WO2009139038A1 - Automatic warehousing system, inventory method, and id reader unit - Google Patents

Automatic warehousing system, inventory method, and id reader unit Download PDF

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Publication number
WO2009139038A1
WO2009139038A1 PCT/JP2008/058729 JP2008058729W WO2009139038A1 WO 2009139038 A1 WO2009139038 A1 WO 2009139038A1 JP 2008058729 W JP2008058729 W JP 2008058729W WO 2009139038 A1 WO2009139038 A1 WO 2009139038A1
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Prior art keywords
shelf
reader
reader unit
inventory
read
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PCT/JP2008/058729
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French (fr)
Japanese (ja)
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祐輔 土谷
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村田機械株式会社
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Priority to PCT/JP2008/058729 priority Critical patent/WO2009139038A1/en
Priority to JP2010511803A priority patent/JP5131500B2/en
Publication of WO2009139038A1 publication Critical patent/WO2009139038A1/en

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    • 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

Definitions

  • This invention relates to carrying out inventory of an automatic warehouse using a unit equipped with an ID reader such as an RFID reader.
  • Patent Document 1 WO2006-025235
  • Patent Document 2 JP1998-035827A
  • an ID reader is provided in a stacker crane as a warehouse transfer device, and the ID of an article on a shelf is read while traveling.
  • the ID reader is provided on the lifting platform of the stacker crane, a space for the ID reader is required on the lifting platform.
  • existing stacker cranes without an ID reader cannot read the ID of an article.
  • Patent Document 2 a unit including a barcode reader is detachably attached to a stacker crane.
  • the barcode reader unit is supplied with power from the stacker crane, and the ID read by the barcode reader is sent to the ground side controller via the stacker crane. Therefore, a power source, communication equipment, and controller for driving the barcode reader unit are required on the stacker crane side.
  • Patent Documents 1 and 2 an ID in an existing warehouse that does not support an ID reader cannot be read.
  • An object of the present invention is to provide an ID reader unit that can be easily retrofitted to an existing automatic warehouse, and an automatic warehouse system including the ID reader unit. Another object of the present invention is to enable an ID reader unit to grasp the position of an article in a shelf without receiving position information from the conveying device side.
  • An auxiliary problem in the present invention is to remove the ID reader unit from the transport apparatus except during inventory, and to mount the ID reader unit in the transport apparatus during inventory so that the inventory can be started quickly.
  • the present invention is an automatic warehouse system comprising a shelf, a transport device, and a controller that manages the inventory of the shelf using the ID of an article stored in the shelf, A housing, a mounting surface provided in the housing and freely supported by the transfer device, an ID reader body and an antenna of the ID reader, an output means for outputting the read ID to the controller, and a power source. While providing an ID reader unit, The ID reader unit is configured to read the ID tag of the article by moving the ID reader unit while being supported by the transport device.
  • the output means is realized by, for example, a communication means with the ground side controller or a removable memory such as a USB memory.
  • the ID reader unit is equipped with a computer such as a personal computer, and even if it sends the reading results to the ground controller as needed, it stores the reading data in the computer and outputs the reading results after the inventory is completed.
  • the computer may not be provided, and the reading result may be constantly transmitted to the ground controller.
  • the ID reader unit is configured to read the ID tag of the article and the ID tag of the shelf and output the ID of the article so as to be associated with the ID of the shelf.
  • “to be freely associated” refers to literally associating or enabling later association by, for example, a ground-side controller via a reading time or the like.
  • the mounting surface can be supported by the transfer means of the transport device, and the ID reader unit can be transferred to and from the shelf by the transfer means,
  • the ID reader unit is stored in a shelf except during inventory, and is transferred from the shelf onto the transfer means by the transfer means during inventory.
  • the present invention is an inventory method for an automatic warehouse system comprising a shelf, a transport device, and a controller that manages the inventory of the shelf using the ID of an article stored in the shelf, A housing, a mounting surface provided in the housing and freely supported by the transfer device, an ID reader body and an antenna of the ID reader, an output means for outputting the read ID to the controller, and a power source.
  • the ID reader unit is configured to read the ID tag of the article by moving the ID reader unit while being supported by the transport device.
  • the present invention further includes a unit for reading the ID of an article from an ID tag attached to the article stored in the shelf, A housing, a mounting surface provided in the housing and freely supported by the transfer device, an ID reader main body, an antenna of the ID reader, an output means for outputting the read ID to an external controller, and a power source. Located in the ID reader unit.
  • the ID reader unit reads the ID of the item on the shelf while being conveyed by a conveying device such as a stacker crane.
  • the ID reader unit does not need to supply power from the transfer device and can output the read ID to a controller of an automatic warehouse without going through the transfer device, so that the ID reader unit can be easily attached to the existing transfer device.
  • the ID of the shelf and the ID of the shelf are read by the ID reader unit, and the shelf ID and the ID of the item are output in a freely correlating manner, there is no position information from the transfer device. However, the position of the article can be grasped.
  • the ID reader unit can be freely transferred to and from the shelf by the transfer means, and the ID reader unit is stored in the shelf except during inventory, and is transferred from the shelf to the transfer means by the transfer means at the time of inventory. By doing so, the ID reader unit is stored in the shelf and does not get in the way except during inventory.
  • the ID reader unit when the ID reader unit is transferred onto the transfer means of the transfer apparatus and the movement of the transfer apparatus is started, the inventory can be started. Therefore, inventory can be started quickly.
  • reference numeral 4 denotes a stacker crane as a warehouse transfer device, and the type of the warehouse transfer device is arbitrary.
  • 5 is a traveling space
  • 6 is a traveling rail
  • a LAN 8 is provided along the traveling space 5
  • 9 is a wireless station for wireless communication between the stacker crane 4 and the ID reader unit 16.
  • Reference numeral 10 denotes a ground-side controller that controls the entire automatic warehouse system 2.
  • the stacker crane 4 includes a mast 12 and a lift 14 and travels with the ID reader unit 16 mounted on a slide fork 37 of the lift 14.
  • the ID reader unit 16 includes ID reader / writers 18 on the front surface and the back surface so as to face the right and left flow shelves 24, 24. Note that an antenna for the ID reader / writer may be provided on the front and the back, and the ID reader / writer main body may be shared by the front and back antennas.
  • Reference numeral 19 denotes an antenna for communicating with the wireless station 9 of the LAN 8 or the like.
  • the ID reader unit 16 further includes a computer 20 such as a personal computer and a power source 22.
  • the ID reader / writer 18 includes an ID reader / writer main body and an antenna, and may be a simple ID reader instead of the ID reader / writer 18.
  • the ID reader / writer 18 is an RFID reader / writer, but may be an ID reader such as a barcode or a two-dimensional code.
  • the power source 22 uses a secondary battery, a fuel cell, a generator, or the like, and the personal computer 20 performs necessary information processing in the unit 16. For this reason, the ID reader unit 16 does not require communication with the stacker crane 4 and does not require an external power supply.
  • the 24 is a fluidized shelf, for example, provided on the left and right sides of the traveling space 5, and stores articles such as buckets 26 while supporting them on the rails 28.
  • An RFID 30 is attached to the bucket 26, and an RFID 32 is provided for each frontage of the fluid shelf 24.
  • path 34 is provided in the opposite side of the traveling space 5 of the fluid shelf 24, and the bucket 26 is taken out.
  • the rail 28 of the fluidized shelf 24 is inclined so that the picking passage 34 side is on the lower side, and the bucket 26 moves to the picking passage 34 side by its own weight.
  • FIG. 2 shows the fluidized shelf 24 and the ID reader unit 16 on the stacker crane 4.
  • An RFID 32 is attached to the column 36 of the flow shelf 24 so as to indicate a frontage.
  • the ID reader unit 16 is provided with a pair of ID reader / writers 18 on the front and back so as to face the shelf 24. Are provided with an antenna 19, a personal computer 20, and a power source 22.
  • the unit 16 is supported by a mounting surface 57 on a slide fork 37 provided on the lifting platform 14.
  • the slide fork 37 is an example of transfer means, and may be other transfer means such as a SCARA arm.
  • Reference numeral 38 denotes a drum, which lifts and lowers the lifting platform 14 by feeding and winding the suspension material 39
  • 40 is a lifting motor for driving the drum 38
  • 42 is a traveling motor
  • An on-board controller 44 controls the stacker crane 4 while communicating with the ground-side controller 10 in FIG.
  • the on-board controller 44 does not need to exchange data with the ID reader unit 16.
  • FIG. 3 shows the structure of the ID reader unit 16.
  • Reference numeral 55 denotes a housing, and 56 denotes a vibration damping member such as a viscoelastic gel, which is disposed between the outer layer and the inner layer of the housing 55, for example, in a film shape.
  • the bottom surface of the housing 55 is a mounting surface 57, which can be mounted on the slide fork 37 and can also be mounted on the rail 28 of the flow shelf 24.
  • the ID reader unit 16 includes a pair of ID reader / writers 18 on the front surface and the back surface, and includes a power source 22, a personal computer 20, and an antenna 19 inside.
  • FIG. 4 shows the relationship between the ID reader unit 16 and the ground-side controller 10.
  • the ID reader / writer 18 and the personal computer 20 are supplied with power from a power source 22 and communicate with the ground-side controller 10 via the antenna 8 via the antenna 19.
  • the LAN 8 may be wired or wireless.
  • the personal computer 20 stores the read data from the ID reader / writer 18 in the read file 60 and stores the inventory file 61 received from the controller 10.
  • the controller 10 also stores an inventory file 62 for the entire automatic warehouse system 2. In these files 60 to 62, the bucket ID and the frontage ID are stored in association with each other.
  • the ID reader / writer 18 the main body of the ID reader / writer and the antenna are integrated, but these may be separated.
  • Fig. 5 shows the inventory algorithm.
  • the ground-side controller 10 designates a range of inventory for the stacker crane 4. This range is the entire fluid shelf 24 or a part thereof.
  • the ground-side controller 10 transmits an inventory file within the inventory range to the ID reader unit 16 via the LAN 8 or the like.
  • the stacker crane 4 travels to the shelf where the ID reader unit 16 exists, and the unit 16 is mounted by the slide fork 37 and travels within the specified range.
  • the ID reader unit 16 reads the shelf front ID and bucket ID, and these IDs are unique and unique.
  • the ID of the article is provided for each individual item instead of the bucket unit, the ID of the individual item is read.
  • the unit 16 stores the frontage ID and the bucket ID in association with each other. For example, like the record 63 in FIG. 4, the bucket ID is stored for each frontage.
  • the IDs of the buckets 26 arranged in the depth direction of the shelves 24 are read, and the moving speed of the stacker crane 4 is high. For this reason, IDs of surrounding frontage other than the target frontage are often read at the same time. Therefore, the ID of one bucket is often stored in association with a plurality of frontages. Note that when the RFID 30 of the bucket 26 is read by running the stacker crane 4 at a low speed using an antenna having high directivity, such a problem does not occur. However, highly directional ID readers are expensive and take time to inventory.
  • the personal computer 20 collates the inventory file 61 received from the ground-side controller 10 with the read file 60. If there is a bucket ID in the inventory file 61 at a frontage corresponding to or near the bucket ID in the read file 60, the bucket is stored in the frontage on the stock file. The reason that the frontage where the bucket ID exists may be different between the inventory file 61 and the reading file 6 is that the directivity of the ID reader / writer is low and the moving speed of the stacker crane 4 is high. is there. These processes may be processed by the ground-side controller 10 by transmitting the file 60 from the antenna 19 to the ground-side controller 10 without being processed by the personal computer 20.
  • the search is performed to the farther frontage to determine whether the bucket ID exists. Also, the presence / absence of a bucket ID that is not in the inventory file 61 is searched. These are inconsistent processes between the inventory file 61 and the read file 60, and may be processed by the ground controller 10 or may be omitted.
  • the ID reader unit is transferred to a predetermined slot of the fluid shelf 24. Since the rail 28 is inclined toward the picking passage 34, the shelf on which the ID reader unit 16 is placed is, for example, a special frontage where the rail 28 is horizontal.
  • Fig. 6 shows a variation of the inventory algorithm.
  • list data in which the shelf ID and the bucket ID are associated with each other is created inside the unit 16.
  • the unit is returned to the shelf, and the list data in which the shelf ID and the bucket ID are associated is transmitted to the ground-side controller 10 via the LAN 8 or the like.
  • the ground controller 10 collates the list data received from the unit 16 with the inventory file 62, and executes inventory. Therefore, it is not necessary to transmit the inventory file 61 from the ground-side controller 10 to the unit 16 as preparation for inventory.
  • Fig. 7 shows a modification.
  • 50 is a new stacker crane
  • 51 is a mast
  • 52 is an elevator, for example, a twin fork type elevator having a pair of slide forks 53, 53.
  • the shelf 54 is a normal shelf that is not a fluidized shelf, and stores, for example, the bucket 26 to which the RFID 30 is attached, and the RFID 32 is provided for each frontage. The other points are the same as those of the embodiment of FIGS.
  • the bucket 26 is pulled out onto the lifting platform 52 by the slide fork 53, and the ID is read by the ID reader unit 16 ′ on the lifting platform 52.
  • the front-end RFID 32 is read.
  • the ID reader unit 16 ′ is stored in an appropriate position in the shelf 54 from the lifting platform 52.
  • the ID reader unit 16 Since the ID reader unit 16 reads the RFID 30 of the bucket 26 and the RFID 32 of the frontage and associates them with each other, it is not necessary to receive information on the current position from the stacker cranes 4 and 50 side. Therefore, the independence of the ID reader units 16 and 16 ′ with respect to the stacker cranes 4 and 50 can be further increased.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

A mounting surface which can be supported by a carrier device is mounted on a housing of an ID reader unit for reading the ID of an article housed in a shelf. An ID reader body and an antenna for the ID reader, means for communicating with an external controller, and a power source are provided in the ID reader unit. The ID reader unit can operate without requiring connection with a stacker crane. The ID reader unit can be easily attached to an existing automatic warehouse.

Description

自動倉庫システムと棚卸し方法及びIDリーダユニットAutomatic warehouse system, inventory method and ID reader unit
　この発明は、RFIDリーダ等のIDリーダを備えたユニットを用いて、自動倉庫の棚卸しを行うことに関する。 This invention relates to carrying out inventory of an automatic warehouse using a unit equipped with an ID reader such as an RFID reader.
　出願人はIDリーダを用いて、棚内の物品のIDを読み取ることを提案した（特許文献１：WO2006-025235，特許文献２：JP1998-035827A）。特許文献１では倉庫内搬送装置としてのスタッカークレーンにIDリーダを設け、走行しながら棚の物品のIDを読み取る。この場合、スタッカークレーンの昇降台にIDリーダを設けるので、昇降台にIDリーダのスペースが必要である。またIDリーダの無い既存のスタッカークレーンでは、物品のIDを読み取ることができない。 The applicant proposed to use an ID reader to read the ID of an article in the shelf (Patent Document 1: WO2006-025235, Patent Document 2: JP1998-035827A). In Patent Document 1, an ID reader is provided in a stacker crane as a warehouse transfer device, and the ID of an article on a shelf is read while traveling. In this case, since the ID reader is provided on the lifting platform of the stacker crane, a space for the ID reader is required on the lifting platform. Also, existing stacker cranes without an ID reader cannot read the ID of an article.
　特許文献２では、バーコードリーダを備えたユニットをスタッカークレーンに着脱自在にする。この場合、バーコードリーダユニットにはスタッカークレーンから電源を供給し、バーコードリーダで読み取ったIDを、スタッカークレーンを介して地上側コントローラへ送出する。従ってスタッカークレーン側に、バーコードリーダユニットを駆動するための電源や通信設備、コントローラが必要になる。特許文献１，２では、IDリーダに対応しない既存の倉庫内搬送装置ではIDを読み取ることができない。
WO2006-025235 JP1998-035827A In Patent Document 2, a unit including a barcode reader is detachably attached to a stacker crane. In this case, the barcode reader unit is supplied with power from the stacker crane, and the ID read by the barcode reader is sent to the ground side controller via the stacker crane. Therefore, a power source, communication equipment, and controller for driving the barcode reader unit are required on the stacker crane side. In Patent Documents 1 and 2, an ID in an existing warehouse that does not support an ID reader cannot be read.
WO2006-025235 JP1998-035827A
　この発明は、既存の自動倉庫に容易に後付けできるIDリーダユニット、及びこのIDリーダユニットを備えた自動倉庫システムを提供することを課題とする。
　この発明はまた、IDリーダユニットが、搬送装置の側から位置情報を受け取ることなく、棚内での物品の位置を把握できるようにすることを課題とする。
　この発明での補助的な課題は、棚卸し時以外はIDリーダユニットを搬送装置から除き、かつ棚卸し時には搬送装置にIDリーダユニットを搭載して、迅速に棚卸しを開始できるようにすることにある。 An object of the present invention is to provide an ID reader unit that can be easily retrofitted to an existing automatic warehouse, and an automatic warehouse system including the ID reader unit.
Another object of the present invention is to enable an ID reader unit to grasp the position of an article in a shelf without receiving position information from the conveying device side.
An auxiliary problem in the present invention is to remove the ID reader unit from the transport apparatus except during inventory, and to mount the ID reader unit in the transport apparatus during inventory so that the inventory can be started quickly.
　この発明は、棚と搬送装置と、棚に収納された物品のIDを用いて棚の在庫を管理するコントローラ、とを備えた自動倉庫システムであって、
　ハウジングと、該ハウジングに設けられかつ前記搬送装置により支持自在な載置面と、IDリーダ本体及び該IDリーダのアンテナと、前記コントローラへ読み取ったIDを出力する出力手段と、電源とを備えたIDリーダユニットを設けると共に、
　前記IDリーダユニットを前記搬送装置により支持しながら移動させることにより、前記IDリーダユニットで前記物品のIDタグを読み取るように構成したことを特徴とする。 The present invention is an automatic warehouse system comprising a shelf, a transport device, and a controller that manages the inventory of the shelf using the ID of an article stored in the shelf,
A housing, a mounting surface provided in the housing and freely supported by the transfer device, an ID reader body and an antenna of the ID reader, an output means for outputting the read ID to the controller, and a power source. While providing an ID reader unit,
The ID reader unit is configured to read the ID tag of the article by moving the ID reader unit while being supported by the transport device.
　出力手段は、例えば地上側コントローラとの通信手段や、USBメモリなどのリムーバブルメモリで実現する。またIDリーダユニットは、パーソナルコンピュータなどのコンピュータを搭載し、随時読み取り結果を地上側コントローラへ送信するようにしても、前記のコンピュータで読み取りデータを記憶し、棚卸しの終了後などに読み取り結果を出力しても、あるいはコンピュータを備えず、読み取り結果を常時地上側コントローラへ送信するようにしても良い。　 The output means is realized by, for example, a communication means with the ground side controller or a removable memory such as a USB memory. In addition, the ID reader unit is equipped with a computer such as a personal computer, and even if it sends the reading results to the ground controller as needed, it stores the reading data in the computer and outputs the reading results after the inventory is completed. Alternatively, the computer may not be provided, and the reading result may be constantly transmitted to the ground controller. *
　好ましくは、前記棚に複数のIDタグを設け、
　前記IDリーダユニットを、前記物品のIDタグと棚のIDタグとを読み取り、物品のIDを棚のIDと関連付け自在に出力するように構成する。
　ここで関連付け自在にとは、文字通りに関連付けることや、あるいは読み取り時刻などを介して後で例えば地上側コントローラなどにより関連付けできるようにすることをいう。 Preferably, a plurality of ID tags are provided on the shelf,
The ID reader unit is configured to read the ID tag of the article and the ID tag of the shelf and output the ID of the article so as to be associated with the ID of the shelf.
Here, “to be freely associated” refers to literally associating or enabling later association by, for example, a ground-side controller via a reading time or the like.
　特に好ましくは、前記載置面は前記搬送装置の移載手段により支持自在で、かつ前記IDリーダユニットは前記移載手段により棚との間で移載自在であり、
　前記IDリーダユニットは棚卸し時以外は棚に収納し、棚卸し時には前記移載手段により棚から前記移載手段上へ移載する。 Particularly preferably, the mounting surface can be supported by the transfer means of the transport device, and the ID reader unit can be transferred to and from the shelf by the transfer means,
The ID reader unit is stored in a shelf except during inventory, and is transferred from the shelf onto the transfer means by the transfer means during inventory.
　またこの発明は、棚と搬送装置と、棚に収納された物品のIDを用いて棚の在庫を管理するコントローラ、とを備えた自動倉庫システムの棚卸し方法であって、
　ハウジングと、該ハウジングに設けられかつ前記搬送装置により支持自在な載置面と、IDリーダ本体及び該IDリーダのアンテナと、前記コントローラへ読み取ったIDを出力する出力手段と、電源とを備えたIDリーダユニットを設けると共に、
　前記IDリーダユニットを前記搬送装置により支持しながら移動させることにより、前記IDリーダユニットで前記物品のIDタグを読み取るように構成したことを特徴とする。 Further, the present invention is an inventory method for an automatic warehouse system comprising a shelf, a transport device, and a controller that manages the inventory of the shelf using the ID of an article stored in the shelf,
A housing, a mounting surface provided in the housing and freely supported by the transfer device, an ID reader body and an antenna of the ID reader, an output means for outputting the read ID to the controller, and a power source. While providing an ID reader unit,
The ID reader unit is configured to read the ID tag of the article by moving the ID reader unit while being supported by the transport device.
　この発明はさらに、棚に収納された物品に付されたIDタグから、物品のIDを読み取るユニットであって、
　ハウジングと、該ハウジングに設けられかつ搬送装置により支持自在な載置面と、IDリーダ本体と該IDリーダのアンテナと、外部のコントローラへ読み取ったIDを出力する出力手段と、電源とを備えたIDリーダユニットにある。 The present invention further includes a unit for reading the ID of an article from an ID tag attached to the article stored in the shelf,
A housing, a mounting surface provided in the housing and freely supported by the transfer device, an ID reader main body, an antenna of the ID reader, an output means for outputting the read ID to an external controller, and a power source. Located in the ID reader unit.
　この発明では、IDリーダユニットは、スタッカークレーンなどの搬送装置で搬送されながら、棚の物品のIDを読み取る。IDリーダユニットは搬送装置から電力を供給する必要が無く、また読み取ったIDを搬送装置を介さずに自動倉庫のコントローラ等に出力できるので、既存の搬送装置にIDリーダユニットを容易に後付けできる。 In this invention, the ID reader unit reads the ID of the item on the shelf while being conveyed by a conveying device such as a stacker crane. The ID reader unit does not need to supply power from the transfer device and can output the read ID to a controller of an automatic warehouse without going through the transfer device, so that the ID reader unit can be easily attached to the existing transfer device.
　また棚に複数のIDタグを設けて、IDリーダユニットで棚の物品のIDと棚のIDとを読み取り、棚のIDと物品のIDとを関連付け自在に出力すると、搬送装置からの位置情報無しでも、物品の位置を把握できる。 In addition, if multiple ID tags are provided on the shelf, the ID of the shelf and the ID of the shelf are read by the ID reader unit, and the shelf ID and the ID of the item are output in a freely correlating manner, there is no position information from the transfer device. However, the position of the article can be grasped.
　さらに、IDリーダユニットを移載手段により棚との間で移載自在にし、IDリーダユニットは棚卸し時以外は棚に収納され、棚卸し時には移載手段により棚から移載手段上へ移載されるようにすると、棚卸し時以外はIDリーダユニットは棚内に収納されて邪魔にならない。また棚卸し時に、IDリーダユニットを搬送装置の移載手段上へ移載し、搬送装置の移動を開始すると、棚卸しを開始できる。このため棚卸しを迅速に開始できる。 Further, the ID reader unit can be freely transferred to and from the shelf by the transfer means, and the ID reader unit is stored in the shelf except during inventory, and is transferred from the shelf to the transfer means by the transfer means at the time of inventory. By doing so, the ID reader unit is stored in the shelf and does not get in the way except during inventory. In addition, when the ID reader unit is transferred onto the transfer means of the transfer apparatus and the movement of the transfer apparatus is started, the inventory can be started. Therefore, inventory can be started quickly.
実施例の自動倉庫システムの要部平面図Main part plan view of the automatic warehouse system of the embodiment 実施例の自動倉庫システムでの、棚とスタッカークレーンとの要部側面図Side view of main parts of shelves and stacker crane in the automatic warehouse system of the embodiment 実施例のIDリーダユニットの部分切欠部付き正面図Front view with partial cutout of ID reader unit of the embodiment 実施例のIDリーダユニットのブロック図Block diagram of the ID reader unit of the embodiment 実施例での棚卸しアルゴリズムを示すフローチャートThe flowchart which shows the inventory algorithm in an Example 棚卸しアルゴリズムの変形例を示すフローチャートFlow chart showing a variation of the inventory algorithm 変形例の自動倉庫システムの要部平面図Plan view of the main part of a modified automated warehouse system
符号の説明Explanation of symbols
２　自動倉庫システム　　４　スタッカークレーン　　５　走行スペース
６　走行レール　　８　ＬＡＮ　　９　無線局　　１０　地上側コントローラ
１２　マスト　　１４　昇降台　　１６　IDリーダユニット
１８　IDリーダライタ　　１９　アンテナ　　２０　パーソナルコンピュータ
２２　電源　　２４　流動棚　　２６　バケット　　２８　レール
３０，３２　RFID　　３４　ピッキング通路　　３６　柱
３７　スライドフォーク　　３８　ドラム　　３９　吊持材
４０　昇降モータ　　４２　走行モータ　　４４　機上コントローラ
５０　スタッカークレーン　　５１　マスト　　５２　昇降台
５３　スライドフォーク　　５４　棚　　５５　ハウジング　　５６　制振部材
５７　載置面　　６０　読み取りファイル　　６１，６２　在庫ファイル
６３　レコード DESCRIPTION OF SYMBOLS 2 Automatic warehouse system 4 Stacker crane 5 Travel space 6 Travel rail 8 LAN 9 Radio station 10 Ground side controller 12 Mast 14 Lifting table 16 ID reader unit 18 ID reader / writer 19 Antenna 20 Personal computer 22 Power supply 24 Flow shelf 26 Bucket 28 Rail 30 , 32 RFID 34 Picking path 36 Pillar 37 Slide fork 38 Drum 39 Lifting material 40 Lifting motor 42 Traveling motor 44 Onboard controller 50 Stacker crane 51 Mast 52 Lifting platform 53 Slide fork 54 Shelf 55 Housing 56 Damping member 57 Mounting surface 60 Reading files 61, 62 Inventory files 63 Records
　以下に本発明を実施するための最適実施例を示す。 The following is an optimum embodiment for carrying out the present invention.
　図１～図７に、実施例の自動倉庫システム２と、IDリーダユニット１６、及び棚卸し方法を示す。図において、４は倉庫内搬送装置としてのスタッカークレーンで、倉庫内搬送装置の種類は任意である。５は走行スペース、６は走行レールで、走行スペース５に沿ってＬＡＮ８などが設けられ、９はその無線局で、スタッカークレーン４及びIDリーダユニット１６との間で無線通信する。１０は地上側コントローラで、自動倉庫システム２の全体を制御する。 1 to 7 show the automatic warehouse system 2, the ID reader unit 16, and the inventory method according to the embodiment. In the figure, reference numeral 4 denotes a stacker crane as a warehouse transfer device, and the type of the warehouse transfer device is arbitrary. 5 is a traveling space, 6 is a traveling rail, and a LAN 8 is provided along the traveling space 5, and 9 is a wireless station for wireless communication between the stacker crane 4 and the ID reader unit 16. Reference numeral 10 denotes a ground-side controller that controls the entire automatic warehouse system 2.
　スタッカークレーン４はマスト１２と昇降台１４とを備え、昇降台１４のスライドフォーク３７上にIDリーダユニット１６を載置して走行する。IDリーダユニット１６は、左右の流動棚２４，２４に対向するように、正面と背面とにIDリーダライタ１８を備えている。なお正面と背面とにIDリーダライタのアンテナを設けて、IDリーダライタ本体は正面と背面のアンテナで共用しても良い。１９はＬＡＮ８の無線局９などと通信するためのアンテナである。IDリーダユニット１６はさらに、パーソナルコンピュータなどのコンピュータ２０と電源２２を備えている。 The stacker crane 4 includes a mast 12 and a lift 14 and travels with the ID reader unit 16 mounted on a slide fork 37 of the lift 14. The ID reader unit 16 includes ID reader / writers 18 on the front surface and the back surface so as to face the right and left flow shelves 24, 24. Note that an antenna for the ID reader / writer may be provided on the front and the back, and the ID reader / writer main body may be shared by the front and back antennas. Reference numeral 19 denotes an antenna for communicating with the wireless station 9 of the LAN 8 or the like. The ID reader unit 16 further includes a computer 20 such as a personal computer and a power source 22.
　IDリーダライタ１８は、IDリーダライタ本体とアンテナとを備え、IDリーダライタ１８に代えて単なるIDリーダでもよい。IDリーダライタ１８はRFIDリーダライタとするが、バーコードや２次元コードなどのIDリーダでもよい。電源２２は２次電池あるいは燃料電池、発電機などを用い、パーソナルコンピュータ２０はユニット１６内で必要な情報処理を行う。このためIDリーダユニット１６は、スタッカークレーン４との間での通信が不要で、外部電源も不要である。 The ID reader / writer 18 includes an ID reader / writer main body and an antenna, and may be a simple ID reader instead of the ID reader / writer 18. The ID reader / writer 18 is an RFID reader / writer, but may be an ID reader such as a barcode or a two-dimensional code. The power source 22 uses a secondary battery, a fuel cell, a generator, or the like, and the personal computer 20 performs necessary information processing in the unit 16. For this reason, the ID reader unit 16 does not require communication with the stacker crane 4 and does not require an external power supply.
　２４は流動棚で、例えば走行スペース５の左右に一対設け、バケット２６などの物品をレール２８上で支持しながら収納する。バケット２６にはRFID３０が取り付けられ、流動棚２４の各間口毎にRFID３２が設けられている。そして流動棚２４の走行スペース５の反対側にピッキング通路３４を設けて、バケット２６を取り出す。なお流動棚２４のレール２８は、ピッキング通路３４側が下側になるように傾斜しており、バケット２６は自重でピッキング通路３４側に移動する。 24 is a fluidized shelf, for example, provided on the left and right sides of the traveling space 5, and stores articles such as buckets 26 while supporting them on the rails 28. An RFID 30 is attached to the bucket 26, and an RFID 32 is provided for each frontage of the fluid shelf 24. And the picking channel | path 34 is provided in the opposite side of the traveling space 5 of the fluid shelf 24, and the bucket 26 is taken out. The rail 28 of the fluidized shelf 24 is inclined so that the picking passage 34 side is on the lower side, and the bucket 26 moves to the picking passage 34 side by its own weight.
　図２に、流動棚２４とスタッカークレーン４上のIDリーダユニット１６とを示す。流動棚２４の柱３６には、間口を示すようにRFID３２が取り付けられ、IDリーダユニット１６には棚２４に面するように、正面と背面とに一対のIDリーダライタ１８が設けられ、ユニット１６の内部にはアンテナ１９とパーソナルコンピュータ２０及び電源２２が設けられている。そしてユニット１６は、昇降台１４に設けたスライドフォーク３７上に載置面５７で支持されている。なおスライドフォーク３７は移載手段の例で、スカラアームなどの他の移載手段でも良い。 FIG. 2 shows the fluidized shelf 24 and the ID reader unit 16 on the stacker crane 4. An RFID 32 is attached to the column 36 of the flow shelf 24 so as to indicate a frontage. The ID reader unit 16 is provided with a pair of ID reader / writers 18 on the front and back so as to face the shelf 24. Are provided with an antenna 19, a personal computer 20, and a power source 22. The unit 16 is supported by a mounting surface 57 on a slide fork 37 provided on the lifting platform 14. The slide fork 37 is an example of transfer means, and may be other transfer means such as a SCARA arm.
　スタッカークレーン４の構造を説明すると、３８はドラムで、吊持材３９の繰り出しや巻き取りを行うことにより、昇降台１４を昇降させ、４０はドラム３８を駆動する昇降モータ、４２は走行モータ、４４は機上コントローラで、図１の地上側コントローラ１０と通信しながらスタッカークレーン４を制御する。そして機上コントローラ４４はIDリーダユニット１６とはデータのやり取りを行う必要がない。 The structure of the stacker crane 4 will be described. Reference numeral 38 denotes a drum, which lifts and lowers the lifting platform 14 by feeding and winding the suspension material 39, 40 is a lifting motor for driving the drum 38, 42 is a traveling motor, An on-board controller 44 controls the stacker crane 4 while communicating with the ground-side controller 10 in FIG. The on-board controller 44 does not need to exchange data with the ID reader unit 16.
　図３に、IDリーダユニット１６の構造を示す。５５はハウジングで、５６は粘弾性体のゲルなどの制振部材であり、ハウジング５５の外層と内層との間に、例えば膜状に配置されている。ハウジング５５の底面が載置面５７で、スライドフォーク３７上に載置自在で、かつ流動棚２４のレール２８上にも載置自在である。そしてIDリーダユニット１６は、正面と背面とに一対のIDリーダライタ１８を備え、内部に電源２２とパーソナルコンピュータ２０及びアンテナ１９を備えている。 FIG. 3 shows the structure of the ID reader unit 16. Reference numeral 55 denotes a housing, and 56 denotes a vibration damping member such as a viscoelastic gel, which is disposed between the outer layer and the inner layer of the housing 55, for example, in a film shape. The bottom surface of the housing 55 is a mounting surface 57, which can be mounted on the slide fork 37 and can also be mounted on the rail 28 of the flow shelf 24. The ID reader unit 16 includes a pair of ID reader / writers 18 on the front surface and the back surface, and includes a power source 22, a personal computer 20, and an antenna 19 inside.
　図４に、IDリーダユニット１６と地上側コントローラ１０との関係を示す。IDリーダライタ１８及びパーソナルコンピュータ２０は電源２２から電力を供給され、アンテナ１９を介してＬＡＮ８を介して地上側コントローラ１０と通信する。なおＬＡＮ８は有線でも無線でも良い。パーソナルコンピュータ２０は、IDリーダライタ１８からの読み取りデータを読み取りファイル６０に記憶し、コントローラ１０から受信した在庫ファイル６１を記憶する。またコントローラ１０は、自動倉庫システム２全体に対する在庫ファイル６２を記憶する。これらのファイル６０～６２では、バケットのIDと間口のIDとを対応付けて記憶する。なおIDリーダライタ１８は、IDリーダライタの本体とアンテナとが一体であるが、これらを別体としてもよい。 FIG. 4 shows the relationship between the ID reader unit 16 and the ground-side controller 10. The ID reader / writer 18 and the personal computer 20 are supplied with power from a power source 22 and communicate with the ground-side controller 10 via the antenna 8 via the antenna 19. The LAN 8 may be wired or wireless. The personal computer 20 stores the read data from the ID reader / writer 18 in the read file 60 and stores the inventory file 61 received from the controller 10. The controller 10 also stores an inventory file 62 for the entire automatic warehouse system 2. In these files 60 to 62, the bucket ID and the frontage ID are stored in association with each other. In the ID reader / writer 18, the main body of the ID reader / writer and the antenna are integrated, but these may be separated.
　図５に棚卸しのアルゴリズムを示す。棚卸しの開始時に、地上側コントローラ１０はスタッカークレーン４に対して、棚卸しの範囲を指定する。この範囲は流動棚２４の全体あるいはその一部である。地上側コントローラ１０は、ＬＡＮ８などを介して、IDリーダユニット１６に棚卸し範囲内の在庫ファイルを送信する。スタッカークレーン４はIDリーダユニット１６の存在する棚まで走行して、スライドフォーク３７によりユニット１６を搭載し、指定された範囲内を走行する。この間にIDリーダユニット１６は棚の間口のIDとバケットのIDとを読み取り、これらのIDは一意で重複のないユニークなIDである。なお物品のIDがバケット単位ではなく個品毎に設けられている場合、個品のIDを読み取る。そしてユニット１６は、間口のIDとバケットのIDとを関連付けて記憶する。例えば図４のレコード６３のように、間口毎にバケットのIDを記憶する。 Fig. 5 shows the inventory algorithm. At the start of inventory, the ground-side controller 10 designates a range of inventory for the stacker crane 4. This range is the entire fluid shelf 24 or a part thereof. The ground-side controller 10 transmits an inventory file within the inventory range to the ID reader unit 16 via the LAN 8 or the like. The stacker crane 4 travels to the shelf where the ID reader unit 16 exists, and the unit 16 is mounted by the slide fork 37 and travels within the specified range. During this time, the ID reader unit 16 reads the shelf front ID and bucket ID, and these IDs are unique and unique. In addition, when the ID of the article is provided for each individual item instead of the bucket unit, the ID of the individual item is read. The unit 16 stores the frontage ID and the bucket ID in association with each other. For example, like the record 63 in FIG. 4, the bucket ID is stored for each frontage.
　流動棚２４の棚卸しでは、棚２４の奥行き方向に複数並んだバケット２６のIDを読み取り、かつスタッカークレーン４の移動速度が大きいので、同時に読み取る範囲が広くなる。このため、目的の間口以外の周囲の間口のIDも同時に読み取ることが多い。従って１つのバケットのIDが、複数の間口と紐付けられて記憶される場合が多い。なお指向性の高いアンテナを用いて、スタッカークレーン４を低速で走行させて、バケット２６のRFID３０を読み取ると、このような問題は生じない。しかし指向性の高いIDリーダは高価で、かつ棚卸しに時間がかかる。 In the inventory of the fluid shelves 24, the IDs of the buckets 26 arranged in the depth direction of the shelves 24 are read, and the moving speed of the stacker crane 4 is high. For this reason, IDs of surrounding frontage other than the target frontage are often read at the same time. Therefore, the ID of one bucket is often stored in association with a plurality of frontages. Note that when the RFID 30 of the bucket 26 is read by running the stacker crane 4 at a low speed using an antenna having high directivity, such a problem does not occur. However, highly directional ID readers are expensive and take time to inventory.
　パーソナルコンピュータ２０は、地上側コントローラ１０から受信した在庫ファイル６１と読み取りファイル６０とを照合する。読み取りファイル６０での、バケットのIDと対応する間口またはその近傍の間口に、在庫ファイル６１でバケットのIDが存在すれば、在庫ファイル上の間口にバケットが収納されているものとする。在庫ファイル６１と読み取りファイル６との間で、バケットのIDが存在する間口が異なっていても良いとするのは、IDリーダライタの指向性が低く、かつスタッカークレーン４の移動速度が高いためである。これらの処理は、パーソナルコンピュータ２０で処理せずに、ファイル６０をアンテナ１９から地上側コントローラ１０へ送信し、地上側コントローラ１０で処理しても良い。 The personal computer 20 collates the inventory file 61 received from the ground-side controller 10 with the read file 60. If there is a bucket ID in the inventory file 61 at a frontage corresponding to or near the bucket ID in the read file 60, the bucket is stored in the frontage on the stock file. The reason that the frontage where the bucket ID exists may be different between the inventory file 61 and the reading file 6 is that the directivity of the ID reader / writer is low and the moving speed of the stacker crane 4 is high. is there. These processes may be processed by the ground-side controller 10 by transmitting the file 60 from the antenna 19 to the ground-side controller 10 without being processed by the personal computer 20.
　在庫ファイル６１上のバケットのIDが、読み取りファイル６０上では近傍の間口までの範囲に存在しない場合、例えばより遠方の間口までを探索範囲として、バケットのIDが存在するかどうか検索する。また在庫ファイル６１に無いバケットのIDの有無を検索する。これらは在庫ファイル６１と読み取りファイル６０との不一致の処理で、地上側コントローラ１０で処理しても良く、また処理自体を省略しても良い。そして棚卸しが終了すると、IDリーダユニットを流動棚２４の所定の間口に移載する。なおレール２８はピッキング通路３４側に傾斜しているので、IDリーダユニット１６を載置する棚は、例えばレール２８を水平にした特別な間口とする。 When the bucket ID on the inventory file 61 does not exist in the range up to the nearby frontage on the reading file 60, for example, the search is performed to the farther frontage to determine whether the bucket ID exists. Also, the presence / absence of a bucket ID that is not in the inventory file 61 is searched. These are inconsistent processes between the inventory file 61 and the read file 60, and may be processed by the ground controller 10 or may be omitted. When the inventory is completed, the ID reader unit is transferred to a predetermined slot of the fluid shelf 24. Since the rail 28 is inclined toward the picking passage 34, the shelf on which the ID reader unit 16 is placed is, for example, a special frontage where the rail 28 is horizontal.
　図６に棚卸しアルゴリズムの変形例を示す。変形例では、棚のIDとバケットのIDとを読み取った後に、ユニット１６の内部で棚のIDとバケットのIDとを紐づけた一覧化データを作成する。例えばこれと並行してユニットを棚に戻し、ＬＡＮ８などを介して棚のIDとバケットのIDとを紐づけた一覧化データを、地上側コントローラ１０へ送信する。そして地上側コントローラ１０で、ユニット１６から受信した一覧化データと在庫ファイル６２とを照合し、棚卸しを実行する。このため棚卸しの準備として、地上側コントローラ１０からユニット１６へ在庫ファイル６１を送信する必要がない。 Fig. 6 shows a variation of the inventory algorithm. In the modification, after reading the shelf ID and the bucket ID, list data in which the shelf ID and the bucket ID are associated with each other is created inside the unit 16. For example, in parallel with this, the unit is returned to the shelf, and the list data in which the shelf ID and the bucket ID are associated is transmitted to the ground-side controller 10 via the LAN 8 or the like. Then, the ground controller 10 collates the list data received from the unit 16 with the inventory file 62, and executes inventory. Therefore, it is not necessary to transmit the inventory file 61 from the ground-side controller 10 to the unit 16 as preparation for inventory.
　図７に変形例を示す。５０は新たなスタッカークレーンで、５１はマスト、５２は昇降台で、例えば一対のスライドフォーク５３，５３を備えたツインフォーク型の昇降台である。そして１６'は新たなIDリーダユニットで、例えばIDリーダライタ１８をその周囲の４面もしくは周囲の３面などに備えている。棚５４は流動棚ではない通常の棚で、例えばRFID３０を取り付けたバケット２６を収納し、間口毎にRFID３２を設ける。他の点では図１～図５の実施例と同様である。 Fig. 7 shows a modification. 50 is a new stacker crane, 51 is a mast, 52 is an elevator, for example, a twin fork type elevator having a pair of slide forks 53, 53. Reference numeral 16 'denotes a new ID reader unit, which includes, for example, an ID reader / writer 18 on four surrounding surfaces or three surrounding surfaces. The shelf 54 is a normal shelf that is not a fluidized shelf, and stores, for example, the bucket 26 to which the RFID 30 is attached, and the RFID 32 is provided for each frontage. The other points are the same as those of the embodiment of FIGS.
　図７の変形例では、バケット２６をスライドフォーク５３で昇降台５２上へ引き出し、昇降台５２上でIDリーダユニット１６'によりIDを読み取る。この場合も同様に間口のRFID３２を読み取る。以上のようにすれば、バケット２６のIDを１個ずつ読み取れるので、同じバケットIDが複数の間口に対して現れることがない。また棚卸し時以外は、IDリーダユニット１６'を昇降台５２上から棚５４内の適宜の位置へ収納する。 7, the bucket 26 is pulled out onto the lifting platform 52 by the slide fork 53, and the ID is read by the ID reader unit 16 ′ on the lifting platform 52. In this case as well, the front-end RFID 32 is read. In this way, since the IDs of the buckets 26 can be read one by one, the same bucket ID does not appear for a plurality of fronts. Further, except during inventory, the ID reader unit 16 ′ is stored in an appropriate position in the shelf 54 from the lifting platform 52.
　実施例では以下の効果が得られる。
(1)　IDリーダユニット１６，１６'は、スタッカークレーン４，５０から電力面でもデータ面でも独立しているので、既存のスタッカークレーン４，５０に搭載して運用できる。
(2)　IDリーダユニット１６はバケット２６のRFID３０と間口のRFID３２とを読み取り、これらを関連付けるので、スタッカークレーン４，５０側から現在位置に関する情報を受け取る必要がない。従ってスタッカークレーン４，５０に対するIDリーダユニット１６，１６'の独立性をより高めることができる。
(3)　IDリーダユニット１６，１６'は、棚卸しあるいは物品のIDを読み取る必要がある際以外は、流動棚２４や棚５４などに収納しておく。このため常時は昇降台１４，５２上のスペースを必要とせず、しかも棚卸しの際には、スライドフォーク３７，５３で昇降台１４，５２上へIDリーダユニット１６，１６'を移載するだけで、迅速に棚卸しを開始できる。
　 In the embodiment, the following effects can be obtained.
(1) Since the ID reader units 16 and 16 'are independent of the stacker cranes 4 and 50 in terms of power and data, they can be installed and operated on the existing stacker cranes 4 and 50.
(2) Since the ID reader unit 16 reads the RFID 30 of the bucket 26 and the RFID 32 of the frontage and associates them with each other, it is not necessary to receive information on the current position from the stacker cranes 4 and 50 side. Therefore, the independence of the ID reader units 16 and 16 ′ with respect to the stacker cranes 4 and 50 can be further increased.
(3) The ID reader units 16 and 16 'are stored in the fluid shelf 24, the shelf 54, etc., except when it is necessary to take inventory or read the ID of an article. For this reason, the space on the lifting platforms 14 and 52 is not always required, and when inventorying, the ID reader units 16 and 16 'are simply transferred onto the lifting platforms 14 and 52 by the slide forks 37 and 53. You can start inventory quickly.

Claims (5)

  1. 棚と搬送装置と、棚に収納された物品のIDを用いて棚の在庫を管理するコントローラ、とを備えた自動倉庫システムであって、
    　ハウジングと、該ハウジングに設けられかつ前記搬送装置により支持自在な載置面と、IDリーダ本体及び該IDリーダのアンテナと、前記コントローラへ読み取ったIDを出力する出力手段と、電源とを備えたIDリーダユニットを設けると共に、
    　前記IDリーダユニットを前記搬送装置により支持しながら移動させることにより、前記IDリーダユニットで前記物品のIDタグを読み取るように構成したことを特徴とする、自動倉庫システム。     An automatic warehouse system comprising a shelf, a transfer device, and a controller that manages inventory of the shelf using an ID of an article stored in the shelf,
    A housing, a mounting surface provided in the housing and freely supported by the transfer device, an ID reader body and an antenna of the ID reader, an output means for outputting the read ID to the controller, and a power source. While providing an ID reader unit,
    An automatic warehouse system, wherein the ID reader unit is configured to read the ID tag of the article by moving the ID reader unit while being supported by the transport device.
  2. 前記棚に複数のIDタグを設け、
    　前記IDリーダユニットを、前記物品のIDタグと棚のIDタグとを読み取り、物品のIDを棚のIDと関連付け自在に出力するように構成したことを特徴とする、請求項１の自動倉庫システム。     A plurality of ID tags are provided on the shelf,
    2. The automatic warehouse system according to claim 1, wherein the ID reader unit is configured to read an ID tag of the article and an ID tag of the shelf and output the ID of the article so as to be associated with the ID of the shelf. .
  3. 前記載置面は前記搬送装置の移載手段により支持自在で、かつ前記IDリーダユニットは前記移載手段により棚との間で移載自在であり、
    　前記IDリーダユニットは棚卸し時以外は棚に収納し、棚卸し時には前記移載手段により棚から前記移載手段上へ移載するようにしたことを特徴とする、請求項２の自動倉庫システム。     The mounting surface can be supported by the transfer means of the transport device, and the ID reader unit can be transferred between the shelf by the transfer means,
    3. The automatic warehouse system according to claim 2, wherein the ID reader unit is stored in a shelf except during inventory, and is transferred from the shelf onto the transfer means by the transfer means during inventory.
  4. 棚と搬送装置と、棚に収納された物品のIDを用いて棚の在庫を管理するコントローラ、とを備えた自動倉庫システムの棚卸し方法であって、
    　ハウジングと、該ハウジングに設けられかつ前記搬送装置により支持自在な載置面と、IDリーダ本体及び該IDリーダのアンテナと、前記コントローラへ読み取ったIDを出力する出力手段と、電源とを備えたIDリーダユニットを設けると共に、
    　前記IDリーダユニットを前記搬送装置により支持しながら移動させることにより、前記IDリーダユニットで前記物品のIDタグを読み取るように構成したことを特徴とする、自動倉庫システムの棚卸し方法。     An inventory method for an automatic warehouse system comprising a shelf, a transfer device, and a controller that manages inventory of the shelf using an ID of an article stored in the shelf,
    A housing, a mounting surface provided in the housing and freely supported by the transfer device, an ID reader body and an antenna of the ID reader, an output means for outputting the read ID to the controller, and a power source. While providing an ID reader unit,
    An inventory method for an automatic warehouse system, wherein the ID reader unit is configured to read the ID tag of the article by moving the ID reader unit while being supported by the transport device.
  5. 棚に収納された物品に付されたIDタグから、物品のIDを読み取るユニットであって、
    　ハウジングと、該ハウジングに設けられかつ搬送装置により支持自在な載置面と、IDリーダ本体と該IDリーダのアンテナと、外部のコントローラへ読み取ったIDを出力する出力手段と、電源とを備えたIDリーダユニット。     A unit that reads the ID of an article from an ID tag attached to the article stored on the shelf,
    A housing, a mounting surface provided in the housing and freely supported by the transfer device, an ID reader main body, an antenna of the ID reader, an output means for outputting the read ID to an external controller, and a power source. ID reader unit.
PCT/JP2008/058729 2008-05-12 2008-05-12 Automatic warehousing system, inventory method, and id reader unit WO2009139038A1 (en)

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CN108820676A (en) * 2018-08-10 2018-11-16 浙江钧普科技股份有限公司 A kind of tiered warehouse facility automatic inventory-making device
CN112340642A (en) * 2020-12-21 2021-02-09 常德市格佳机械有限公司 Automatic locking mechanism of hydraulic cylinder placing equipment
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