Article storage equipment

Abstract

A device for storing items is provided that enables appropriate conveyance of a container group consisting of multiple stacked containers even when the container group is tilted on a loading surface. The device performs tilt calculation processing to determine a loading tilt (θ) representing the tilt of a container group (Cg) loaded on a loading surface (F) relative to the Z direction based on coordinate information, bottom surface dimension information, and container group position information stored in a storage unit. The device also performs individual position calculation processing to determine individual position information indicating the position of each container (C) in the X and Y directions of each layer of the container group (Cg) based on the container group position information, the loading tilt (θ), and height dimension information. The device then controls a moving mechanism based on the individual position information.

Description

Technical Field

[0001] The present invention relates to an article storage facility comprising a conveying device for conveying containers and a control device for controlling the conveying device, wherein a container group consisting of a plurality of the containers stacked in a stacked state is placed on a placement surface constituting a storage area for storage. Background Art

[0002] An example of such an article storage facility is disclosed in Japanese Patent No. 6347333 (Patent Document 1). In the following description of the background art, the reference numerals in parentheses are those of Patent Document 1.

[0003] The article storage equipment disclosed in Patent Document 1 includes a conveying device (2) that performs: a conveying action for approaching from above a container (C) placed on a loading surface (1) set in a certain area on the floor of the equipment to lift the container (C); or a conveying action for placing other containers (C) on the container (C) to set multiple containers (C) in a stacked state. The conveying device (2) performs a conveying action on the container (C) placed on the loading surface (1) by lifting and lowering the holding units (7A, 7B) used to hold the container (C) in the vertical direction. Ideally, the loading surface (1) on which the container (C) is placed is preferably a flat surface that is horizontal in its entirety. However, in reality, the floor of the house where the equipment is installed and the surface of the support platform set thereon are not completely horizontal planes, and the height of the loading surface (1) is almost always slightly different depending on the location. In this case, the optimal lifting amount of the gripping unit (7A, 7B) by the conveying device (2) differs depending on the location where the container (C) to be conveyed is placed.

[0004] Therefore, in the article storage device disclosed in Patent Document 1, the heights of multiple locations on the loading surface (1) are measured in advance, and based on the measured heights, the lifting amount of the holding units (7A, 7B) brought by the conveying device (2) is corrected according to the position on the loading surface (1). As a result, even if the height of the loading surface (1) varies depending on the location, an appropriate conveying action can be performed for the container (C) arranged at any position on the loading surface (1). Summary of the Invention

[0005] Problems to be solved by the invention

[0006] However, when the loading surface (1) where the container (C) is placed is tilted, the container (C) also tilts in accordance with the tilt of the loading surface (1). When a container group consisting of a plurality of containers (C) stacked in a state is placed on such a tilted loading surface (1), the positional deviation in the horizontal direction relative to the bottom surface increases as it goes upward. Therefore, when the horizontal gripping position of the container (C) by the gripping units (7A, 7B) is made the same for the lower container (C) and the upper container (C), it is possible that an appropriate conveying operation cannot be performed. However, Patent Document 1 does not specifically disclose this point.

[0007] In view of the above-mentioned actual situation, it is desired to realize an article storage facility that can appropriately transport a container group even when a container group consisting of a plurality of containers in a stacked state is placed obliquely on a placement surface.

[0008] Means used to solve problems

[0009] The article storage equipment disclosed in the present invention comprises a conveying device for conveying containers and a control device for controlling the conveying device, wherein a container group consisting of a plurality of the containers in a stacked state is placed on a loading surface constituting a storage location and stored, the control device comprising a storage unit; an ideal plane constituted by the loading surface is set as a reference plane, directions along the reference plane and perpendicular to each other are set as X and Y directions, and a direction perpendicular to the reference plane is set as Z direction; the storage unit stores coordinate information indicating actual positions of a plurality of parts of the loading surface in the X, Y and Z directions, bottom dimension information indicating dimensions of the bottom surfaces of the containers in the X and Y directions, height dimension information indicating heights of the containers in the Z direction, and container group position information indicating positions of the container group in the X and Y directions on the loading surface. the conveying device comprises a gripping portion for gripping a single container or a plurality of stacked containers, a moving mechanism for moving the gripping portion in the X direction and the Y direction, and a lifting mechanism for lifting the gripping portion in the Z direction; the control device performs an inclination calculation process for determining an inclination of the container group loaded on the loading surface relative to the Z direction based on the coordinate information, the bottom surface dimension information and the container group position information stored in the storage unit, and an individual position calculation process for determining individual position information indicating the positions of the containers in the X direction and the Y direction of each layer constituting the container group based on the container group position information, the loading inclination and the height dimension information, and controls the moving mechanism based on the individual position information.

[0010] According to this configuration, when a group of containers is placed at a certain location on a loading surface, the position and dimensions of the area occupied by the bottom surface of the group of containers on the loading surface can be determined based on the group position information and bottom dimension information regarding the group of containers. Furthermore, since the storage unit stores coordinate information for multiple locations on the loading surface, more specifically, information indicating the actual positions of each location in the X, Y, and Z directions, the loading tilt, which is the tilt of the group of containers placed on the loading surface relative to the Z direction, can be determined based on this information. Here, the loading tilt refers to the tilt of the entire group of containers, but the deviation in the X and Y directions relative to the bottom surface of the group of containers increases as the position moves upward. According to this configuration, individual position calculation processing is performed to determine individual position information indicating the X and Y positions of each container in each layer of the group of containers based on the aforementioned loading tilt, the group position information, and the height dimension information of each container in each layer of the group of containers. This allows the actual X and Y positions of each container in each layer of the group of containers to be determined as individual position information. Furthermore, by controlling the moving mechanism based on this individual position information, the gripping unit can be moved with high precision to perform conveying operations according to the actual X- and Y-direction positions of the containers in each layer of the container group. Therefore, according to this configuration, even when a container group consisting of multiple containers stacked in a stack is tilted on a loading surface, appropriate conveying operations can be performed on the container group.

[0011] Further features and advantages of the technology disclosed herein will become more apparent from the following description of illustrative and non-limiting embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic three-dimensional diagram of the item storage facility.

[0013] Figure 2 It is a diagram showing the operation of the gripping portion.

[0014] Figure 3 It is a diagram showing the operation of the gripping portion.

[0015] Figure 4 It is a diagram showing a state where a container is gripped by a gripping portion.

[0016] Figure 5 It is the control block diagram of the item storage equipment.

[0017] Figure 6 This is a diagram showing a state where the height of each point in the X direction of the placement surface is measured.

[0018] Figure 7It is a diagram showing a state in which the height of each point in the Y direction of the placement surface is measured.

[0019] Figure 8 It is a diagram schematically showing the inclination of the placement surface.

[0020] Figure 9 This is a diagram showing the measurement results of the height at each point on the placement surface.

[0021] Figure 10 This is a diagram showing the relationship between the individual position of each container and the gripping reference point of the gripping section when the container group is not tilted.

[0022] Figure 11 This is a diagram showing the relationship between the individual position of each container and the gripping reference point of the gripping section when the container group is tilted.

[0023] Figure 12 This is a diagram showing coordinate information of a plurality of locations in the bottom surface area of a container group.

[0024] Figure 13 It is an explanatory diagram showing an example of calculating a correction value.

[0025] Figure 14 It is a diagram showing the operation of the gripping unit when the gripping reference point is corrected according to the correction value.

[0026] Figure 15 This is an explanatory diagram in the case of calculating a common correction value for each of a plurality of altitude zones. DETAILED DESCRIPTION

[0027] The article storage equipment according to this embodiment will be described with reference to the accompanying drawings. Figure 1 As shown, the article storage facility 100 includes a conveying device 1 for conveying a container C and a control device 2 for controlling the conveying device 1 (see Figure 5 The article storage facility 100 is configured to store a container group Cg consisting of a plurality of stacked containers C on a storage surface F forming a storage area. In the article storage facility 100, containers C containing parts or the like, or empty containers C containing no parts or the like, are stored as articles.

[0028] Hereinafter, the ideal plane formed by the placement surface F will be referred to as the reference plane Fs. The directions along the reference plane Fs and perpendicular to each other will be referred to as the X and Y directions, and the direction perpendicular to the reference plane Fs will be referred to as the Z direction. The reference plane Fs is an idealized, imaginary plane along the horizontal plane. Therefore, the X and Y directions along the reference plane Fs are horizontal, and the Z direction perpendicular to the reference plane Fs is vertical (vertical). Furthermore, in reality, the floor of the room where the item storage facility 100 is installed and the surface of the support platform installed thereon are not completely horizontal planes. Therefore, the actual placement surface F differs from the reference plane Fs and its height (Z-direction position) varies slightly depending on the location.

[0029] like Figures 1 to 3 As shown, the conveying device 1 includes a gripping unit 101 for gripping a single container C or a plurality of stacked containers C, a moving mechanism 11 for moving the gripping unit 101 in the X and Y directions, and a lifting mechanism 12 for lifting the gripping unit 101 in the Z direction.

[0030] In this embodiment, the moving mechanism 11 includes a pair of fixed guide rails 11R arranged along the Y direction at positions separated from the loading surface F in the X direction and fixed to the loading surface F, a Y-direction moving body 11Y supported by the pair of fixed guide rails 11R and moving the holding portion 101 along the Y direction, and an X-direction moving body 11X supported by the Y-direction moving body 11Y and moving the holding portion 101 along the X direction.

[0031] In this embodiment, the Y-direction moving body 11Y comprises a movable rail extending in the X-direction. In the illustrated example, the movable rail includes a pair of rail portions 11Ya arranged parallel to each other. The Y-direction moving body 11Y is movably supported at both ends in the X-direction relative to fixed rails 11R, and the Y-direction moving body 11Y moves in the Y-direction along these fixed rails 11R. The Y-direction moving body 11Y is driven by a Y-direction moving drive unit (not shown), such as a motor.

[0032] In this embodiment, the X-direction moving body 11X is composed of a carriage that travels on a movable rail that forms the Y-direction moving body 11Y. The X-direction moving body 11X moves in the X-direction by traveling along the Y-direction moving body 11Y that extends in the X-direction. The X-direction moving body 11X is driven by an X-direction moving drive unit (not shown) composed of, for example, a motor.

[0033] The gripping unit 101 is supported by the X-direction movable body 11X. Therefore, as the X-direction movable body 11X moves in the X-direction, the gripping unit 101 supported by the X-direction movable body 11X also moves in the X-direction. Furthermore, as described above, the X-direction movable body 11X is supported by the Y-direction movable body 11Y. Therefore, as the Y-direction movable body 11Y moves in the Y-direction, the gripping unit 101 supported by the X-direction movable body 11X also moves in the Y-direction. Thus, the gripping unit 101 is configured to be movable in both the X-direction and the Y-direction.

[0034] The lifting mechanism 12 is configured to raise and lower the gripping unit 101 in the Z direction. In this embodiment, it is supported by the X-direction movable body 11X. Although not illustrated in detail, the lifting mechanism 12 includes a belt connected to the gripping unit 101 and a lifting drive unit (not shown) that drives the belt. The lifting drive unit is comprised of, for example, a motor. The lifting drive unit drives the belt, thereby raising and lowering the gripping unit 101 in the Z direction. Thus, in this embodiment, the gripping unit 101 is supported by the X-direction movable body 11X via the lifting mechanism 12.

[0035] In this embodiment, the conveying device 1 includes a gripping mechanism 10. The gripping mechanism 10 includes the gripping portion 101 described above and a gripping drive unit (not shown) that drives the gripping portion 101. The gripping drive unit is comprised of, for example, a motor. The gripping portion 101 is configured to change state between a gripping state (in which it grips the container C) and a non-gripping state (in which it does not grip the container C) when driven by the gripping drive unit.

[0036] like Figure 2 and Figure 3 As shown, in this embodiment, the gripping unit 101 includes a pair of gripping units 101U that approach or move away from each other in the X-direction. Each of the pair of gripping units 101U is supported by the X-direction movable body 11X via the lifting mechanism 12 so as to be synchronously raised and lowered between a pair of rail portions 11Ya of the Y-direction movable body 11Y. Each of the pair of gripping units 101U includes a pair of positioning tools 101a arranged side by side in the Y-direction and approaching or moving away from each other in the Y-direction, and a gripping tool 101b arranged between the pair of positioning tools 101a arranged in the Y-direction.

[0037] In this embodiment, the positioning tools 101a are configured to contact the outer edge of the container C from the outside when the gripping portion 101 is gripping the container C, thereby positioning the container C. In this example, the pair of positioning tools 101a provided in each of the pair of gripping units 101U, i.e., the four positioning tools 101a in total, are configured to contact the four corners of the container C, which has a rectangular shape when viewed from above. In the illustrated example, the cross-section of the plurality of positioning tools 101a along a horizontal plane is configured as an L-shaped columnar body to conform to the outer edge shape of each of the four corners of the container C.

[0038] In this embodiment, the gripping tool 101b is configured to grip the flange-shaped gripped portion Cr extending over the entire periphery of the upper end portion of the container C. Figure 4 As shown, the gripping tool 101b includes a plurality of protrusions 101p that engage with the gripped portion Cr of the container C in the gripping state of the gripping portion 101, and a supporting member 101s that supports the plurality of protrusions 101p.

[0039] In this embodiment, the support member 101s is formed into a columnar shape extending in the Z direction, and supports a plurality of protrusions 101p in its lower end region. The plurality of protrusions 101p supported by the support member 101s are arranged in the Z direction in the lower end region of the support member 101s, and protrude toward the side (inward) of the other support member 101s arranged opposite in the X direction. In this example, the plurality of protrusions 101p arranged in the Z direction are arranged in a plurality of rows in the Y direction (in the Figure 2 In the example shown, there are 2 columns).

[0040] Each of the plurality of protrusions 101p is urged by a spring in a direction of protruding inward (toward the other support member 101s). Figure 4 As shown, in the gripping state of the gripping portion 101, a portion of the plurality of protrusions 101p, due to the reaction force from the gripped portion Cr of the container C, overcomes the force of the spring and retracts outward, and the other portion of the protrusions 101p arranged below the retracted portion of the protrusions 101p is in a state of supporting the gripped portion Cr of the container C from below. In addition, in this state, the positioning tool 101a contacts or approaches the outer edge of the container C from the outside, positioning the container C in the X and Y directions (see Figure 3 ).

[0041] The point that serves as a reference for the container C to be grasped by the grasping portion 101 is referred to as a grasping reference point 10P (see Figure 4). The gripping reference point 10P is the center position of the area surrounded by the gripping portion 101 in the X and Y directions, and is a position corresponding to the reference position of the gripping portion 101 in the Z direction. In this embodiment, the middle position of a pair of gripping tools 101b facing each other in the X direction is the center position of the area surrounded by the gripping portion 101 in the X direction. Moreover, the middle position of a pair of positioning tools 101a arranged in the Y direction in each gripping unit 101U is the center position of the area surrounded by the gripping portion 101 in the Y direction. In addition, the middle position of the area of each pair of gripping portions 101 provided with a plurality of protrusions 101p in the Z direction is the reference position of the gripping portion 101 in the Z direction. Here, the gripping reference point 10P is determined by the respective positions in the X, Y, and Z directions determined in this way. The conveying device 1 has the following structure: by aligning the X-direction position, Y-direction position, and Z-direction position of the gripping reference point 10P of the gripping portion 101 with the X-direction position, Y-direction position, and Z-direction position of the containers C constituting each layer of the container group Cg, Figure 3 As shown in FIG. 1 , a single container or a plurality of containers C are conveyed while one container C as a grasping target is grasped.

[0042] Figure 2 and Figure 3 The example in which the conveyor device 1 removes and conveys the top three containers C from a container group Cg consisting of seven containers C is shown. The conveyor device 1 can separate and convey a single or multiple containers C from the container group Cg. Furthermore, the conveyor device 1 can stack and convey other single or multiple containers C above the container group Cg.

[0043] Here, the container C to be transported by the transport device 1 and to be placed on the placement surface F can be stacked over multiple layers. As described above, in this embodiment, the container C is formed into a rectangular shape in a plan view, but this is not limiting. The container C may also be formed into a polygonal shape other than a rectangle, a circle, or an ellipse in a plan view. In addition, in this embodiment, as Figure 1 As shown in FIG, a plurality of types of containers C having different bottom surface sizes and heights can be stored on the placement surface F. In this example, as shown in FIG. Figure 1As shown, the container group Cg, formed by stacking multiple containers C, consists of containers C of the same type, each having the same bottom dimensions and height. However, as long as they can be stacked, the container group Cg can also be composed of multiple different types of containers C. Such containers C are, for example, plastic containers used to store parts, etc., used in a factory manufacturing line. Furthermore, for example, the conveyor device 1 also functions as a loading and unloading device for loading and unloading containers C containing parts, etc., or empty containers C without parts, etc., into and out of the article storage facility 100. In the article storage facility 100, such containers C containing parts, etc., or empty containers C without parts, etc., are stored as articles.

[0044] like Figure 5 As shown, the control device 2 is configured to communicate with the conveying device 1 and to control the conveying device 1. Furthermore, the control device 2 comprehensively manages the entire article storage facility 100. In this embodiment, the control device 2 manages the position of the container group Cg placed on the loading surface F, the types of containers C constituting the container group Cg, and the number (number of layers) of containers C constituting the container group Cg. Furthermore, in this embodiment, even when a container C is placed on the loading surface F as a single unit, the control device 2 manages the container group Cg as a container group Cg with the number (number of layers) of containers C constituting the container group Cg being "1." The control device 2 includes, for example, a processor such as a microcomputer and peripheral circuits such as a memory. Furthermore, each function is realized through the collaboration of this hardware and a program executed on a processor such as a computer.

[0045] The control device 2 includes a calculation unit 21 and a storage unit 22. The storage unit 22 stores coordinate information Ic indicating the actual position of each of the plurality of locations on the placement surface F in the X, Y, and Z directions, bottom surface dimension information Is indicating the dimensions of the bottom surface of the container C along the X and Y directions, and height Ch indicating the height of the container C along the Z direction (see FIG. Figure 13), container group position information Icgp indicating the X- and Y-direction positions of the container group Cg on the mounting surface F (container group position Cgp), and layer number information In indicating the stacking number, which represents the number of containers C constituting the container group Cg. In this embodiment, the container group position Cgp indicated by the container group position information Icgp is the X- and Y-direction position of the container group bottom surface Cgb, which is the bottom surface of the container C in the lowest layer of the container group Cg, on the mounting surface F. Here, the position on the mounting surface F corresponding to the center of gravity of the container group bottom surface Cgb (the center of gravity of the graphic) is defined as the container group position Cgp. Furthermore, in this embodiment, the container group Cg is arranged on the mounting surface F such that one side of the rectangular containers C in plan view is parallel to the X-direction. Therefore, the container group position information Icgp does not include information about angles relative to the X- and Y-directions. Furthermore, if one side of the container C is tilted relative to the X-direction, it is preferable that the container group position information Icgp include information on the angles relative to the X- and Y-directions. Furthermore, the calculation unit 21 is configured to perform the tilt calculation process and individual position calculation process described below based on this information. Furthermore, the height Ch of the container C along the Z-direction refers to the height Ch of the container C when placed on the reference surface Fs, and may also be referred to as the height dimension Ch of the container C.

[0046] In this embodiment, a measurement operation is performed to measure the actual position in the Z direction at each point (plurality of points) of the placement surface F in advance, and the measured values measured by the measurement operation are stored in the storage unit 22 as coordinate information Ic. Figure 6 and Figure 7 As shown, a measuring device 3 for measuring the vertical distance to the loading surface F is temporarily mounted on the X-direction movable body 11X. As described above, the X-direction movable body 11X can move in the X-direction itself and in the Y-direction via the movement of the Y-direction movable body 11Y. The measuring device 3 mounted on the X-direction movable body 11X measures the vertical distance to the loading surface F at each point on the loading surface F. This vertical distance measurement measures the actual position (height) of each point on the loading surface F in the X and Y directions, and obtains coordinate information Ic indicating the actual position of each point on the loading surface F in the X, Y, and Z directions. Alternatively, a distance sensor utilizing laser or ultrasonic waves, or other known measuring devices, can be used as the measuring device 3.

[0047] Figure 8This is a diagram that visualizes the height of each location on the loading surface F. In the diagram, the darker the area, the higher the position, and the lighter the area, the lower the position. Thus, the actual loading surface F is different from the reference surface Fs, which is set as an ideal plane, and the height (position in the Z direction) varies slightly depending on the location. The dotted line of the rectangle in the diagram represents the bottom surface of the container C placed on the loading surface F, and more specifically, represents the container group bottom surface Cgb, which is the bottom surface of the container C that constitutes the lowest layer of the container group Cg. Figure 8 One of the two container group bottom surfaces Cgb shown in FIG is arranged in an area (plane) at the same height as the placement surface F. In this case, the container group Cg is placed on the placement surface F in an appropriate posture (not tilted) (see FIG. Figure 10 ). In addition, Figure 8 The other of the two container group bottom surfaces Cgb shown in FIG is arranged across regions of the mounting surface F at different heights. In this case, the container group Cg is placed on the mounting surface F in an inclined posture (see FIG. Figure 11 ).

[0048] Figure 9 The measurement results at various points on a portion of the mounting surface F are shown. Figure 9 The numerical values shown within the small boxes represent the heights at various points on the placement surface F, expressed in millimeters, for example, when the height of the reference plane Fs is set to "0." In this embodiment, the placement surface F is divided into a plurality of unit areas A, and the Z-direction position is measured for each of the plurality of unit areas A. The X-, Y-, and Z-direction positions of each of the plurality of unit areas A are stored as coordinate information Ic in the aforementioned storage unit 22.

[0049] like Figure 10 As shown, when the container C is stacked on the container group Cg, the moving mechanism 11 aligns the X-direction and Y-direction positions of the holding reference point 10P of the holding portion 101 with respect to the container group position Cgp, which is the X-direction and Y-direction position of the container group Cg on the holding surface F, when the container group Cg is placed in an appropriate posture, i.e., a non-tilted posture. Here, the holding reference point 10P of the holding portion 101 coincides with the center of gravity position of the outer edge shape of the held portion Cr of the container C held by the holding portion 101 (the position of the center of gravity of the figure). In addition, in the present embodiment, the individual positions Cp, which are the X-direction and Y-direction positions of the containers C constituting each layer of the container group Cg, are also set to the center of gravity position of the outer edge shape of the held portion Cr of the container C (the position of the center of gravity of the figure). Furthermore, as described above, in the present embodiment, the position on the holding surface F corresponding to the center of gravity position of the bottom surface Cgb of the container group becomes the container group position Cgp. As Figure 10As shown, when the container group Cg is placed on the loading surface F in an appropriate position, the individual positions Cp, representing the X- and Y-direction positions of the containers C constituting each layer of the container group Cg, and the container group position Cgp are arranged at the same position in the X and Y directions. Once the X- and Y-direction alignment performed by the moving mechanism 11 is complete, the lifting mechanism 12 lowers the gripping unit 101 to the height of the container C constituting the topmost layer of the container group Cg. More specifically, the lifting mechanism 12 lowers the gripping unit 101 so that its gripping reference point 10P coincides with the individual position Cp of a hypothetical container C stacked one layer above the container C constituting the topmost layer of the container group Cg (indicated by an imaginary line in the figure). Furthermore, when gripping and conveying a portion of the containers C constituting the container group Cg, the gripping unit 101 is lowered to the height at which the container C designated as the target container is positioned within each layer of the containers C constituting the container group Cg. In this case, the lifting mechanism 12 lowers the gripping portion 101 so that the gripping reference point 10P of the gripping portion 101 overlaps with the individual position Cp of the container C to be gripped.

[0050] In this way, when the container group Cg is placed on the placement surface F in an appropriate posture, the X-direction and Y-direction positions of the gripping reference point 10P are aligned with the container group position Cgp indicated by the container group position information Icgp by the moving mechanism 11, thereby aligning the X-direction and Y-direction positions of the gripping portion 101 with respect to the containers C of each layer constituting the container group Cg. Figure 11 As shown, when the container group Cg is placed in an inclined position on the placement surface F, the individual positions Cp of the containers C constituting each layer of the container group Cg deviate from the container group position Cgp indicated by the container group position information Icgp in at least one of the X and Y directions. In particular, the positional deviations in the X and Y directions between the individual positions Cp of the containers C and the container group position Cgp increase as the container group Cg moves upward. Therefore, when the container group Cg is placed in an inclined position, even if the movement mechanism 11 aligns the gripping reference point 10P with the container group position Cgp in the X and Y directions, there will still be a deviation between the individual positions Cp of the containers C constituting each layer of the container group Cg and the gripping reference point 10P. In this situation, it is difficult to stack another layer of containers C on top of the containers C constituting the top layer of the container group Cg. Furthermore, it is difficult to properly grip each container C with the gripping unit 101 when transporting a portion of the container group Cg.

[0051] Therefore, the control device 2 performs a correction value calculation process to calculate the positional deviation in the X and Y directions between the individual positions Cp of the containers C constituting each layer of the container group Cg and the container group position Cgp indicated by the container group position information Icgp as a correction value Cv. As this correction value calculation process, the control device 2 performs the following steps: Figure 12 and Figure 13 As shown, the control device 2 performs an inclination calculation process to determine the placement inclination θ, which is the inclination of the container group Cg placed on the placement surface F with respect to the Z direction, based on the coordinate information Ic, bottom surface dimension information Is, and container group position information Icgp stored in the storage unit 22. Furthermore, an individual position calculation process is performed to determine individual position information indicating the X- and Y-direction positions (individual positions Cp) of the containers C constituting each layer of the container group Cg based on the container group position information Icgp, the placement inclination, and the height dimension information Ih. The control device 2 then controls the moving mechanism 11 based on the individual position information determined by the individual position calculation process. In other words, the control device 2 uses the relative distance (positional deviation) in the X- and Y-directions between the individual positions Cp, which are the X- and Y-direction positions of the containers C constituting each layer of the container group Cg, and the container group position Cgp indicated by the container group position information Icgp as a correction value Cv, and controls the moving mechanism 11 based on this correction value Cv and the container group position Cgp indicated by the container group position information Icgp.

[0052] Below, refer to Figure 12 and Figure 13 , the tilt calculation process for obtaining the placement tilt θ and the individual position calculation process for obtaining the individual position Cp of the container C are described. Figure 11 、 Figure 13 In the figures, the mounting inclination θ is emphasized to be greater than the actual value.

[0053] like Figure 12 As shown, in the tilt calculation process, the control device 2 calculates the container group bottom surface area Af based on the container group position information Icgp and the bottom surface size information Is. The container group bottom surface area Af is the area on the mounting surface F occupied in the X and Y directions by the container group bottom surface Cgb, which is the bottom surface of the container C in the lowest layer of the container group Cg. Based on the coordinate information Ic of the mounting surface F for the multiple locations corresponding to the container group bottom surface area Af, the control device 2 calculates the Z-direction positions of the container group bottom surface Cgb. Then, based on the Z-direction positions of the multiple locations of the container group bottom surface Cgb, the control device 2 calculates the bottom surface tilt α, which is the tilt of the container group bottom surface Cgb, and calculates the mounting tilt θ based on this bottom surface tilt α.

[0054] As described above, the storage unit 22 stores the container group position information Icgp indicating the container group position Cgp and the bottom size information Is indicating the bottom size of the container C. The control device 2 uses this information to obtain the coordinates of a plurality of locations corresponding to the container group bottom area Af, for example, the coordinates of the locations corresponding to the four corners of the rectangular container group bottom Cgb (see Figure 12 ). As described above, in this embodiment, the container group Cg is arranged on the mounting surface F in such a manner that one side of the container C, which has a rectangular shape when viewed from above, is parallel to the X direction. In addition, the container group position Cgp is set at the center of gravity of the container group bottom surface Cgb. Therefore, based on the container group position Cgp and the bottom surface dimension information Is, the coordinates of the four corners of the container group bottom surface Cgb can be calculated. In addition, without being limited to this, the coordinates of three or more parts included in the container group bottom surface area Af can also be calculated. As long as the coordinates of three or more parts included in the container group bottom surface area Af can be calculated, the bottom surface inclination α, which is the inclination of the container group bottom surface Cgb, can be calculated.

[0055] For example, Figure 13 As shown, the loading inclination θ, which is the inclination of the container group Cg relative to the Z direction, is equal to the bottom surface inclination α, which is the inclination of the bottom surface Cgb of the container group relative to the reference plane Fs. Moreover, the bottom surface inclination α can be obtained based on the coordinates of more than three locations included in the bottom surface area Af of the container group obtained as described above, in this example, based on the coordinates of the four corners of the bottom surface Cgb of the container group. This is because the posture of a plane in three-dimensional space is determined by the coordinates of three points included in the plane. Figure 13 For simplicity, the description assumes only a two-dimensional tilt. In the illustrated example, the bottom surface tilt α is calculated using the following equations (1) and (2) based on the Z-direction height difference ΔZ between the highest and lowest contact points of the bottom surface of the container C and the placement surface F, and the relative distance ΔL along the X-Y plane.

[0056] ΔZ / ΔL=tanα････････(1)

[0057] α=arctanΔZ / ΔL=θ･･･(2)

[0058] Here, the bottom surface inclination α and the loading inclination θ have the same value. Thus, in this embodiment, during the inclination calculation process, the bottom surface inclination α, representing the inclination of the container group bottom surface Cgb, is calculated based on the Z-direction positions of multiple locations on the container group bottom surface Cgb. The loading inclination θ is then calculated based on this bottom surface inclination α. Furthermore, during the inclination calculation process, the calculation unit 21 actually calculates the bottom surface inclination α in the three-dimensional space of X-Y-Z based on the coordinates of three or more locations included in the container group bottom surface area Af. The loading inclination θ is then calculated based on this bottom surface inclination α.

[0059] In the individual position calculation process, the individual position Cp of each layer of the container C constituting the container group Cg is calculated based on the placement tilt θ calculated as described above, the container group position information Icgp indicating the container group position Cgp, and the height dimension information Ih indicating the height Ch of the container C. As described above, the storage unit 22 stores the height dimension information Ih indicating the height Ch of the container C and the number of layers information In indicating the stacking number n, which is the number of containers C constituting the container group Cg. Based on this information, the control device 2 can obtain information on the distance from the container group bottom surface Cgb to the top end of each layer of the container C in a direction perpendicular to the container group bottom surface Cgb. As described above, the top end of the container C is formed with a gripped portion Cr gripped by the gripping unit 101. Therefore, in this embodiment, the position of the gripped portion Cr of each layer of the container C in the X and Y directions is defined as the individual position Cp of that container C. As described above, in the present embodiment, the center of gravity position of the outer edge shape of the grasped portion Cr (the position of the center of gravity of the graphic) is set as the individual position Cp.

[0060] The positional deviations in the X and Y directions between the individual position Cp indicating the position of the grasped portion Cr and the container group position Cgp indicated by the container group position information Icgp become correction values Cv used to correct the grasping reference point 10P in the X and Y directions relative to the container group position Cgp indicated by the container group position information Icgp. This correction value Cv is calculated using the following equation (3).

[0061] Cv=m･Ch / sinθ･･････ (3)

[0062] "Ch" represents the height of the container C. "m" represents the number of layers (mth layer from the bottom) in which the container C to be grasped by the grasping unit 101 is arranged, and is a natural number equal to or less than the number of layers n of the containers C constituting the container group Cg. Figure 13, shows an example of calculating the individual position Cp of the third container C from the bottom in a container group Cg consisting of three layers of containers C. As described above, the loading tilt θ is calculated as a tilt in three-dimensional space. However, for simplicity, this example assumes a tilt in only two-dimensional space, either the X-Z plane or the Y-Z plane. In this case, the correction value Cv is a value in either the X or Y direction. Even when the loading tilt θ is a tilt in the three-dimensional space of X-Y-Z, it is possible to calculate the correction value Cv in both the X and Y directions by decomposing it into the tilt in either the X-Z plane or the Y-Z plane.

[0063] Based on the correction value Cv calculated as described above and the container group position Cgp indicated by the container group position information Icgp, the individual position Cp of each layer of the container C constituting the container group Cg is calculated. Specifically, the position in the X and Y directions of the container group bottom surface Cgb indicated by the container group position Cgp is corrected by the correction value Cv in the X and Y directions corresponding to the number m of layers of the containers C in each layer, and the position in the X and Y directions becomes the individual position Cp of the container C in each layer. Once the individual position Cp is calculated in this way, the control device 2 calculates the individual position Cp as follows: Figure 14 As shown, the moving mechanism 11 is controlled based on the individual position Cp. Specifically, the control device 2 controls the moving mechanism 11 so that the position of the gripping reference point 10P of the gripping portion 101 in the X and Y directions is aligned with the individual position Cp of the additional layer of containers C (indicated by an imaginary line in the figure) when an additional layer is stacked on top of the topmost container C in the target container group Cg. Figure 14 The figure shows a situation where a further layer of containers C is being stacked on top of a container group Cg consisting of four layers of containers C. In this case, the control device 2 moves the gripper 101 in the X and Y directions, aligned with the individual position Cp of the fifth layer of containers C, which is to be stacked on top of the fourth layer of containers C, which is the topmost layer. By controlling the moving mechanism 11 in this manner, a further container C can be appropriately stacked on top of the existing container group Cg.

[0064] Furthermore, the control device 2 obtains the individual positions Cp of the containers C of each layer as described above, and obtains the individual height information indicating the Z-direction positions of the containers C of each layer constituting the container group Cg based on the coordinate information Ic, the height dimension information Ih, and the container group position information Icgp stored in the storage unit 22. In this embodiment, the control device 2 identifies the Z-direction position indicated by the coordinate information Ic (the position in the X, Y, and Z directions) of the mounting surface F corresponding to the position in the X and Y directions of the container group position Cgp as the height Hb of the container group bottom surface Cgb of the container group Cg. The control device 2 then adds the height dimension Ch (see FIG. 1 ) to the height Hb of the container group bottom surface Cgb according to the number of layers of the containers C. Figure 13 ), find the individual height information representing the individual height Hp of the containers C of each layer constituting the container group Cg.

[0065] Furthermore, the control device 2 controls the moving mechanism 11 as described above so as to align the X-direction and Y-direction positions of the gripping reference point 10P of the gripping portion 101 with the individual position Cp of the container C of the additional layer, which is assumed to be stacked above the container C of the top layer of the target container group Cg. Then, the control device 2 causes the lifting mechanism 12 to perform a descending action to lower the gripping portion 101 to a height aligned with the individual height Hp of the container C of the additional layer. Thus, the gripping portion 101 is moved to the position in the X-direction and Y-direction indicated by the individual position Cp and the position in the Z-direction indicated by the individual height Hp, and the container C gripped by the gripping portion 101 is stacked above the container C of the top layer of the target container group Cg. Figure 14 In the example shown, a fifth layer of containers C is being stacked as an additional layer on top of a container group Cg consisting of four layers of containers C. Therefore, after the gripping unit 101 is moved in the X and Y directions to align with the individual position Cp of the fifth layer of containers C, the gripping unit 101 is lowered in the Z direction to align with the individual height Hp of the fifth layer of containers C, thereby stacking the containers C held by the gripping unit 101 on top of the fourth layer of containers C, which is the topmost layer of the container group Cg. Thus, according to this embodiment, the gripping unit 101 can be moved to an appropriate position based on the actual position and height of the containers C in each layer of the container group Cg, thereby stacking the containers C appropriately.

[0066] Furthermore, even when the gripping unit 101 grips and conveys a container C that is part of the target container group Cg, the gripping unit 101 can still appropriately grip the container C using the individual position Cp and individual height Hp determined as described above. In this case, the control device 2 controls the moving mechanism 11 so that the X- and Y-direction positions of the gripping reference point 10P of the gripping unit 101 are aligned with the individual position Cp of the target container C. The control device 2 then controls the lifting mechanism 12 to lower the gripping unit 101 to a height aligned with the individual height Hp of the target container C. This causes the gripping unit 101 to move to the position in the X- and Y-directions indicated by the individual position Cp and to the position in the Z-direction indicated by the individual height Hp, and the gripping mechanism 10 performs the gripping operation to grip the target container C. For example, when the container C in the fourth layer from the bottom of a container group Cg consisting of four layers of containers C is to be grasped, the grasping unit 101 is moved in the X and Y directions to align with the individual position Cp of the container C in the fourth layer, and then the grasping unit 101 is lowered in the Z direction to align with the individual height Hp of the container C in the fourth layer, and the container C in the fourth layer is grasped by the grasping unit 101. In this way, according to this embodiment, the grasping unit 101 can be moved to an appropriate position based on the actual position and height of each container C in each layer constituting the container group Cg, and the container C can be grasped appropriately.

[0067] According to the article storage equipment 100 described above, even when a container group Cg consisting of a plurality of containers C stacked in a layer is placed obliquely on the placement surface F, it is possible to stack the containers C held by the gripping unit 101 on top of the container group Cg, or to convey containers C constituting part of the container group Cg by gripping the gripping unit 101. In other words, the article storage equipment 100 described above can perform appropriate conveying operations for the container group Cg placed obliquely on the placement surface F.

[0068] As described above, in this embodiment, the placement surface F is configured to allow the plurality of container groups Cg to be arranged in the X and Y directions. In this example, the storage unit 22 stores container group position information Icgp for each of the plurality of container groups Cg placed on the placement surface F and layer number information In for each of the plurality of container groups Cg. Furthermore, the tilt calculation process and the individual position calculation process are performed on the container group Cg selected by the control device 2 as the conveyance target.

[0069] Furthermore, as described above, in this embodiment, the placement surface F is configured to accommodate a plurality of types of containers C having at least one of different bottom dimensions and heights Ch. In this example, the storage unit 22 stores bottom dimension information Is and height dimension information Ih for each of the plurality of types of containers C having at least one of different bottom dimensions and heights Ch, as well as type information indicating the types of the containers C comprising the container group Cg. Furthermore, the control device 2 retrieves the bottom dimension information Is and height dimension information Ih from the storage unit 22 based on the type information regarding the container group Cg selected as the conveying target. That is, in this embodiment, the control device 2 performs tilt calculation processing and individual position calculation processing based on the type of the containers C comprising the container group Cg to be conveyed.

[0070] Thus, according to this embodiment, even when multiple container groups Cg are placed on the loading surface F, or when the container groups Cg placed on the loading surface F are composed of multiple types of containers C, tilt calculation processing and individual position calculation processing can be appropriately performed for each container group Cg, allowing for appropriate conveying of each container group Cg. However, due to the location where the container group Cg is placed, the tilt of the loading surface F may be large, and the loading tilt θ may reach a large value. In this case, conveying errors caused by the conveyor device 1 are likely to occur. Therefore, in this embodiment, based on the coordinate information Ic and bottom surface dimension information Is stored in the storage unit 22, the control device 2 sets areas on the loading surface F where the loading tilt θ exceeds a predetermined value as prohibited areas where the container groups Cg are prohibited from being placed. The predetermined value can be set based on, for example, the gripping structure of the gripping unit 101 and the stability of the container group Cg placed on the loading surface F through experiments. For example, such a predetermined value can be set to a tilt of 3° or greater relative to the vertical direction. With the above configuration, only the container group Cg having a placement inclination θ less than a predetermined value can be placed on the placement surface F. The prohibited area can be used as a work area for workers or a passage for workers, for example.

[0071] Furthermore, in areas of the loading surface F that are not designated as prohibited areas, the stability of the container group Cg may not be fully ensured depending on the height of the container group Cg, i.e., the size of the container group Cg in a direction perpendicular to the container group bottom surface Cgb, and the loading inclination θ. The size of the container group Cg in a direction perpendicular to the container group bottom surface Cgb is determined based on the height Ch of the containers C constituting each layer of the container group Cg and the number of layers n of the container group Cg. Therefore, in this embodiment, the control device 2 may also limit the number of layers n of the container group Cg placed on the loading surface F based on the loading inclination θ and the height Ch of the containers C constituting each layer of the container group Cg. For example, an upper limit for the number of layers n may be set based on the height Ch, such that the upper limit of the height of the container group Cg decreases as the loading inclination θ increases. Furthermore, the stability of the container group Cg may also vary depending on the shape of the containers C, etc. In this case, the control device 2 preferably also limits the number of layers n of the container group Cg based on type information indicating the type of the containers C. Furthermore, it is preferable to limit the stacking number n of the container group Cg as described above in consideration of the bottom inclination α determined based on the size of the container bottom that varies depending on the type of container C, or the height dimension Ch that varies depending on the type of container C.

[0072] [Other Implementation Methods]

[0073] Next, other embodiments of the article storage facility will be described.

[0074] (1) In the above embodiment, an example is described in which the control device 2 calculates the individual position Cp and the correction value Cv of each container C in each layer constituting the container group Cg. However, the present technology is not limited to such an example. Figure 15 As shown, the control device 2 may also divide the entire Z-direction area of the container group Cg into a plurality of height zones Ah in the Z-direction, and obtain individual position information as a common value for each height zone Ah in the individual position calculation process. That is, the control device 2 may also obtain an individual position Cp and a correction value Cv for each height zone Ah. Thus, instead of obtaining an individual position Cp for each of the layers of containers C constituting the container group Cg, the individual position Cp is obtained as a common value for each height zone Ah, thereby reducing the number of individual positions Cp to be obtained and alleviating the calculation load of the control device 2. Figure 15In the example shown, a container group Cg consisting of 15 layers of containers C is placed on a placement surface F, with height zones Ah1 to Ah3 divided into five layers. Furthermore, the control device 2 sets the Z-direction center position of the height zone Ah as the individual position Cp for the plurality of containers C (five containers C in the example shown) arranged in that height zone Ah, and calculates the correction value Cv corresponding to this individual position Cp. In the example shown, the control device 2 calculates individual positions Cp1 to Cp3 and correction values Cv1 to Cv3 for each of the plurality of height zones Ah1 to Ah3.

[0075] (2) In the above-described embodiment, the following configuration is described as an example: the control device 2 calculates individual height information indicating the individual heights Hp of the containers C in the Z direction, which are the positions of the containers C in each layer of the container group Cg, based on the coordinate information Ic, height dimension information Ih, and container group position information Icgp stored in the storage unit 22, and controls the lifting mechanism 12 based on this individual height information. However, the configuration is not limited to this. For example, in addition to the coordinate information Ic, height dimension information Ih, and container group position information Icgp, the individual height information indicating the individual heights Hp of the containers C in each layer of the container group Cg may also be calculated based on the placement tilt θ calculated through the tilt calculation process. In this manner, the individual heights Hp of the containers C are calculated taking into account the placement tilt θ of the container group Cg, thereby enabling the individual height information to be acquired with higher accuracy.

[0076] (3) In the above embodiment, an example is described in which the placement surface F is divided into a plurality of unit areas A, the measurement device 3 measures the Z-direction position of each of the plurality of unit areas A, and the measured Z-direction position of each unit area A is stored in the storage unit 22 as part of the coordinate information Ic. However, the present invention is not limited to this example. Instead of dividing the placement surface F into a plurality of unit areas A, the Z-direction position of each point measured by the measurement device 3 may be stored in the storage unit 22 as part of the coordinate information Ic. In this case, the points between adjacent measurement points do not have measured Z-direction position data. In this case, the Z-direction position of each point between adjacent measurement points is preferably obtained by linearly interpolating the Z-direction position data of the two adjacent measurement points.

[0077] (4) In the above embodiment, an example has been described in which a plurality of types of containers C having different bottom surface dimensions or heights can be stored on the placement surface F. However, the present invention is not limited to this example, and the article storage facility 100 may also be configured so that only containers C of the same type are stored on the placement surface F.

[0078] (5) In the above embodiment, the control device 2 sets the area on the placement surface F where the placement inclination θ is greater than a predetermined value as a prohibited area where the placement of the container group Cg is prohibited. However, such a prohibited area may not be set.

[0079] (6) In addition, the structures disclosed in the above-mentioned embodiments may be combined and applied with the structures disclosed in other embodiments, as long as no contradiction occurs. Regarding other structures, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various modifications may be made as appropriate without departing from the scope of the present disclosure.

[0080] [Overview of the above embodiment]

[0081] Next, the article storage facility described above will be described.

[0082] 14. The article storage equipment according to claim 13, wherein the control device comprises a storage unit, wherein a plurality of the containers are placed on a loading surface constituting a storage location and stored in a stacked state, the control device comprising a storage unit; an ideal plane constituted by the loading surface is set as a reference plane, directions along the reference surface and orthogonal to each other are set as X and Y directions, and a direction orthogonal to the reference surface is set as Z direction; and the storage unit stores coordinate information indicating actual positions of a plurality of locations on the loading surface in the X, Y, and Z directions, bottom dimension information indicating dimensions of the bottom surfaces of the containers in the X and Y directions, height dimension information indicating heights of the containers in the Z direction, and container group position information indicating positions of the container group on the loading surface in the X and Y directions. The above-mentioned conveying device comprises a gripping portion for gripping a single above-mentioned container or a plurality of above-mentioned containers in a stacked state, a moving mechanism for moving the above-mentioned gripping portion in the above-mentioned X direction and the above-mentioned Y direction, and a lifting mechanism for lifting the above-mentioned gripping portion along the above-mentioned Z direction; the above-mentioned control device performs an inclination calculation process for calculating a loading inclination as an inclination of the above-mentioned container group loaded on the above-mentioned loading surface relative to the above-mentioned Z direction based on the above-mentioned coordinate information, the above-mentioned bottom surface dimension information and the above-mentioned container group position information stored in the above-mentioned storage portion, and an individual position calculation process for calculating individual position information indicating the positions of the above-mentioned containers in the above-mentioned X direction and the above-mentioned Y direction of each layer constituting the above-mentioned container group based on the above-mentioned container group position information, the above-mentioned loading inclination and the above-mentioned height dimension information, and controls the above-mentioned moving mechanism based on the above-mentioned individual position information.

[0083] According to this configuration, when a group of containers is placed at a certain location on a loading surface, the position and dimensions of the area occupied by the bottom surface of the group of containers on the loading surface can be determined based on the group position information and bottom dimension information regarding the group of containers. Furthermore, since the storage unit stores coordinate information for multiple locations on the loading surface, more specifically, information indicating the actual positions of each location in the X, Y, and Z directions, the loading tilt, which is the tilt of the group of containers placed on the loading surface relative to the Z direction, can be determined based on this information. Here, the loading tilt refers to the tilt of the entire group of containers, but the deviation in the X and Y directions relative to the bottom surface of the group of containers increases as the position moves upward. According to this configuration, individual position calculation processing is performed to determine individual position information indicating the X and Y positions of each container in each layer of the group of containers based on the aforementioned loading tilt, the group position information, and the height dimension information of each container in each layer of the group of containers. This allows the actual X and Y positions of each container in each layer of the group of containers to be determined as individual position information. Furthermore, by controlling the moving mechanism based on this individual position information, the gripping unit can be moved with high precision to perform conveying operations according to the actual X- and Y-direction positions of the containers in each layer of the container group. Therefore, according to this configuration, even when a container group consisting of multiple containers stacked in a stack is tilted on a loading surface, appropriate conveying operations can be performed on the container group.

[0084] Here, it is preferred that, in the aforementioned tilt calculation processing, the aforementioned control device calculates, based on the aforementioned container group position information and the aforementioned bottom surface dimension information, an area on the aforementioned loading surface occupied by the bottom surface of the aforementioned container of the lowest layer of the aforementioned container group in the aforementioned X direction and the aforementioned Y direction, i.e., the container group bottom surface area; calculates the positions of the aforementioned multiple parts of the bottom surface of the aforementioned container group in the aforementioned Z direction based on the aforementioned coordinate information of the multiple parts corresponding to the aforementioned container group bottom surface area; calculates the tilt of the bottom surface of the aforementioned container group based on the aforementioned Z direction positions of the aforementioned multiple parts of the bottom surface of the aforementioned container group; and calculates the aforementioned loading tilt based on the tilt of the aforementioned container group bottom surface.

[0085] According to this structure, the loading tilt is calculated by calculating the bottom surface area of the container group as the area occupied by the bottom surface of the container group on the loading surface, and the inclination of the bottom surface of the container group is calculated based on the coordinate information corresponding to the bottom surface area of the container group, thereby calculating the loading tilt, so that the loading tilt can be appropriately calculated.

[0086] In addition, it is preferred that the control device calculates the individual height information representing the position in the Z direction of the containers of each layer constituting the container group based on the coordinate information, the height dimension information and the container group position information stored in the storage unit, and controls the lifting mechanism based on the individual height information.

[0087] According to this structure, the lifting amount of the gripping unit brought about by the lifting mechanism can be controlled according to the actual height of each container in each layer constituting the container group. As a result, the gripping unit can be moved with high precision to perform a conveying operation for each container in each layer constituting the container group.

[0088] Furthermore, it is preferable that the control device divides the entire area of the container group in the Z direction into a plurality of height zones in the Z direction, and in the individual position calculation process, obtains the individual position information as a common value for each of the height zones.

[0089] Since the loading surface is typically arranged along a reference plane that serves as an ideal plane, the height variations of various locations on the loading surface are actually very small. Therefore, even when a container group is loaded at an inclination, there are often cases where the differences in the X- and Y-direction positions (individual position information) between adjacent containers in the Z direction or containers positioned close to each other in the Z direction within each layer of the container group are very small. Furthermore, there are cases where such small X- and Y-direction position differences are smaller than the movement accuracy of the movement mechanism used to move the gripping portion in the X and Y directions. Therefore, detailed calculation of the individual position information for each layer of containers is not necessary even in such cases. According to this configuration, since individual position information is calculated as a common value for each height zone, rather than for each layer of containers constituting the container group, the computational load on the control device can be reduced.

[0090] In addition, it is preferred that the aforementioned storage unit stores the aforementioned container group position information regarding each of the plurality of aforementioned container groups placed on the aforementioned loading surface, and the aforementioned layer number information regarding each of the plurality of aforementioned container groups; the aforementioned tilt calculation processing and the aforementioned individual position calculation processing are performed on the aforementioned container group selected as the conveying object by the aforementioned control device.

[0091] According to this configuration, a high-precision conveyance operation can be performed for each of a plurality of container groups placed at a plurality of locations on the placement surface, taking into account positional deviations in the X and Y directions caused by the placement inclination.

[0092] In addition, it is preferred that the aforementioned storage unit stores the aforementioned bottom surface dimension information and the aforementioned height dimension information of each of the plurality of types of the aforementioned containers that are different in at least one of the aforementioned bottom surface dimension and the aforementioned height, and type information indicating the types of the aforementioned containers constituting the aforementioned container group; and the aforementioned control device obtains the aforementioned bottom surface dimension information and the aforementioned height dimension information from the aforementioned storage unit based on the aforementioned type information on the aforementioned container group selected as the conveying object.

[0093] According to this structure, even when there are multiple types of containers that are different in at least one of the bottom size and height as containers constituting the container group, it is possible to use the bottom size information and height size information about each of these multiple types of containers to appropriately perform tilt calculation processing and individual position calculation processing to perform high-precision conveying operations.

[0094] Furthermore, it is preferable that the control device sets an area on the placement surface where the placement inclination becomes greater than a predetermined value as a prohibited area where placement of the container group is prohibited based on the coordinate information and the bottom surface dimension information stored in the storage unit.

[0095] According to this configuration, since the area on the loading surface where the loading tilt exceeds a specified value is designated as a prohibited zone where the loading of container groups is prohibited, it is possible to set a state where only container groups with a loading tilt less than the specified value are loaded on the loading surface. This minimizes the loading tilt of the container group, improving stability and reducing transport errors. Furthermore, the prohibited zone can be used, for example, as a work area for operators or as a passage for operators.

[0096] Industrial applicability

[0097] The technology disclosed herein can be used in an article storage facility that includes a conveying device for conveying containers and a control device for controlling the conveying device, and stores a container group consisting of a plurality of stacked containers on a storage surface forming a storage area.

[0098] Description of Reference Numerals

[0099] 100: Storage equipment

[0100] 1: Conveying device

[0101] 2: Control device

[0102] 11: Moving mechanism

[0103] 12: Lifting mechanism

[0104] 22: Storage

[0105] 101: Grip

[0106] Af: Bottom area of the container group

[0107] Ah: Altitude zone

[0108] C :Container

[0109] Cg: container group

[0110] Cgb: bottom surface of container group

[0111] Cgp: container group position

[0112] Ch: Height dimension

[0113] Cp: individual position

[0114] F: Loading surface

[0115] Fs: Reference plane

[0116] n: number of layers

[0117] θ: Loading tilt

[0118] Ic: coordinate information

[0119] Is: bottom surface size information

[0120] Ih: Height dimension information

[0121] Icgp: container group location information

[0122] In: Layer information

[0123] Icp: Individual location information

[0124] Ihp: Individual height information

[0125] It: Type information.

Claims

1. An article storage facility comprising a conveying device for conveying containers and a control device for controlling the conveying device, wherein a container group consisting of a plurality of the containers stacked in a stack is placed on a placement surface constituting a storage area for storage, wherein the container group is characterized in that: The control device includes a storage unit; An ideal plane formed by the mounting surface is defined as a reference plane, directions along the reference plane and perpendicular to each other are defined as the X direction and the Y direction, and a direction perpendicular to the reference plane is defined as the Z direction; The storage unit stores coordinate information indicating the actual positions of each of a plurality of locations on the placement surface in the X, Y, and Z directions, bottom dimension information indicating the dimensions of the bottom of the container along the X and Y directions, height dimension information indicating the height of the container along the Z direction, container group position information indicating the positions of the container group on the placement surface in the X and Y directions, and layer number information indicating the number of layers representing the number of containers constituting the container group. The conveying device includes a gripping portion for gripping a single container or a plurality of stacked containers, a moving mechanism for moving the gripping portion in the X direction and the Y direction, and a lifting mechanism for lifting the gripping portion in the Z direction. The control device performs an inclination calculation process for determining a loading inclination, which is an inclination of the container group loaded on the loading surface relative to the Z direction, based on the coordinate information, the bottom surface dimension information, and the container group position information stored in the storage unit, and an individual position calculation process for determining individual position information indicating the positions of the containers constituting each layer of the container group in the X direction and the Y direction based on the container group position information, the loading inclination, and the height dimension information, and controls the moving mechanism based on the individual position information.

2. The article storage device according to claim 1, characterized in that: In the aforementioned tilt calculation processing, the aforementioned control device calculates, based on the aforementioned container group position information and the aforementioned bottom surface dimension information, an area on the aforementioned loading surface occupied by the aforementioned bottom surface of the aforementioned container as the lowest layer of the aforementioned container group in the aforementioned X-directions and the aforementioned Y-directions, i.e., the container group bottom surface area; calculates, based on the aforementioned coordinate information of a plurality of parts corresponding to the aforementioned container group bottom surface area, the aforementioned Z-direction positions of the plurality of parts of the aforementioned container group bottom surface; calculates, based on the aforementioned Z-direction positions of the plurality of parts of the aforementioned container group bottom surface, the tilt of the aforementioned container group bottom surface; and calculates, based on the tilt of the aforementioned container group bottom surface, the aforementioned loading tilt.

3. The article storage device according to claim 1, wherein: The control device calculates the individual height information representing the position in the Z direction of the containers of each layer constituting the container group based on the coordinate information, the height dimension information and the container group position information stored in the storage unit, and controls the lifting mechanism based on the individual height information.

4. The article storage device according to claim 2, wherein: The control device calculates the individual height information representing the position in the Z direction of the containers of each layer constituting the container group based on the coordinate information, the height dimension information and the container group position information stored in the storage unit, and controls the lifting mechanism based on the individual height information.

5. The article storage device according to claim 1, wherein: The control device divides the entire area of the container group in the Z direction into a plurality of height zones in the Z direction, and in the individual position calculation process, obtains the individual position information as a common value for each of the height zones.

6. The article storage device according to claim 2, wherein: The control device divides the entire area of the container group in the Z direction into a plurality of height zones in the Z direction, and in the individual position calculation process, obtains the individual position information as a common value for each of the height zones.

7. The article storage device according to claim 3, wherein: The control device divides the entire area of the container group in the Z direction into a plurality of height zones in the Z direction, and in the individual position calculation process, obtains the individual position information as a common value for each of the height zones.

8. The article storage device according to claim 4, wherein: The control device divides the entire area of the container group in the Z direction into a plurality of height zones in the Z direction, and in the individual position calculation process, obtains the individual position information as a common value for each of the height zones.

9. The article storage facility according to any one of claims 1 to 8, wherein: The storage unit stores the container group position information regarding each of the plurality of container groups placed on the placement surface and the layer number information regarding each of the plurality of container groups; The tilt calculation process and the individual position calculation process are performed on the container group selected as the conveyance target by the control device.

10. The article storage facility according to any one of claims 1 to 8, wherein: At least one of the bottom size and the height differs among the plurality of types of containers, and the storage unit stores bottom size information and height size information for each of the plurality of types of containers, and type information indicating the types of the containers constituting the container group. The control device acquires the bottom dimension information and the height dimension information from the storage unit based on the type information about the container group selected as the conveyance target.

11. The article storage device according to claim 9, wherein: At least one of the bottom size and the height differs among the plurality of types of containers, and the storage unit stores bottom size information and height size information for each of the plurality of types of containers, and type information indicating the types of the containers constituting the container group. The control device acquires the bottom dimension information and the height dimension information from the storage unit based on the type information about the container group selected as the conveyance target.

12. The article storage facility according to any one of claims 1 to 8, wherein: The control device sets a region on the placement surface where the placement inclination is equal to or greater than a predetermined value as a prohibited region where placement of the container group is prohibited, based on the coordinate information and the bottom surface dimension information stored in the storage unit.

13. The article storage device according to claim 9, wherein: The control device sets a region on the placement surface where the placement inclination is equal to or greater than a predetermined value as a prohibited region where placement of the container group is prohibited, based on the coordinate information and the bottom surface dimension information stored in the storage unit.

14. The article storage device according to claim 10, wherein: The control device sets a region on the placement surface where the placement inclination is equal to or greater than a predetermined value as a prohibited region where placement of the container group is prohibited, based on the coordinate information and the bottom surface dimension information stored in the storage unit.

15. The article storage device according to claim 11, wherein: The control device sets a region on the placement surface where the placement inclination is equal to or greater than a predetermined value as a prohibited region where placement of the container group is prohibited, based on the coordinate information and the bottom surface dimension information stored in the storage unit.

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