Remote monitoring system and method of article storage facility

Abstract

To detect abnormalities in a driving cell or a pallet of an article storage facility using an inspection device.SOLUTION: A remote monitoring system 50 includes an article storage facility 20, an inspection device 30, and a control device 40. The inspection device 30 is, for example, a drone. In a path formation step S2A, an inspected driving cell 5 is made into an empty cell 4B, and a flight path R along which the drone 30 can fly to a space above the inspected driving cell 5 is formed. In an empty cell position changing step S2B, when the drone is located in one of a plurality of adjacently positioned empty cells, positions of the remaining empty cells are changed to other adjacent positions. In a flight step S3, the drone 30 flies to the space above the inspected driving cell 5. In a data acquisition step S4, the drone 30 acquires state data D1 or image data D2 of the inspected driving cell 5 in the space above the inspected driving cell 5. In an abnormality detection step S5, an abnormality of the inspected driving cell 5 is detected.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to remote monitoring means for detecting abnormalities in an article storage.

Background Art

[0002] An article storage, such as a horizontal circulation parking device, has a plurality of drive cells that support a pallet and move it horizontally, arranged such that the pallets are adjacent to each other in a grid pattern within a horizontal plane, and at each position, the pallet is moved in the length direction or the width direction to perform horizontal circulation for vehicle entry and exit. Such a device is disclosed, for example, in Patent Documents 1 and 2.

[0003] On the other hand, means for inspecting an object (such as a bridge) using an inspection device (such as a drone) is disclosed, for example, in Patent Documents 3 and 4.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Summary of the Invention

Problems to be Solved by the Invention

[0005] An article storage, such as a horizontal circulation parking device, has a plurality of pallets for placing articles and a plurality of drive cells that support adjacent pallets at the same height and are capable of moving the pallets horizontally. In this case, when detecting an abnormality in the drive cell of the article storage (such as the pallet moving mechanism of a horizontal circulation parking device) using an inspection device (such as a drone), there are the following problems.

[0006] (1) In an article storage space (for example, a parking space of a vehicle), when articles are placed on a pallet, there is often no space (flyable space) above the articles on the pallet where a drone can fly. In this case, there is a possibility that a flying drone may collide (interfere) with the articles (for example, a parked vehicle). Therefore, when articles are placed on a pallet, a drone cannot fly above the pallet. Note that "flight" includes stationary flight (hovering) and horizontal flight.

[0007] (2) When no articles are placed on the pallet, a drone can fly in the cell space above the pallet. However, the drive cells that can be inspected by the drone are limited to the cells (hereinafter, "empty cells") without a pallet above the drive cells.

[0008] (3) There are usually columns at the four corners of the cell space where the pallet is located when stationary. Therefore, the flight of the drone is restricted in two directions, the width direction or the length direction of the pallet, so as not to interfere with the columns. For this reason, the drone is restricted in size to be able to perform stationary flight and horizontal flight inside the upper space of the empty cell and the upper space of the empty pallet on which no articles are placed.

[0009] (4) When a drive cell to be inspected (the "drive cell to be inspected") is specified, the drone needs to fly from the current position (including the standby position) to the inspection position. However, if there is a pallet (the "actual pallet") with articles on its flight path, there is a risk that the drone may collide (interfere) with the articles. Therefore, it is necessary to appropriately move the pallet to generate a flight path in which empty pallets or empty cells are continuous from the current position to the inspection position.

[0010] The present invention was devised to solve the above-described problems. That is, an object of the present invention is to provide a remote monitoring system and method for an article storage facility capable of detecting abnormalities in drive cells or pallets of the article storage facility using an inspection device (for example, a drone).

Means for Solving the Problems

[0011] According to the present invention, a plurality of pallets for placing articles, a plurality of drive cells that support the adjacent pallets at the same height and are capable of horizontally moving the pallets in two directions in the width direction or the length direction, a remote monitoring system for an article storage warehouse, comprising a cell control device for controlling the drive cells, an inspection device capable of moving in the two directions in the upper space of an empty cell where the drive cell does not support the pallet or an empty pallet on which the article is not placed, and a control device capable of communicating bidirectionally with the cell control device and the inspection device, wherein the inspection device has a data acquisition device for acquiring state data or image data of the drive cell or the pallet in the upper space, and the control device detects an abnormality of the drive cell or the pallet from the state data or the image data, thereby providing a remote monitoring system for an article storage warehouse.

[0012] Further, according to the present invention, using the above remote monitoring system, a moving step in which the inspection device moves to the upper space of the drive cell or pallet to be inspected, a data acquisition step in which the inspection device acquires the state data or the image data of the drive cell or the pallet to be inspected in the upper space, and an abnormality detection step of detecting an abnormality of the drive cell or the pallet to be inspected from the state data or the image data, thereby providing a remote monitoring method for an article storage warehouse.

Advantages of the Invention

[0013] According to the configuration of the present invention described above, an inspection device (for example, a drone) can move in the upper space of an empty cell or an empty pallet in two directions in the width direction or the length direction of the pallet and move (for example, fly) to the upper space of the drive cell or the pallet to be inspected. In addition, in the upper space of the inspection target drive cell or the inspection target pallet, the inspection device can acquire the state data or image data of the inspection target drive cell or the inspection target pallet. Furthermore, the control device can communicate bidirectionally with the inspection device, and the control device can detect abnormalities in the inspection target drive cell or the inspection target pallet from the state data or the image data.

Brief Description of the Drawings

[0014]

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Best Mode for Carrying Out the Invention

[0015] Preferred embodiments of the present invention will be described with reference to the drawings. In the drawings, the same reference numerals are given to the common parts in each figure, and duplicate descriptions are omitted.

[0016] In the present invention, an article storage 20 (for example, a horizontal circulation type parking device) has a plurality of pallets 2 on which articles 1 are placed, and a plurality of drive cells 4 that support adjacent pallets 2 at the same height and enable the pallets 2 to move horizontally. Hereinafter, a case where the article 1 is a vehicle 1 and the article storage 20 is a horizontal circulation type parking device will be described.

[0017] FIG. 1 is a side view (A) and a plan view (B) showing an example of a conventional horizontal circulation type parking device 20. The horizontal circulation type parking device 20 arranges a plurality of drive cells 4 that support and horizontally move the pallet 2 so that the pallets 2 are adjacent to each other like a checkerboard in a horizontal plane, and moves the pallet 2 in two directions in the length direction or the width direction at each position to perform the loading and unloading of the vehicle 1. The vehicle 1 is, for example, a passenger car. The vehicle 1 is a small car, a medium-sized car, a large car, an SUV, etc.

[0018] In FIGS. 1(A) and 1(B), the horizontal circulation type parking device 20 is underground and has two storage areas, upper and lower, underground. Also, a lift 3 is provided that vertically moves between the above-ground loading and unloading section and the upper and lower underground sections and moves the pallet 2 up and down therebetween. In each of the upper and lower two storage areas, in this example, there is a storage space S for 11 vehicles in the range other than the position where the lift 3 moves the pallet 2 up and down.

[0019] In this figure, in each storage space S, a drive cell 4 that moves the pallet 2 on which the vehicle 1 is placed in its width direction and length direction is provided. Also, in this example, the lift 3 is also provided with a drive cell 4.

[0020] The drive cell 4 is configured to be capable of both "lateral feed" for moving the pallet 2 carrying the vehicle 1 in its width direction and "longitudinal feed" for moving it in its length direction.

[0021] In FIG. 1, in each of the upper and lower two tiers, in this example, one drive cell 4 is provided in each of the storage spaces S for 11 units. Each drive cell 4 has a frame 9 (see FIG. 3) corresponding to the size of the pallet 2 in plan view. In each of the upper and lower two tiers, a plurality of frames 9 are arranged at regular intervals from each other and are horizontally supported at their respective four corners. Also, in each tier, the pallet 2 is not placed on at least one drive cell 4, and the pallet 2 is placed on the other drive cells 4. The drive cell 4 on which the pallet 2 is not placed is called an "empty cell 4B".

[0022] Due to the configuration of the above-described horizontal circulation type parking device 20, since at least one drive cell 4 is an empty cell 4B in each tier, the pallet 2 on the drive cell 4 adjacent to the empty cell 4B can be horizontally moved (lateral feed or longitudinal feed) onto the empty cell. By this horizontal movement, the position of the empty cell 4B moves to an adjacent position. Therefore, by repeating this, the pallet 2 in each tier can be freely horizontally moved (lateral feed or longitudinal feed).

[0023] (Pallet 2) FIG. 2 is a bottom view showing a specific example of the pallet 2. This figure shows the bottom surface of the pallet 2. The pallet 2 is set to a size such that the entire vehicle is placed thereon and a part of the vehicle does not protrude outside in the plan view of the pallet 2. In this example, the sizes of the pallets 2 are the same.

[0024] In FIG. 2, the pallet 2 has, on its bottom surface, a pair of width direction rails 6a, a pair of length direction rails 6b, and four switching rails 6c at the intersection 7 of the width direction rail 6a and the length direction rail 6b. Hereinafter, unless otherwise necessary, the width direction rail 6a, the length direction rail 6b, and the switching rail 6c are simply referred to as "rail 6".

[0025] A pair of width-direction rails 6a extend horizontally in the width direction at a constant interval in the length direction of the pallet 2. Hereinafter, "horizontal" means horizontal in the usage state of the pallet 2. A pair of length-direction rails 6b extend horizontally in the length direction at a constant interval in the width direction of the pallet 2. The interval between the pair of width-direction rails 6a and the interval between the pair of length-direction rails 6b are set so as to support the pallet 2 horizontally.

[0026] A plurality (four in this example) of switching rails 6c are provided at the intersections 7 (four locations in this example) of the width-direction rails 6a and the length-direction rails 6b, and are configured to be rotatable between the width direction and the length direction. Note that the rotation of the switching rail 6c is a rotation around a vertical axis, and no rotation drive mechanism is provided, and it is freely rotatable by an external force.

[0027] The lower surfaces of the width-direction rail 6a and the length-direction rail 6b are flush horizontal planes with each other. Also, the widths of the width-direction rail 6a and the length-direction rail 6b are set to be the same. The width-direction rail 6a and the length-direction rail 6b are divided at the intersection 7, and their respective end faces are at a constant interval from the rotation center of the switching rail 6c. Also, the outer ends of the width-direction rail 6a and the length-direction rail 6b extend to near the outer edge of the pallet 2.

[0028] The switching rail 6c is a single rail having the same width as the width-direction rail 6a and the length-direction rail 6b. Also, the lower surface of the switching rail 6c is a horizontal plane at the same height as the width-direction rail 6a and the length-direction rail 6b. Furthermore, the length of the switching rail 6c is set to connect the width-direction rail 6a and the length-direction rail 6b divided at the intersection 7 via the switching rail 6c.

[0029] With the above-described configuration of the pallet 2, by horizontally pivoting the switching rail 6c and connecting the width-direction rails 6a that are segmented via the switching rail 6c, a pair of rails extending across the entire width direction of the pallet 2 can be formed by the width-direction rails 6a and the switching rail 6c.

[0030] Similarly, by horizontally pivoting the switching rail 6c and connecting the length-direction rails 6b that are segmented via the switching rail 6c, a pair of rails extending across the entire length direction of the pallet 2 can be formed by the length-direction rails 6b and the switching rail 6c.

[0031] (Drive cell 4) FIG. 3 is a plan view of the drive cell 4. In this figure, the drive cell 4 includes a frame 9 and a pallet drive device 10 installed on the frame.

[0032] The frame 9 is the frame of the drive cell 4 that moves the pallet 2 with the vehicle mounted thereon in its width direction and length direction. In FIG. 3, a plurality of frames 9 are arranged at regular intervals from each other and are horizontally supported at their four corners. In this case, support columns (not shown) extending vertically are provided outside the four corners of the frame 9, and the pallet 2 can horizontally move in the width direction and length direction between the support columns.

[0033] The pallet drive device 10 has a pair of drive units 12, a pair of driven units 14, and a pivoting mechanism 16. The pair of drive units 12 and the pair of driven units 14 are provided at the pivoting center positions of the four switching rails 6c of the above-described pallet 2 and are respectively attached so as to be freely pivotable about the pivoting centers of the switching rails 6c. Also, in this example, a pair of drive units 12 and a pair of driven units 14 are respectively arranged at diagonal positions among the four pivoting centers of the switching rail 6c.

[0034] The swivel mechanism 16 has a plurality of interlocking rods 17a that sequentially connect a pair of drive units 12 and a pair of driven units 14, and a swivel drive unit 17b that horizontally moves the interlocking rods 17a, and is configured to support the switching rail 6c and enable it to horizontally swivel. With this configuration, the swivel drive unit 17b horizontally swivels the pair of drive units 12 and the pair of driven units 14 synchronously via the interlocking rods 17a, and can switch the drive direction of the drive unit 12 and the guiding direction of the driven unit 14 in the width direction and the length direction.

[0035] The drive unit 12 has a drive wheel 12a that supports and drives the pallet 2, and a plurality of guide rollers 12b that horizontally swivel together with the drive wheel 12a and guide the horizontal movement of the pallet 2. With this configuration, the drive unit 12 is configured to cooperate with the driven unit 14 to support the width-direction rail 6a or the length-direction rail 6b and drive the pallet 2 in the length direction of the rail. The drive wheel 12a is rotationally driven about a horizontal axis. The drive wheel 12a has a disc shape, supports the lower surface of the rail 6 of the pallet 2 on its outer peripheral upper surface, and drives the pallet 2 horizontally by its rotation.

[0036] The driven unit 14 has a driven wheel 14a that supports the pallet 2 and is driven thereby, and a plurality of guide rollers 12b that horizontally swivel together with the driven wheel 14a and guide the horizontal movement of the pallet 2. The driven wheel 14a idles about a horizontal axis and rotates following the movement of the pallet 2. The driven wheel 14a has the same disc shape as the drive wheel 12a.

[0037] With the above-described configuration, the drive direction of the drive unit 12 and the guiding direction of the driven unit 14 can be interlocked and switched in the width direction and the length direction by the interlocking rods 17a. Also, when the rail 6 constitutes a pair of rails in the width direction or the length direction, the pair of drive units 12 are respectively positioned on the pair of rails, support the pallet 2 via the pair of rails, and can horizontally drive the pallet 2 in the width direction or the length direction. Furthermore, in this case, a pair of driven units 14 are also respectively positioned on a pair of rails, support the pallet 2 via the pair of rails, and can guide the pallet 2 in the width direction or the length direction. Therefore, by the pallet driving device 10 described above, it is possible to perform both the lateral feed for moving the pallet 2 on which the vehicle is placed in its width direction and the longitudinal feed for moving it in its length direction by switching.

[0038] In FIG. 3, the horizontal circulation type parking device 20 includes a first relay roller 18 that supports the width direction rail 6a or the length direction rail 6b of the pallet 2 and guides the pallet 2 in the width direction or the length direction. In this example, the first relay roller 18 is positioned between adjacent storage spaces S.

[0039] The first relay roller 18 has the same configuration as the driven unit 14 in this example, but is different from the driven unit 14 in that it does not horizontally rotate. That is, the first relay roller 18 includes an idle wheel 18a that idles around a horizontal axis and supports the rail 6, and a plurality (four in this example) of cylindrical rollers 18b that are positioned at an interval corresponding to the rail width and idle around a vertical axis to guide the horizontal movement of the pallet 2. By installing this first relay roller 18, when moving the pallet 2 between adjacent storage spaces S, it is possible to always support the pallet 2 at two locations, the drive unit 12 or the driven unit 14 and the first relay roller 18, and accurately guide it in the width direction or the length direction.

[0040] FIG. 4 is an overall configuration diagram of a remote monitoring system 50 for an article storage. In this figure, the remote monitoring system 50 includes an article storage 20, an inspection device 30, and a control device 40. In this example, the inspection device 30 is a drone capable of flying in the internal space of the article storage 20.

[0041] The article storage 20 is a horizontal circulation type parking device 20 in this example, and includes a plurality of pallets 2 for placing the article 1, a plurality of drive cells 4, a cell control device 22, and a waiting area 28. The plurality of drive cells 4 respectively support adjacent pallets 2 at the same height and are configured to be horizontally movable in two directions, i.e., the width direction or the length direction, of the pallet 2.

[0042] The cell control device 22 can communicate bidirectionally with the control device 40 and controls the drive cell 4. That is, the cell control device 22 controls the horizontal movement of the pallet 2 by the drive cell 4. The cell control device 22 has a storage device 24, a path forming device 25, and an empty cell position changing device 26 in this example.

[0043] The storage device 24 stores the positions of the actual pallet 2A on which the article 1 is placed on the pallet 2, the empty pallet 2B on which the article 1 is not placed on the pallet 2, the empty cell 4B, and the drone 30.

[0044] The path forming device 25 makes the drive cell 4 to be inspected (hereinafter referred to as the drive cell 5 to be inspected) an empty cell 4B and forms a flight path R along which the drone 30 can fly from the current position of the drone 30 to the upper space of the drive cell 5 to be inspected. A specific example of the path forming device 25 will be described later.

[0045] The empty cell position changing device 26 has a function of changing the positions of the remaining empty cells 4B to other positions adjacent to the empty cell 4B in which the drone 30 is located when the drone 30 is located in one of the plurality of adjacent and positioned empty cells 4B. A specific example of the empty cell position changing device 26 will be described later.

[0046] The waiting area 28 is a place where the drone 30 can land and wait, and is provided in the article storage space of the article storage 20.

[0047] The inspection device 30 is configured to be movable in two directions in the upper space of the empty cell 4B and the upper space of the empty pallet 2B (i.e., the upper space of the drive cell 4 without the article 1). That is, in this example, the drone 30 is an airborne mobile device capable of flying in the upper space of the drive cell 4 where there is no article 1 at the position of the drive cell 4.

[0048] The drone 30 is sized such that it can perform stationary flight (hovering) inside the upper space of the empty cell 4B and the upper space of the empty pallet 2B, and can fly horizontally without protruding into the adjacent cell space. Also, since there are columns at the four corners of the storage space S that constitutes the single cell space shown in FIGS. 1 and 3, the flight of the drone 30 is restricted in two directions in the width direction or the length direction of the pallet 2 so as not to interfere with the columns.

[0049] As shown in FIG. 4, the drone 30 has a data acquisition device 32 that acquires the state data D1 or the image data D2 of the drive cell 4 or the pallet 2 in the upper space of the empty cell 4B or the empty pallet 2B. The data acquisition device 32 is a noise meter 34, a vibration meter 36, or an imaging device 38.

[0050] The state data D1 is the sound pressure data during the operation of the drive cell 4 or the pallet 2, or the vibration data during the operation of the pallet 2. The control device 40 has a function of removing the sound generated by the drone 30 as ambient noise from the sound pressure data by the noise meter 34.

[0051] The drone 30 lands on the pallet 2 and detects vibration data with the vibration meter 36.

[0052] The control device 40 can communicate bidirectionally with the cell control device 22 and the inspection device 30 (the drone 30 in this example), and detects an abnormality of the drive cell 4 from the state data D1 or the image data D2. In this example, the control device 40 communicates bidirectionally with the cell control device 22 and the drone 30 via a network line. Note that the control device 40 may communicate directly with the cell control device 22 and the drone 30 without going through the network line.

[0053] In this example, the control device 40 includes a monitoring device 42. The monitoring device 42 stores state data D1 or image data D2, and detects abnormalities in the drive cell 4 (the drive cell 5 to be inspected) or the pallet 2 (the pallet 2C to be inspected) from the state data D1 or the image data D2. Also in this example, the monitoring device 42 includes an image processing device 44. The image processing device 44 compares the image data D2 at the time of abnormality detection with the normal image data, and detects the abnormal location from the difference.

[0054] Note that the control device 40 preferably includes an output device that outputs the state data D1, a display device that displays the image data D2, an input device that designates the drive cell 5 to be inspected, etc., and enables monitoring and commands by the monitor.

[0055] When the drone 30 runs out of power or malfunctions, the remote monitoring system 50 lands the drone 30 on an empty pallet and reassigns it as the actual pallet 2A. For example, when the battery of the drone 30 is unintentionally depleted (due to deterioration, etc.), it may be made to make an emergency landing on an empty pallet. At this time, the article storage 20 can refrain from storing other articles 1 until the maintenance staff arrives by recognizing it again as the actual pallet 2A.

[0056] The cell control device 22 has a switching device (not shown) that can switch the malfunctioning drone 30 when the drone 30 malfunctions. For example, a main inspection drone and a backup sub-drone are provided inside the device, and when the main drone malfunctions, it may be taken over by the sub-drone.

[0057] The control device 40 has a route optimization device (not shown) for optimizing the flight route R of the drone 30. The determination of the flight route R is basically determined according to the Manhattan distance, but the flight route R of the drone 30 preferably has few bends and is straight (a pattern that allows inspection in a short time). On the other hand, it is also possible to minimize the movement distance of the drone 30, suppress power consumption, and achieve efficient article management. This route optimization device can also update the flight route R in real time according to the situation inside the article storage, and provides an optimal flight route R taking into account the presence of obstacles and the movement of other drones 30. Therefore, weightings such as the Manhattan distance and the method with fewer turning times are performed, and a route is determined so that straight flight or power-minimum flight can be performed as much as possible. FIG. 16 is an explanatory diagram of the flight routes R of the shortest route and the fastest route.

[0058] The inspection device 30 is a drone 30 capable of flying in the upper space of the empty cell 4B and the upper space of the empty pallet 2B. The drone 30 has a lighting device in the upper space and can brightly illuminate the inside of the upper space. Further, it receives the illumination of the lighting device and is configured to be able to grasp the inspection points. The inside of the article storage 20 (underground parking device) is often dark and not suitable for image taking. Therefore, a lighting device is attached to the drone 30 and inspection is performed while irradiating light. Also, a light receiving sensor may be attached to the cell side so that the contrast relationship with the location where the drone 30 is performing inspection can be confirmed.

[0059] When the drone 30 detects an abnormality, the cell control device 22 stores the coordinate data of the location where the abnormality occurred. The drone 30 needs to fly and identify the location where an abnormality is found. Therefore, it includes a storage device for storing the location where an abnormality is found.

[0060] The cell control device 22 monitors the remaining battery level of the drone 30 and has a charging device (not shown) for charging the drone 30 as needed. Since all locations cannot be inspected in a single flight, the flight time of the drone 30 and the number of inspection locations are monitored, and charging is automatically performed before the drone 30 runs out of battery.

[0061] The drone 30 acquires the information of the article 1 by reading the tag information installed in the cell control device 22. When the camera of the drone 30 identifies an abnormal occurrence location, the abnormal occurrence location is identified by reading information from the cell itself so that the location of the cell can be identified simultaneously. For example, a unique two-dimensional barcode or the like is attached to a specific location of each cell to identify the abnormal occurrence location.

[0062] The control device 40 has a collision prevention system (not shown) for the flight path R of the inspection device 30. Specifically, this collision prevention system serves to prevent the drone 30 from colliding with other drones 30, structures of the article storage 20, or articles 1 stacked on the pallet 2 when the drone 30 flies inside the article storage. Also, when flying when there is a maintenance worker inside the warehouse, for example, when an object other than an article (maintenance worker) is detected by a sensor mounted on the drone 30, a new inspection route for detouring is created. Further, when flying a plurality of inspection drones 30, a flight path R for preventing collision with each drone 30 may be created.

[0063] The drone 30 has an inspection device (not shown) for checking whether the article 1 is normally loaded on the pallet 2. The article 1 may shift from the pallet 2 due to acceleration and deceleration during transportation. There may be a case of forgetting to engage the side brake in the parking device. Such a shift in the article position may also be detected by the drone 30, not only by the mechanical device.

[0064] The drone 30 has a device (not shown) for installing a marker at the location when an abnormality occurs. A spray (ink jet) device may be attached to the drone 30 so that marking can be performed at the abnormal occurrence location. By doing so, when the maintenance worker arrives, the abnormal occurrence location can be immediately identified, improving the maintenance efficiency.

[0065] The control device 40 has a device (not shown) that displays the flight path R of the inspection device 30 in real time. During the maintenance staff's inspection in the warehouse, in order to prevent a collision with the flying drone 30, it is preferable to display the flight path R in real time on the maintenance staff's terminal.

[0066] FIG. 5 is an overall flowchart of the remote monitoring method according to the present invention showing the inspection method of the pallet 2. In this figure, the remote monitoring method of the present invention uses the above-described remote monitoring system 50 and has each step (process) of S1 to S5. Note that in this example, the inspection device 30 is the drone 30.

[0067] In the pallet designation step S1, the pallet 2 to be inspected (the pallet 2C to be inspected) is designated. This designation is preferably selected from the empty pallets 2B where the drone 30 can land. This designation is transmitted from the control device 40 to the cell control device 22 and the drone 30. Note that this designation may be instructed by the monitor from the outside, or may be designated randomly.

[0068] In the path formation step S2, a flight path R is formed along which the drone 30 can fly from the current position to the upper space of the pallet 2C to be inspected. Note that the cell control device 22 stores the current positions of the actual pallet 2A, the empty pallet 2B, the empty cell 4B, and the drone 30, and it is preferable to designate the empty pallet 2B that can easily form the flight path R from the current position as the pallet 2C to be inspected.

[0069] In the movement step S3, the drone 30 moves (flies) along the formed flight path R from the current position of the drone 30 to the upper space of the pallet 2C to be inspected. Hereinafter, the movement step S3 is referred to as the flight step S3.

[0070] In the data acquisition step S4, the drone 30 acquires the image data D2 of the pallet 2C to be inspected in the upper space of the pallet 2C to be inspected. Next, the drone 30 lands on the pallet 2C to be inspected and detects vibration data, which is the status data D1.

[0071] In the abnormality detection step S5, an abnormality of the pallet 2C to be inspected is detected from the status data D1 or the image data D2. Note that in this step S5, abnormality detection by a monitor may be used in combination.

[0072] FIG. 6 is an overall flowchart of the remote monitoring method according to the present invention showing the inspection method of the drive cell 4. In this figure, the remote monitoring method of the present invention uses the above-described remote monitoring system 50 and has each step (process) of S1 to S5.

[0073] In this example, steps S1 and S2 differ between a "single inspection" for inspecting by designating the position of the drive cell 5 to be inspected and a "continuous inspection" for continuously inspecting adjacent drive cells 4. First, the single inspection will be described.

[0074] (Single inspection) In the cell designation step S1A, the drive cell 4 (the drive cell 5 to be inspected) to be inspected is designated. This designation is transmitted from the control device 40 to the cell control device 22 and the drone 30. Note that this designation may be instructed by a monitor from the outside, or may be designated randomly.

[0075] In the route formation step S2A, the drive cell 5 to be inspected, which is the drive cell 4 to be inspected, is made into an empty cell 4B, and a flight route R that allows the drone 30 to fly from the current position of the drone 30 to the upper space of the drive cell 5 to be inspected is formed. Also, in this step S2A, the actual pallet 2A, the empty pallet 2B, the empty cell 4B, and the current position of the drone 30 are stored.

[0076] Steps S3 to S5 are substantially the same as those shown in FIG. 5 for the inspection method of the pallet 2. Hereinafter, the differences from FIG. 5 will be described.

[0077] In the flight step S3, the drone 30 moves (flies) along the formed flight path R from the current position of the drone 30 to the upper space of the inspection target drive cell 5.

[0078] In the data acquisition step S4, the drone 30 acquires the state data D1 or the image data D2 of the inspection target drive cell 5 in the upper space of the inspection target drive cell 5. In the abnormality detection step S5, an abnormality of the inspection target drive cell 5 is detected from the state data D1 or the image data D2.

[0079] Hereinafter, an example of inspecting the drive cell 4 will be described.

Example

[0080] (Initial state) FIG. 7 is a plan view showing the initial state of the article storage 20, where (A) is a specific example and (B) is a schematic diagram.

[0081] In FIG. 7(A), the article storage 20 is a horizontal circulation type parking device, and a plurality of drive cells 4 that respectively support pallets 2 are installed in the article storage space (vehicle storage space). When stationary, the plurality of pallets 2 are positioned adjacent to each other in the width direction or the length direction. In this example, a lifting and conveying device (the lift 3 described above) is installed in a part of the vehicle storage space, and it vertically ascends and descends between the ground loading / unloading section and the upper and lower floors underground, and the pallet 2 ascends and descends therebetween. The drive cells 4 are also installed in the lifting and conveying device 3 in this example. A total of 25 drive cells 4 are installed in 5 rows in the length direction of the pallet 2 and 5 columns in the width direction, and when stationary, support the plurality of pallets 2 adjacent to each other in the width direction or the length direction. Among the 25 drive cells 4, in this example, 3 drive cells 4 are empty cells 4B that do not support the pallet 2, and the drive cells 4 of the lifting and conveying device 3 are also empty cells 4B. Therefore, 21 (=25 - 4) pallets 2 are located at the same height. In addition, a standby location 28 where the drone 30 can land and standby is provided at a fixed position that does not interfere with the pallet 2 that horizontally moves in the article storage space.

[0082] FIG. 7(B) is a schematic diagram of FIG. 7(A), showing the storage space S as a square and the entire article storage space (vehicle storage space) as a 5-row and 5-column matrix diagram. Hereinafter, for convenience of explanation, the cell position of row I and column J is denoted by the symbol (I, J). In this figure, the inner square (□) of the storage space S indicates the pallet 2, and the black circle (●) inside the □ indicates the article 1 (vehicle). Also, the white circle (○) indicates the drone 30, and the cell without anything inside the storage space S indicates the empty cell 4B. Similar to FIG. 7(A), it is assumed that the drone 30 can directly access (move) from the standby location 28 to the cells (1, 4) and (1, 5).

[0083] In FIG. 7(B), the square (□) indicating the pallet 2 can be moved simultaneously within the same row or column where there is an empty cell 4B, like in a 15-game. This movement corresponds to the movement of the pallet 2 in the length direction and width direction in the article storage 20 (horizontal circulation type parking device).

[0084] (Comparative Example 1) FIG. 8 is an explanatory diagram of Comparative Example 1 of the present invention. (Initial State) FIG. 8(A) shows a case where, in the initial state, the current position of the drone 30 is in the upper space of the cell (1, 5), and the inspected drive cell 5 is the drive cell 4 of the cell (2, 5) adjacent to the current position. (Route Formation Step S2A) In this case, as shown in FIGS. 8(B) and 8(C), by horizontally moving the pallet 2 of the cell (2, 5) to the cell (1, 5), the cell (2, 5) can be made into an empty cell 4B. However, in FIG. 8(C), when the pallet 2 of the cell (1, 5) is the actual pallet 2A on which the article 1 is placed, the drone 30 cannot move to the cell (2, 5) because of interference with the article 1, and the presence or absence of an abnormality in the inspected drive cell 5 cannot be monitored.

[0085] (First Embodiment) FIG. 9 and FIG. 10 are explanatory diagrams of the first embodiment of the present invention. (Initial State) FIG. 9(A) shows a case where, in the same initial state as FIG. 8, the current position of the drone 30 is in the upper space of the (1,5) cell, and the inspection target drive cell 5 is the drive cell 4 of the adjacent (2,5) cell at the current position.

[0086] (Path Formation Step S2A) In this case, in the first embodiment, in the following steps (processes), the pallet 2 of the (2,5) cell adjacent to the current position is horizontally moved to make the inspection target drive cell 5 an empty cell 4B.

[0087] (1) In FIG. 9(B), the pallet 2 of the (4,4) cell is moved to the (4,3) cell, and at the same time, the pallet 2 of the (4,5) cell is moved to the (4,4) cell to make the (4,5) cell an empty cell 4B. (2) Next, in FIGS. 9(C), 10(A), and 10(B), the pallet 2 of the (3,5) cell is moved to the (4,5) cell, and at the same time, the pallet 2 of the (2,5) cell is moved to the (3,5) cell to make the (2,5) cell an empty cell 4B. Therefore, by the above-described two steps, the (2,5) cell adjacent to the current position can be made an empty cell 4B. (Flying Step S3) In FIG. 10(C), the drone 30 can fly from the current position of the (1,5) cell to the upper space of the inspection target drive cell 5 of the (2,5) cell without interfering with the article 1.

Embodiment

[0088] FIG. 11 is an explanatory diagram of the second embodiment of the present invention. (Initial State) FIG. 11(A) shows a case where, in the initial state, the current position of the drone 30 is in the upper space of the (1,5) cell, and the inspection target drive cell 5 is the drive cell 4 of the (5,1) cell.

[0089] (Route Formation Step S2A) In this case, by the same process as in the first embodiment, the (2,5) cell can be made into the empty cell 4B as shown in FIG. 11(B). Therefore, by the same process as in the first embodiment, a flight route R along which the drone 30 can fly from the current position of the drone 30 to the upper space of the inspection drive cell 5 in the (5,1) cell can be formed. (Flight Step S3) In FIG. 11(C), by flying the drone 30 along the flight route R, the drone 30 can move from the current position in the (1,5) cell to the upper space of the inspection drive cell 5 in the (2,5) cell without interfering with the article 1.

Embodiment

[0090] FIG. 12 is an explanatory diagram of the third embodiment of the present invention. This figure shows a case where, in the same state as FIG. 11(A), the (1,4) adjacent to the current position of the drone 30 is the empty pallet 2B. (Route Formation Step S2A) Calculate the Manhattan distance from the current position of the drone 30 to the inspection drive cell 5. Note that the "Manhattan distance" means the number of movements in the width direction or the length direction from the current position to the inspection drive cell 5. In the case of FIG. 12, there is a route in the calculated minimum route of the Manhattan distance where there is no actual pallet 2A on which articles are placed on the pallet 2. Therefore, in the route formation step S2A, this minimum route can be set as the flight route R. (Flight Step S3) In FIG. 12, by flying the drone 30 along the flight route R, the drone 30 can move from the current position in the (1,5) cell to the upper space of the inspection drive cell 5 in the (5,1) cell without interfering with the article 1.

Embodiment

[0091] FIG. 13 is an explanatory diagram of the fourth embodiment of the present invention. FIG. 13 shows a state in which the actual palette 2A of the (1, 4) cell has been moved to the (1, 3) cell from the initial state of FIG. 11(A).

[0092] As shown in this figure, even in the same initial state as FIG. 11(A), in the path formation step S2A, the actual palette 2A of the (1, 4) cell can be moved to the (1, 3) cell outside the minimum path to set the flight path R of the minimum path. (Flight step S3) In FIG. 13, by flying the drone 30 along the flight path R, the drone 30 can move from the current position of the (1, 5) cell to the upper space of the inspection drive cell 5 of the (5, 1) cell without interfering with the article 1.

[0093] Next, the continuous inspection of FIG. 6 will be described.

[0094] (Continuous inspection) FIG. 14 is an explanatory diagram of the adjacent positioning step S1B. In this figure, FIG. 14(A) is the same as FIG. 7(B). In the adjacent positioning step S1B, a plurality of empty cells 4B are positioned adjacent to each other in the following steps (processes).

[0095] (1) Move the palettes 2 of the (5, 2), (5, 3), (5, 4), and (5, 5) cells in FIG. 14(A) toward the (5, 1) cell to make the (5, 5) cell an empty cell 4B. At the same time, move the palettes 2 of the (4, 4) and (4, 5) cells toward the (4, 3) cell to make the (4, 5) cell an empty cell 4B. Also, at the same time, move the palette 2 of the (1, 4) cell toward the (1, 3) cell to make the (1, 4) cell an empty cell 4B. (2) Move the palettes 2 of the (2, 5) and (3, 5) cells toward the (4, 5) and (5, 5) cells to make the (2, 5) and (3, 5) cells empty cells 4B. Therefore, by the above two steps, as shown in FIG. 14(B), four empty cells 4B of the (1, 4), (1, 5), (2, 5), and (3, 5) cells can be positioned adjacent to each other.

[0096] FIG. 15 is an explanatory diagram of the empty cell position changing step S2B. In this figure, FIG. 15(A) is the same as FIG. 14(B) and has a plurality of empty cells 4B positioned adjacent to each other. In the empty cell position changing step S2B, in the following steps (processes), when the drone 30 is positioned in one of the plurality of empty cells 4B positioned adjacent to each other, the positions of the remaining empty cells 4B are changed to other positions adjacent to the empty cell 4B in which the drone 30 is positioned.

[0097] (1) In the state of FIG. 15(A), as shown in FIG. 15(B), in the flight step S3, the drone 30 moves from the standby location 28 to the empty cell 4B in the (1,4) cell or the (1,5) cell. Next, the data acquisition step S4 and the abnormality detection step S5 are performed on the four empty cells 4B in the (1,4), (1,5), (2,5), and (3,5) cells. The order of implementation is arbitrary.

[0098] (2) In FIG. 15(B), when the drone 30 is positioned in the (3,5) cell, as shown in FIG. 15(C), the positions of the remaining empty cells 4B ((1,4), (1,5), and (2,5) cells) are changed to the positions of the (3,4), (4,4), and (5,4) cells adjacent to the (3,5) cell. In this example, this change can be achieved by moving the pallet 2 in the (2,4) and (3,4) cells to the (1,5) and (2,5) cells in two steps, and moving the pallet 2 in the (4,4) and (5,4) cells to the (1,4) and (2,4) cells in the second step.

[0099] (3) In FIG. 15(D), similar to FIG. 15(B), the data acquisition step S4 and the abnormality detection step S5 are performed on the three empty cells 4B in the (3,4), (4,4), and (5,4) cells. Therefore, by the above-described two steps, when the drone 30 is positioned in one of the plurality of empty cells 4B positioned adjacent to each other, the positions of the remaining empty cells 4B can be changed to other positions adjacent to the empty cell 4B in which the drone 30 is positioned. Also, by repeating this, it is possible to monitor abnormalities in all the drive cells 4 that make up the article storage 20.

[0100] As described above, according to the present invention, the inspection device 30 (for example, a drone) can move in two directions in the width direction or the length direction of the pallet 2 in the upper space of the empty cell 4B or the empty pallet 2B and fly up to the upper space of the inspection target drive cell 5 or the inspection target pallet 2C. Also, in the upper space of the inspection target drive cell 5 or the inspection target pallet 2C, the state data D1 or the image data D2 of the inspection target drive cell 5 or the inspection target pallet 2C can be acquired by the drone 30. Furthermore, the control device 40 can communicate bidirectionally with the drone 30, and the control device 40 can detect an abnormality in the inspection target drive cell 5 or the inspection target pallet 2C from the state data D1 or the image data D2.

[0101] Also, in the case of "single inspection" where the position of the inspection target drive cell 5 is specified, the path forming device 25 appropriately moves the pallet 1 to generate a flight path R in which the empty pallet 2B or the empty cell 4B is continuous from the current position to the inspection position. Furthermore, in the case of "continuous inspection" where continuous inspections are performed, when the drone 30 is positioned in one of a plurality of adjacent empty cells 4B, the empty cell position changing device 26 can change the position of the remaining empty cells 4B to another position adjacent to the empty cell 4B in which the drone 30 is positioned. Also, by repeating this, it is possible to monitor abnormalities in all the drive cells 4 that make up the article storage 20.

[0102] The above-described article storage 20 is not limited to the horizontal circulation type parking device. That is, as long as a plurality of pallets 2 on which the articles 1 are placed are each supported and the pallets 2 are horizontally moved, other devices such as an automated warehouse may be used.

[0103] Also, the configurations of the above-described pallet 2, drive cell 4, and pallet drive device 10 are examples, and the present invention is not limited thereto, and other configurations may be used. For example, the present invention can also be applied to parking devices or storage facilities disclosed in, for example, Patent No. 6556504, Patent No. 6682317, Patent No. 6949761, Patent No. 6914225, and the like.

[0104] Further, the pallet may have a pair of width-direction rails, one length-direction rail, and two switching rails at the intersection of the width-direction rail and the length-direction rail on its lower surface. Also, vertical wheels and lateral wheels may be rotatably attached substantially at the four corners. The drive unit is configured to support a width-direction rail or a length-direction rail and be drivable in the length direction of the rail, and the turning mechanism may be configured to support the switching rail and be horizontally turnable. Furthermore, it may include a pair of width-direction fixed rails and a pair of lateral-direction fixed rails that support the vertical wheels and the lateral wheels.

[0105] It should be noted that the present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made without departing from the gist of the present invention.

Explanation of Reference Numerals

[0106] D1 status data, D2 image data, R flight path, S storage space, 1 article (vehicle), 2 pallets, 2A actual pallet, 2B empty pallet, 2C pallet under inspection, 3 lift (vertical conveyor), 4 drive cell, 4B empty cell, 5 drive cell under inspection, 6 rail, 6a width-direction rail, 6b length-direction rail, 6c switching rail, 7 intersection, 9 frame, 10 pallet drive device, 12 drive unit, 12a drive wheel, 12b guide roller, 14 driven unit, 16 swivel mechanism, 17a interlocking rod, 17b swivel drive unit, 18 first relay roller, 18a idler wheel, 18b cylindrical roller, 20 article storage (horizontal circulation parking device), 22 cell control device, 24 memory device, 25 path forming device, 26 empty cell position changing device, 28 waiting area, 30 inspection device (drone), 32 data acquisition device, 34 noise meter, 36 vibration meter, 38 imaging device, 40 control device, 42 monitoring device, 44 image processing device, 50 remote monitoring system

Claims

1. A plurality of pallets for placing articles, A plurality of drive cells that support the adjacent pallets at the same height and are capable of horizontally moving the pallets in two directions, namely the width direction or the length direction, A cell control device for controlling the drive cells, and a remote monitoring system for an article storage warehouse comprising: An inspection device capable of moving in the two directions in the upper space of an empty cell where the drive cell does not support the pallet or an empty pallet on which no article is placed, A control device capable of two-way communication with the cell control device and the inspection device, The inspection device has a data acquisition device for acquiring state data or image data of the drive cell or the pallet in the upper space, The control device detects an abnormality of the drive cell or the pallet from the state data or the image data. A remote monitoring system for an article storage warehouse.

2. The inspection device is a drone capable of flying in the upper space. The remote monitoring system for an article storage warehouse according to Claim 1.

3. The drone is set to a size capable of stationary flight and horizontal flight inside the upper space of the empty cell and the upper space of the empty pallet. The remote monitoring system for an article storage warehouse according to Claim 2.

4. The cell control device has a path forming device that sets the drive cell to be inspected as the empty cell and forms a flight path along which the drone can fly from the current position of the drone to the upper space of the drive cell to be inspected. The remote monitoring system for an article storage warehouse according to Claim 2.

5. The cell control device has an empty cell position changing device that changes the positions of the remaining empty cells to other positions adjacent to the empty cell where the drone is located when the drone is located in one of the plurality of adjacent empty cells positioned. The remote monitoring system for an article storage warehouse according to Claim 2.

6. The cell control device has a storage device that stores the actual pallet on which the article is placed, the empty pallet, the empty cell, and the current position of the drone. The remote monitoring system for an article storage warehouse according to Claim 2.

7. The control device has a monitoring device that stores the state data or the image data and detects an abnormality of the drive cell or the pallet from the state data or the image data. The remote monitoring system for an article storage warehouse according to Claim 2.

8. The remote monitoring system for an article storage warehouse according to claim 7, wherein the monitoring device includes an image processing device that compares the image data at the time of abnormality detection with the image data at the normal time and detects an abnormal portion from the difference therebetween.

9. The state data is sound pressure data during operation of the drive cell or the pallet, The data acquisition device is a noise meter that detects the sound pressure data, and the remote monitoring system for an article storage warehouse according to claim 2.

10. The control device removes the sound generated by the drone from the sound pressure data as ambient noise, and the remote monitoring system for an article storage warehouse according to claim 9.

11. The state data is vibration data during operation of the pallet, The data acquisition device is a vibrometer that detects the vibration data, The drone lands on the pallet and detects the vibration data, and the remote monitoring system for an article storage warehouse according to claim 2.

12. When the drone runs out of power or malfunctions, the remote monitoring system for an article storage warehouse according to claim 2 lands the drone on an empty pallet and reassigns it as a full pallet.

13. The drone has an inspection device for confirming whether the articles are normally loaded on the pallet, and the remote monitoring system for an article storage warehouse according to claim 2.

14. Using the remote monitoring system for an article storage warehouse according to claim 1, A moving step in which the inspection device moves to the upper space of the drive cell or pallet to be inspected, A data acquisition step in which the inspection device acquires the state data or the image data of the drive cell or the pallet to be inspected in the upper space, An abnormality detection step of detecting an abnormality of the drive cell or the pallet to be inspected from the state data or the image data, and a remote monitoring method for an article storage warehouse.

15. The inspection device is a drone capable of flying in the upper space, A pallet designating step of designating the pallet to be inspected, In the moving step, the drone flies from the current position to the upper space of the pallet to be inspected, In the data acquisition step, the drone lands on the pallet and detects vibration data during operation of the pallet to be inspected, and the remote monitoring method for an article storage warehouse according to claim 14.

16. The inspection device is a drone capable of flying in the upper space. A cell designation step of designating the inspection drive cell. The method for remotely monitoring an article storage, according to claim 14, further comprising: a path forming step of converting the inspection drive cell into an empty cell and forming a flight path along which the drone can fly from the current position of the drone to the upper space of the inspection drive cell.

17. In the path forming step, when the current position of the drone is the upper space of the empty cell and the inspection drive cell is the drive cell adjacent to the current position, The method for remotely monitoring an article storage, according to claim 16, further comprising: horizontally moving the pallet placed on the adjacent drive cell to make the inspection drive cell an empty cell.

18. In the path forming step, calculating the Manhattan distance from the current position of the drone to the inspection drive cell. The method for remotely monitoring an article storage, according to claim 16, further comprising: setting, as the flight path, the minimum path of the Manhattan distance where there is no actual pallet with the article placed thereon.

19. In the path forming step, calculating the Manhattan distance from the current position of the drone to the inspection drive cell. When there is an actual pallet with the article placed thereon in the minimum path of the Manhattan distance, The method for remotely monitoring an article storage, according to claim 16, further comprising: moving the actual pallet outside the minimum path and setting the minimum path as the flight path.

20. The method for remotely monitoring an article storage, according to claim 16, further comprising: an empty cell position changing step of changing the positions of the remaining empty cells to other positions adjacent to the empty cell where the drone is located when the drone is located in one of the plurality of adjacent empty cells.

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