large number of shelf booths, a transport machine that moves to and stops from the shelf booths to carry out loading and unloading of articles, and an arbitrarily designated warehouse. In an automated warehouse comprising a control device that controls the loading and unloading of required articles by operating the transport machine to and from the shelves 4 and spaces, each shelf 4 and space has a positioning calendar corresponding to each shelf booth. piece, and an absolute address piece indicating an absolute address corresponding to each shelf booth, and the conveyor includes a stereotaxic layer detector that emits a detection signal when facing the stereotaxic layer piece. and an absolute address detector for detecting the absolute address of the absolute address piece, and the control device includes a specifying means for specifying a stop position of a movement destination, and a start command means for starting the movement of the conveying machine. and target value setting means for calculating the difference between the start absolute address detected by the absolute address detector and the designated absolute address designated by the command means, and a target value set by the position almanac detector from the target value of the target value setting means. specified position stopping means that stops the conveying machine when the value obtained by subtracting one value each time a detection signal is received becomes zero or a predetermined value; and the specified position stopping means stops the conveying machine. When the destination stop absolute address detected by the absolute address detector is compared with the specified absolute address specified by the specifying means, a match signal is sent when the two match, and a mismatch signal is sent when the two do not match. an absolute address comparison means for transmitting a signal, an abnormality display means, an abnormality check means for checking whether or not there is an abnormality in the absolute address detector and the localization forgery detector; instructs the next different operation, operates the abnormality display means upon receiving a discrepancy signal from the absolute address comparison means, returns the conveyor to the absolute start address, and operates the abnormality check means after returning to the absolute start address. After confirming that this is not abnormal, move the conveyance machine to the specified position again, and instruct the conveyance machine to perform the next different operation by receiving a coincidence signal from the absolute address comparison means, and then move the conveyance machine to the specified position again. The apparatus is characterized by comprising a judgment control means for operating the abnormality display means and maintaining the conveyance machine in a stopped state upon receiving a discrepancy signal from the comparison means again, the purpose of which is to To provide a highly reliable automatic warehouse capable of reliably storing in designated shelf booths and reliably taking out items from designated shelf booths.

The present invention will be explained below based on the claim correspondence diagram of the present invention shown in FIG.

The automated warehouse of the present invention includes a large number of shelf booths A, and a transport machine B that moves to and stops from the shelf booths A to carry articles in and out.
and a control device C that operates the conveyance machine B to an arbitrarily designated shelf 4/space A to control the loading and unloading of required articles from the shore.

Furthermore, each shelf booth A is provided with a "localization layer section A corresponding to each shelf booth A," and an absolute address section indicating an absolute address corresponding to each shelf booth A. .

Furthermore, the conveyance machine B includes a stereotactic pupil detector B that emits a detection signal when facing the stereotactic layer piece A, and an absolute address detector & that detects the absolute address of the absolute address piece. It is provided. Furthermore, the control device C includes a specifying means C for specifying a destination stop position, a start command means C2 for starting the movement of the conveyor B, and an absolute address detector B.
target value setting means C for determining the difference between the start absolute address detected in step 2 and the designated absolute address designated by the command means C;
3, and when the value obtained by subtracting one from the target value of the target value setting means C3 each time a detection signal from the localization hawk detector B is received becomes zero or a predetermined value, the conveyance machine B
a specified position stopping means C4 for stopping the conveyor B, and a destination stop absolute address detected by the absolute address detector B2 when the conveyance machine B is stopped by the specified position stopping means C4, and a specified position specified by the specifying means C. Absolute address comparison means C which compares the designated absolute address and transmits a match signal when the two match, and sends a mismatch signal when the two do not match.
5, an abnormality display means C5, an abnormality check means C7 for checking the presence or absence of an abnormality in the absolute address detector B and the localization detector B2, and the carrier machine B upon receiving a coincidence signal from the absolute address comparison means C5. Instructs the next different operation to be performed, operates the abnormality display means C5 upon receiving a discrepancy signal from the absolute address comparison means C5, returns the conveyor B to the start absolute address, and after returning to the start absolute address, performs the abnormality check. After operating the means C7 and confirming that there is no abnormality, the conveying machine B is moved to the specified position again, and upon receiving the matching signal from the absolute address comparing means C5, the conveying machine B is instructed to perform the next different operation. and a determination control means C2 which operates the abnormality display means C6 and keeps the conveyance machine B in a stopped state upon receiving the discrepancy signal again from the absolute address comparison means C5.

Since the present invention is configured as described above, it is possible to double check whether the conveyor B has stopped at a designated stop position using the relative address method and the absolute address method. The reliability of searches for specific locations can be dramatically improved. Further, according to the present invention, if the position searched using the relative address type and the position searched using the absolute address type differ, the conveyor B is returned to the origin, and then the conveyor B is moved again. B is driven and the search positions obtained by both methods are compared, and if they match, the first search is considered to be due to a malfunction such as noise, and the next operation can proceed smoothly, and the two methods match. If not, an abnormality is displayed and the stopped state is automatically maintained, thereby preventing the process of discharging articles at the wrong position. Moreover, according to the present invention, if an abnormality is displayed upon re-detection, the operator can recognize this and perform correction or inspection work on the component to restore normal operation. Maintenance and management of automated warehouses can be carried out more easily and reliably.

The present invention will be described below with reference to the embodiment shown in FIG. It is a three-dimensional shelf in which a large number of shelf booths 3 are formed in the vertical and front-back directions so that the shelves 1 can be stored and stored. Two pairs are arranged in parallel.

Further, a guide rail 5 is installed parallel to the frontage surface 2 on the floor and ceiling (not shown) of the intermediate passage 4 of the two pairs of three-dimensional shelves 1 provided opposite each other. A crane 6 is provided so as to be movable.

As shown in FIG. 3, the stacker crane 6 includes a traveling frame 8 that is engaged with the rail 5 via wheels 7 so as to be able to travel along the guide rail 5. a traveling motor 9 that allows the traveling frame 8 to travel by itself along the guide rail 5; a lifting platform 11 attached to the mast 1 of the traveling frame 8 such that it can be raised and lowered; and a lifting motor 12 that raises and lowers the lifting platform 11. , a fork 13 that can protrude left and right from the lifting platform 11 so as to be freely retractable, and a fork drive motor 14 that drives the fork 13.

Further, a cargo handling area 15 is arranged adjacent to one end of one of the three-dimensional shelves 1 across the intermediate passage 4.

Furthermore, as shown in FIG.
On one side of the floor, horizontal absolute address dogs 16 indicating the horizontal absolute address of each shelf booth 3 are arranged at predetermined intervals, and on the opposite side, a stacker crane 6 is placed corresponding to each shelf booth 3.
Horizontal localization false dogs 17 are arranged at predetermined intervals to stop the images on the localization layer.

As shown in FIG. 5, the absolute address dog 16 is formed in accordance with a binary code so that each digit displays 0 when it is notched and 1 when it is protruded.

Further, the horizontal localization almanac dog 17 is formed in a rectangular shape as shown in FIG.

Furthermore, the stacker crane 6 has a horizontal absolute address detector 18 that is opposed to the horizontal absolute address dog 16 and the horizontal positioning direct dog 17 and detects the dogs 16 and 17, respectively.
and a horizontal stereotaxic almanac detector 19 are provided, and each time the stereotaxic layer detector 19 passes the stereotaxic layer dog 17 as the stacker crane 6 travels, the stereotaxic layer detector 19 sends a passage detection signal. When the static car crane 6 is stopped at the stereotaxic stage and the stereotaxic layer detector 19 accurately faces the stereotaxic layer dog 17, "when the stereotaxic layer detector 19 sends the stereotaxic ephemeris detection signal". An absolute address detection signal is transmitted from the absolute address detector 18.

By the way, the stereotaxic layer detector 19 is a horseshoe-shaped photoelectric switch PS, which consists of two pairs of emitters and a light receiver. Type photoelectric switch PS,,PS
Output is sent from 2, and conversely the light from the floodlight is the same)
When the light enters the receiver, the horseshoe photoelectric switch PS, ?
No output is transmitted from PS2.

Further, the absolute address detector 18 is also the above-mentioned localization hawk detector 19.
It consists of a horseshoe-shaped photoelectric switch PS35PS4 consisting of 6 pairs of emitters and light receivers configured in the same manner as above, a sheath 5, an 6, an 7, and a 8. When stopped, the six pairs of light emitters and photoelectric switches PS3...PS8 respectively face each digit of the absolute address dog 16, and each digit of the absolute address dog 16 has a notched digit. In this case, the light from the floodlight enters the photoelectric switch and no output is transmitted.
At the protruding digits, the light from the projector is blocked and an output is transmitted, so that the absolute address can be detected in accordance with the combination of the presence or absence of a signal due to the notch or protrusion in each digit of the absolute address dog 16. ing.

The horizontal absolute address dog 16 and the horizontal positioning direct dog 1
Dogs 7 are arranged at predetermined intervals in the horizontal direction of the shelf intermediate passage so that the horizontal positioning layer and absolute address of the shelf can be detected, and are configured similarly to the dogs 16 and 17. Vertical absolute address dogs (not shown) and vertical positioning layer dogs are installed at predetermined intervals in the vertical direction of the shelf intermediate aisle, and are arranged relative to the vertical absolute address dogs and vertical positioning layer dogs. A vertical absolute address detector and a vertical localization layer detector (not shown) are provided on the lifting platform 11 of the stacker crane 6, and these vertical absolute address detectors and vertical localization almanac detector detect the horizontal absolute address. The detector 18 and the horizontal localization layer detector 19 are constructed in the same way, and the vertical localization layer detector has two horseshoe-shaped photoelectric switches PS9, PS, o, and the vertical absolute address detector has four horseshoe-shaped photoelectric switches PS9, PS, o. 、． , PS,2, PS,3, and gate,4, respectively, and these vertical localization layer detectors and vertical absolute address detectors operate in the same manner as the detectors 18 and 19 described above.

A cargo handling position dog is also provided at the cargo handling yard 15, and a cargo handling position detector is provided on the stacker crane to detect when the stacker crane 6 is opposed to the cargo handling yard 15. The detector 18 is constructed in the same manner as the detector 18 and the military 9, and is equipped with a horse-like photoelectric switch PS5, so that it functions in the same manner as the detector 19 described above.

Note that the absolute address dog 16 and the stereotactic layer dog 17 are not provided in the cargo handling area 15, so that abnormalities in the detectors 18 and 19 can be checked at this position. Next, to explain the electric circuit of the control device, CP,
, CP2, and CP3 are no-fuse breakers inserted into the AC power supply, and as shown in FIG. Traveling electromagnetic contactor M? M
gB, high and low speed traveling magnetic contactors MgXL, MgXH, lifting and lowering magnetic contactors MgU, MgD, high and low distance lifting and lowering magnetic contactors Mg
, MgZH and fork-driven magnetic contactor MgL,M
gR are interposed in series.

B1, B2, and B3 are brakes for each motor. In addition, a key switch PB is installed on the primary side of the transformer TR.
The secondary side of the transformer TR has a full wave rectifier SRF.
A direct current of 4V can be obtained.

Furthermore, as shown in FIG. 8, the aforementioned horseshoe type optical fin switch PS, 2...... gate, 5 relays X, ? X2......X, 5 are operated respectively.

Furthermore, horizontal movement destination relays D, , D2, which set the horizontal movement destination data of the shelf in binary notation...
D6 and the vertical movement destination relay D7 for setting the vertical movement destination data of the shelf in binary notation...○, o are selectively operated as appropriate by the movement destination setting device. It's summery.

Further, as shown in FIG. 9, the key switch PB
, and relay D,,D2...D,o
,X,,X2……×,5 relay contact d,,d2…
......d,.

, x,, uniformity...×,5 is a digital input that transfers necessary signals to the processing unit module (hereinafter referred to as PUM) according to the instructions of the processing unit module (hereinafter referred to as TPUM). 'It is installed on the input side of the module (hereinafter referred to as DIM). Furthermore, the PUM module, which has a built-in microprocessor, sequentially reads programs stored in advance in a sequence read-only memory module (hereinafter referred to as SROM) for controlling a stacked car crane, decodes the contents, and performs calculations. It is designed to control a digital output module (hereinafter referred to as DOM).

Furthermore, the output terminal of the DO module corresponds one-to-one to the horseshoe-shaped photoelectric switches PS, PS2, .
L. ,PL・・・・・・・・・PL. 5, an indicator light P that displays a destination stop position search error, and a horseshoe-shaped light army switch PS, PS2 that operates upon receiving a detection check signal.
......... Cut off the power source on the emitter side of R, 5, and the relays X, 6 and the magnetic contactors MgF, M, MgXL, Mg
XH, MgU, MgD, MgZL, Mg Genji, MgL,
It is connected to each power supply circuit with MgR, and the PU
These indicator lights, relay electromagnetic contactors are operated by the output signal from M.

The timer and digital indicator module (hereinafter referred to as TDM) is equipped with a timer that can be set externally within the range of 0.5 to 19 seconds, and sets the timing for controlling the stacker crane 6. The power supply unit (hereinafter referred to as EPSU) has these modules DIM, PUM, SROM, TDM,
The voltage is converted into a predetermined voltage and supplied to the DOM.

However, each of these modules DIM, PUM, SROM
, TDM, DOM, programmer full logic.

A controller (hereinafter referred to as PLC) is configured.
Since the embodiment shown in FIG. 2 to line 11 is configured as described above, when the key switch PB is turned on to turn on the power, the P
The LC starts, and the stacker crane 6 travels to return to the cargo handling port 15 according to the program in the SROM of the PLC.

When the stacker crane 6 stops facing the material handling area 15, the horseshoe-shaped photoelectric switch PS, 5 operates, and it is detected that the stacker crane 6 has stopped accurately at a predetermined position in the material handling area 15. When the light switch 5 operates, the PL is activated according to the flowchart shown in FIG.
C works.

That is, when the power of the light projector facing the photoelectric switch is cut off first, if the photoelectric switch operates regardless of the presence or absence of the dog 17, it is normal and the process moves on to the next operation.

On the other hand, if the photoelectric switch does not operate, it is an abnormality, and the abnormality of the photoelectric switch is displayed. Next, when the power source of the photoelectric switch PS, is closed and it is turned on, the dog 17 does not exist in this position, so if the photoelectric switch PS, is normal, it will not operate, and the next second The operation begins to check whether the photoelectric switch PS2 is normal or abnormal.

If the first photoelectric switch PS operates when the projector is turned on, the switch PS is abnormal, and therefore the abnormality of the first photoelectric switch PS is displayed. A check similar to the check for the first photoelectric switch PS is carried out for the eighth photoelectric switch without the second photoelectric switch PS2.
The photoelectric switch PS8 is checked one after another, and if there is no abnormality in these checks, the operation in FIG. 11 is completed.

If any abnormality is found in these checks, the abnormal photoelectric switch will be corrected by the worker, and after this is completed,
Again, starting from the upper left part of FIG. 11, the same check as described above is performed again. Such a horizontal photoelectric switch PS.・・・・・・・・・・・・It was confirmed that there were no abnormalities in PS8, and the same checks were carried out on the vertical photoelectric switch PS9...
When it is confirmed that there are no abnormalities in PS and 4, the setting of the destination stop position shown in the upper left of FIG. 10 is changed to the destination relay D.・・・・・・・・・・D. by input from a relay contact closed by selective action of o;
The absolute address of the destination stop position is stored in the first and second storage units D1, D12 of the PUM in the PLC.

Next, the current stop position is determined by the absolute address detectors PS3 to PS8, Satoshi, . ~The third storage part D13 of the PUM detected by the sheath, 4
The absolute address is memorized in ``If the above-mentioned operation is performed, the stacker crane 6 will move to the handling area 1.''
5, its absolute addresses are all zero.

Then, compare the sizes of the second memory section D and the third memory section Machi 13 of the DI module, find the difference, and calculate the difference as P
When the counter PUM of UM is set, PUM operates according to the sequence control signal from SROM and “DOM
In response to the output signal from the stacker crane 6, the stacker crane 6 starts traveling toward the set shelves 4/spaces.

Further, the stereotaxic layer detector 19 passes through the stereotaxic layer dog vine 7 located between each shelf 4, and when the photoelectric switch PS operates once, the value 1 is changed from the value set in the counter PUM to 1. It is subtracted one by one, and when the value becomes zero, PU
A stop command is issued from M to the DOM, and the stacker crane 6 is stopped by the control signal from the DOM.

After the stop control signal is issued and the starter crane 6 has completely stopped, the current stop position is detected by the photoelectric switch PS3......PS8 of the absolute address detector 18, and the stop position is zero. This absolute address is stored in the third storage unit D13, which is
A third memory unit that stores the value of the storage unit D12 and the detected absolute address
The value of the memory agent D13 is compared, and if the two are equal, the stacker crane 6 is instructed to perform the next different operation.

This is repeated every time, and when the stacker crane 6 completes all operations, ``If the stacker crane 6 has stopped at the loading dock 15, the state returns to ■ in the upper left of Fig. 9, and the photoelectric switch PS, ...... Check whether PS, 4 is normal or not, and conversely, if the stacker crane 6 is not stopped at the handling area 15, it will also return to ■ in the upper left of Fig. 10, The destination stop position is set.However, the second storage unit D that stores the destination stop absolute address
A third storage unit D stores the value of 12 and the detected absolute address.
If the value is different from the value of 13, an abnormality is displayed), this is memorized, the absolute destination stop address that has been memorized is erased, and the absolute address of the cargo handling area 15 is stored in the second memory section 12. Memorize the address number 0 and return to ■ in the center left side of Figure 10.
The stacker crane 6 returns to the cargo handling position 15 by repeating the subsequent operations described above.

If the value in the second storage unit D12 and the value in the third storage unit ○13 match at the cargo handling yard 15, and it is determined that the stop position detection during the first destination run was a malfunction, the 10
As shown in Ishigami (■) in the figure, the destination stop absolute address of the first storage unit D1, which was initially stored, is transferred to the second storage unit D1.
2, the absolute address number 0 of the material handling yard 15 where the stacker crane 6 is currently stopped is detected by the photoelectric switch tower 3 of the absolute address detector wing 8......PS8, and the third
The storage unit PW is stored, and the stacker crane 6 moves back to the destination stop position and stops again by the same operation as described above. Furthermore, if the destination stop setting absolute address and the detected absolute address are different at the preceding stop position again, an error message is displayed and the stacker crane 6 is set to the stopped state, as shown by the dotted line in the lower right of Figure 10. ``The worker corrects the abnormality in the stacker crane 6, and the stacker crane 6 returns to normal operation,'' returning to ■ in the upper left of Figure 10.

Furthermore, the vertical position of the lifting platform 11 is detected in the same order as the horizontal position of the stacker crane 6 described above, but the operating principle is exactly the same as that described above, so the explanation thereof will be omitted. )do.

As described above, according to the embodiment, the stacker crane 6
The stacker crane 6 is operated according to a required sequence by detecting the horizontal position of the platform and the vertical position of the lifting platform 11 using a relative address system that counts each time it is moved and an absolute address system that searches for the absolute address of a specified position. )
The stacker crane 6 can carry articles into or out of a predetermined shelving booth with extremely high reliability and accuracy.

In the above-described embodiment, the present invention was applied to a three-dimensional automatic warehouse equipped with a stacker crane, but the present invention can of course also be applied to a system in which a large number of articles are carried in and out of a large number of locations. can.

Although the present invention has been described above with reference to embodiments, it goes without saying that the present invention is not limited to such embodiments, and that various design modifications can be made without departing from the spirit of the present invention. .

[Brief explanation of the drawing]

Figure 1 is a complaint response diagram for the automated warehouse according to the present invention, Figure 2
The figure is a plan view illustrating one embodiment of the present invention, FIG. 3 is a side view thereof, FIG. 4 is a detailed plan view of FIG. 2, FIGS. 7 is a motor power supply circuit diagram of the embodiment, FIG. 8 is a relay circuit diagram of the embodiment, FIG. 9 is a block diagram of the embodiment, and
FIG. 0 is a flowchart of the embodiment described above, and FIG. 11 is a flowchart for investigating abnormalities in the detector of the embodiment. 1... Three-dimensional shelf, 2... Frontage surface, 3...
...shelf 4, between, 4...middle aisle, 5...
・Guide rail, 6...・Stacker crane,
7...Wheels, 8...Traveling frame, 9...
...Travel motor, 10...Mast, 11...
... Lifting platform, 12... Lifting motor, 13.
...Fork, 14...Fork drive motor, 1
5...Cargo handling area, 16...Horizontal absolute address dog, 17...Horizontal orientation layer dog, 18...
Horizontal absolute address detector, 19...Horizontal fixed position detector, CP,, CP2, CP3...No-fuse play force, D,~D6...Horizontal movement destination relay, D7~ D
,. ...Vertical movement destination relay, DIM...7
Digital input module, DOM...
Digital output module, EPSU...
...Power supply unit, MgF...Forward traveling magnetic contactor, MgB...Reverse traveling magnetic contactor, MgXL...
...・Low speed running magnetic contactor, MgXH・・・High speed running magnetic contactor, MgU・・・・Rising magnetic contactor, MgD
...Descent magnetic contactor, MgZL...Low speed elevating magnetic contactor, M multi-H...High speed elevating magnetic contactor, MgL, MgR...Four drive electromagnetic contactor, PL~PL4... photoelectric switch PS,~
PS, 4 error indicator light, PLS... Destination stop position search error indicator light, PLC... Programmerful logic controller, PS, ~PS, 5...
・・Horseshoe type photoelectric switch, PB・・Key switch, PUM・・・・F. Losetting unit
Module, SROH...Sequence read only memory module, TH, ~T...
...Thermal relay, TDM" river timer and digital indicator module, X. ~X,6
……relay. Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Groove diagram Figure 8 Figure 9 Completion Figure 1 Figure 1

Claims (1)

[Claims] 1 A large number of shelf booths, a transport machine that moves and stops to carry out goods in and out of the shelf booths, and a transport machine that operates the transport machine to carry in and take out the required goods to and from arbitrarily designated shelf booths. In an automated warehouse comprising a control device that controls the above, each shelf booth has a fixed position piece corresponding to each shelf booth, and an absolute address piece indicating an absolute address corresponding to each shelf booth. and the conveyor is provided with a fixed position detector that transmits a detection signal when facing the fixed position piece, and an absolute address detector that detects the absolute address of the absolute address piece. The control device includes a specifying means for specifying a destination stop position, a start command means for starting the movement of the conveyor, and a start absolute address detected by the absolute address detector and specified by the command means. a target value setting means for calculating the difference between the designated absolute addresses, and a value obtained by subtracting one from the target value of the target value setting means each time a detection signal from the fixed position detector is received is zero or a predetermined value; specified position stopping means for stopping the conveying machine when the specified position stopping means stops the conveying machine; and a destination stop absolute address detected by the absolute address detector when the conveying machine is stopped by the designated position stopping means and the specifying means. Absolute address comparing means for comparing the specified absolute address specified by the specified absolute address and transmitting a matching signal when the two match, and transmitting a mismatching signal when the two do not match, an abnormality display means, the absolute address detector, and an abnormality check means for checking whether or not there is an abnormality in the fixed position detector; upon receiving a coincidence signal from the absolute address comparison means, instructing the conveying machine to perform the next different operation; and upon receiving a disagreement signal from the absolute address comparison means; The abnormality display means is operated and the conveyance machine is returned to the absolute start address, and after returning to the absolute start address, the abnormality check means is operated to confirm that there is no abnormality, and then the conveyance machine is returned to the designated position. and instructing the conveyance machine to perform the next different operation upon receiving a matching signal from the absolute address comparison means;
An automatic warehouse characterized by comprising: judgment control means for operating the abnormality display means and maintaining the conveyance machine in a stopped state upon receiving a discrepancy signal from the absolute address comparison means again.