Automatic warehouse system and control method of automatic warehouse

Abstract

It is possible to easily learn the position of a load section of an automated warehouse. An automated warehouse system includes a plurality of load sections for carrying a transport object, which are fixed with respect to the automated warehouse. The load sections have displayed thereon an identification code expressing identification information for identifying each load section. A shooting section (25) for shooting a picture is mounted on a stacker. A control device (23) detects the identification information expressed by the identification code based on a picture containing the identification code shot by the shooting section (25) of the load section, and stores the detected identification information in association with stacker position information, which is information corresponding to the position of the stacker at the time of shooting the picture.

Description

Technical Field

[0001] This invention relates to automated warehouse systems and control methods for automated warehouses. Background Technology

[0002] The automated warehouse system moves the transfer unit of the item transport device horizontally and vertically within the 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 move items in and out, enabling it to store items into or retrieve items from the storage unit of the item storage shelf.

[0003] Patent Document 1 relates to an automated warehouse system. The automated warehouse system moves a transfer mechanism so that a learning marker detection means can detect both ends of a learning marker in either the horizontal or vertical movement direction of the transfer mechanism. Then, based on detection information from either the horizontal movement distance detection means or the vertical movement distance detection means when at least one end of the learning marker is detected by the learning marker detection means, the automated warehouse system learns one of horizontal distance information and vertical movement distance information. Furthermore, based on the detection information from either the horizontal movement distance detection means or the vertical movement distance detection means when both ends of the learning marker are detected by the learning marker detection means, the automated warehouse system learns the other of the horizontal distance information and vertical movement distance information.

[0004] [Previous Technical Documents] Patent Document 1: Japanese Patent Application Publication No. 2008-044732 Summary of the Invention

[0005] [The problem that the invention aims to solve] In the aforementioned Patent Document 1, the automated warehouse system shines light onto a reflector (a learning marker) with trapezoidal stickers affixed to it. The reflected light is detected by a laser sensor, thereby detecting the learning horizontal distance information and the learning vertical distance information, and then learning from them.

[0006] For example, in the automated warehouse system described above, when learning the positions of shelves, etc., the system detects and learns the reflected light from learning markers. However, due to the limited detection range, the placement of the learning markers relative to the item entry / exit positions is very restricted. Therefore, operators need to manually adjust the positions of the learning markers while simultaneously communicating with operators of other control units. When attaching the learning markers to the automated warehouse shelves, manual work at heights cannot guarantee operator safety, resulting in an increased workload for operators.

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

[0008] [Methods for solving problems] To address the aforementioned issues, one aspect of the present invention provides an automated warehouse system comprising: an automated warehouse that uses a stacker crane to transfer and move objects; and a control device that controls the stacker crane. The automated warehouse system further includes multiple carriers fixed relative to the automated warehouse, each carrier for carrying and moving objects. Each carrier displays an identification code expressing identification information used to identify each carrier. A camera mounted on the stacker crane's platform captures images. The control device detects the identification information expressed by the identification code based on an image containing the identification code captured by the camera on the carrier, and stores the detected identification information in a bound manner with stacker crane position information, wherein the stacker crane position information corresponds to the position of the stacker crane at the time the image was captured.

[0009] Furthermore, to address the aforementioned issues, in one aspect of the present invention, an automated warehouse control method includes an automated warehouse that uses a stacker crane to transfer and move objects. The automated warehouse includes multiple carriers fixed relative to the automated warehouse, each carrier carrying the transferred objects. Each carrier displays an identification code expressing identification information used to identify each carrier. A camera unit for capturing images is mounted on the stacker crane's platform. The automated warehouse control method includes the following steps: detecting the identification information expressed by the identification code based on an image containing the identification code captured by the camera unit on the carrier; and storing the detected identification information in conjunction with stacker crane position information, wherein the stacker crane position information is the position of the stacker crane at the time the image was captured.

[0010] [The effects of the invention] According to one aspect of the present invention, the position of the carrying unit of an automated warehouse can be easily learned. Attached Figure Description

[0011] Figure 1 This is a perspective view of an automated warehouse system according to an embodiment of the present invention.

[0012] Figure 2 This is a side view of a rail-guided stacker crane.

[0013] Figure 3 This is a block diagram illustrating an example of the configuration of the control section of an automated warehouse system according to an embodiment of the present invention.

[0014] Figure 4 This is a schematic diagram of a method for a control device to learn the location information of an identification code, according to an embodiment of the present invention.

[0015] Figure 5 This is an example image showing the screen when the identification code is affixed to the shelf.

[0016] Figure 6 This is an example of what happens when the identification code is affixed to the device port.

[0017] Figure 7 This is a schematic flowchart illustrating the learning process sequence of the carrying unit of an automated warehouse system according to an embodiment of the present invention.

[0018] Figure 8 This is a schematic flowchart illustrating the processing sequence during the operation of an automated warehouse system according to one embodiment of the present invention.

[0019] Figure 9 This is a diagram illustrating the permissible range of transfer within the shooting area of ​​the camera unit.

[0020] <Explanation of Figure Markers> 1. Moving objects 2. Item storage rack 2a Support 2b Bearing support section 3. Mobility Space 4. Rail-guided stacker crane 5. Bearing section 5a shelf 5b Device Port 5b-1 Warehousing Department 5b-2 Outbound Department 6. Cargo loading platform 7. Travel Track 8 guide rails 9. Traveling trolley 10 Rising bollards 11 racks 12. Goods transfer device (forklift) 13. Top frame 14. Lifting cables 15, 16 Guide pulley components 17. Cable reel 18. Lifting electric motor 19. Lifting encoder 20, 20a, 20b Driving wheels 21 Electric motor for driving 22. Encoder for driving 23 Control device 23a Driving Control Unit 23b Lifting Control Unit 23c Transfer Control Unit 23d Inspection Department 24 Identification Code 25 Filming Department 27. Panel Materials 50 processing devices 100 Automated Warehouse System Detailed Implementation

[0021] <Complete Structure of Automated Warehouse System 100> The configuration of an automated warehouse system according to one embodiment of the present invention will be described with reference to the accompanying drawings. Figure 1 This is a perspective view of an automated warehouse system 100 according to an embodiment of the present invention. The automated warehouse system 100 includes: two storage racks 2 positioned at intervals, facing each other so that the items to be transported 1 can enter and exit; and a rail-guided stacker crane 4 that automatically travels back and forth in the movement space 3 formed between the two storage racks 2. Furthermore, the items to be transported 1 can be bundled and transported, or they can be transported individually.

[0022] Each item storage shelf 2 has a pair of front and back support columns 2a, which are spaced apart along the horizontal direction of the shelf and are arranged in multiples. Each pair of front and back support columns 2a has a load-bearing support part 2b, which is spaced apart along the vertical direction and is arranged in multiples.

[0023] The support unit 5 is composed of a pair of left and right support units 2b that support and transport the object 1 to accommodate it. Furthermore, multiple support units 5 are arranged in the vertical direction and horizontal direction of the shelf. Alternatively, the support unit 5 can be a shelf 5a or a device port 5b, which will be described later. The shelf 5a and the device port 5b are collectively referred to as the support unit 5.

[0024] like Figure 1 and Figure 2 As shown, device port 5b includes an inbound section 5b-1 or an outbound section 5b-2 of processing device 50, which processes the transported object 1. Device port 5b may also include both inbound section 5b-1 and outbound section 5b-2. Alternatively, inbound section 5b-1 and outbound section 5b-2 are collectively referred to as device port 5b.

[0025] The cargo support platform 6, used for carrying and supporting the items 1 being moved into or out of the storage rack 2, is located in a place adjacent to the storage rack 2 in the horizontal direction of the rack.

[0026] In the mobile space 3, the accessible range of the item storage rack 2, extending along its entire horizontal direction, and the travel rail 7 of the loading platform 6 for inbound and outbound storage, are located on the ground; the accessible range of the item storage rack 2, extending along its entire horizontal direction, and the guide rail 8 of the loading platform 6 for inbound and outbound storage, are located on the ceiling side. Then, the rail-guided stacker crane 4 is configured to move horizontally on the travel rail 7 while being guided by the guide rail 8.

[0027] Furthermore, the automated warehouse system 100 is equipped with a device port 5b, which performs the receipt and release of the transported item 1 when transporting the transported item 1 to the processing device for processing the transported item 1, and when retrieving the transported item 1 from the processing device. The device port 5b includes an inbound section for transporting the transported item 1 to the processing device, and an outbound section for retrieving the transported item 1 from the processing device.

[0028] Rail-guided stacker crane 4 Figure 2 As shown, the system comprises a traveling trolley 9 that travels freely along a travel rail 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 (for example, forks) 12 mounted on the platform 11. Thus, the rail-guided stacker crane 4 is configured to move the goods transfer device 12 freely horizontally by the travel of the traveling trolley 9, and to move the goods transfer device 12 freely up and down by the lifting operation of the platform 11.

[0029] Next, the rail-guided stacker crane 4 is configured to transfer and move the object 1 to the cargo carrier platform 6 for inbound and outbound operations by means of the travel operation of the traveling trolley 9, the lifting operation of the platform 11 and the transfer operation of the goods transfer device 12, and to perform the entry and exit of the object 1 to the carrier section 5.

[0030] In the rail-guided stacker crane 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 the lifting columns 10, connecting the upper ends of the pairs of lifting columns 10. This upper frame 13 is designed to be guided by a guide rail 8.

[0031] The platform 11 is guided and supported by a pair of lifting columns 10 set 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.

[0032] The lifting cable 14 is wrapped around the guide pulley 15 located on the upper frame 13 and the guide pulley 16 located on the other side of the lifting column 10, and is wound back by the cable reel 17 equipped at one end of the traveling trolley 9.

[0033] The cable reel 17 is equipped with a convertible lifting electric motor 18. Then, by driving the lifting electric motor 18 to rotate forward and backward, the lifting cable 14 is pulled out or retracted, thus enabling the platform 11 to be moved up and down and the item transfer device 12 to be moved up and down.

[0034] The platform 11 is equipped with a lifting encoder 19, which detects the lifting distance from the reference lifting position to the item transfer device 12 in the lifting direction of the item transfer device 12. Alternatively, the lifting encoder 19 can be a linear encoder or a rotary encoder.

[0035] 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 the attached diagram is omitted, this reference lifting position can be detected by a detection device such as a limit switch mounted on the platform 11 side, which detects the detection element mounted on the traveling trolley 9 side. Next, a sprocket on the rotating shaft of the lifting encoder 19 meshes with a chain extending along the long side of the lifting column 10. By detecting 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 also detected.

[0036] In the rail-guided stacker crane 4, the traveling trolley 9 is equipped with pairs of traveling wheels 20 spaced apart along the long side of the traveling rail 7. Of the pairs of traveling wheels 20, one traveling wheel 20a is configured as a drive wheel, and the other traveling wheel 20b is configured as a driven wheel that rotates freely. The traveling wheel 20a is equipped with a convertible traveling electric motor 21. By driving the traveling electric motor 21 to rotate in both directions, the traveling trolley 9 is configured to travel along the traveling rail 7 and move the workpiece transfer device 12 horizontally.

[0037] The traveling carriage 9 is equipped with a traveling encoder 22 that detects the horizontal distance traveled from the reference horizontal position to the article transfer device 12 in the horizontal direction of the article transfer device 12. Alternatively, the traveling encoder 22 can be a linear encoder or a rotary encoder.

[0038] The reference horizontal position is defined as the end of the cargo-carrying platform 6 for inbound and outbound transport on the travel rail 7. Although the attached diagram is omitted, this reference horizontal position is detected by a detection device, such as a limit switch mounted on the travel trolley 9, by detecting a detection component mounted on the ground side. Next, a sprocket mounted on the rotating shaft of the travel encoder 22 engages with a chain extending along the long side of the travel rail 7. The horizontal movement distance of the travel trolley 9 after the reference horizontal position is detected is then detected, thus determining the horizontal movement distance from the reference horizontal position to the goods transfer device 12.

[0039] <Example of the configuration of control device 23> like Figure 3 As shown, the automated warehouse system 100 is equipped with a control device 23 for controlling the operation of the rail-guided stacker crane 4. The control device 23 selects the inbound / outbound cargo carrier 6 of the two inbound / outbound cargo carriers 6, or selects the carrier 5 of the cargo carrier 5 of the cargo carrier 5, and controls the travel of the traveling trolley 9 and the lifting operation of the platform 11, so that the goods transfer device 12 moves to the target stop position corresponding to the inbound / outbound cargo carrier 6 of the cargo carrier 6, or the target stop position corresponding to the carrier 5 of the cargo carrier 5.

[0040] In addition, the control device 23 controls the transfer operation of the item transfer device 12, and in the target stop position, the item transfer device 12 performs loading of the transport object 1 for the cargo carrier platform 6 for inbound and outbound storage, or the transport object 1 for the carrier section 5 of the transfer object.

[0041] Alternatively, the control device 23 can consist of two controllers, which can freely communicate with a ground-side controller located on the ground side and a stacker-side controller located on the side of the rail-guided stacker. Alternatively, it can consist of a single controller, which can freely communicate with a ground-side controller located on the ground side and machines such as the lifting electric motor 18 or the travel electric motor 21 located on the side of the rail-guided stacker.

[0042] The target stop position of the carrier 5 is a position for properly performing the entry and exit of the object 1 to be transported by the carrier 5, and is set individually for each of the multiple carriers 5. Then, the target stop position is determined by the following information: target horizontal distance information, which is based on the reference horizontal position in the horizontal movement direction of the item transfer device 12; and target lifting distance information, which is based on the reference lifting position in the lifting movement direction of the item transfer device 12.

[0043] In this embodiment, the target stopping position is defined as the intermediate position between the target stopping position for unloading when unloading the transported object 1 to the carrying unit 5 and the target stopping position for loading when placing the transported object 1 onto the item transfer device 12. Hereinafter, an example of the item transfer device 12 will be described, specifically for the case of forks.

[0044] Then, the target stop position for unloading is set so that when the forks 12 move in and out while the object being transported is being supported, the object being transported 1 can avoid conflict between the object being transported 1 and the support column 2a or the support unit 2b.

[0045] The target stop position for the inbound / outbound cargo carrier 6, like the target stop position for the carrier unit 5, is the position for properly loading the object 1 being transported onto the cargo carrier 6. The target stop position for the inbound / outbound cargo carrier 6 is determined by the following information: target horizontal distance information, based on the reference horizontal position in the horizontal movement direction of the forks 12; and target lifting distance information, based on the reference lifting position in the lifting movement direction of the forks 12. Furthermore, the target stop position in the lifting movement direction of the rail-guided stacker crane 4 and the target stop position in the horizontal movement direction of the rail-guided stacker crane 4 are referred to as stacker crane position information.

[0046] Figure 3 This is a block diagram illustrating 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 detection unit 23d.

[0047] The driving control unit 23a controls the operation of the driving electric motor 21 based on the detection information of the driving encoder 22 and the target horizontal distance information, so as to move the forks 12 horizontally to the target stop position in the horizontal movement direction of the goods transfer device 12.

[0048] The lifting control unit 23b controls the operation of the lifting electric motor 18 based on the detection 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.

[0049] The transfer control unit 23c controls the transfer operation of the forks 12 in order to perform the loading of the object 1 to the cargo carrier 6 or the entry and exit of the object 1 to the carrier 5.

[0050] 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 detected by the travel encoder 22 becomes the target horizontal distance information in the cargo carrier platform 6 or the carrier section 5 of the transfer object, the travel electric motor 21 is stopped and the forks 12 are positioned at the target stop position in the horizontal movement direction of the forks 12.

[0051] When the object 1 is unloaded from the carrier 5 or the cargo carrier 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 detects that the lifting movement distance has become the target lifting distance information of the cargo carrier platform 6 or the carrier 5, the lifting electric motor 18 is stopped. Next, the lifting control unit 23b moves the forks 12 to a position above the target stop position at a preset distance, which is the unloading target stop position.

[0052] In addition, 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 it unloads the object 1 from the carrying unit 5 or the cargo carrying platform 6, so that the forks 12 are moved to a position below the target stop position at a preset distance, which is the target stop position for loading.

[0053] When unloading the transported object 1 from the load-bearing section 5 or the cargo-bearing platform 6, the transfer control unit 23c, while supporting the transported object 1, extends the forks 12 and lowers the item transfer device 12 to the target stop position for loading by lowering the platform 11, thus unloading the transported object 1 onto the load-bearing section 5 or the cargo-bearing platform 6, and then retracts the forks 12. Furthermore, when scooping the transported object 1 from the load-bearing section 5 or the cargo-bearing platform 6, the transfer control unit 23c extends the forks 12 and raises or lowers the forks 12 to the target stop position by raising the platform 11, scooping the transported object 1, and then retracts the forks 12 while supporting the transported object 1.

[0054] In order to move the forks 12 to the target stop positions corresponding to the multiple load-bearing units 5, it is necessary for the control device 23 to first obtain the target horizontal distance information and the target lifting distance information for the multiple target stop positions.

[0055] Learning about Identification Code Location Information Figure 4 This is a schematic diagram of a method for the control device 23 of an embodiment of the present invention to learn the location information of the identification code. The plate component 27, displaying the identification code, is correspondingly attached to each bearing component 5 (see reference). Figure 1 and Figure 2 Alternatively, the board material 27 can also be a sticker displaying an identification code.

[0056] The identification codes displayed on the plate components 27 correspondingly affixed to each bearing part 5 contain unique, arbitrary values, i.e., identification information. A camera unit 25 is fixed on the platform 11 of the rail-guided stacker crane 4. Furthermore, the installation position of the camera unit 25 is adjusted using the identification codes affixed to the reference frame.

[0057] The position of the identification code is adjusted so that when the rail-guided stacker crane 4 moves to the position corresponding to the stacker crane's position information, the identification code appears in the frame captured by the imaging unit 25. As long as the identification code is within the frame captured by the imaging unit 25, the detection unit 23d of the control device 23 can detect it. Therefore, since there is no need to manually adjust the position of the identification code, the safety of the operators can be ensured, and the operator's work time can be expected to be shortened. Furthermore, the size of the identification code only needs to be detectable by the image processing; there is no particular limitation on the size of the identification code relative to the size of the image.

[0058] Identification codes, for example, are two-dimensional codes such as QR (Quick Response) codes and DataMatrix codes. Furthermore, identification codes are not limited to two-dimensional codes; for example, they can also be one-dimensional codes such as barcodes, or even three-dimensional codes.

[0059] During the learning of recognition information, the control device 23 moves the rail-guided stacker crane 4 to a position on the support section 5, which is the learning target, corresponding to the stacker crane's position information. Next, the detection unit 23d of the control device 23 analyzes the image captured by the imaging unit 25 and detects the identification code, then obtains the recognition information recorded in the identification code. Furthermore, the detection 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.

[0060] The detection unit 23d of the control device 23 stores identification information for identifying the carrier unit 5, and stores the stacker crane position information and the identification code position information in a manner bound to the identification information. The identification code position information may also include information on the relative position of the stacker crane position information and the identification code, so that only the identification code position information can be stored in a manner bound to the identification information.

[0061] Figure 5 This is an example image showing the screen when the identification code is affixed to shelf 5a. (Example image follows) Figure 5As shown, the image captured by the imaging unit 25 includes an identification code 24 displayed on the board material 27. The detection unit 23d of the control device 23 detects 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).

[0062] Figure 6 This is an example image showing the screen when the identification code is affixed to port 5b of the device. Figure 6 As shown, the image captured by the camera unit 25 includes an identification code 24 displayed on the board material 27. Furthermore, while the identification code 24 is affixed near the storage section 5b-1 of the processing device 50, it is also affixed near the exit section 5b-2.

[0063] <Processing order during the learning of identification code location information> Figure 7 This is a schematic flowchart illustrating the processing sequence of the carrier unit 5 during learning in an embodiment of the automated warehouse system of the present invention. First, the control device 23 acquires the stacker crane position information corresponding to the carrier unit 5, which is the learning target (S1), and moves the rail-guided stacker crane 4 to the carrier unit 5, which is the learning target, based on the stacker crane position information (S2). Here, the stacker crane position information is set such that the target stopping position is an intermediate position between the target stopping position for unloading the transported object 1 when unloading it onto the carrier unit 5 and the target stopping position for loading it onto the forks 12.

[0064] Next, the detection unit 23d of the control device 23 captures an image containing the identification code by the imaging unit 25 (S3), analyzes the captured image and detects the identification code, and then obtains the identification information recorded in the identification code (S4). Then, the detection unit 23d of the control device 23 calculates the identification code position information, indicating the position of the identification code within the display screen (S5).

[0065] Next, the detection unit 23d of the control device 23 binds and stores the identification information obtained from the identification code, the stacker crane position information, and the identification code position information (S6). Finally, the control device 23 determines whether the carrier unit 5 corresponding to all identification codes has been learned (S7).

[0066] If there is an unlearned carrier unit 5 (S7, No), the control device 23 returns to step S1 and repeats the subsequent processing. Alternatively, if all carrier units 5 corresponding to all identification codes have been learned (S7, Yes), the control device 23 completes the processing.

[0067] <Processing sequence during the operation of the automated warehouse system 100> Figure 8 This is a schematic 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 crane position information and identification code position information corresponding to the carrier unit 5 performing the operation (S11). Because the carrier unit 5 and the identification information are in a one-to-one correspondence, the control device 23 can obtain the stacker crane position information and identification code position information corresponding to the carrier unit 5 performing the operation by retrieving the identification information.

[0068] Next, the control device 23 moves the rail-guided stacker crane 4 directly to the target stop position based on the stacker crane position information (S12). Here, the stacker crane position information is set so that the target stop position is an intermediate position between the unloading target stop position when unloading the transported object 1 to the carrying unit 5 and the loading target stop position when placing the transported object 1 onto the forks 12.

[0069] For example, when the forks 12 scoop up the object 1 from the carrying section 5, the control device 23 moves the rail-guided stacker 4 to a position below the target stop position at a preset distance (for example, 10cm) based on the stacker position information. This is the target stop position for scooping.

[0070] Furthermore, when the forks 12 unload the transported object 1 from the carrying unit 5, the control device 23 moves the rail-guided stacker 4 to a position above the target stop position at a preset distance (for example, 10cm) based on the stacker position information, which is the unloading target stop position.

[0071] Next, the detection unit 23d of the control device 23 captures an image containing the identification code by the imaging unit 25 (S13). At this time, the control device 23 can also parse the captured image and detect the identification code, obtain the identification information recorded in the identification code, determine whether it is consistent with the registered identification information, and then confirm whether it is the correct carrier unit 5.

[0072] Next, the control device 23 refers to the image captured by the imaging unit 25 and determines whether the position of the captured identification code 24 is within the transfer fault tolerance (transfer OK) range (S14).

[0073] Figure 9 This is a schematic diagram illustrating the transfer tolerance range set within the shooting range of the shooting unit 25. (Example) Figure 9 As shown in the left figure, when learning the location information of the identification code, the position of identification code 24 is regarded as being located almost in the center of the shooting range.

[0074] For example, in the case where the control device 23 moves the rail-guided stacker crane 4 to the target stopping position for loading, the transfer tolerance range is set as follows: Figure 9 The image on the right shows the area above the learning identifier 24, within the shooting range, at a preset distance (for example, 10cm). The transfer tolerance range is set to be larger than identifier 24. Figure 9 The right image shows a case where the location of the captured identification code 24 is outside the migration fault tolerance range.

[0075] If the position of the captured identification code 24 is outside the transfer tolerance range (S14, No), adjust the position of the fork 12 (S15). Figure 9 As shown in the central diagram, the control device 23 adjusts the position of the forks 12 so that the position of the identification code 24 is within the transfer tolerance range. At this time, while referring to the image captured by the imaging unit 25, the control device 23 adjusts the position of the forks 12 of the stacker crane 4 located in the rail aisle so that the detected identification code 24 is within the transfer tolerance range.

[0076] Furthermore, when the control device 23 moves the rail-guided stacker crane 4 to the target stopping position for unloading, the transfer tolerance range is set below the position of the identification code 24 during learning, within the shooting range, at a preset distance (for example, 10 cm). Next, the control device 23 adjusts the position of the forks 12 so that the position of the identification code 24 is within the transfer tolerance range.

[0077] Furthermore, if the location of the captured identification code is within the transfer tolerance range (S14, Yes), processing step S16 is performed.

[0078] Finally, the control device 23 performs operations on the transported object 1 (S16) to complete the processing.

[0079] <The Effects of Automated Warehouse System 100> As explained above, in the automated warehouse system 100 of this embodiment, the detection unit 23d of the control device 23 detects the identification code from the image captured by the camera unit 25. As long as the identification code is within the image captured by the camera unit 25, the detection unit 23d of the control device 23 can detect it. Therefore, when the automated warehouse system is activated, there is no need to manually adjust the position of the identification code, ensuring the safety of operators and anticipating a reduction in operator work time.

[0080] Furthermore, since identification information can be recorded on the identification code, it is easy to bind the carrier 5 to the identification information.

[0081] In addition, the identification code contains any non-repeating value, i.e., identification information. Since the carrier 5 and the identification information are in a one-to-one correspondence, the control device 23 can obtain the stacker crane position information and identification code position information corresponding to the carrier 5 performing the operation by retrieving the identification information.

[0082] Furthermore, since the control device 23 stores the identification information and the identification code location information in a bound manner, it can easily obtain the identification code location information corresponding to the shelf 5a that is the object by retrieving the identification information.

[0083] Furthermore, because the control device 23 stores the identification information and the identification code location information in a bound manner, the identification code location information corresponding to the device port 5b to which the object is located can be easily obtained by retrieving the identification information. In addition, by affixing the identification codes to the storage section 5b-1 and the release section 5b-2 of the device port 5b respectively, the storage control of the object 1 being transported to the processing device 50 and the release control of the object 1 being transported from the processing device 50 can be easily executed.

[0084] Furthermore, since the shape of the device port 5b varies depending on the manufacturer, it is difficult to affix the identification code to the appropriate position. However, as mentioned above, as long as the identification code is captured in the image by the camera unit 25, the detection unit 23d of the control device 23 can detect the identification code, so it can also be applied to the device port 5b.

[0085] Furthermore, the detection unit 23d of the control device 23 calculates the identification code position information based on the relative position of the identification code in the image captured by the imaging unit 25, and stores the calculated identification code position information in conjunction with the identification information of the carrier 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.

[0086] <Example of software implementation> 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.

[0087] In the latter case, the control device 23 includes a computer that executes program commands, the program being software that implements various functions. This computer, for example, includes at least one processor and at least one computer-readable recording medium storing the aforementioned program. The present invention is achieved by having the processor read the program from the recording medium and execute it. For example, a CPU (Central Processing Unit) can be used as the processor. The recording medium is a "non-transitory tangible medium," for example, in addition to ROM (Read Only Memory), magnetic tape, optical disc, cards, semiconductor memory, programmable logic circuits, etc. Furthermore, it may also include RAM (Random Access Memory) for decompressing the program. Furthermore, the program can be supplied to the computer via any transmission medium (communication network or transmission wave, etc.) capable of transmitting the program. Here, even if the program is embodied as a data signal carried on a carrier wave through electronic transmission, one aspect of the present invention can still be achieved.

[0088] Summary An automated warehouse system according to one aspect of the present invention includes: an automated warehouse that uses a stacker crane to transfer and move objects; and a control device that controls the stacker crane; the automated warehouse system further includes a plurality of carriers fixed relative to the automated warehouse for carrying the transferred objects, each carrier displaying an identification code expressing identification information for identifying each carrier; the stacker crane has a camera mounted on its platform for capturing images; the control device detects the identification information expressed by the identification code based on an image containing the identification code captured by the camera of the carrier, and stores the detected identification information in a bound manner with stacker crane position information, wherein the stacker crane position information is the position of the stacker crane at the time the image was captured.

[0089] According to the above scheme, as long as the identification code is within the frame captured by the camera, the control device can detect it. Therefore, 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 can be expected to be shortened.

[0090] In the aforementioned automated warehouse system, the aforementioned control device calculates the corresponding information of the location of the aforementioned identification code, namely the identification code location information, based on the aforementioned screen containing the aforementioned identification code and the aforementioned stacker crane location information, and stores the aforementioned identification information and the calculated identification code location information in a bound manner.

[0091] According to the above scheme, the control device stores the identification information and the identification code location information in a bound manner. Therefore, by retrieving the identification information, the identification code location information corresponding to the carrier that becomes the object can be easily obtained.

[0092] In the aforementioned automated warehouse system, the aforementioned control device calculates the aforementioned identification code position information based on the aforementioned stacker crane position information and the relative position of the aforementioned identification code in the aforementioned screen.

[0093] According to the above scheme, when the automated warehouse system is in operation, the control device can easily perform position adjustments of forks and other components based on the identification code location information.

[0094] In the aforementioned automated warehouse system, the aforementioned carrying unit is a device port that includes an inbound or outbound unit of a processing device. The processing device processes the aforementioned transported objects, and the aforementioned control device stores the aforementioned identification information corresponding to the aforementioned device port in a bound manner with the aforementioned identification code location information.

[0095] According to the above scheme, the control device stores the identification information and the identification code location information in a bound manner. Therefore, by retrieving the identification information, the identification code location information corresponding to the device port that is the target can be easily obtained.

[0096] In the aforementioned automated warehouse system, the aforementioned support unit is a shelf, and the aforementioned control device stores the aforementioned identification information corresponding to the aforementioned shelf and the aforementioned identification code location information in a bound manner.

[0097] According to the above scheme, the control device stores the identification information and the identification code location information in a bound manner. Therefore, by retrieving the identification information, the identification code location information corresponding to the shelf that is the object can be easily obtained.

[0098] In the aforementioned automated warehouse system, the aforementioned stacker crane is equipped with forks on its aforementioned platform for transferring the aforementioned transported objects. When the transported objects are to be placed on the aforementioned forks, the aforementioned control device adjusts the position of the aforementioned forks relative to the aforementioned carrying part based on the aforementioned identification code position information.

[0099] According to the above scheme, the operation of loading the transported object onto the forks can be easily performed.

[0100] In the aforementioned automated warehouse system, the aforementioned stacker crane is equipped with forks on its aforementioned platform for transferring the aforementioned transported objects; when the transported objects are to be unloaded from the aforementioned forks, the aforementioned control device adjusts the position of the aforementioned forks relative to the aforementioned load-bearing part based on the aforementioned identification code position information.

[0101] According to the above scheme, the operation of unloading the transported object from the forks can be easily performed.

[0102] In the aforementioned automated warehouse system, the identification code is a 2D barcode.

[0103] In the aforementioned automated warehouse system, the aforementioned identification code is displayed on the board material or sticker.

[0104] In one aspect of the control method for an automated warehouse of the present invention, the automated warehouse uses a stacker crane to transfer and transport objects. The automated warehouse includes a plurality of carriers fixed relative to the automated warehouse for carrying the transported objects. Each carrier displays an identification code expressing identification information for identifying each carrier. The stacker crane has a camera mounted on its frame for capturing images. The control method for the automated warehouse includes the following steps: detecting the identification information expressed by the identification code based on an image containing the identification code captured by the camera on the carrier; and storing the detected identification information in a bound manner with stacker crane position information, wherein the stacker crane position information is the position of the stacker crane when the image was captured.

[0105] According to the above scheme, as long as the identification code is within the frame captured by the camera, the control device can detect it. Therefore, 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 can be expected to be shortened.

[0106] <Additional Notes> This invention is not limited to the examples of the various embodiments described above. Various changes can be made within the scope shown by the inventive concept. Embodiments obtained by appropriately combining the technical solutions disclosed in different embodiments are also included in the technical scope of this invention.

Claims

1. An automated warehouse system, comprising: An automated warehouse that uses stacker cranes to transfer and move goods; and a control device that controls the aforementioned stacker cranes. The features of this automated warehouse system are: It also includes multiple support units fixed relative to the aforementioned automated warehouse for carrying the aforementioned transported objects. The aforementioned carrier unit displays an identification code that expresses identification information, which is used to identify each carrier unit. The aforementioned stacker crane has a camera unit mounted on its frame to capture images. The aforementioned control device detects the aforementioned identification information expressed by the identification code based on the image of the aforementioned identification code captured by the aforementioned camera unit on the aforementioned carrier unit, and stores the detected identification information in a bound manner with the stacker crane position information, wherein the stacker crane position information is the corresponding information of the position of the aforementioned stacker crane when the aforementioned image was captured. The aforementioned control device calculates the corresponding information of the position of the aforementioned identification code, namely the identification code position information, based on the aforementioned screen containing the aforementioned identification code and the aforementioned stacker crane position information, and stores the aforementioned identification information in a bound manner with the calculated aforementioned identification code position information. The aforementioned control device is further characterized in that, The aforementioned control device calculates the aforementioned identification code position information based on the aforementioned stacker crane position information and the relative position of the aforementioned identification code in the aforementioned screen.

2. The automated warehouse system according to claim 1, characterized in that, The aforementioned carrying section is a device port that includes an inbound or outbound section of a processing device, which processes the aforementioned transported items. The aforementioned control device stores the aforementioned identification information corresponding to the aforementioned device port in a bound manner with the aforementioned identification code location information.

3. The automated warehouse system according to claim 1, characterized in that, The aforementioned load-bearing part is a frame. The aforementioned control device stores the aforementioned identification information corresponding to the aforementioned shelf and the aforementioned identification code location information in a bound manner.

4. The automated warehouse system according to any one of claims 1 to 3, characterized in that, The aforementioned stacker crane is equipped with forks on its aforementioned platform for transferring the aforementioned transported items. When the aforementioned object to be transported is to be placed onto the aforementioned forks or when the aforementioned object to be transported is to be unloaded from the aforementioned forks, the aforementioned control device adjusts the position of the aforementioned forks relative to the aforementioned load-bearing part based on the aforementioned identification code position information.

5. A control method for an automated warehouse, wherein, The aforementioned automated warehouse uses stacker cranes to transfer and move objects. The aforementioned automated warehouse includes multiple support units fixed relative to the automated warehouse for carrying the aforementioned transported objects. The aforementioned carrier unit displays an identification code that expresses identification information, which is used to identify each carrier unit. The aforementioned stacker crane has a camera unit mounted on its frame to capture images. The control method for this automated warehouse is characterized by including the following steps: Based on the image containing the aforementioned identification code captured by the aforementioned camera unit on the aforementioned carrier unit, the aforementioned identification information expressed by the identification code is detected; and The detected identification information is stored in a bound manner with the stacker crane location information, wherein the stacker crane location information is the corresponding information of the location of the stacker crane when the aforementioned image was captured; Based on the aforementioned image containing the aforementioned identification code and the aforementioned stacker crane position information, the corresponding information of the position of the aforementioned identification code, namely the identification code position information, is calculated, and the aforementioned identification information is stored in a bound manner with the calculated identification code position information. The step of calculating the corresponding information of the position of the aforementioned identification code is further characterized by the following: Based on the aforementioned stacker crane location information and the relative position of the aforementioned identification code in the aforementioned image, the aforementioned identification code location information is calculated.

6. An automated warehouse system, characterized in that: It possesses: The stacker crane includes a traveling trolley that travels in a horizontal direction and a platform that moves in a lifting direction perpendicular to the horizontal direction. The stacker crane is used to transfer and move objects. The platform of the stacker crane is equipped with an item transfer device for transferring and moving objects. The warehouse has multiple fixed bearing parts, which are arranged in multiple ways in the horizontal direction and in multiple ways in the lifting direction. The bearing parts are used to carry and move objects. Control device for controlling the aforementioned stacker crane; The aforementioned carrier unit displays an identification code that expresses identification information, which is used to identify each carrier unit. The aforementioned traveling trolley is equipped with a traveling encoder, which is used to detect the horizontal movement distance of the aforementioned item transfer device relative to a reference horizontal position; The aforementioned platform is equipped with a lifting encoder and a camera unit; the aforementioned lifting encoder is used to detect the lifting distance of the aforementioned item transfer device relative to the reference lifting position, and the aforementioned camera unit is used to capture images; The aforementioned control device includes a process for learning the location information of the identification code and a process for transferring and moving objects using the location information of the identification code; The aforementioned control device: In the aforementioned identification code location information learning process, the aforementioned stacker crane is moved to the corresponding position of the learning object in the multiple aforementioned bearing sections; The aforementioned camera captures images containing identification codes; The aforementioned image is analyzed, and the aforementioned identification information represented by the aforementioned identification code is read; The stacker position information related to the stacker position detected by the aforementioned horizontal movement distance and the aforementioned vertical movement distance, as well as the relative position of the aforementioned identification code in the aforementioned image, are used to calculate the aforementioned identification code position information; The aforementioned control device: In the process of using the identification code location information to transfer the aforementioned transported object, the stacker crane location information and the identification code location information corresponding to the load-bearing unit that is the transfer target among the multiple aforementioned load-bearing units are obtained; The movement of the stacker crane is controlled based on the aforementioned stacker crane location information.

7. The automated warehouse system according to claim 6, characterized in that: The aforementioned carrying section is a device port that includes an inbound or outbound section of a processing device, which processes the aforementioned transported items. The aforementioned control device stores the aforementioned identification information corresponding to the aforementioned device port in a bound manner with the aforementioned identification code location information.

8. The automated warehouse system according to claim 6, characterized in that: The aforementioned load-bearing part is a frame. The aforementioned control device stores the aforementioned identification information corresponding to the aforementioned shelf and the aforementioned identification code location information in a bound manner.

9. The automated warehouse system according to any one of claims 6-8, characterized in that: The aforementioned item transfer device is a forklift. In the process of using the aforementioned identification code location information to transfer the aforementioned transported object, the aforementioned control device: Based on the aforementioned stacker crane location information, the stacker crane is moved, and then photographed by the camera unit; Within the shooting range of the camera, determine whether the position of the aforementioned identification code is within the acceptable range for transfer; When the position of the aforementioned identification code is not within the aforementioned transfer qualification range, adjust the position of the forks so that the position of the identification code falls within the transfer qualification range.

10. The automated warehouse system according to claim 9, characterized in that: In the process of using the aforementioned identification code location information to transfer and move objects, the aforementioned control device: When the aforementioned object to be transported is to be placed onto the aforementioned forks or when the aforementioned object to be transported is to be unloaded from the aforementioned forks, the aforementioned control device adjusts the position of the aforementioned forks relative to the aforementioned load-bearing part based on the aforementioned identification code position information.

Images