processor

Abstract

The present invention relates to a processor. Specifically, according to an embodiment of the present invention, a processor 1 is provided, which includes: a plurality of stackers 100 providing loading spaces in which a prescribed number of customer trays (CTs) can be loaded in an up-down direction; and cameras 200 for photographing the customer trays (CTs) loaded on the plurality of stackers 100, provided corresponding to the plurality of stackers 100 and disposed at a position further rearward than the plurality of stackers 100; at least one of the plurality of cameras 200 photographs the customer trays (CTs) loaded in any one of the plurality of stackers 100 predetermined in a prescribed photographing direction; the photographing direction is a direction toward the plurality of customer trays loaded on the stacker 100 that becomes a photographing target of the camera 200 and is a direction that is displaced from a front-rear direction and a left-right direction in a horizontal direction.

Description

processor Technical Field

[0001] This invention relates to a processor. Background Technology

[0002] Generally, electronic components can only be sold on the market after undergoing durability and defect detection tests. To test these electronic components, a tester is needed to test the electrically connected electronic components, and a handler is needed to make the electrical connections between the electronic components.

[0003] After the electronic components have been tested, the processor categorizes them according to the test results and loads them onto customer trays. Furthermore, electronic components are tested in lots. A lot refers to the number of electronic components loaded onto a specified number of customer trays. These specified number of customer trays can be loaded using a stacker crane located within the processor.

[0004] To prevent the number of customer pallets loaded into the stacker crane from exceeding the target quantity, the processor monitors whether customer pallets are overloaded. The processor determines whether customer pallets are overloaded by comparing the sum of a predetermined loading height (hereinafter, the set loading height value) of customer pallets loaded to the specified quantity with the sum of the loading heights of actual customer pallets loaded into the stacker crane to the specified quantity (hereinafter, the actual loading height value). For example, when the difference between the actual loading height value and the set loading height value is greater than the height of one customer pallet, the monitoring means can determine that the customer pallets are overloaded by the stacker crane. On the other hand, manufacturing tolerances occur during the production of customer pallets. Due to these manufacturing tolerances, a difference exists between the set loading height value and the actual loading height value. Furthermore, as the number of customer pallets loaded increases, the difference between the set loading height value and the actual loading height value for the same quantity of customer pallets further increases.

[0005] The number of customer pallets loaded in the existing stacker crane is less than or equal to a certain number. As mentioned above, the difference between the actual loading height and the set loading height due to the manufacturing tolerance of loading less than a certain number of customer pallets is less than the height of one customer pallet. Although the error in the loading height is due to the manufacturing tolerance, the reliability of the monitoring results on whether the processor is overloaded is guaranteed.

[0006] However, recently, the customer company has requested a higher number of customer pallets to be loaded onto the stacker crane. As the number of customer pallets increases, the difference between the set loading height and the actual loading height can exceed the height of a single customer pallet.

[0007] Existing processors have a problem where, when the difference between the set loading height and the actual loading height exceeds the height of a customer pallet, they incorrectly classify the customer pallets as overloaded in the stacker crane, even if the customer pallets are actually loaded in the stacker crane according to the customer's expected load. For example, if a customer company requests n customer pallets to be loaded in the stacker crane, and the actual number of customer pallets loaded in the stacker crane is n, and the sum of the manufacturing tolerances of the n customer pallets is greater than the height of a single customer pallet, the processor may identify the number of customer pallets loaded in the stacker crane as n+1, thus incorrectly classifying the customer pallets as overloaded.

[0008] As mentioned above, existing processors have a problem where they incorrectly judge that the stacker crane is overloaded even if the stacker crane is not overloaded with customer pallets, thereby reducing the reliability of the processor.

[0009] The technical problem to be solved

[0010] One embodiment of the present invention was invented with reference to the above background, providing a processor that improves processor reliability by accurately determining whether a customer pallet loaded on a stacker crane is overloaded. Summary of the Invention

[0011] According to one aspect of the present invention, a processor 1 may be provided, comprising: a plurality of stacker cranes 100 providing loading space for loading a predetermined number of customer pallets (CTs) in a vertical direction; and a camera 200 for photographing the customer pallets (CTs) loaded on the plurality of stacker cranes 100, provided to correspond to the plurality of stacker cranes 100 and positioned further rearward than the plurality of stacker cranes; at least one of the plurality of cameras 200 photographs the customer pallets (CTs) loaded on any predetermined stacker crane 100 along a predetermined shooting direction; the shooting direction is directed toward the plurality of customer pallets loaded on the stacker crane 100 that are the subject of the photograph by the camera 200, and is offset in the horizontal direction from the front-back direction and the left-right direction.

[0012] Alternatively, a processor 1 may be provided in which, when the customer tray (CT) is loaded to the maximum extent in the loading space, the setting height h2 of the plurality of cameras 200 from the lower end of the loading space is lower than the height h1 of the upper end of the customer tray loaded at the uppermost end.

[0013] Alternatively, a processor 1 may be provided to correspond to the number of the plurality of cameras 200 provided with respect to the plurality of stacker cranes 100.

[0014] Alternatively, a processor 1 can be provided in which the plurality of cameras 200 and the plurality of stacker cranes 100 are arranged in a left-right direction, and the width d2 of the plurality of cameras 200 in the left-right direction is smaller than the width d2 of the plurality of stacker cranes 100 in the left-right direction.

[0015] Alternatively, a processor 1 may be provided in which the plurality of cameras 200 include: a plurality of first cameras 210, the shooting direction of which is facing the left front; and a plurality of second cameras 220, the shooting direction of which is facing the right front; and the plurality of first cameras 210 and the plurality of second cameras 220 are arranged alternately in the left-right direction.

[0016] Additionally, a conveyor 400 may be provided, comprising a pallet support 410 for transferring the customer pallet (CT) and a support guide 410 for guiding the vertical movement of the pallet support 410, and disposed further rearward than the loading space; and an illumination unit 300 disposed on the support guide 420, a processor 1 that emits light forward toward the customer pallet (CT) loaded on the stacker crane 100.

[0017] Alternatively, a processor 1 may be provided that includes: a movable frame 620 supporting the bracket guide 420 and the lighting unit 300; a horizontal movement guide 500 disposed further rearward than the movable frame 620 to guide the movable frame 620 to move in a left-right direction; and a driver 800 causing the transmitter 400 to move along the horizontal movement guide 500; wherein when the transmitter 400 is moved by the driver 800, the bracket guide 420 and the lighting unit 300 move together in a left-right direction via the movable frame 620.

[0018] Alternatively, a device may be provided that includes: a tray protrusion (CTa) protruding rearward from the rear end of the customer tray (CT); and a controller 900 that determines the number of customer trays (CTs) loaded based on the number of tray protrusions (CTa) of the customer trays (CTs) loaded in the loading space as captured by the camera 200.

[0019] Beneficial effects

[0020] According to an embodiment of the present invention, the processor improves reliability by accurately determining whether a customer pallet loaded on a stacker crane is overloaded. Attached Figure Description

[0021] Figure 1 is a perspective view of a processor according to an embodiment of the present invention;

[0022] Figure 2 is a partially enlarged view of a processor according to an embodiment of the present invention;

[0023] Figure 3 is a perspective view of a loaded customer pallet according to an embodiment of the present invention;

[0024] Figure 4 is a side view of a processor according to an embodiment of the present invention;

[0025] Figure 5 is a cross-sectional view taken along line A-A' in Figure 1. Detailed Implementation

[0026] As described below, in order to realize the technical concept of the present invention, specific embodiments will be described in detail with reference to the accompanying drawings.

[0027] Furthermore, in describing this invention, if it is believed that a detailed description of the structure or function of the relevant announcements may obscure the essence of the invention, such detailed description will be omitted.

[0028] Furthermore, when it is mentioned that a certain constituent element is "connected" and "supported" by other constituent elements, it should be understood that it can be directly connected to or supported by other constituent elements, or that there may be other constituent elements in between.

[0029] The terminology used in this specification is for describing specific embodiments only and is not intended to limit the scope of the invention. The expression of paragraph numbers includes plural expressions unless the context clearly distinguishes them.

[0030] Furthermore, terms containing ordinal numbers, such as "first" and "second," can be used to describe various constituent elements; however, the constituent elements are not limited to these terms. These terms are used only to distinguish one constituent element from another.

[0031] The word "including" as used in the specification means that a specific feature, region, integer, step, action, element and / or component is specifically defined, but does not exclude the existence or addition of other specific features, regions, integers, steps, actions, elements, components and / or groups.

[0032] Furthermore, in this specification, the terms "upper," "lower," and "above" are based on the illustrations on the drawings. If the orientation of the object is changed, different representations can be indicated in advance. Moreover, the vertical, front-back, and left-right directions can be defined as the coordinate axes shown in Figures 1 to 5. The vertical direction can be defined as the direction of loading the customer pallet (CT). In the front-back direction, the front end can be defined as the direction from the stacker crane 100 towards the door 700, and the rear end can be defined as the opposite direction to the front end. Additionally, the left-right direction can be defined as the direction perpendicular to the vertical and front-back directions.

[0033] Hereinafter, the specific configuration of a processor 1 according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0034] Referring to Figures 1 and 2, a processor 1 according to an embodiment of the present invention can test electronic components manufactured using a prescribed manufacturing process, classify them by grade according to the test results, and load them onto customer pallets (CTs). Furthermore, the processor 1 can load multiple customer pallets (CTs) and check the number of loaded customer pallets (CTs). The processor 1 may include a stacker crane 100, a camera 200, a lighting unit 300, a conveyor 400, a horizontal movement guide 500, a frame 600, a door 700, a drive 800, and a controller 900.

[0035] Stacker crane 100 can provide loading space for a specified number of customer pallets (CTs). The specified number can represent the maximum number of customer pallets (CTs) that can be loaded into the loading space. In other words, the loading space can be defined as the space that determines the maximum number of customer pallets (CTs) that can be loaded.

[0036] When a customer pallet (CT) is loaded to its maximum extent in the loading space, the upper height of the loading space can be defined as the height of the uppermost customer pallet (CT). Similarly, when a customer pallet (CT) is loaded to its maximum extent in the loading space, the lower height of the loading space can be defined as the height of the lowermost customer pallet (CT). The stacker crane 100 can be positioned between the door 700 and the camera 200 in the front-to-back direction. For example, the stacker crane 100 can be positioned further back than the door 700 and further forward than the camera 200. Multiple stacker cranes 100 can be provided and arranged in the left-to-right direction. The stacker crane 100 may include a position sorting unit 110 and a pallet support unit 120.

[0037] Referring next to Figure 3, the position sorting unit 110 can sort the positions of customer pallets (CTs) loaded in the loading space. For example, the position sorting unit 110 can prevent customer pallets (CTs) loaded in the loading space from rotating more than a predetermined angle or moving more than a predetermined distance in the horizontal direction. In this specification, customer pallets (CTs) loaded in the loading space may be referred to as loaded customer pallets (CTs). The position sorting unit 110 can form the loading space together with the pallet support unit 120. The position sorting unit 110 can extend in the vertical direction.

[0038] Furthermore, multiple position sorting units 110 can be provided. These multiple position sorting units 110 can be arranged at intervals along the left-right and front-back directions. For example, the multiple position sorting units 110 can be configured to be adjacent to each vertex of the loaded customer trays (CTs).

[0039] The pallet support 120 can support loaded customer pallets (CTs). The pallet support 120 can be positioned opposite the bottom of the lowest customer pallet (CT) in the loading space. In addition, the pallet support 120 can be connected to the lower end of the position sorting unit 110.

[0040] Camera 200 can capture images of loaded customer pallets (CTs) in a predetermined shooting direction. The shooting direction can be defined as the direction in which camera 200 faces the loaded customer pallets (CTs) that are the subjects of the image. This shooting direction can be a horizontal direction offset from the front-back and left-right directions. In other words, by setting the shooting direction to be offset from the front-back and left-right directions in the horizontal direction, multiple customer pallets (CTs) loaded on stacker crane 100 that are the subjects of camera 200 can be captured. For example, when camera 200 is viewed from above processor 1, the shooting direction, as a direction offset from the front-back and left-right directions, can be a direction tilted to the left or right relative to a virtual line extending in the front-back direction. As a more specific example, the angle formed by the virtual line extending along the shooting direction and the virtual line extending in the left-right direction can be less than 45°. For example, camera 200 can be a webcam. Camera 200 can also be positioned further back than stacker crane 100. Because the camera 200 is positioned at the rear, it achieves higher space utilization than when positioned at the front (between the stacker crane and the door), thus preventing the equipment from becoming bulky. The camera 200 can be positioned at the rear because it has a relatively large viewing angle and a large focal length, and is configured to shoot at an angle.

[0041] Referring again to Figure 4, camera 200 may have a defined angle of view (a). The angle of view (a) can be defined as the field of view of the scene captured by camera 200. The angle of view (a) can be defined as the angle formed by a virtual first straight line passing through camera 200 and the upper end of the customer trays (CTs) loaded at maximum capacity, and a virtual second straight line passing through camera 200 and the lower end of the customer trays (CTs) loaded at maximum capacity. For example, when viewing camera 200 from the left or right side of processor 1, the angle of view (a) can be defined as the angle formed between the first and second straight lines. The angle of view (a) can be determined corresponding to the front-to-back distance between camera 200 and the loaded customer trays (CTs). For example, when the front-to-back distance between camera 200 and the loaded customer trays (CTs) changes, the angle of view (a) can also change accordingly. As a more detailed example, if the front-to-back distance between the camera 200 and the customer loading trays (CTs) decreases, the viewing angle (a) can increase; if the front-to-back distance between the camera 200 and the customer loading trays (CTs) increases, the viewing angle (a) can decrease.

[0042] Multiple cameras 200 can be configured with a relatively narrow left-right distance interval compared to the viewing angle (a). For example, when the area within the viewing angle (a) of the camera 200 is defined as the viewing angle region, each viewing angle region of the multiple cameras 200 can overlap with each other when viewed from above. As shown in Figure 5, three or more viewing angle regions can overlap. As described above, by installing the cameras 200 with a relatively narrow interval, space utilization is improved, and by shortening the length of the wiring connected to the cameras 200, noise that may be generated in the wiring can be minimized, thereby improving image reliability. Furthermore, although the multiple cameras 200 are positioned in a relatively central area, by shooting towards the stacker crane in a direction tilted in a relatively forward-backward direction, the shooting distance is longer compared to when not tilted, thus providing the advantage of ensuring a focusing distance without using a focusing lens. When the processor vibrates during operation, focus shift in the focusing lens can be prevented since the cameras 200 do not have a focusing lens.

[0043] The camera 200 can be spaced apart from the loading customer trays (CTs). For example, the camera 200 can be positioned further back than the loading space. In the vertical direction, the camera 200 can be positioned between the upper and lower ends of the loading customer trays (CTs).

[0044] The height h2 of the camera 200 can be lower than the height h1 of the customer tray (CTs). The height h2 of the camera 200 can be defined as the vertical distance between the lower end of the customer tray (CTs) and the camera 200. Conversely, the height h1 of the customer tray (CTs) can be defined as the vertical distance between the upper and lower ends of the customer tray (CTs). As a more detailed example, the height h1 of the camera lens 200 can be half the height h2 of the customer tray (CTs).

[0045] Additionally, multiple cameras 200 can be provided. The number of cameras 200 can correspond to the number of stacker cranes 100. Each camera 200 can correspond one-to-one with one of the stacker cranes 100. For example, any one of the stacker cranes 100 can correspond one-to-one with any one of the cameras 200. As a more detailed example, when the number of stacker cranes 100 is n, n cameras 200 can be provided to correspond one-to-one with each of the n stacker cranes 100. Any one of the multiple cameras 200 can capture images of a customer pallet (CT) loaded onto any predetermined stacker crane 100.

[0046] Referring to Figure 5, the left-right width d2 of the multiple cameras 200 can be smaller than the left-right width d1 of the multiple stacker cranes 100. The left-right width d2 of the multiple cameras 200 can be defined as the left-right spacing between the leftmost camera 200 and the rightmost camera 200. Similarly, the left-right width d1 of the multiple stacker cranes 100 can be defined as the left-right distance between the left end of the leftmost stacker crane 100 and the right end of the rightmost stacker crane 100.

[0047] The plurality of cameras 200 may include a first camera 210 and a second camera 220. For example, the shooting direction of the first camera 210 may be facing forward to the left. Multiple first cameras 210 may be provided. The multiple first cameras 210 may capture images of customer pallets (CTs) loaded on the multiple stacker cranes 100, positioned on the left side with a defined baseline as the center. The defined baseline may be defined as a virtual straight line passing through the center of the multiple stacker cranes 100 and extending in a front-back direction.

[0048] As an example, the shooting direction of the second camera 220 can be towards the right front. Multiple second cameras 220 can be provided. These multiple second cameras 220 can capture images of customer pallets (CTs) loaded on multiple stacker cranes 100, positioned on the right side with a predetermined baseline as the center. The multiple first cameras 210 and multiple second cameras 220 can be arranged alternately in a left-right direction.

[0049] Referring again to Figure 2, the illumination unit 300 can enhance the brightness of the image of the loaded customer trays (CTs) captured by the camera 200. The illumination unit 300 can emit light towards the loaded customer trays (CTs). As an example, the illumination unit 300 can emit light forward. The illumination unit can be positioned in front of the conveyor 400. Alternatively, the illumination unit 300 can be positioned further back than the stacker crane 100 and further forward than the camera 200. In other words, the illumination unit 300 can be positioned between the camera 200 and the stacker crane 100 in the front-back direction. In this way, with the illumination unit 300 positioned in front of the conveyor 400, the light emitted from the illumination unit 300 can reach the loaded customer trays (CTs) without interference from the conveyor 400.

[0050] The lighting unit 300 can be configured to move along the horizontal direction (e.g., left-right direction) together with the conveyor 400. The lighting unit 300, as an example, can be an LED. Alternatively, multiple lighting units 300 can be provided. To be spaced apart vertically, the multiple lighting units 300 can be arranged adjacent to the support guide 420 described later.

[0051] Conveyor 400 can grip a customer pallet (CT) loaded in stacker crane 100 and convey it to a loading pallet (not shown) or unloading pallet (not shown). Alternatively, conveyor 400 can grip a customer pallet (CT) located on a loading pallet or unloading pallet and load it into stacker crane 100. Multiple conveyors 400 can be provided. Multiple conveyors 400 can be arranged spaced apart in a left-right direction. Each conveyor 400 may include a pallet holder 410 and a holder guide 420. Pallet holder 410 can grip or release a customer pallet (CT). Pallet holder 410 can be configured to move vertically relative to holder guide 420.

[0052] The support guide 420 can guide the vertical movement of the pallet support 410. As an example, the support guide 420 may have a track. The support guide 420 can extend vertically. Additionally, the support guide 420 can be positioned further rearward than the stacker crane 100. At least one of the left and right sides of the support guide 420 may have a lighting unit 300.

[0053] The horizontal movement guide 500 guides the movement of the conveyor 400 and the lighting unit 300 in the horizontal direction (e.g., left-right direction). The horizontal movement guide 500 can be positioned further rearward than the conveyor 400 and the lighting unit 300. Furthermore, the horizontal movement guide 500 can be positioned further rearward than the moving frame 620 described later. Additionally, the horizontal movement guide 500 can extend in the left-right direction. Multiple horizontal movement guides 500 can be provided. Multiple horizontal movement guides 500 can be arranged spaced apart in the vertical direction.

[0054] Frame 600 may include a support frame 610 and a movable frame 620. Support frame 610 may include a first support frame 611 and a second support frame 612. First support frame 611 may support camera 200, lighting unit 300, and transmitter 400. First support frame 611 may be positioned between transmitter 400 and camera 200 in the front-to-back direction. For example, first support frame 611 may be positioned forward of camera 200 and rearward of transmitter 400. First support frame 611 may extend in the left-to-right direction.

[0055] A horizontal movement guide 500 may be provided at the front of the first support frame 611. Additionally, the first support frame 611 can move relative to the second support frame 612 in a front-to-back direction. The second support frame 61 can support the stacker crane 100 and the door 700. The second support frame 612 can be positioned lower than the first support frame 611.

[0056] The movable frame 620 can support the conveyor 400 and the lighting unit 300. The front side of the movable frame 620 is connected to the conveyor 400 and the lighting unit 300, and the rear side can abut against the horizontal movement guide 500. The movable frame 620 can move left and right along with the horizontal movement guide 500. The movable frame 620 can move left and right together with the conveyor 400 and the lighting unit 300.

[0057] Door 700 can be connected to the front of stacker crane 100. Door 700 can move along the front-rear direction relative to the second support frame 612, together with stacker crane 100. For example, door 700 can be introduced into or led out of the upper space along with stacker crane 100. Multiple doors 700 can be provided. Multiple doors 700 can be connected to multiple stacker cranes 100 respectively. In other words, the number of doors 700 provided can be the same as the number of stacker cranes 100 provided, and the multiple doors 700 can be arranged in the left-right direction.

[0058] The driver 800 can drive the conveyor 400. The driver 800 may include a vertical driver and a horizontal driver. The vertical driver can move the tray support 410 along the support guide 420. The horizontal driver can move the conveyor 400 in a horizontal direction (e.g., left-right). For example, when the conveyor 400 moves left-right via the horizontal driver, the lighting unit 300 and the moving frame 620 can move left-right with the conveyor 400. The driver 800 may include, for example, a belt, rollers, a motor, etc.

[0059] The controller 900 can control the camera 200, the lighting unit 300, and the driver 800. The driver 900 can determine the number of customer trays (CTs) loaded in the loading space based on the images captured by the camera 200. For example, the controller 900 can determine the loading quantity based on the number of tray protrusions (CTa) of the customer trays (CTs) loaded in the loading space as captured by the camera 200. The rear end of the customer tray (CT) may have tray protrusions (CTa) and tray grooves (CTb). The tray protrusions (CTa) may be located on the upper part of the rear end of the customer tray (CT) and may have a rearward protruding shape. Additionally, the tray grooves (CTb) may be recesses located below the rear end of the customer tray (CT). For example, when observing the rear of the loaded customer trays (CTs), the tray protrusions (CTa) and tray grooves (CTb) may be arranged alternately in the vertical direction. The controller (900) can determine the number of customer trays (CTs) as captured by the camera (200). In addition, the controller (900) can determine the tray slot (CTb) captured by the camera (200) as the boundary between two adjacent customer trays (CT).

[0060] The controller 900 can be implemented by a computing device including a microprocessor, the implementation of which is self-evident to those skilled in the art, and therefore further detailed description is omitted.

[0061] The function and effects of processor 1 according to an embodiment of the present invention will be described below.

[0062] The processor 1 can load a specified number of customer pallets (CTs) into each of its multiple stacker cranes 100. The processor 1 can determine whether the specified number of customer pallets (CTs) is loaded correctly according to the target quantity by using the images captured by the camera 200. For example, the camera 200 can capture images of the customer pallets (CTs) loaded onto the stacker crane 100 being filmed. The number of customer pallets (CTs) captured by the camera 200 can be determined by the controller 900. The controller 900 can determine that the number of pallet protrusions (CTa) on the captured images of the customer pallets (CTs) is the number of customer pallets (CTs) loaded.

[0063] Additionally, when camera 200 is filming customer pallets (CTs) loaded in stacker crane 100, illumination unit 300 can emit light towards stacker crane 100. Through illumination unit 300, camera 200 can film loaded customer pallets (CTs) in a relatively bright environment. Illumination unit 300 prevents the area to be filmed by camera 200 from being darkened due to various devices installed in processor 1.

[0064] Furthermore, since the lighting unit 300 can move along the left and right direction together with the conveyor 400, it can selectively emit light to multiple stacker cranes 100. In other words, since it is not necessary to set up a separate lighting unit 300 for each stacker crane 100, the structure of the processor 1 is simplified and the manufacturing cost of the processor 1 is reduced.

[0065] While the embodiments of the present invention have been described above as specific examples, they are merely illustrations and the present invention is not limited thereto. It should be understood that the invention encompasses the broadest scope of the technical concept disclosed in this specification. Those skilled in the art can combine / replace the disclosed embodiments to implement shapes and patterns not specified, but this does not exceed the scope of the present invention. Furthermore, those skilled in the art can readily modify or transform the disclosed embodiments based on this specification, and it is evident that such modifications or transformations also fall within the scope of the present invention.

Claims

1. A processor, characterized in that, include: Multiple stacker cranes provide loading space for loading a predetermined number of customer pallets in a vertical direction; and multiple cameras are provided for photographing the customer pallets loaded on the multiple stacker cranes, positioned relative to the multiple stacker cranes and located further back than the multiple stacker cranes; at least one of the multiple cameras photographs the customer pallets loaded on any one of the multiple stacker cranes in a predetermined shooting direction; the shooting direction is horizontal and directed towards the multiple customer pallets loaded on the stacker cranes that are the subject of the camera's photograph, and includes a direction offset from the front-back and left-right directions in the horizontal direction, i.e., a direction inclined to the left-right direction relative to a virtual line extending in the front-back direction; the multiple cameras and the multiple stacker cranes are arranged in a left-right direction, and the width of the multiple cameras in the left-right direction is smaller than the width of the multiple stacker cranes in the left-right direction.

2. The processor as described in claim 1, characterized in that, When the customer tray is fully loaded into the loading space, the height of the plurality of cameras from the lower end of the loading space is lower than the height of the upper end of the customer tray loaded at the uppermost end.

3. The processor as described in claim 1, characterized in that, The plurality of cameras are provided in a number corresponding to the plurality of stacker cranes.

4. The processor as described in claim 1, characterized in that, The plurality of cameras includes: a plurality of first cameras, the shooting direction of which is facing the left front; and a plurality of second cameras, the shooting direction of which is facing the right front; the plurality of first cameras and the plurality of second cameras are arranged alternately in the left-right direction.

5. The processor as described in claim 1, characterized in that, Also includes: The conveyor includes a pallet support for transferring the customer's pallet and a support guide for guiding the vertical movement of the pallet support, and is positioned further rearward than the loading space. A lighting unit is provided on the support guide, facing the customer pallet loaded on the stacker crane, and emitting light forward.

6. The processor as described in claim 5, characterized in that, Also includes: A movable frame supports the bracket guide and the lighting unit; a horizontal movable guide is positioned further back than the movable frame to guide the movable frame to move in the left and right directions. The actuator moves the transmitter along the horizontal moving guide; as the transmitter is moved by the actuator, the bracket guide and the lighting unit move together in the left-right direction via the moving frame.

7. The processor as claimed in claim 1, characterized in that, Also includes: A tray protrusion protrudes rearward from the rear end of the customer tray; a controller determines the number of customer trays loaded based on the number of tray protrusions of the customer trays loaded in the loading space as captured by the camera.

Images