JPS6147761B2 - - Google Patents
Info
- Publication number
- JPS6147761B2 JPS6147761B2 JP18116281A JP18116281A JPS6147761B2 JP S6147761 B2 JPS6147761 B2 JP S6147761B2 JP 18116281 A JP18116281 A JP 18116281A JP 18116281 A JP18116281 A JP 18116281A JP S6147761 B2 JPS6147761 B2 JP S6147761B2
- Authority
- JP
- Japan
- Prior art keywords
- warehouse
- identification mark
- order pattern
- order
- rearrangement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 239000000463 material Substances 0.000 claims description 35
- 238000001514 detection method Methods 0.000 claims description 20
- 230000007246 mechanism Effects 0.000 claims description 20
- 230000008707 rearrangement Effects 0.000 claims description 18
- 230000032258 transport Effects 0.000 claims description 9
- 238000012546 transfer Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 239000011248 coating agent Substances 0.000 description 4
- 238000000576 coating method Methods 0.000 description 4
- 238000007726 management method Methods 0.000 description 3
- 238000003909 pattern recognition Methods 0.000 description 3
- 239000002023 wood Substances 0.000 description 3
- 238000001914 filtration Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Discharge Of Articles From Conveyors (AREA)
- Warehouses Or Storage Devices (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は物流装置に係り、特に、自動倉庫に用
いるに最適な物流装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a physical distribution device, and particularly to a physical distribution device most suitable for use in an automated warehouse.
従来、自動倉庫システムで棒状或いは管状の品
物を扱う場合には、複数の品物を一まとめにして
管理していた。本来は１本ずつの管理が望ましい
のであるが、１本ずつ格納することは格納効率の
低下及び処理量の低下を招くために現実には困難
である。
Conventionally, when handling rod-shaped or tubular items in an automated warehouse system, a plurality of items have been managed as a group. Although it is originally desirable to manage one file at a time, it is actually difficult to store one file at a time because this leads to a decrease in storage efficiency and throughput.
そこで格納効率を考えると、複数本を一括して
格納せざるを得ないのであるが、この場合には、
自動倉庫を出庫した後に材質の異なる１本１本を
個別に処理することが不可能となり、管理精度は
低下する。 Therefore, considering storage efficiency, it is necessary to store multiple books at once, but in this case,
After leaving the automated warehouse, it becomes impossible to individually process each product made of different materials, resulting in a decrease in management accuracy.
しかしながら現実には、入庫順番と出庫順番と
が一致することが望ましく、特に一時的に倉庫に
格納する如き場合で、ひんばんに入出庫するもの
では入、出庫ともに順番の一致することが望まれ
る。
However, in reality, it is desirable for the order of arrival and departure to match, and especially in the case of temporary storage in a warehouse, it is desirable that the order of arrival and departure be the same for items that are brought in and out frequently. .
本発明の目的は、混載して順不同に格納された
品物を任意の順番に配列して出庫可能な物流装置
を提供することにある。 An object of the present invention is to provide a physical distribution device that can arrange and take out items that have been mixed and stored out of order in any order.
本発明は、品物を倉庫等に入庫する際に予め識
別用マークを付け、出庫時に前記識別用マークを
解読して任意の順番に再配列するようにしたもの
である。
According to the present invention, identification marks are attached in advance to items when they are stored in a warehouse or the like, and the identification marks are decoded and rearranged in an arbitrary order when the items are taken out of the warehouse.
すなわち、本発明は複数の長尺材を搬送手段に
並置した状態で倉庫に搬入し、かつ当該倉庫から
搬出する物流装置において、前記各長尺材の一方
の端を搬送方向の直交方向において定められた基
準位置に保持した状態で搬送する搬送手段と、入
庫前における各長尺材に前記基準位置を基準とし
て規則的に互に異なる位置に光学的に認識可能な
識別マークを付すマーキング手段と、出庫前にお
ける各長尺材の識別マークを光学的に検出する識
別マーク検出手段と、出庫される各長尺材の通過
本数を検出する移送検出手段と、前記識別マーク
検出手段による識別マーク検出手段および前記移
送検出手段による通過本数検出手段により前記搬
送手段上の実際の長尺材の配列状態を認識し、当
該実配列順序パターンと目標搬送配列順序パター
ンとを比較して当該目標搬出配列順序パターンの
再配列を指示する配列認識手段と、前記再配列指
示により与えられる配列順序に各長尺材を再配列
させる再配列機構と、を備えたことを特徴とする
ものである。 That is, the present invention provides a logistics device that carries a plurality of long materials in parallel to a conveyance means into a warehouse and takes them out from the warehouse, in which one end of each of the long materials is defined in a direction orthogonal to the conveyance direction. a marking means for attaching optically recognizable identification marks to each long material before it is stored at regularly different positions with respect to the reference position; , an identification mark detection means for optically detecting the identification mark of each long material before being delivered from the warehouse, a transfer detection means for detecting the number of passages of each long material to be delivered from the warehouse, and identification mark detection by the identification mark detection means. The actual arrangement state of the long materials on the transport means is recognized by means and means for detecting the number of pieces passed by the transfer detection means, and the actual arrangement order pattern and the target transport arrangement order pattern are compared to determine the target delivery arrangement order. The present invention is characterized by comprising a sequence recognition means for instructing rearrangement of patterns, and a rearrangement mechanism for rearranging the respective elongated materials in the sequence given by the rearrangement instruction.
本発明は、複数の長尺材を搬送方向に並置した
状態で倉庫に搬入、搬出することを前提とし、各
長尺材の一方の端を搬送方向の直交方向において
定められた基準位置に保持しつつ搬送し、この基
準位置から順次搬送方向の直交方向に規則的に位
置をずらせて各長尺材の識別マークを付す。次い
で、出庫前に上記のように付された各識別マーク
を光学的に検出するとともに出庫される各長尺材
の通過本数の検出手段により実際の配列状態を認
識し、この実際の配列状態と出庫時にあるべき配
列順序を相互に比較して所望の出庫順序で長尺材
が出庫されるよう再配列機構により整列するもの
である。
The present invention is based on the premise that a plurality of long materials are brought into and out of a warehouse in a state where they are arranged side by side in the transport direction, and one end of each long material is held at a predetermined reference position in the direction orthogonal to the transport direction. While transporting the long materials, identification marks are attached to each elongated material by sequentially shifting the position regularly from this reference position in a direction orthogonal to the transport direction. Next, before leaving the warehouse, the actual arrangement state is recognized by means of optically detecting each identification mark attached as described above and detecting the number of passing pieces of each long material to be delivered, and this actual arrangement state and The arrangement order that should exist at the time of delivery is compared with each other, and the re-arrangement mechanism arranges the long materials so that they are delivered in the desired delivery order.
次に、本発明の実施例を図面に基づいて説明す
る。
Next, embodiments of the present invention will be described based on the drawings.
第１図は自動倉庫の一例を示す概略図である。 FIG. 1 is a schematic diagram showing an example of an automated warehouse.
入庫口１が倉庫（及び附属するクレーン等の設
備）２に連結され、更に反対側に出庫口３が設け
られる。 A warehouse entrance 1 is connected to a warehouse (and attached equipment such as a crane) 2, and a warehouse exit 3 is provided on the opposite side.
物の流れは入庫口より対象物が入庫され、倉庫
内に一時格納され、下流側の要求により出庫口か
ら出庫する。いま対象物は第２図に示す如く棒状
の材（品物）を仮定する。これら対象物は１本ず
つ組成も異なるので本来１本ずつ扱いたいところ
だが、倉庫の如き一時格納設備或いはクレーン等
の搬送設備で扱うためには１本ずつは効率が悪い
ため、何本かをまとめて１つのスロツトとして扱
わざるを得ない。これは入庫時に一度ロツトを編
成してしまうと二度と１本ずつのユニツトに分け
る事はできない。仮りに入庫順をくずさぬように
倉庫に格納する事も考えられるが、搬送設備で機
械的に順列を守るように扱わせるため、センサ、
インタロツク機構等が大量に必要となり、極めて
高価なものとなる。又、そのようにしても途中で
順序が入れ替わらないという保証は極めて困難で
事実上不可能である。 In the flow of goods, objects are entered through the warehouse entrance, temporarily stored in the warehouse, and then taken out through the exit gate upon request from the downstream side. Assume that the object is a rod-shaped material (item) as shown in FIG. Since each of these objects has a different composition, it would be desirable to handle them one by one, but it is inefficient to handle them one by one in temporary storage facilities such as warehouses or transportation equipment such as cranes, so it is necessary to handle several They have no choice but to be treated as one slot. This means that once a lot is assembled when it is put into stock, it cannot be divided into individual units again. It may be possible to store them in a warehouse to avoid disrupting the order in which they are received, but in order to have the transport equipment handle them mechanically to maintain the order, sensors,
A large amount of interlock mechanisms and the like are required, making them extremely expensive. Furthermore, even if this is done, it is extremely difficult and virtually impossible to guarantee that the order will not change during the process.
そこで、本発明では倉庫又は搬送設備での扱い
は材の順列を意識せずに効率よく行わせ、出庫口
での出庫時に要求に従つた順列に再配列して出庫
させる事とした。このために入庫時にユニツト１
本ずつにマーキングを施し、それを出庫時に認識
して再配列させる事とした。当該出庫の再配列は
入庫側に配列する事も可能であるし、又出庫の要
求に従つて任意の順列に再配置する事も可能であ
る。 Therefore, in the present invention, materials are handled efficiently in a warehouse or conveyance facility without being aware of the order of the materials, and when the materials are taken out from the warehouse, they are rearranged in the order requested and then taken out. For this reason, unit 1 is
It was decided that each book would be marked with markings, which would be recognized and rearranged when the books were delivered. The outgoing items can be rearranged on the receiving side, or they can be rearranged in any order according to the outgoing request.
第３図は本発明における順列検出用マーキング
の原理について示したものだが、材（ユニツト）
の流れを順に、テレビカメラで認識しうるカラー
マークを塗布する。材の一方の端は入庫時も出庫
時も合つていることが前提である。これは材に合
つた位置合わせ装置で良い。このようにすると材
の配列５１〜５４に従い、基準点からマークまで
の距離が夫々、l1〜l4となり、出庫時にこのl1〜l4
により材の順列を認識させる。 Figure 3 shows the principle of marking for permutation detection in the present invention.
Apply color marks that can be recognized by a television camera. It is assumed that one end of the material is in the same position both when entering and leaving the warehouse. This can be done with a positioning device suitable for the material. In this way, according to the arrangement of materials 51 to 54, the distances from the reference point to the marks will be l 1 to l 4 , respectively, and when leaving the warehouse, the distances from the reference point to the marks will be l 1 to l 4 .
This allows the permutation of materials to be recognized.
第４図は本発明のマーキング機構である。これ
は材の１本ずつにマーキングする機構である。材
（ユニツト）５の長さ方向に所定間隔毎に塗布部
６１〜６ｎが設けられ、進行してくるユニツト５
の所定位置にマーキングが付される。塗布部６１
〜６ｎのいずれを駆動するかはマーク塗布部位置
決め制御部７によつて選択される。位置決め制御
部７の制御はユニツト５の通過本数をカウントす
るカウンタ８によつて行うが、このための情報は
ロツトの終了を検知するロツト切れ検出器９及び
ユニツトの位置を検出するユニツト検出器１０の
各検出信号に基づいている。ユニツトが流れるた
びにユニツト検出器１０は検出手段を出力し、カ
ウンタ８はカウントアツプし、位置決め歩進信号
ＳSを出力する。歩進信号ＳSが更新されるたびに
位置決め制御部７は塗布部６１〜６ｎを１個ずつ
ずらせて作動させ、ユニツトの１本１本の異なる
部所にマーキングを付与する。この各ユニツトご
とに付されたマーキングが順列を意味することに
なる。１ロツトの完了はロツト切れ検出器９で検
出（一定時間を経過しても次のユニツトが流れて
こないことにより検知）され、カウンタ８がリセ
ツトされる。これにより塗布部６１〜６ｎは６１
が選択される。なお、塗布部６１〜６ｎはインク
ジエツト式の塗布機等が適用可能である。 FIG. 4 shows the marking mechanism of the present invention. This is a mechanism that marks each piece of wood one by one. Coating portions 6 1 to 6 n are provided at predetermined intervals in the length direction of the material (unit) 5, and are applied to the advancing unit 5.
Markings are placed at predetermined positions. Application part 6 1
.about.6n to be driven is selected by the mark application section positioning control section 7. The positioning control section 7 is controlled by a counter 8 that counts the number of passing units 5, and information for this purpose is provided by a lot breakage detector 9 that detects the end of a lot and a unit detector 10 that detects the position of the unit. based on each detection signal. Each time a unit flows, the unit detector 10 outputs a detection means, the counter 8 counts up, and outputs a positioning step signal S S. Every time the step signal S S is updated, the positioning control section 7 shifts and operates the application sections 6 1 to 6 n one by one to apply markings to different parts of each unit. The markings attached to each unit represent the permutation. Completion of one lot is detected by the lot out detector 9 (detected when the next unit does not arrive even after a certain period of time), and the counter 8 is reset. As a result, the coating parts 6 1 to 6n are 6 1
is selected. Incidentally, an inkjet type coating machine or the like can be applied to the coating sections 61 to 6n.
以上は入庫口側におけるマーキングを説明した
が、次に出庫口側における順序認識機構について
第５図のブロツク図を基に説明する。なお、説明
の便宜上、入庫順番と出庫順番とを同一にする場
合を例示する。順列検出用テーブル３０にはユニ
ツト５が載置される。当然ながら出庫順序は順不
同であ、図に示す如く５１，５４，５２，５３，
の順に取出されたものとする。各ユニツトは入庫
時にマークが付されており、これらを１ロツト全
体についてイメージセンサとしてのテレビカメラ
１１で撮像し、その画像イメージをカラーフイル
タリング１２で塗布したマークの色の部分だけ取
出すと第６図の斜線部のみをマークパターン認識
部１３で取出すことができる。次に距離検出部１
４で基準点からマークまでの距離ｌを求める。こ
の求めたｌにより材の順列は順列認識部１５で認
識できる。この認識した順序に従い、再配列制御
部１６に対してユニツトの配列を指示する。この
指示に基づいて再配列機構１７は順不同になつて
いるユニツトをマーキング順に再配列する。 The markings on the entrance side have been described above, and next, the order recognition mechanism on the exit side will be explained based on the block diagram of FIG. 5. For convenience of explanation, a case where the warehousing order and the warehousing order are the same will be exemplified. The units 5 are placed on the permutation detection table 30. Naturally, the order of delivery is random, as shown in the figure: 51, 54, 52, 53,
It is assumed that the files are taken out in the following order. Each unit is marked with a mark when it is put into stock.The whole lot is imaged by a television camera 11 as an image sensor, and the color filtering 12 extracts only the part colored by the mark applied. Only the shaded area in the figure can be extracted by the mark pattern recognition section 13. Next, distance detection section 1
Step 4: Find the distance l from the reference point to the mark. The permutation of the materials can be recognized by the permutation recognition unit 15 based on the obtained l. According to this recognized order, the rearrangement control section 16 is instructed to arrange the units. Based on this instruction, the rearrangement mechanism 17 rearranges the units that are out of order into the marking order.
以上の各部における処理を更に第７図のフロー
チヤートにより詳述する。第７図はマーキングパ
ター認識部１３から順列認識部１５に至る処理を
示すものである。 The processing in each of the above sections will be further explained in detail with reference to the flowchart of FIG. FIG. 7 shows the processing from the marking pattern recognition section 13 to the permutation recognition section 15.
先ず、ステツプ７１で画像データがサーチされ
マーキングしてある部分（特定色が塗られた第５
図に示す斜線部分）のみが取出される。この場合
の画像データは特定色部が論理“１”レベル信
号、他が論理“０”レベル信号として処理され、
計算機のメモリ上に用意されたテーブル１に配列
される。次にステツプ７２において、テープ１を
Ｘ方向にサーチし、論理信号の変化点（０→１，
或は１→０）を左端の基準点より求め、これをテ
ーブル２に格納する。更に、ステツプ７３でテー
ブル１をｙ方向にサーチし、ユニツトの変わり目
を検出する。同時に０→１，１→０のアドレスの
平均値から基準点よりの長さｌを求め、これをテ
ーブル３に配列する。次いで、ステツプ７４でメ
モリに予め記憶されているマーキングの位置テー
ブル（テーブル４）とテーブル３に格納されてい
る実測データとを比較し、入庫時と同じ配列順番
をとろうとする場合に、現在の配列順番が入庫番
に対して何番目に該当するかを判定し、この結果
をテーブル５に配列する。 First, in step 71, the image data is searched and the marked part (the fifth part painted with a specific color) is searched.
Only the shaded area shown in the figure) is taken out. In this case, the image data is processed as a logic "1" level signal for the specific color part and as a logic "0" level signal for the other parts,
They are arranged in Table 1 prepared on the memory of the computer. Next, in step 72, tape 1 is searched in the X direction, and the change point of the logic signal (0→1,
Alternatively, 1→0) is obtained from the leftmost reference point and stored in table 2. Furthermore, in step 73, table 1 is searched in the y direction to detect a change in the unit. At the same time, the length l from the reference point is determined from the average value of the addresses from 0→1 and 1→0, and this is arranged in table 3. Next, in step 74, the marking position table (table 4) stored in advance in the memory is compared with the actual measurement data stored in table 3. It is determined which order of arrangement corresponds to the stock number, and the results are arranged in table 5.
次に、再配列機構１７について説明する。前述
の如く当該機構では入庫順番と同一の配列で出庫
するものである。第８図に示す如く再配列テーブ
ル４０上にユニツト５１，５４，５２，５３の
各々がストツパ３１，３２，３３，３４，３５に
よつて区分される振分け機構４１，４２，４３，
４４に載置される。振分け機構４１〜４４は電磁
装置により開閉し、載置しているユニツトを落下
しうる構造となつている。そこで、振分け機構４
１〜４４を４１→４３→４４→４２の順に作動さ
せれば、ユニツトは５１，５２，５３，５４の順
に配列されることになる。 Next, the rearrangement mechanism 17 will be explained. As mentioned above, in this mechanism, the items are delivered in the same order as the order in which they are received. As shown in FIG. 8, a sorting mechanism 41, 42, 43, in which units 51, 54, 52, 53 are respectively divided by stoppers 31, 32, 33, 34, 35 on a rearrangement table 40,
44. The sorting mechanisms 41 to 44 are opened and closed by electromagnetic devices, and have a structure in which the units placed thereon can be dropped. Therefore, the distribution mechanism 4
If the units 1 to 44 are operated in the order of 41→43→44→42, the units will be arranged in the order of 51, 52, 53, and 54.
この場合の処理は第９図の如くであり、先ずス
テツプ１０１でテーブル３１上のユニツト全部を
再配列テーブル４０に移送し、振分け機構４１〜
４４の各々に１ユニツトずつ載置する。ついでス
テツプ１０２で再配列テーブル４０上のユニツト
群を入庫順番に取出す作業を実行する。入庫時の
配列は前述の如くテーブル５に配列されており、
これに従つて振分け機構４１〜４４を配列順に従
つて順次稼動させ、下段のテーブルに移動させる
ことにより再配列を行う。即ち、第１図ａ，ｂに
示すように振分け機構４１を稼動させてユニツト
５１を下段に移動させ、次に振分け機構４３を稼
動させてユニツト５２を下段に移動させる。以
後、テーブル５の内容に従つてユニツト５４の配
列が終了するまで作業が継続される。 The process in this case is as shown in FIG. 9. First, in step 101, all units on the table 31 are transferred to the rearrangement table 40, and
One unit is placed on each of 44. Next, in step 102, the unit group on the rearrangement table 40 is taken out in the order in which they were received. The arrangement at the time of stocking is arranged in table 5 as mentioned above,
In accordance with this, the sorting mechanisms 41 to 44 are sequentially operated in accordance with the order of arrangement, and the rearrangement is performed by moving to the lower table. That is, as shown in FIGS. 1a and 1b, the distributing mechanism 41 is operated to move the unit 51 to the lower stage, and then the distributing mechanism 43 is operated to move the unit 52 to the lower stage. Thereafter, the work is continued according to the contents of table 5 until the arrangement of units 54 is completed.
なお、以上の説明では入庫順番と同一順番で出
庫する例を示したが、入庫順番にかかわらず任意
の順番で出庫することも可能であるとは勿論であ
る。この場合には、順列認識部１５のメモリ内の
テーブル内容を希望の出庫順番に変えることにな
る。 In addition, in the above explanation, an example was shown in which the goods are taken out of the warehouse in the same order as the order in which they were put in. However, it is of course possible to take out the goods in any order regardless of the order in which the goods are put in. In this case, the contents of the table in the memory of the permutation recognizing section 15 will be changed to the desired shipping order.
又、扱う物は棒状体の例を説明したが、マーキ
ングさえ検出可能であれば、形状は限定されるも
のではない。 Moreover, although the example of the object to be handled is a rod-shaped object, the shape is not limited as long as the marking can be detected.
更に、本発明は出庫物の配列順序の監視装置と
して用いることも可能である。又、材の組成等の
情報を直接にマーキングすることにより、出庫口
で指定の材のみを取出して出庫することも前述の
配列テーブルにプログラムするのみ可能である。
又、倉庫及び物流システムの広範囲の分野に適用
可能である。 Furthermore, the present invention can also be used as a monitoring device for the arrangement order of delivered items. Furthermore, by directly marking information such as the composition of materials, it is possible to take out only designated materials at the exit and exit the warehouse by simply programming in the above-mentioned arrangement table.
Moreover, it is applicable to a wide range of fields of warehouse and logistics systems.
この様に、本発明の実施例によれば、１本ずつ
の材の管理ができるので、より管理精度の高い材
の管理が可能になる。又、倉庫等に格納する時も
比較的大きなロツトに編成することができるの
で、格納効率、設備適用効率が高くなる。更に、
これにより倉庫、搬送設備を単純化、小規模化す
ることができるので、経済的な管理精度の高い物
流システムを適用することができる。 In this way, according to the embodiment of the present invention, each piece of wood can be managed one by one, so it is possible to manage the pieces of wood with higher management precision. Furthermore, when stored in a warehouse or the like, it can be organized into relatively large lots, which increases storage efficiency and equipment application efficiency. Furthermore,
This makes it possible to simplify and downsize warehouses and transport facilities, making it possible to apply an economical logistics system with high management accuracy.
以上より明らかなように、本発明によれば、順
列認識及び任意順番の配列が可能であるため、出
庫物を個別に管理することが可能である。
As is clear from the above, according to the present invention, permutation recognition and arrangement in an arbitrary order are possible, so it is possible to individually manage delivered items.
すなわち、倉庫内の事情により物流品の流れ順
序が乱れた場合であつても、入庫順序と同じ順序
でFIFO（フアースト・イン・フアースト・アウ
ト）の方式で整列させることができ、また、入庫
順序とは無関係に任意の順序に再配列することが
可能である。 In other words, even if the flow order of distributed goods is disrupted due to circumstances within the warehouse, it is possible to arrange them in the same order as the warehousing order using a FIFO (first-in-first-out) method. It is possible to rearrange them in any order, regardless of the
第１図は自動倉庫の一例を示す概略図、第２図
は出庫物の概念図、第３図は本発明の順列検知用
マーキングの説明図、第４図は本発明のマーキン
グ機構を示す構成図、第５図は本発明の順列認識
機構を示す構成図、第６図は本発明のマーキング
認識説明図、第７図は本発明における認識処理フ
ローチヤート、第８図は本発明の再配列機構を示
す構成図、第９図は本発明の再配列処理フローチ
ヤート、第１０図ａ，ｂは本発明に係る再配列テ
ーブルの構成図である。
１……入庫口、２……倉庫及び搬送装置、３…
…出庫口、４……ロツト、５，５１〜５４……ユ
ニツト、６１〜６ｎ……マーク塗布部、７……マ
ーク塗布部位置決め制御部、８……カウンタ、９
……ロツト切れ目検出器、１０……ユニツト検出
器、１１……イメージセンサ、１２……フイルタ
リング、１３……マークパターン認識部、１４…
…距離検出部、１５……順列認識部、１６……再
配列制御部、１７……再配列機構、３０……順列
検出用テーブル、３１〜３５……ストツパ、４０
……再配列テーブル、４１〜４４……振分け機
構。
Fig. 1 is a schematic diagram showing an example of an automated warehouse, Fig. 2 is a conceptual diagram of delivered items, Fig. 3 is an explanatory diagram of the marking for permutation detection of the present invention, and Fig. 4 is a configuration showing the marking mechanism of the present invention. 5 is a block diagram showing the permutation recognition mechanism of the present invention, FIG. 6 is an explanatory diagram of marking recognition of the present invention, FIG. 7 is a recognition process flowchart of the present invention, and FIG. 8 is a rearrangement of the present invention. FIG. 9 is a flowchart of the rearrangement process of the present invention, and FIGS. 10a and 10b are diagrams of the rearrangement table according to the present invention. 1... Warehouse entrance, 2... Warehouse and transport device, 3...
...Exit exit, 4...Rot, 5, 51-54...Unit, 61-6n ...Mark applicator, 7...Mark applicator positioning control unit, 8...Counter, 9
...Rot break detector, 10...Unit detector, 11...Image sensor, 12...Filtering, 13...Mark pattern recognition section, 14...
... Distance detection section, 15 ... Permutation recognition section, 16 ... Reorder control section, 17 ... Reorder mechanism, 30 ... Permutation detection table, 31 to 35 ... Stopper, 40
...Rearrangement table, 41-44...Distribution mechanism.
Claims (1)
庫に搬入し、かつ当該倉庫から搬出する物流装置
において、 前記各長尺材の一方の端を搬送方向の直交方向
において定められた基準位置に保持した状態で搬
送する搬送手段と、 入庫前における各長尺材に前記基準位置を基準
として規則的に互いに異なる位置に光学的に認識
可能な識別マークを付すマーキング手段と、 出庫前における各長尺材の識別マークを光学的
に検出する識別マーク検出手段と、 出庫される各長尺材の通過本数を検出する移送
検出手段と、 前記識別マーク検出手段による識別マーク検出
信号および前記移送検出手段による通過本数検出
信号により前記搬送手段上の実際の長尺材の配列
状態を認識し、当該実配列順序パターンと目標搬
出配列順序パターンとを比較して当該目標搬出配
列順序パターンの再配列を指示する配列認識手段
と、 前記再配列指示により与えられる配列順序に各
長尺材を再配列させる再配列機構と、 を備えたことを特徴とする物流装置。 ２ 特許請求の範囲第１項記載の装置において、
前記目標搬出配列順序パターンは入庫順序パター
ンと同一であることを特徴とする物流装置。 ３ 特許請求の範囲第１項記載の装置において、
前記目標搬出配列順序パターンは入庫順序パター
ンに関係なく任意の順序であることを特徴とする
物流装置。 ４ 特許請求の範囲第１項、第２項または第３項
記載の装置において、長尺材の実配列順序パター
ンは識別マーク検出手段による識別マーク検出信
号に表われたマーキング手部のコントラストの変
化に対応させて２値信号に変換し、この２値信号
の変化点の位置状態から決定されることを特徴と
する物流装置。[Scope of Claims] 1. A logistics device that transports a plurality of long materials side by side in a conveyance direction into a warehouse and takes them out from the warehouse, wherein one end of each of the long materials is arranged in a direction perpendicular to the conveyance direction. a conveying means for transporting the long materials while being held at a reference position determined in the above, and a marking means for attaching optically recognizable identification marks to each long material before storage at regularly different positions with respect to the reference position. and an identification mark detection means for optically detecting the identification mark of each long material before being delivered from the warehouse; a transfer detection means for detecting the number of passages of each long material to be delivered from the warehouse; and an identification mark by the identification mark detection means. The actual arrangement state of the long materials on the conveying means is recognized by the detection signal and the passing number detection signal by the transfer detecting means, and the actual arrangement order pattern and the target carry-out arrangement order pattern are compared to determine the target carry-out arrangement. A physical distribution device comprising: a sequence recognition means for instructing rearrangement of a sequential pattern; and a rearrangement mechanism for rearranging each elongated material in the sequence given by the rearrangement instruction. 2. In the device according to claim 1,
The physical distribution device characterized in that the target unloading arrangement order pattern is the same as a warehousing order pattern. 3. In the device according to claim 1,
A physical distribution device characterized in that the target carry-out arrangement order pattern is an arbitrary order regardless of a warehousing order pattern. 4. In the apparatus according to claim 1, 2, or 3, the actual arrangement order pattern of the elongated material is determined by a change in the contrast of the marking hand portion expressed in the identification mark detection signal by the identification mark detection means. A physical distribution device characterized by converting the signal into a binary signal corresponding to the change in the binary signal, and determining the position state of a change point of the binary signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56181162A JPS5882903A (en) | 1981-11-13 | 1981-11-13 | Circulation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56181162A JPS5882903A (en) | 1981-11-13 | 1981-11-13 | Circulation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5882903A JPS5882903A (en) | 1983-05-18 |
| JPS6147761B2 true JPS6147761B2 (en) | 1986-10-21 |
Family
ID=16095965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56181162A Granted JPS5882903A (en) | 1981-11-13 | 1981-11-13 | Circulation system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5882903A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2512813B2 (en) * | 1989-10-20 | 1996-07-03 | 富士写真フイルム株式会社 | Photo print method |
| JP5943977B2 (en) * | 2014-09-26 | 2016-07-05 | 株式会社Ｊｌｓ | Integrated structure rearrangement device, processing line and rearrangement control program |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5257579U (en) * | 1975-10-22 | 1977-04-26 |
-
1981
- 1981-11-13 JP JP56181162A patent/JPS5882903A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5257579U (en) * | 1975-10-22 | 1977-04-26 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5882903A (en) | 1983-05-18 |
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