Automated Warehouse Systems and Control Methods

Abstract

This invention enables easy learning of the position of the carrying units in an automated warehouse. The automated warehouse system comprises a plurality of carrying units fixed relative to the automated warehouse for carrying and transporting objects. Each carrying unit is marked with an identification code displaying identification information for identifying each carrying unit. The stacker is equipped with an image-capturing unit (25). The control device (23) senses the identification information displayed by the identification code from an image containing the identification code of the carrying unit captured by the image-capturing unit (25), and associates and stores the sensed identification information with stacker position information related to the position of the stacker at the time the image was captured.

Description

Technical Field

[0001] This invention relates to an automated warehouse system and a control method for an automated warehouse. Prior Technology

[0002] The automated warehouse system moves the transfer unit of the goods transport device horizontally and vertically within a moving space until it is positioned at the target stop position of the storage unit. Then, at its target stop position, the automated warehouse system uses the transfer unit to perform the loading and unloading of goods, enabling the storage of goods into or out of the storage units of the goods storage shelves.

[0003] Patent Document 1 relates to an automated warehouse system. The automated warehouse system moves a transfer mechanism such that a learning marker sensing mechanism can sense both ends of a learning marker in either the horizontal or vertical movement direction of the transfer mechanism. Then, the automated warehouse system learns one of horizontal distance information and vertical distance information based on sensing information from either the horizontal movement distance sensing mechanism or the vertical movement distance sensing mechanism when the learning marker sensing mechanism senses at least one end of the learning marker. Furthermore, the automated warehouse system learns the other of the horizontal distance information and vertical distance information based on sensing information from either the horizontal movement distance sensing mechanism or the vertical movement distance sensing mechanism when the learning marker sensing mechanism senses both ends of the learning marker. [Patent Literature]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2008-044732.

[0005] In the aforementioned patent document 1, the automated warehouse system shines light onto a reflector (learning marker) with trapezoidal stickers affixed to it. By sensing the reflected light through a laser sensor, it senses and learns horizontal distance information and vertical distance information.

[0006] For example, in the aforementioned automated warehouse system, although the system senses and learns the reflected light from the learning markers when learning the positions of the automated warehouse shelves, the limited sensing range severely restricts the placement of the learning markers relative to the entry and exit points of items. Therefore, operators must manually adjust the positions of the learning markers while simultaneously communicating with other operators operating the controller. When placing learning markers on the automated warehouse shelves, this becomes a manual operation at a height, compromising operator safety and increasing the workload for staff. Summary of the Invention

[0007] The purpose of this invention is to provide an automated warehouse system and a control method for the automated warehouse that can easily learn the position of the carrying unit of the automated warehouse.

[0008] To address the aforementioned issues, the present invention provides an automated warehouse system comprising: an automated warehouse for transferring and moving objects using a stacker; a control device for controlling the stacker; and a plurality of carriers fixed relative to the automated warehouse and used to carry the transferred objects; each carrier is marked with an identification code displaying identification information for identifying each carrier; the stacker's frame is equipped with a camera for capturing images; the control device senses the identification information displayed by the identification code from an image containing the identification code of the carrier captured by the camera; and establishes and stores the sensed identification information in conjunction with stacker position information related to the position of the stacker at the time the image was captured.

[0009] Furthermore, in order to solve the above-mentioned problems, the present invention provides a control method for an automated warehouse, which uses a stacker to transfer objects; the automated warehouse has a plurality of carriers fixed relative to the automated warehouse for carrying and transferring objects; the carriers are marked with identification codes that display identification information for identifying each carrier; the stacker's frame is equipped with a camera for capturing images; the control method includes the following steps: sensing identification information displayed by the identification code from an image containing the identification code of the carrier captured by the camera; and establishing and storing the sensed identification information and stacker position information related to the position of the stacker at the time the image was captured.

[0010] According to one aspect of the present invention, the position of the carrying unit of the automated warehouse can be easily learned. Simple Explanation of the Diagram

[0011] Figure 1 is a perspective view of an automated warehouse system according to an embodiment of the present invention. Figure 2 is a side view of the rail-guided stacker. Figure 3 is a block diagram showing an example of the configuration of the control section of an automated warehouse system according to an embodiment of the present invention. Figure 4 is a diagram illustrating a method for learning the identification code location information of a control device according to an embodiment of the present invention. Figure 5 shows an example of an image showing an identification code affixed to a shelf. Figure 6 is an example image showing an identification code affixed to the device port. Figure 7 is a flowchart illustrating the learning process sequence of the carrier section of an automated warehouse system according to an embodiment of the present invention. Figure 8 is a flowchart illustrating the processing sequence during the operation of an automated warehouse system according to an embodiment of the present invention. Figure 9 is a diagram illustrating the transfer OK range set within the shooting range of the shooting unit. Implementation

[0012] <Complete Structure of Automated Warehouse System 100> The configuration of an automated warehouse system according to an embodiment of the present invention will be described with reference to the accompanying drawings. Figure 1 is a perspective view of an automated warehouse system 100 according to an embodiment of the present invention. This automated warehouse system 100 includes two storage racks 2 facing each other and spaced apart, which allow items 1 to be transported in and out, and a rail-guided stacker 4 that serves as an automatic transport device that travels back and forth in the moving space 3 formed between the two storage racks 2. In addition, the items 1 can be transported by storing them in boxes or by transporting them as individual items.

[0013] Each item storage shelf 2 is provided with a plurality of front and rear pairs of support columns 2a at intervals in the horizontal direction of the shelf, and each pair of front and rear support columns 2a is provided with a plurality of load-bearing support parts 2b at intervals in the vertical direction.

[0014] The support unit 5 is configured to support and accommodate the transported object 1 using pairs of left and right support parts 2b. Furthermore, the support parts 5 are arranged in multiples along the vertical width direction and the horizontal width direction of the shelf. Alternatively, the support part 5 can be a shelf 5a or a device port 5b, described later. The shelf 5a and the device port 5b are collectively referred to as the support unit 5.

[0015] As shown in Figures 1 and 2, the device port 5b is equipped with either an inbound section 5b-1 or an outbound section 5b-2 of the processing device 50 that processes the transported object 1. The device port 5b may also have both an inbound section 5b-1 and an outbound section 5b-2. Furthermore, the inbound section 5b-1 and the outbound section 5b-2 are collectively referred to as device port 5b.

[0016] The cargo support platform 6, which supports the goods 1 being transported to or from the storage rack 2, is located in a place adjacent to the storage rack 2 in the horizontal direction of the rack.

[0017] In the mobile space 3, the accessible range of the goods storage rack 2, including the entire horizontal width of the rack and the cargo loading platform 6 for entry and exit, is provided on the ground via a travel track 7. The accessible range of the goods storage rack 2, including the entire horizontal width of the rack and the cargo loading platform 6 for entry and exit, is provided on the top side via a guide track 8. Then, the rail-guided stacker 4 is configured to be guided by the guide track 8 and capable of moving horizontally on the travel track 7.

[0018] Furthermore, the automated warehouse system 100 is equipped with a device port 5b, which performs the receiving and accepting of the transported object 1 when it is transported to the processing device for processing the transported object 1, and when it is retrieved from the processing device. The device port 5b is equipped with an inbound section for transporting the transported object 1 to the processing device, and an outbound section for retrieving the transported object 1 from the processing device.

[0019] As shown in Figure 2, the rail-guided stacker 4 is configured to include a traveling trolley 9 that travels freely along a travel track 7, a platform 11 that rises and falls freely along a lifting column 10 erected on the traveling trolley 9, and a goods transfer device (e.g., forks) 12 mounted on the platform 11. Thus, the rail-guided stacker 4 is configured to move the goods transfer device 12 horizontally by the travel of the traveling trolley 9, and to move the goods transfer device 12 vertically by the lifting operation of the platform 11.

[0020] Next, the rail-guided stacker 4 is configured to use the travel trolley 9, the lifting operation of the platform 11, and the transfer operation of the goods transfer device 12 to transfer the goods 1 to the cargo carrier platform 6 for entering and leaving the warehouse, and to perform the entry and exit of the goods 1 in the carrier section 5.

[0021] In the rail-guided stacker 4, a pair of lifting columns 10 are provided at the front and rear ends of the traveling trolley. Next, an upper frame 13 is provided at the upper end of each lifting column 10 to connect the upper ends of the pairs of lifting columns 10. This upper frame 13 is designed to be guided by the guide rail 8.

[0022] The platform 11 is guided and supported by a pair of lifting columns 10 erected at the front and rear of the traveling trolley 9, and is suspended and supported by lifting cables 14 connecting its left and right sides.

[0023] The lifting cable 14 is wound around the guide pulley 15 located on the upper frame 13 and the guide pulley 16 located on one side of the lifting column 10, and is wound by the cable winder 17 equipped at one end of the traveling trolley 9.

[0024] The cable reel 17 is equipped with an inverter-type lifting electric motor 18. Then, by driving the lifting electric motor 18 to rotate in both directions, the lifting cable 14 is pulled out or wound, so as to be configured to lift and move the platform 11 and the item transfer device 12.

[0025] The frame 11 is equipped with a lifting encoder 19, which senses the lifting distance from the reference lifting position to the item transfer device 12 in the lifting direction of the item transfer device 12. In addition, the lifting encoder 19 can be a linear encoder or a rotary encoder.

[0026] The reference lifting position is defined as the position of the item transfer device 12 when the platform 11 is positioned on the traveling trolley 9. Although not illustrated, this reference lifting position is sensed by a sensor such as a limit switch mounted on the platform 11 that senses a sensor mounted on the traveling trolley 9. Next, the rotating shaft of the lifting encoder 19 is equipped with a sprocket that meshes with a chain extending along the long side of the lifting column 10. By sensing the lifting distance of the platform 11 after the reference lifting position is detected, the lifting distance from the reference lifting position to the item transfer device 12 is sensed.

[0027] In the rail-guided stacker 4, the traveling trolley 9 is equipped with pairs of traveling wheels 20 spaced apart along the long side of the traveling track 7. Of the pairs of traveling wheels 20, one traveling wheel 20a is configured as a driving wheel, and the other traveling wheel 20b is configured as a driven wheel for free rotation. The traveling wheel 20a is equipped with an inverter-type traveling electric motor 21. By driving the traveling electric motor 21 to rotate forward and backward, the traveling trolley 9 can travel along the traveling track 7 and the material transfer device 12 can move horizontally.

[0028] The traveling trolley 9 is equipped with a traveling encoder 22 that senses the horizontal distance traveled from the reference horizontal position to the item transfer device 12 in the horizontal movement direction of the item transfer device 12. The traveling encoder 22 can be a linear encoder or a rotary encoder.

[0029] The reference horizontal position is defined as the end of the cargo-carrying platform 6 for entering and exiting the warehouse on the travel track 7. Although the illustration is omitted, this reference horizontal position is sensed by sensing the sensing element installed on the ground side using a sensor such as a limit switch installed on the travel trolley 9. Next, the rotating shaft of the travel encoder 22 is equipped with a sprocket that meshes with a chain provided along the long side of the travel track 7. By sensing the horizontal movement distance of the travel trolley 9 after the reference horizontal position is sensed, the horizontal movement distance from the reference horizontal position to the item transfer device 12 is sensed.

[0030] <Example of the configuration of control device 23> As shown in Figure 3, the automated warehouse system 100 is equipped with a control device 23, which controls the operation of the rail-guided stacker 4. The control device 23 selects the inbound / outbound cargo carrier 6 of the transfer object from two inbound / outbound cargo carrier platforms 6, or selects the carrier 5 of the transfer object from a plurality of carrier sections 5, and controls the travel of the traveling trolley 9 and the lifting and lowering of the platform 11, so that the item transfer device 12 moves to the target stopping position corresponding to the inbound / outbound cargo carrier 6 of the transfer object, or the target stopping position corresponding to the carrier section 5 of the transfer object.

[0031] In addition, the control device 23 controls the transfer operation of the item transfer device 12 so that, at the target stop position, the item transfer device 12 performs the transfer of the object 1 to the cargo carrier platform 6 for inbound and outbound storage, or the entry and exit of the object 1 to the carrier part 5 for the transfer object.

[0032] Alternatively, the control device 23 can consist of two controllers that communicate freely with a ground-side controller located on the ground and a stacker-side controller located on the side of the stacker in the rail-guided tunnel. Alternatively, it can consist of a single controller that communicates freely with a ground-side controller located on the ground and with machines such as the lifting electric motor 18 or the travel electric motor 21 located on the side of the stacker in the rail-guided tunnel.

[0033] The target stop position of the carrier 5 is used to properly execute the position of the transported object 1 entering and exiting the carrier 5, and is set individually for each of the multiple carriers 5. Then, the target stop position is determined by the target horizontal distance information from the reference horizontal position in the horizontal movement direction of the item transfer device 12, and the target lifting distance information from the reference lifting position in the lifting movement direction of the item transfer device 12.

[0034] In this embodiment, the target stop position is defined as the intermediate position between the target stop position for unloading the transport object 1 when unloading it from the carrying unit 5 and the target stop position for collection when placing the transport object 1 to the item transfer device 12. Hereinafter, as an example of the item transfer device 12, the case of the forks will be described.

[0035] Then, the target stop position for unloading is set so that when the forks 12 are moved in and out while the object being transported is being supported, the object being transported 1 can avoid conflict with the support column 2a or the support part 2b.

[0036] The target stop position of the loading platform 6 for inbound / outbound operations, like the target stop position of the carrying unit 5, is the position used to properly perform the transfer of the transported object 1 to the loading platform 6. The target stop position of the loading platform 6 is determined by target horizontal distance information from the reference horizontal position in the horizontal movement direction of the forks 12, and target lifting distance information from the reference lifting position in the lifting movement direction of the forks 12. Furthermore, the target stop positions of the rail-guided aisle stacker 4 in the lifting movement direction and the rail-guided aisle stacker 4 in the horizontal movement direction are referred to as stacker position information.

[0037] Figure 3 is a block diagram showing an example of the configuration of the control unit of an automated warehouse system 100 according to an embodiment of the present invention. The control device 23 includes a travel control unit 23a, a lifting control unit 23b, a transfer control unit 23c, and a sensing unit 23d.

[0038] The driving control unit 23a controls the operation of the driving electric motor 21 in order to move the forks 12 horizontally to the target stop position in the horizontal movement direction of the goods transfer device 12 based on the sensing information of the driving encoder 22 and the target horizontal distance information.

[0039] The lifting control unit 23b controls the operation of the lifting electric motor 18 based on the sensing information of the lifting encoder 19 and the target lifting distance information, so as to lift and move the item transfer device 12 to the target stop position in the lifting direction of the fork 12.

[0040] The transfer control unit 23c controls the transfer operation of the forks 12 to perform the transfer of the object 1 to the cargo carrier 6 or the entry and exit of the object 1 to the carrier 5.

[0041] The travel control unit 23a starts the travel electric motor 21 and begins the travel operation of the travel trolley 9. After the horizontal movement distance sensed by the travel encoder 22 becomes the target horizontal distance information in the cargo carrier platform 6 or the carrier section 5 to be transferred, the travel electric motor 21 stops operating and the forks 12 are positioned at the target stop position in the horizontal movement direction of the forks 12.

[0042] When the object 1 is unloaded onto the support section 5 or the cargo support platform 6, the lifting control unit 23b starts the lifting electric motor 18 and begins the lifting operation of the platform 11. After the lifting encoder 19 senses the target lifting distance information in the cargo support platform 6 or the support section 5, the operation of the lifting electric motor 18 is stopped. Then, the lifting control unit 23b positions the forks 12 at the target stop position for unloading, which is a position only a set distance above the target stop position.

[0043] Furthermore, when the lifting control unit 23b picks up the object 1 from the carrying unit 5 or the cargo carrying platform 6, it performs the same operation as when the object 1 is unloaded from the carrying unit 5 or the cargo carrying platform 6, so that the forks 12 are positioned at the target stop position for picking up the object 1, which is only a set distance below the target stop position.

[0044] When unloading the transported object 1 from the carrying unit 5 or the cargo carrying platform 6, the transfer control unit 23c extends the forks 12 while supporting the transported object 1, and then lowers the item transfer device 12 to the target stop position for collection by lowering the platform 11, thereby unloading the transported object 1 onto the carrying unit 5 or the cargo carrying platform 6, and then retracts the forks 12. Furthermore, when collecting the transported object 1 from the carrying unit 5 or the cargo carrying platform 6, the transfer control unit 23c extends the forks 12, and then raises and lowers the forks 12 to the target stop position by raising the platform 11 to scoop up the transported object 1, and then retracts the forks 12 while supporting the transported object 1.

[0045] In order to move the forks 12 to the target stop position corresponding to each of the plurality of load-bearing parts 5, the control device 23 needs to first obtain target horizontal distance information and target lifting distance information for the plurality of target stop positions.

[0046] <Learning about Identifier Location Information> Figure 4 is a diagram illustrating a method for learning the identification code position information of the control device 23 according to an embodiment of the present invention. The plate material 27 marked with the identification code is correspondingly attached to each bearing portion 5 (refer to Figures 1 and 2). Alternatively, the plate material 27 may be a sticker marked with the identification code.

[0047] The identification codes marked on the plates 27 affixed to each bearing part 5 contain unique, arbitrary identification information. The frame 11 of the rail-guided stacker 4 is fixed with a camera unit 25. Furthermore, the mounting position of the camera unit 25 is adjusted using identification codes affixed to the reference frame.

[0048] When the rail-guided stacker 4 is moved to the position corresponding to the stacker's position information, the position of the identification code is adjusted so that it appears in the image captured by the imaging unit 25. As long as the identification code is within the image captured by the imaging unit 25, the sensing unit 23d of the control device 23 can detect it. Therefore, manual adjustment of the identification code's position is unnecessary, ensuring operator safety and reducing operator work time. Furthermore, the identification code only needs to be a size that can be sensed by image processing; the size of the identification code is not particularly limited relative to the image size.

[0049] Identification codes can be, for example, two-dimensional codes such as QR (Quick Response) codes or DataMatrix codes. Furthermore, identification codes are not limited to two-dimensional codes; for example, they can be one-dimensional codes such as barcodes, or even three-dimensional codes.

[0050] During the learning of identification information, the control device 23 moves the rail-guided stacker 4 to the position corresponding to the stacker position information of the carrier 5 of the learning object. Next, the sensing unit 23d of the control device 23 analyzes the image captured by the imaging unit 25 and senses the identification code to obtain the identification information recorded in the identification code. Furthermore, the sensing unit 23d of the control device 23 obtains the relative position of the identification code within the image captured by the imaging unit 25 as the identification code position information.

[0051] The sensing unit 23d of the control device 23 stores identification information as information for identifying the carrier unit 5, and establishes a correlation with the identification information to store stacker position information and identification code position information. The identification code position information is information that includes the relative position of the stacker position information and the identification code, and it can also be linked with the identification information to store only the identification code position information.

[0052] Figure 5 shows an example of an image when the identification code is affixed to the shelf 5a. As shown in Figure 5, the image captured by the imaging unit 25 includes the identification code 24 marked on the board material 27. The sensing unit 23d of the control device 23 senses the identification code from the image captured by the imaging unit 25 and calculates the relative position (x, y) of the identification code 24. The center point of the identification code 24 can be used as the relative position (x, y), or any one of the four corners of the identification code 24 can be used as the relative position (x, y).

[0053] Figure 6 shows an example of an image when the identification code is affixed to the device port 5b. As shown in Figure 6, the image captured by the imaging unit 25 includes the identification code 24 marked on the board material 27. In addition, although the identification code 24 is affixed near the storage section 5b-1 of the processing device 50, the identification code is also affixed near the exit section 5b-2.

[0054] <Processing order during the learning of identifier location information> Figure 7 is a flowchart illustrating the processing sequence of the learning process in the carrier unit 5 of an automated warehouse system according to an embodiment of the present invention. First, the control device 23 acquires the stacker position information corresponding to the carrier unit 5 of the learning object (S1), and moves the rail-guided stacker 4 to the carrier unit 5 of the learning object based on the stacker position information (S2). In addition, the stacker position information is set to be the intermediate position between the target stop position for unloading the transported object 1 when unloading it from the carrier unit 5 and the target stop position for picking up the transported object 1 when placing it on the forks 12.

[0055] Next, the sensing unit 23d of the control device 23 captures an image containing the identification code using the imaging unit 25 (S3), analyzes the captured image to sense the identification code, and then obtains the identification information recorded in the identification code (S4). Then, the sensing unit 23d of the control device 23 calculates the identification code position information indicating the position of the identification code within the image (S5).

[0056] Next, the sensing unit 23d of the control device 23 stores the identification information obtained from the identification code, the stacker position information, and the identification code position information in association (S6). Finally, the control device 23 determines whether it has learned the carrier unit 5 corresponding to all identification codes (S7).

[0057] If there is a carrier 5 that has not yet been learned (S7, No), the control device 23 will return to step S1 and repeat the subsequent processing. Alternatively, if carrier 5 corresponding to all identification codes has been learned (S7, Yes), the control device 23 will end the processing.

[0058] <Processing sequence during the operation of the automated warehouse system 100> Figure 8 is a flowchart illustrating the processing sequence during the operation of an automated warehouse system according to an embodiment of the present invention. First, the control device 23 obtains the stacker position information and identification code position information corresponding to the carrier unit 5 performing the operation (S11). Since the carrier unit 5 and the identification information are in a one-to-one correspondence, the control device 23 can obtain the stacker position information and identification code position information corresponding to the carrier unit 5 performing the operation by retrieving the identification information.

[0059] Next, the control device 23 will move the rail-guided stacker 4 directly to the target stop position (S12) based on the stacker position information. In addition, the stacker position information is set to be the intermediate position between the target stop position for unloading the transported object 1 when unloading it from the carrying unit 5 and the target stop position for picking up the transported object 1 when placing it on the forks 12.

[0060] For example, when the forks 12 pick up and transport the object 1 from the carrying section 5, the control device 23 will move the rail-guided stacker 4 to the target stop position for picking up and transporting, which is only a set distance (e.g., 10 cm) below the stacker position information.

[0061] Furthermore, when the forks 12 unload the transported object 1 from the carrying section 5, the control device 23 will move the rail-guided stacker 4 to a target stop position for unloading that is only a set distance (e.g., 10 cm) above the stacker position information.

[0062] Next, the sensing unit 23d of the control device 23 will capture an image containing the identification code via the imaging unit 25 (S13). At this time, the control device 23 can also analyze the captured image to sense the identification code, obtain the identification information recorded in the identification code, and determine whether it is consistent with the registered identification information, thereby confirming whether it is the correct carrier unit 5.

[0063] Next, the control device 23 refers to the image captured by the camera unit 25 to determine whether the position of the captured identification code 24 is within the transfer OK range (S14).

[0064] Figure 9 is a diagram illustrating the transfer OK range set within the shooting range of the shooting unit 25. As shown in the left image of Figure 9, during the learning of the identification code position information, the position of the identification code 24 is located slightly in the center of the shooting range.

[0065] For example, when the control device 23 moves the rail-guided stacker 4 to the target stop position for collection and retrieval, as shown in the right image of Figure 9, within the shooting range, the position of the identification code 24 during learning is set only above a predetermined distance (e.g., 10 cm) above the target stop position. The transfer OK range is set to be larger than the identification code 24. The right image of Figure 9 shows the case where the captured identification code 24 is not within the transfer OK range.

[0066] If the position of the captured identification code 24 is not within the transfer OK range (S14, No), the position of the fork 12 is adjusted (S15). As shown in the central diagram of Figure 9, the control device 23 adjusts the position of the fork 12 so that the position of the identification code 24 is within the transfer OK range. At this time, the control device 23 adjusts the position of the fork 12 installed on the rail-guided stacker 4 while referring to the image captured by the imaging unit 25, so that the position of the sensed identification code 24 is within the transfer OK range.

[0067] Furthermore, when the control device 23 moves the rail-guided stacker 4 to the target stop position for unloading, it sets the transfer OK range only below the position of the identification code 24 during learning, within the shooting range. Then, the control device 23 adjusts the position of the forks 12 so that the position of the identification code 24 is within the transfer OK range.

[0068] Furthermore, if the location of the captured identification code is within the transfer OK range (S14, Yes), the process will proceed to step S16.

[0069] Finally, the control device 23 will perform the operation (S16) on the object to be transported, and the process will end.

[0070] <The Effects of Automated Warehouse System 100> As explained above, in the automated warehouse system 100 of this embodiment, the sensing unit 23d of the control device 23 senses the identification code from the image captured by the imaging unit 25. As long as the identification code is within the image captured by the imaging unit 25, the sensing unit 23d of the control device 23 can sense it. Therefore, when the automated warehouse system is started, since there is no need to manually adjust the position of the identification code, the safety of the operators can be ensured, and the operation time of the operators can be shortened.

[0071] Furthermore, since identification information can be recorded on the identification code, the association between the carrier unit 5 and the identification information can be easily performed.

[0072] Furthermore, the identification code contains identification information with any non-repeating value. Since the carrier 5 and the identification information are in a one-to-one correspondence, the control device 23 can obtain the stacker position information and identification code position information corresponding to the carrier 5 performing the operation by retrieving the identification information.

[0073] Furthermore, since the identification information and the identification code location information are linked and stored, the control device 23 can easily obtain the identification code location information corresponding to the shed 5a that has become the object by retrieving the identification information.

[0074] Furthermore, since the identification information and identification code location information are linked and stored, the control device 23 can easily obtain the identification code location information corresponding to the device port 5b that has become the object by retrieving the identification information. In addition, by separately affixing identification codes to the inbound section 5b-1 and the outbound section 5b-2 of the device port 5b, the inbound control of the object 1 being transported to the processing device 50 and the outbound control of the object 1 being transported from the processing device 50 can be easily performed.

[0075] Furthermore, since the shape of the device port 5b varies depending on the manufacturer, it is difficult to attach the identification code to the appropriate position. However, as mentioned above, as long as the identification code is captured in the image by the imaging unit 25, the sensing unit 23d of the control device 23 can sense the identification code, so it can also be applied to the device port 5b.

[0076] Furthermore, the sensing unit 23d of the control device 23 calculates the identification code position information from the relative position of the identification code in the image captured by the imaging unit 25, and stores the identification code position information in association with the identification information of the carrying unit 5. Therefore, when the automated warehouse system 100 is in operation, the position adjustment of the forks 12 can be easily performed based on the identification code position information.

[0077] <Implementation Example via Software> The control block (especially the control device 23) of the automated warehouse system 100 can be implemented by logic circuits (hardware) formed by integrated circuits (IC chips) or by software.

[0078] In the latter case, the control device 23 is a computer that implements commands for the program, which is software that performs various functions. This computer, for example, has at least one processor and at least one recording medium that stores the program and is readable by the computer. Then, in this computer, the purpose of the present invention is achieved by having the processor read the program from the recording medium and execute it. As the processor, a CPU (Central Processing Unit) can be used, for example. As the recording medium, in addition to "non-transient tangible media", such as ROM (Read Only Memory), magnetic tape, optical discs, cards, semiconductor memory, programmable logic circuits, etc. can be used. In addition, RAM (Random Access Memory) for decompressing the program can also be further included. In addition, the program can also be supplied to the computer by means of any transmission medium (communication network or transmission wave, etc.) capable of transmitting the program. In addition, in one aspect of the present invention, the program is implemented by electronic transmission, and it can also be implemented in the form of data signals embedded in the transmission wave.

[0079] <Organization> An automated warehouse system according to the present invention comprises: an automated warehouse for transferring and moving objects by a stacker; a control device for controlling the stacker; and a plurality of carriers fixed relative to the automated warehouse and used to carry the transferred objects; each carrier is marked with an identification code displaying identification information for identifying each carrier; the stacker's frame is equipped with a camera for capturing images; the control device senses the identification information displayed by the identification code from an image containing the identification code of the carrier captured by the camera; and associates and stores the sensed identification information with stacker position information related to the position of the stacker at the time the image was captured.

[0080] Based on the above configuration, the control device can sense the identification code as long as it is placed within the image captured by the camera. Therefore, manual adjustment of the identification code's position is unnecessary, ensuring worker safety and reducing work time.

[0081] In this automated warehouse system, the control device calculates identification code location information, which is related to the location of the identification code, from the image containing the identification code and the stacker machine location information; and establishes an association between the identification information and the calculated identification code location information and stores it.

[0082] Based on the above configuration, since the identification information and the identification code location information are linked and stored, the control device can easily obtain the identification code location information corresponding to the carrier portion that becomes the object by retrieving the identification information.

[0083] In this automated warehouse system, the control device calculates the identification code position information from the stacker machine position information and the relative position of the identification code in the image.

[0084] Based on the above configuration, during the operation of the automated warehouse system, the control device can easily perform position adjustments of forks and other components based on the identification code location information.

[0085] In this automated warehouse system, the carrying unit is equipped with an inbound or outbound port of a processing device for handling the transported object; the control device establishes and stores the identification information and the identification code location information corresponding to the port.

[0086] Based on the above configuration, since the identification information and the identification code location information are linked and stored, the control device can easily obtain the identification code location information corresponding to the target device port by retrieving the identification information.

[0087] In this automated warehouse system, the support unit is a shelf; the control device establishes and stores the identification information and the identification code location information corresponding to the shelf.

[0088] Based on the above configuration, since the identification information and the identification code location information are linked and stored, the control device can easily obtain the identification code location information corresponding to the shed that is the target by retrieving the identification information.

[0089] In this automated warehouse system, the stacker's frame is equipped with forks for transferring the transported object; the control device adjusts the position of the forks relative to the carrying part based on the identification code position information when the transported object is placed on the forks.

[0090] Based on the above configuration, the operation of placing the transported object onto the forks can be easily performed.

[0091] In this automated warehouse system, the stacker's frame is equipped with forks for transferring the transported object; the control device adjusts the position of the forks relative to the carrying part based on the identification code position information when the transported object is unloaded from the forks.

[0092] Based on the above configuration, the operation of unloading the transported object from the forks can be easily performed.

[0093] In this automated warehouse system, the identification code is a 2D barcode.

[0094] In this automated warehouse system, the identification code is displayed on the board material or sticker.

[0095] The present invention discloses a control method for an automated warehouse, which uses a stacker to transfer objects. The automated warehouse has a plurality of carriers fixed relative to the automated warehouse for carrying the transferred objects. Each carrier is marked with an identification code that displays identification information for identifying each carrier. The stacker's frame is equipped with a camera for capturing images. The control method includes the following steps: sensing the identification information displayed by the identification code from an image containing the identification code of the carrier captured by the camera; and establishing and storing the sensed identification information and stacker position information related to the position of the stacker when the image was captured.

[0096] Based on the above configuration, the control device can sense the identification code as long as it is placed within the image captured by the camera. Therefore, there is no need to manually adjust the position of the identification code, thus ensuring the safety of the operator and reducing the operator's working time.

[0097] This invention is not limited to the various embodiments described above, and may include various modifications within the scope shown in the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of this invention.

[0098] 1: Moving objects 2: Storage Shelves 3: Mobile Space 4: Rail-guided stacker 5: Bearing section 5a: Shed 5b: Device Port 11: Stand 12: Goods transfer device (forklift) 18: Electric motor for lifting 19: Lifting encoder 21: Electric motor for driving 22: Encoder for driving 23: Control device 24: Identification Code 25: Filming Department 27: Panel Materials 100: Automated Warehouse System

Claims

1. An automated warehouse system comprising: an automated warehouse for transferring and moving objects using a stacker; a control device for controlling the stacker; and a plurality of carriers fixed relative to the automated warehouse for carrying the transferred objects; each carrier being marked with an identification code displaying identification information for identifying each carrier; the stacker's frame being equipped with a camera for capturing images; the control device sensing the identification information displayed by the identification code from an image containing the identification code of the carrier captured by the camera; establishing and storing the sensed identification information in association with stacker position information relating to the position of the stacker at the time the image was captured; calculating identification code position information relating to the position of the identification code from the image containing the identification code and the stacker position information; establishing and storing the identification information in association with the calculated identification code position information; and calculating the identification code position information from the relative position of the stacker position information and the identification code in the image.

2. The automated warehouse system as claimed in claim 1, wherein the carrying unit is a device port for an inbound or outbound section of a processing device for processing the transported object; the control device associates and stores the identification information and the identification code location information corresponding to the device port.

3. The automated warehouse system as claimed in claim 1, wherein the support is a shelf; the control device associates and stores the identification information and the identification code location information corresponding to the shelf.

4. The automated warehouse system as described in any one of claims 1 to 3, wherein the stacker is equipped with forks for transferring the transported object; and the control device adjusts the position of the forks relative to the load-bearing portion based on the identification code position information when the transported object is placed on the forks.

5. The automated warehouse system as described in any one of claims 1 to 3, wherein the stacker's frame is equipped with forks for transferring the transported object; and the control device adjusts the position of the forks relative to the load-bearing portion based on the identification code position information when the transported object is unloaded from the forks.

6. An automated warehouse system as described in any one of claims 1 to 3, wherein the identification code is a 2D barcode.

7. The automated warehouse system as described in any one of claims 1 to 3, wherein the identification code is marked on the board material or a sticker.

8. A control method for an automated warehouse, comprising a stacker crane transferring and moving objects; the automated warehouse having a plurality of carriers fixed relative to the automated warehouse for carrying the transferred objects; each carrier being marked with an identification code displaying identification information for identifying each carrier; the stacker crane's frame being equipped with a camera for capturing images; the control method comprising the following steps: sensing identification information displayed by the identification code from an image containing the identification code of the carrier captured by the camera; establishing and storing the sensed identification information in association with stacker crane position information related to the position of the stacker crane at the time the image was captured; calculating identification code position information related to the position of the identification code from the image containing the identification code and the stacker crane position information; establishing and storing the identification information in association with the calculated identification code position information; and calculating the identification code position information from the relative position of the stacker crane position information and the identification code in the image.

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