Warehouse

Abstract

To achieve a technology which can easily inspect skew in a storage shelf.SOLUTION: A warehouse includes: a laser output device 4 including a laser light source; a target member 5 including a part 50 to be irradiated which becomes an irradiation destination of a laser 40 by the laser output device 4; and an upper side mounting member and a lower side mounting member 6d arranged being separated from each other in the vertical direction. The laser output device 4 is mounted on a first mounting member which is one of the upper side mounting member and the lower side mounting member 6d, in a posture of irradiating the target member 5 with the laser 40. The target member 5 is mounted on a second mounting member 62 which is the other of the upper side mounting member and the lower side mounting member 6d in a posture of the part 50 to be irradiated facing the laser output device 4.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a warehouse equipped with storage shelves.

Background Art

[0002] For example, Japanese Patent Application Laid-Open No. 2017-149529 (Patent Document 1) discloses an invention related to an automated warehouse, and this automated warehouse is provided with storage shelves for storing articles. In order to improve the storage efficiency per floor area, the storage shelves often include a plurality of shelves arranged vertically (see, for example, FIG. 2 of Patent Document 1). Each of the plurality of shelves is provided with a storage portion capable of storing articles.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when the storage shelves are subjected to a large external force during an earthquake or the like, they may be distorted. Sometimes, a distortion large enough to be visible to humans occurs, and sometimes a distortion small enough not to be visible occurs. Also, small distortions can also occur due to the aging deterioration of the storage shelves. If the storage shelves are distorted, it may cause a decrease in the strength of the storage shelves or affect the operation of taking in and out the stored items with respect to the storage shelves. Therefore, it is desirable to regularly inspect the distortion of the storage shelves, but the inspection of the distortion requires both labor and time. When the distortion is small enough not to be visible, this becomes more prominent.

[0005] In view of the above actual situation, it is desired to realize a technique that can easily inspect the distortion of the storage shelves.

Means for Solving the Problems

[0006] A warehouse equipped with a storage shelf provided with storage parts capable of storing articles in each of a plurality of tiers of shelf parts arranged vertically, a laser output device equipped with a laser light source, a target member provided with an irradiated part that is the irradiation target of the laser by the laser output device, an upper mounting member and a lower mounting member arranged spaced apart from each other in the vertical direction, and comprising: The laser output device is attached to a first attachment member that is either the upper attachment member or the lower attachment member in a posture of irradiating the target member with the laser, The target member is attached to a second attachment member that is either the upper attachment member or the lower attachment member in a posture in which the irradiated part faces the laser output device.

[0007] According to this configuration, by checking the irradiation position of the laser irradiated from the laser output device to the irradiated part of the target member, the distortion of the storage shelf can be inspected. According to this, inspection by a small number of people is possible, and since it is only necessary to check the irradiation position of the laser, it is not troublesome. Therefore, according to this configuration, the distortion of the storage shelf can be easily inspected.

[0008] Further features and advantages of the technology according to the present disclosure will become clearer from the following description of exemplary and non-limiting embodiments described with reference to the drawings.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments of the warehouse will be described with reference to the drawings.

[0011] 〔First Embodiment〕 First, a first embodiment of the warehouse will be described.

[0012] As shown in FIGS. 1 and 2, the warehouse 100 includes a storage shelf 1, a conveying device 2, and a control system 3. In the illustrated example, a pair of storage shelves 1 are arranged at intervals from each other, and the conveying device 2 is provided between the pair of storage shelves 1.

[0013] The storage shelf 1 includes a frame 10 that supports a plurality of tiers of shelf portions 11. The frame 10 includes a plurality of columns 10a arranged along the vertical direction and a plurality of beams 10b that connect the plurality of columns 10a. The combination of the plurality of columns 10a and the plurality of beams 10b forms the main skeleton of the storage shelf 1. Although not shown, members other than the columns 10a and the beams 10b, such as braces, are also included in the frame 10.

[0014] Each of the plurality of tiers of shelf portions 11 arranged in the vertical direction is provided with a storage portion 12 capable of storing the article W. In the present embodiment, a plurality of storage portions 12 are provided in each of the plurality of tiers of shelf portions 11.

[0015] In this embodiment, the storage unit 12 includes a pair of placement plates 12a that are spaced apart from each other. The article W is placed on the pair of placement plates 12a and thus stored in the storage unit 12. Note that the article W includes products such as finished products and in-process products, containers for storing these products, and pallets used when transporting the containers.

[0016] The conveying device 2 is configured to perform at least one of incoming conveyance, which is the conveyance of the article W for storing the article W in the storage shelf 1, and outgoing conveyance, which is the conveyance of the article W for taking out the article W from the storage shelf 1.

[0017] In this embodiment, the conveying device 2 includes a rail 20 extending along the extending direction of the storage shelf 1 on the front side of the storage shelf 1, a traveling unit 21 traveling on the rail 20, a mast 22 extending upward from the traveling unit 21, and a transfer unit 23 moving along the mast 22 and transferring the article W between the transfer unit 23 and the storage unit 12. Thereby, the conveying device 2 is configured to be able to transfer the article W to any one of the plurality of storage units 12 provided in the storage shelf 1. In this example, the conveying device 2 is configured as a so-called stacker crane.

[0018] In this embodiment, the conveying device 2 is configured to transfer the article W between any one of the plurality of storage units 12 provided in the storage shelf 1 based on the information on the stop position of the conveying device 2 (transfer position information) for each of the plurality of storage units 12 provided in the storage shelf 1. The information on the stop position of the conveying device 2 described above, that is, the transfer position information, is specifically the information on the stop position of the transfer unit 23. The conveying device 2 stops the transfer unit 23 in front of any one of the storage units 12 based on the transfer position information, and thereby transfers the article W between the storage unit 12 and the transfer unit 23. This transfer position information is preset information and is stored, for example, in a database that can be referred to by the control system 3.

[0019] The control system 3 is configured to control the conveying device 2. The control system 3 is configured to be communicable with the conveying device 2 and transmits a conveying command to the conveying device 2. The conveying command includes information on the storage section 12 that is the storage destination of the article W to be stored and information on the storage section 12 in which the article W to be shipped is stored. The conveying device 2 performs the above-described storage conveyance or shipping conveyance based on the conveying command transmitted from the control system 3.

[0020] The control system 3 includes, for example, a processor such as a microcomputer and peripheral circuits such as a memory. Then, each process or each function is realized by the cooperation of these hardware and a program executed on a processor such as a computer. The control system 3 can be configured using a plurality of hardware and a plurality of software. In this example, a host control device installed corresponding to one conveying device 2 and one or a plurality of storage shelves 1 arranged in the conveyable area of the conveying device 2 constitutes the control system 3.

[0021] FIG. 3 is a front view of the storage shelf 1. In FIG. 3, the article W, the conveying device 2, etc. are omitted in order to clearly show the structure of the storage shelf 1.

[0022] As shown in FIG. 3, the warehouse 100 includes a laser output device 4 having a laser light source and a target member 5 having an irradiated portion 50 that is the irradiation destination of the laser 40 by the laser output device 4. The pair of the laser output device 4 and the target member 5 is configured as a laser unit U.

[0023] In the warehouse 100 according to the present disclosure, it is possible to inspect the distortion of the storage shelf 1 based on the behavior of the laser unit U. The distortion of the storage shelf 1 occurs, for example, when the storage shelf 1 receives a large external force during an earthquake or the like. Alternatively, distortion may also occur due to the aging deterioration of the storage shelf 1. By using the laser unit U, such distortion can be easily inspected. This will be described in detail below.

[0024] As shown in FIG. 3, the warehouse 100 includes an upper mounting member 6u and a lower mounting member 6d that are vertically spaced apart from each other. The laser output device 4 is attached to a first mounting member 61 that is one of the upper mounting member 6u and the lower mounting member 6d in a posture of irradiating the target member 5 with the laser 40. The target member 5 is attached to a second mounting member 62 that is the other of the upper mounting member 6u and the lower mounting member 6d in a posture where the irradiated portion 50 faces the laser output device 4.

[0025] The upper mounting member 6u may be a bracket fixed to the frame 10, a mounting member such as a bolt attached to a mounting hole provided in the frame 10, or the frame 10 itself. In the present embodiment, the upper mounting member 6u is the first mounting member 61. The laser output device 4 is attached to this first mounting member 61. In this example, the laser output device 4 is attached to the first mounting member 61 in a posture of irradiating the laser 40 along the vertical direction.

[0026] The upper mounting member 6u is fixed to the frame 10 above the uppermost shelf portion 11 in the storage shelf 1. In the illustrated example, the upper mounting member 6u is a bracket connected to the beam 10b. The arrangement position of the upper mounting member 6u is set such that the object to be mounted (the laser output device 4 in this example) does not overlap with the movement trajectories of the transport device 2 and the article W in the vertical direction view. Thereby, the laser 40 is easily and appropriately irradiated to the target member 5 without being blocked by the transport device 2 or the article W.

[0027] The lower mounting member 6d may be a bracket fixed to the frame 10, a mounting member such as a bolt attached to a mounting hole provided in the frame 10, or the frame 10 itself. In the present embodiment, the lower mounting member 6d is the second mounting member 62. The target member 5 is attached to this second mounting member 62.

[0028] The lower mounting member 6d is fixed in position relative to the frame 10 below the lowermost shelf portion 11 in the storage shelf 1 or on the floor surface 9 on which the storage shelf 1 is installed. In the illustrated example, the lower mounting member 6d is fixed to the floor surface 9. The arrangement position of the lower mounting member 6d is such that the object to be mounted (the target member 5 in this example) does not overlap with the movement trajectories of the transport device 2 and the article W in the vertical direction view. Thereby, the irradiated laser 40 can be appropriately received by the target member 5.

[0029] In the present embodiment, laser units U each composed of such a laser output device 4 and a target member 5 are arranged at a plurality of locations spaced apart from each other in the vertical direction view (see FIG. 1). As shown in FIG. 1, when a plurality of laser units U are arranged on one storage shelf 1, it is preferable to arrange the laser units U in the regions at both ends in the extending direction of the storage shelf 1 in the vertical direction view. According to this, based on the information obtained from each laser unit U, it is possible to grasp the location where distortion has occurred and the direction of the distortion, and thus it is easy to analyze the overall distortion of the storage shelf 1. For example, based on interpolation (for example, linear interpolation) based on the information obtained from a plurality of laser units U, it is possible to estimate the distortion and its direction at locations where the laser units U are not arranged. In the illustrated example, the laser units U are arranged at the four corners of the storage shelf 1 in the vertical direction view. However, the laser unit U may be arranged at 1 to 3 locations with respect to one storage shelf 1, or may be arranged at 5 or more locations. The more the arrangement locations of the laser units U, the higher the inspection accuracy of the distortion of the storage shelf 1.

[0030] As shown in FIG. 4, the control system 3 is configured to be communicable with the transport device 2 and a plurality of laser output devices 4. The control system 3 can control the transport device 2 based on the information obtained from the laser output device 4.

[0031] The warehouse 100 is provided with a displacement information acquisition unit 31 that acquires displacement information indicating the change over time of the irradiation position at the irradiated portion 50 of the laser 40 output by the laser output device 4 as a displacement amount Rx (see FIG. 5). In the present embodiment, the control system 3 is provided with the displacement information acquisition unit 31. That is, in the present embodiment, the displacement information acquisition unit 31 is a component of the control system 3. When the laser output device 4 is a laser distance meter, the measurement value by the laser distance meter is automatically recorded in a database or the like as displacement information, or is recorded in a database or the like by an input operation by an operator. Further, when the laser output device 4 is a laser pointer or the like that does not have a distance measurement function, the irradiation position of the laser may be recognized by image recognition using a camera (not shown), and the recognition result may be recorded in a database or the like as displacement information.

[0032] When the displacement amount Rx indicated by the above displacement information becomes equal to or greater than a predetermined determination threshold value, the control system 3 executes a learning process of acquiring information on the stop positions (transfer positions) of the transfer device 2 for each of the plurality of storage units 12.

[0033] The displacement amount Rx is the amount by which the irradiation position of the laser 40 has been displaced from the initial state. The "initial state" means the state immediately after the laser output device 4 and the target member 5 constituting the laser unit U are installed in the warehouse 100, or the state immediately after the arrangement positions of the laser output device4 and the target member 5 are adjusted by maintenance or the like.

[0034] The displacement amount Rx, that is, the deviation amount of the irradiation position of the laser 40 with respect to the target member 5 being equal to or greater than the determination threshold value serves as a criterion when determining that the storage shelf 1 is distorted. When the storage shelf 1 is distorted, the position of the storage section 12 may shift before and after the distortion occurs. As described above, the transfer device 2 transfers the article W between an arbitrary storage section 12 based on the transfer position information preset for each of the plurality of storage sections 12. However, if the position of the storage section 12 is shifted due to the distortion of the storage shelf 1, a discrepancy occurs between the preset transfer position information and the actual position of the storage section 12. Therefore, in a situation where the displacement amount Rx is equal to or greater than the determination threshold value, that is, in a situation where the distortion of the storage shelf 1 is recognized, by executing the learning process as in this configuration, the transfer device 2 is made to learn the actual position of the storage section 12. As a result, even after the storage shelf 1 is distorted, it becomes possible to appropriately transfer the article W between an arbitrary storage section 12.

[0035] In the present embodiment, the control system 3 further includes a determination unit 32, and the determination unit 32 determines whether or not the displacement amount Rx indicated in the displacement information is equal to or greater than the determination threshold value.

[0036] FIG. 5 is a diagram showing the configuration of the laser unit U, and shows an example in the case of detecting the above-described displacement amount Rx.

[0037] In the present embodiment, the laser output device 4 is a laser rangefinder that measures the distance to the target member 5. In other words, the laser output device 4 is configured to be able to measure the irradiation distance of the laser 40 when the output laser 40 reaches the object. Here, the axis of the laser 40 output by the laser output device 4 is defined as the laser axis 40a, the direction along the laser axis 40a is defined as the axial direction L, and the direction orthogonal to the laser axis 40a is defined as the radial direction R.

[0038] In the present embodiment, the laser axis 40a is along the vertical direction. However, without being limited thereto, the laser axis 40a may be inclined with respect to the vertical direction.

[0039] The target member 5 is a member separate from the members constituting the storage shelf 1, and is made of a metal plate, a metal block, synthetic resin, or the like. In the present embodiment, the target member 5 is formed such that the axial position L continuously changes as it goes outward in the radial direction R from a predetermined reference position P5, and is arranged such that the reference position P5 is located on the laser axis 40a in the initial state.

[0040] In the present embodiment, the target member 5 is formed in a conical shape. The reference position P5 is the apex of the conical target member 5. However, the present invention is not limited to this, and a position other than the apex of the target member 5 may be set as the reference position P5.

[0041] FIG. 5 shows an example in which the actual arrangement position of the laser output device 4 (shown by a solid line in the figure) is shifted with respect to the arrangement position of the laser output device 4 in the initial state (shown by a virtual line in the figure) due to factors such as an earthquake or the secular deterioration of the storage shelf 1. In other words, it shows an example in which the actual irradiation position Pr, which is the irradiation position of the actual laser 40, is shifted from the reference position P5.

[0042] In the present embodiment, the displacement amount Rx is calculated based on the difference between the initial irradiation distance Li, which is the irradiation distance of the laser output device 4 in the initial state, and the actual irradiation distance Lr, which is the irradiation distance of the laser output device 4 in the actual state. The calculation of the displacement amount Rx may be performed by the laser output device 4 or by the control system 3 based on information obtained from the laser output device 4.

[0043] An explanation will be given regarding the calculation of the displacement amount Rx. As shown in FIG. 5, a virtual right triangle ABC can be considered with the line segment connecting the reference position P5 and the actual irradiation position Pr as the hypotenuse. In the present embodiment, as described above, the displacement amount Rx is calculated based on the difference between the initial irradiation distance Li and the actual irradiation distance Lr. The difference between the initial irradiation distance Li and the actual irradiation distance Lr is equal to the length of side BC parallel to the laser axis 40a among the sides constituting the right triangle ABC. Therefore, the length of this side BC is known. Accordingly, from this known value (the difference between the initial irradiation distance Li and the actual irradiation distance Lr), by using trigonometric ratios, the displacement amount Rx equal to the length of side AB extending in the radial direction R among the sides constituting the right triangle ABC can be calculated.

[0044] It is determined whether or not the displacement amount Rx calculated as described above is equal to or greater than the determination threshold value. When it is equal to or greater than the determination threshold value, the above-described learning process is executed.

[0045] In the present embodiment, it is configured to be detachable from the lower mounting member 6d when attached to either the lower mounting member 6d of the laser output device 4 or the target member 5, or the lower mounting member 6d is detachably fixed to the floor surface 9 or the frame 10 of the storage shelf 1. In this example, the lower mounting member 6d to which the target member 5 is attached is detachably fixed to the floor surface 9. In the illustrated example, the lower mounting member 6d is fixed to the floor surface 9 using a fastening member F such as a bolt. By removing the fastening member F, it is possible to remove the lower mounting member 6d from the floor surface 9. With such a configuration, it becomes easier to secure the space near the storage shelf 1.

[0046] FIG. 6 is a flowchart showing the procedure until the learning process by the control system 3 is executed.

[0047] As shown in FIG. 6, the laser 40 is output from the laser output device 4 toward the target member 5 (step #1). The output of the laser 40 may be always performed, may be automatically performed periodically, or may be performed by the operation of an operator as needed.

[0048] The displacement information acquisition unit 31 (see FIG. 4) acquires displacement information indicating the change over time of the irradiation position at the irradiated portion 50 of the laser 40 as the displacement amount Rx (step #2).

[0049] Based on the displacement information acquired by the displacement information acquisition unit 31, it is determined whether or not the displacement amount Rx is equal to or greater than a determination threshold value (step #3). This determination is made by the determination unit 32 (see FIG. 4).

[0050] When it is determined that the displacement amount Rx is equal to or greater than the determination threshold value (step #3: Yes), the control system 3 executes a learning process (step #4). As a result, the control system 3 causes the transport device 2 to learn the actual position of the storage unit 12. When it is determined that the displacement amount Rx is not equal to or greater than the determination threshold value (step #3: No), the learning process is not executed and the routine ends.

[0051] 〔Second Embodiment〕 Next, a second embodiment of the warehouse will be described. In the second embodiment, the configuration of the target member 5 is different from that of the first embodiment described above. Below, the second embodiment will be described centering on the points different from the first embodiment. Points not particularly described are the same as those in the first embodiment above.

[0052] FIG. 7 shows the configuration of the target member 5 according to the second embodiment. As shown in FIG. 7, in the present embodiment, the target member 5 is formed such that the position in the axial direction L changes stepwise as it goes outward in the radial direction R from a predetermined reference position P5, and the reference position P5 is arranged to be located on the laser axis 40a in the initial state.

[0053] In the present embodiment, the target member 5 includes a first irradiated portion 51 arranged at a distance in the axial direction L from the corresponding laser output device 4 (not shown), and a second irradiated portion 52 having a separation distance in the axial direction L from the laser output device 4 that is longer than that of the first irradiated portion 51.

[0054] In this embodiment, a second irradiated portion 52 is disposed below the first irradiated portion 51. Each of the first irradiated portion 51 and the second irradiated portion 52 is formed in a columnar shape. The first irradiated portion 51 and the second irradiated portion 52 are arranged such that the center positions of their respective circles in the vertical direction view coincide, and the second irradiated portion 52 is larger than the first irradiated portion 51 in the vertical direction view.

[0055] In this embodiment, the center position of the first irradiated portion 51 in the vertical direction view is set as a reference position P5. In the initial state, the irradiation position of the laser 40 is adjusted to the reference position P5 set on the upper surface of the first irradiated portion 51. However, when the irradiation position of the laser 40 deviates from the first irradiated portion 51 due to the distortion of the storage shelf 1, the laser 40 reaches the upper surface of the second irradiated portion 52 disposed below the upper surface of the first irradiated portion 51. Thereby, it can be determined that the irradiation distance (the length of the axial direction L) of the laser 40 changes and the irradiation position of the laser 40 is displaced in the radial direction R from the reference position P5. The displacement amount Rx in this case can be determined to be larger than the radius r1 of the columnar first irradiated portion 51.

[0056] Furthermore, in this embodiment, the target member 5 includes a third irradiated portion 53 whose separation distance from the laser output device 4 in the axial direction L is longer than that of the second irradiated portion 52. In the illustrated example, a part of the lower mounting member 6d is the third irradiated portion 53. When the irradiation position of the laser 40 deviates from the second irradiated portion 52, the laser 40 reaches the upper surface of the third irradiated portion 53 disposed below the upper surface of the second irradiated portion 52. Thereby, it can be determined that the irradiation distance (the length of the axial direction L) of the laser 40 changes and the irradiation position of the laser 40 is displaced in the radial direction R. The displacement amount Rx in this case can be determined to be larger than the radius r2 of the columnar second irradiated portion 52.

[0057] According to this embodiment, since the assumed displacement amount Rx can be set step by step, it becomes possible to easily calculate the displacement amount Rx.

[0058] 〔Other Embodiments〕 Next, other embodiments will be described.

[0059] (1) In the above embodiment, an example in which the target member 5 is formed such that the position in the axial direction L changes stepwise or continuously as it goes outward in the radial direction R from a predetermined reference position P5 has been described. However, without being limited to such an example, the position of the target member 5 in the axial direction L may be constant. In this case, the target member 5 may be formed in a sheet shape or a plate shape, for example, as shown in FIG. 7, or may be a mark directly displayed on the floor surface 9. The target member 5 preferably has a plurality of circular regions that gradually increase in size in a top-down view. In the example shown in FIG. 7, the target member 5 includes a circular allowable region PA with a reference position P5 set at the center, and a caution region CA that covers the allowable region PA. For example, when the laser 40 is irradiated on the allowable region PA, it is determined that the distortion of the storage shelf 1 is within the allowable range. On the other hand, as shown in FIG. 7, when the actual irradiation position Pr, which is the irradiation position of the actual laser 40, is within the caution region CA, it is determined that the storage shelf 1 has a distortion that requires maintenance or learning processing by the control system 3. In this case, the laser output device 4 does not have to be a laser distance meter, and for example, any device that allows an operator to recognize the irradiation position of the laser 40, such as a laser pointer, a laser inkjet printer, or a laser marker, may be used.

[0060] (2) In the above first embodiment, a target member 5 formed in a conical shape has been shown, and an example in which the position of the target member 5 in the axial direction L changes continuously as it goes outward in the radial direction R from a predetermined reference position P5 has been described. However, the target member 5 having such a configuration is not limited to a conical shape. For example, as shown in FIG. 9, the target member 5 may have a shape with a conical recess on its upper surface. In this case, the recess serves as the irradiated portion 50 to be irradiated with the laser 40.

[0061] (3) In the above-described embodiment, an example in which the laser output device 4 is attached to the first attachment member 61 in a posture of irradiating the laser 40 along the vertical direction has been described. However, without being limited to such an example, the laser output device 4 may be attached to the first attachment member 61 in a posture of irradiating the laser 40 along a direction inclined with respect to the vertical direction.

[0062] (4) In the above-described embodiment, an example in which the target member 5 is a member separate from the member constituting the storage shelf 1 has been described. However, without being limited to such an example, a part of the member constituting the storage shelf 1 (for example, a part of the column 10a or the beam 10b) may be used as the target member 5.

[0063] (5) In the above-described embodiment, an example in which the laser output device 4 is attached to the upper attachment member 6u and the target member 5 is attached to the lower attachment member 6d has been described. However, without being limited to such an example, the relationship between the two may be reversed. That is, the target member 5 may be attached to the upper attachment member 6u and the laser output device 4 may be attached to the lower attachment member 6d.

[0064] (6) In the above-described embodiment, an example in which the transport device 2 is configured as a so-called stacker crane has been described. However, without being limited to such an example, for example, the transport device 2 may be configured using a transport cart that travels along a traveling rail arranged on each of the plurality of shelves 11.

[0065] (7) Note that the configurations disclosed in the above-described embodiments can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. Regarding other configurations as well, all the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of the present disclosure.

[0066] Summary of the present embodiment Hereinafter, the summary of the present embodiment will be described.

[0067] A warehouse equipped with a storage shelf provided with storage parts capable of storing articles in each of a plurality of tiers of shelf parts arranged in the vertical direction, a laser output device equipped with a laser light source, a target member provided with an irradiated part that is the irradiation target of the laser by the laser output device, an upper mounting member and a lower mounting member arranged to be spaced apart from each other in the vertical direction, and comprising, The laser output device is attached to a first mounting member which is either the upper mounting member or the lower mounting member in a posture of irradiating the target member with the laser, The target member is attached to a second mounting member which is the other of the upper mounting member and the lower mounting member in a posture where the irradiated part faces the laser output device.

[0068] According to this configuration, by checking the irradiation position of the laser irradiated from the laser output device to the irradiated part of the target member, the distortion of the storage shelf can be inspected. According to this, inspection by a small number of people is possible, and since it is only necessary to check the irradiation position of the laser, it is not laborious. Therefore, according to this configuration, the distortion of the storage shelf can be easily inspected.

[0069] The storage shelf includes a frame that supports the plurality of tiers of shelf parts, The upper mounting member is fixed to the frame above the uppermost tier of shelf parts in the storage shelf, It is preferable that the lower mounting member is fixed in position with respect to the frame below the lowermost tier of shelf parts in the storage shelf or on the floor surface on which the storage shelf is installed.

[0070] According to this configuration, since the irradiation distance of the laser can be increased, even a small distortion can be easily detected. Therefore, a more accurate inspection is possible.

[0071] Regarding the combination of the laser output device and the target member as a laser unit, It is preferable that the laser units are arranged at a plurality of positions spaced apart from each other in the vertical direction view.

[0072] According to this configuration, since information can be obtained from each of the laser units arranged at a plurality of positions, it is easy to confirm the location and direction of the distortion generated in the storage shelf.

[0073] The storage shelf includes a frame that supports a plurality of the shelf parts. It is preferable that either the laser output device or the target member is detachably configured with respect to the lower attachment member, or the lower attachment member is detachably fixed to the floor surface or the frame.

[0074] According to this configuration, either the laser output device or the target member can be removed from the lower attachment member as needed, or the lower attachment member can be removed from the floor surface or the frame. Therefore, it becomes easier to secure the space near the storage shelf.

[0075] A transport device that performs at least one of an incoming transport for transporting the article for storing the article in the storage shelf and an outgoing transport for transporting the article for taking out the article from the storage shelf, A control system that controls the transport device, A displacement information acquisition unit that acquires displacement information indicating the change over time of the irradiation position of the laser output by the laser output device at the irradiated portion as a displacement amount, Further comprising It is preferable that the control system executes a learning process of acquiring information on the stop positions of the transport device for each of the plurality of storage units when the displacement amount indicated by the displacement information becomes equal to or greater than a predetermined determination threshold value.

[0076] For example, in an automated warehouse, a transfer vehicle stops at a position corresponding to a target storage section, and goods are transferred between the vehicle and the storage section. The stop position of the transfer vehicle for each storage section is often defined by a preset value. However, when distortion occurs in the storage shelf, the position of the storage section may shift before and after the distortion occurs. According to this configuration, when the displacement amount of the laser irradiation position at the irradiated section becomes equal to or greater than a predetermined determination threshold value, the control system executes a learning process for acquiring information on the stop positions of the transfer device for each of the plurality of storage sections. Therefore, even after distortion occurs in the storage shelf, the transfer device can be appropriately operated for each storage section.

[0077] The laser output device is a laser rangefinder that measures the distance to the target member. Taking the axis of the laser output by the laser output device as the laser axis, the direction along the laser axis as the axial direction, and the direction perpendicular to the laser axis as the radial direction, it is preferable that the target member is formed such that the axial position changes stepwise or continuously toward the outside in the radial direction from a predetermined reference position, and is arranged such that the reference position is located on the laser axis in the initial state.

[0078] According to this configuration, based on the change in the measurement value by the laser rangefinder, it is possible to measure how much the reference position of the target member has deviated from the position on the laser axis. Therefore, it is possible to easily observe and measure the temporal change in the position of the laser irradiated on the irradiated section.

Industrial Applicability

[0079] The technology according to the present disclosure can be used in a warehouse equipped with a storage shelf.

Explanation of Reference Numerals

[0080] 100: Warehouse 1: Storage shelf 10: Frame 11: Shelf section 12: Accommodating portion 2: Conveyor device 3: Control system 31: Displacement information acquisition unit 4: Laser output device 40: Laser 40a: Laser axis 5: Target member 50: Irradiated portion 6d: Lower mounting member 6u: Upper mounting member 61: First mounting member 62: Second mounting member 9: Floor surface U: Laser unit W: Article P5: Reference position Rx: Displacement amount L: Axial direction R: Radial direction

Claims

1. A warehouse equipped with a storage shelf provided with storage parts capable of storing articles in each of a plurality of tiers of shelf parts arranged vertically, a laser output device equipped with a laser light source, a target member having an irradiated part which is the irradiation destination of the laser by the laser output device, an upper mounting member and a lower mounting member arranged at intervals in the vertical direction, and comprising, the laser output device is attached to a first mounting member which is either the upper mounting member or the lower mounting member in a posture of irradiating the target member with the laser, the target member is attached to a second mounting member which is the other of the upper mounting member and the lower mounting member in a posture in which the irradiated part faces the laser output device. Warehouse.

2. The storage shelf includes a frame that supports the plurality of tiers of shelf parts, the upper mounting member is fixed to the frame above the topmost shelf part in the storage shelf, The warehouse according to claim 1, wherein the lower mounting member is fixed in position with respect to the frame below the lowermost shelf part in the storage shelf or on the floor surface on which the storage shelf is installed.

3. Regarding the set of the laser output device and the target member as a laser unit, The warehouse according to claim 1, wherein the laser units are arranged at a plurality of locations spaced apart from each other in a vertical view.

4. The storage shelf includes a frame that supports the plurality of tiers of shelf parts, The warehouse according to claim 1, wherein either the laser output device or the target member is detachably configured with respect to the lower mounting member, or the lower mounting member is detachably fixed to the floor surface or the frame.

5. A conveying device that performs at least one of incoming conveyance, which is conveyance of the article for incoming of the article into the storage shelf, and outgoing conveyance, which is conveyance of the article for outgoing of the article from the storage shelf, a control system that controls the conveying device, a displacement information acquisition unit that acquires displacement information indicating the change over time of the irradiation position of the laser output by the laser output device at the irradiated part as a displacement amount, and further comprising When the amount of displacement indicated by the displacement information becomes equal to or greater than a predetermined determination threshold value, the control system executes a learning process for acquiring information on the stop positions of the transport device with respect to each of the plurality of storage units. The warehouse according to claim 1.

6. The laser output device is a laser distance meter that measures the distance to the target member. Using the axis of the laser output by the laser output device as the laser axis, the direction along the laser axis as the axial direction, and the direction orthogonal to the laser axis as the radial direction. The target member is formed such that the position in the axial direction changes stepwise or continuously as it moves outward in the radial direction from a predetermined reference position, and is arranged such that the reference position is located on the laser axis in the initial state. The warehouse according to any one of claims 1 to 5.

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