Picking equipment, automated warehouse systems

Abstract

To provide a picking device capable of stacking cargoes with high accuracy.SOLUTION: A picking device 10 comprises: a lifting device 2 provided movably relative to a cargo 12 and capable of holding the cargo 12; and a detection mechanism 3 provided vertically movably independently of the lifting device 2 and capable of detecting the cargo from at least two directions. The picking device positionally controls at least one of the lifting device 2 and the detection mechanism 3 on the basis of information on the cargo 12 detected by the detection mechanism 3.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a picking device and an automated warehouse system. [Background technology]

[0002] A picking device that moves an item from one storage unit to another storage unit is known. The present applicant has disclosed technology relating to an automated warehouse system equipped with a picking device in Patent Document 1. This picking device is equipped with a holding unit, multiple suction units provided on the bottom surface of the holding unit, and a gantry-type crane mechanism, and can pick up a target item from above one storage unit, move it horizontally, and unload the target item from above onto a pallet in another storage unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-200185 Summary of the Invention [Problem to be solved by the invention]

[0004] The present inventors have recognized the following. In a picking device, when some of the loads are removed from a pallet and stacked on another pallet, it is desirable that the gaps between the stacked loads be small in order to stably hold the loads. In order to minimize the gaps between the loads, it is important to stack the loads accurately. However, the picking device described in Patent Document 1 leaves room for improvement in terms of stacking the loads accurately.

[0005] The present invention has been made in view of the above-mentioned problems, and one of its objects is to provide a picking device that can stack items with high accuracy. [Means for solving the problem]

[0006] In order to solve the above problem, a picking device according to one aspect of the present invention includes a hoisting tool that is movable relative to a load on the ground and can hold the load, and a first detection mechanism that is arranged so that the relative position with respect to the hoisting tool can be changed up and down and can detect the load from at least two directions, and controls the position of at least one of the hoisting tool and the first detection mechanism based on information about the load detected by the first detection mechanism. The first detection mechanism is provided so as to be able to move up and down relative to the load to be detected. do.

[0007] Another aspect of the present invention is an automated warehouse system that includes shelves having storage sections for storing loads, and a picking device that moves the loads in the storage sections, wherein the picking device includes a hoisting device that is movable relative to the loads on the ground and can hold the loads, and a first detection mechanism that is capable of changing its position relative to the hoisting device up and down and can detect the loads from at least two directions, and controls the position of at least one of the hoisting device and the first detection mechanism based on information about the load detected by the first detection mechanism.

[0008] Any combination of the above components, or mutual substitution of the components or expressions of the present invention between methods, systems, etc., are also valid aspects of the present invention. [Effects of the Invention]

[0009] According to the present invention, a picking device capable of stacking items with high accuracy can be provided. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a plan view schematically illustrating an automated warehouse system according to an embodiment. [Figure 2] FIG. 1 is a perspective view showing an example of a package in which multiple packages are stacked. [Figure 3] FIG. 1 is a front view illustrating an example of a picking device according to an embodiment. [Figure 4] FIG. 4 is a diagram showing a first posture of the picking device of FIG. 3. [Figure 5] 4 is a diagram showing a second posture of the picking device of FIG. 3. FIG. [Figure 6] 10 is a flowchart illustrating an example of a picking operation of the picking device. [Figure 7] FIG. 7 is a diagram schematically illustrating a first step of the picking operation of FIG. 6. [Figure 8] FIG. 7 is a diagram schematically illustrating a second step of the picking operation of FIG. 6. [Figure 9] 7 is a diagram schematically illustrating a third process of the picking operation of FIG. 6. FIG. [Figure 10] FIG. 7 is a diagram schematically illustrating a fourth step of the picking operation of FIG. 6. [Figure 11] FIG. 7 is a diagram schematically illustrating a fifth step of the picking operation of FIG. 6. [Figure 12] FIG. 7 is a diagram schematically illustrating a sixth step of the picking operation of FIG. 6. [Figure 13] FIG. 7 is a diagram schematically illustrating a seventh step of the picking operation of FIG. 6. [Figure 14] FIG. 7 is a diagram schematically illustrating an eighth step of the picking operation of FIG. 6. [Figure 15] FIG. 7 is a diagram schematically illustrating a ninth step of the picking operation of FIG. 6. [Figure 16] FIG. 7 is a diagram schematically illustrating a tenth step of the picking operation of FIG. 6. [Figure 17] FIG. 7 is a diagram schematically illustrating an eleventh step of the picking operation of FIG. 6. [Figure 18] FIG. 7 is a diagram schematically illustrating a twelfth step of the picking operation of FIG. 6. [Figure 19] FIG. 7 is a diagram schematically illustrating a thirteenth step of the picking operation of FIG. 6. [Figure 20] FIG. 7 is a diagram schematically illustrating a fourteenth step of the picking operation of FIG. 6. [Figure 21] FIG. 7 is a diagram schematically illustrating a fifteenth step of the picking operation of FIG. 6. [Figure 22] FIG. 7 is a diagram schematically illustrating a sixteenth step of the picking operation of FIG. 6. [Figure 23] FIG. 7 is a diagram schematically illustrating a seventeenth step of the picking operation of FIG. 6. [Figure 24] FIG. 7 is a diagram schematically illustrating an 18th step of the picking operation of FIG. 6. [Figure 25] FIG. 7 is a diagram schematically illustrating a 19th step of the picking operation of FIG. 6. DETAILED DESCRIPTION OF THE INVENTION

[0011] The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments and modifications, identical or equivalent components and members are designated by the same reference numerals, and redundant explanations will be omitted where appropriate. The dimensions of the members in the drawings are enlarged or reduced as appropriate to facilitate understanding. Some members that are not important for explaining the embodiments will be omitted from the drawings.

[0012] Furthermore, terms including ordinal numbers such as first and second are used to describe various components, but these terms are used only to distinguish one component from another and do not limit the components.

[0013] [Embodiment] The configuration of an automated warehouse system 100 equipped with a picking device 10 according to an embodiment will be described with reference to the drawings. FIG. 1 is a plan view schematically showing the automated warehouse system 100.

[0014] For ease of explanation, as shown in the figure, an XYZ Cartesian coordinate system is defined in which a certain horizontal direction is the X direction, a horizontal direction perpendicular to the X direction is the Y direction, and a direction perpendicular to both, i.e., the vertical direction, is the Z direction. The X direction is sometimes referred to as the lateral direction, the Y direction as the front-to-back direction, and the Z direction as the up-down direction. These directional notations do not limit the configuration of the automated warehouse system 100, and the automated warehouse system 100 can be used in any configuration depending on the application.

[0015] In this specification, the following terms are used for loads. A case such as a cardboard box containing contents is called a "load." A load may contain multiple items. An empty pallet is simply called a "pallet 11." A single or multiple loads 12 placed on a single pallet 11 is called a "load collection." In the following explanation, when we say "load 12," it includes both a single load 12 and loads 12 mounted on a pallet 11. A load 12 may be the smallest unit handled when picking.

[0016] FIG. 2 is a perspective view showing an example of a package in which multiple packages 12 are stacked. The side that is expected to be opened to remove the contents is called the "opposite bottom side," and the side opposite the opposite bottom side is called the bottom side. FIG. 2 shows package 12 in a state in which the opposite bottom side faces upward and the bottom side faces downward. Package 12 may be inverted by an inverting device (not shown), and the package may be handled, such as picked, in an inverted state in which the bottom side faces upward and the opposite bottom side faces downward. The opposite bottom side may be easier to open than the bottom side, or the bottom side may be stronger than the opposite bottom side. As an example of an indication method, the inverted state may be indicated by characters printed on the side of the case being inverted.

[0017] First, we will explain the overall configuration of the automated warehouse system 100. As shown in Fig. 1, the automated warehouse system 100 mainly includes a shelf 5 having a plurality of storage sections 52 capable of storing items 12, moving means 74, 75, 76 for moving the items 12 to be stored in or removed from the shelf 5, a picking device 10 for holding and moving the items 12, and a control section 78.

[0018] The moving means 74, 75, 76 include a first moving means 74 (e.g., a first carriage), a second moving means 75 (e.g., a second carriage), and a third moving means 76 (e.g., an elevator). The first moving means 74, the second moving means 75, and the third moving means 76 constitute a conveying means for moving the load 12 in the Y direction, the X direction, and the Z direction. The first moving means 74 can move the load 12 along the X direction. The second moving means 75 can move the load 12 along the Y direction. The third moving means 76 can move the load 12 in the Z direction.

[0019] For example, the transport means can remove the load 12 from a storage section 52 on the shelf 5. For example, the transport means can carry the load 12 into a storage section 52 on the shelf 5. For example, the transport means can transport the load 12 from one storage section 52 on the shelf 5 to another storage section 52 on the shelf 5.

[0020] The shelf 5 is a storage space capable of storing a large number of loads 12, and is sometimes referred to as a storage shelf. In this embodiment, the shelf 5 is divided into a shelf 55 on the right side of the drawing and a shelf 56 on the left side of the drawing, separated by the second travel path 73. The configuration of the shelf 5 is not particularly limited as long as it is capable of storing and storing a plurality of loads 12. In this example, the shelf 5 includes a plurality of storage sections 52 arranged along the X, Y, and Z directions (tier direction). The plurality of storage sections 52 arranged in the X and Y directions are referred to as storage stages. In other words, the shelf 5 has a plurality of storage stages (e.g., three tiers) arranged in the tier direction. Each storage section 52 is configured to be able to store a load 12.

[0021] The shelf 5 is provided with a first running path 71 (e.g., a first rail) along which the first moving means 74 runs, and a second running path 73 (e.g., a second rail) along which the second moving means 75 runs. The first running path 71 extends in the X direction between the shelves 55, 56 and the picking space 58. The first moving means 74 can run below each storage section 52. The second running path 73 extends in the Y direction adjacent to the shelves 55, 56 and the picking space 58.

[0022] The first moving means 74 has wheels driven by a motor (not shown) and moves along the first travel path 71 in the X direction either empty or loaded with a load 12. The first moving means 74 can get on and off the second moving means 75 and the third moving means 76. The second moving means 75 has wheels driven by a motor (not shown) and moves along the second travel path 73 in the Y direction. The second moving means 75 transports the first moving means 74 when empty or loaded with a load 12. The third moving means 76 is provided adjacent to the second travel path 73. The third moving means 76 can raise and lower the first moving means 74 and the load 12 from any storage stage to another storage stage. In the example of FIG. 1, a single loading / unloading section 77 is provided for all stages, and the third moving means 76 is connected to the loading / unloading section 77.

[0023] In this example, the goods 12 to be stored are carried into the loading / unloading section 77 by external transport means (not shown) such as a forklift, and are transferred to the desired shelf by the third moving means 76. The goods 12 to be unloaded are raised and lowered from the shelf where they were stored to the shelf of the loading / unloading section 77 by the third moving means 76, transferred to the loading / unloading section 77, and then carried out from the loading / unloading section 77 by the external transport means.

[0024] The control unit 78 is configured to include an MPU (Micro Processing Unit) and the like, and controls the movement of the goods 12 for storing, retrieving, carrying out, transporting, etc. based on the results of operations from the user. As an example, the control unit 78 controls the operation of the first moving means 74, the second moving means 75, and the third moving means 76 so as to transport the goods 12 between a storing / retrieving area and a storage unit, or between multiple storage units. The control unit 78 also controls the operation of the picking device 10 to pick the goods 12.

[0025] (Picking device) The picking device 10 of the embodiment is suitable for applications in which a plurality of single-loading pallets loaded with a single type of load are prepared (for example, by warehousing) and a mixed pallet is created by mixing a plurality of types of loads according to a customer's request. When creating a mixed pallet, when the picking device 10 removes some of the loads (one or more loads) from one layer of the single-loading pallet and transfers them to the mixed pallet, it is able to grasp the load status of the mixed pallet to be transferred and control the loading position of the transferred load with high precision.

[0026] The picking device 10 will be described with reference to Figures 1, 3, 4, and 5. Figure 3(A) is a front view schematically showing an example of the picking device 10. In this figure, some of the pillars, beams, frames, etc. are omitted.

[0027] The picking space 58 is a space for picking using the picking device 10. The picking space 58 may be provided outside the shelf 56, but in this example, it is provided inside the shelf 56.

[0028] The picking space 58 is provided with a first area 521 for placing the loads 12 before picking (hereinafter referred to as the "first load collection 121") and a second area 522 for placing the loads 12 after picking (hereinafter referred to as the "second load collection 122"). The picking device 10 can move the loads 12 removed from the first load collection 121 in the first area 521 to the second area 522 and stack them in the second load collection 122 in the second area 522.

[0029] The first area 521 and the second area 522 do not refer to specific locations within the picking space 58, but rather refer to areas where the load 12 is temporarily stored. Therefore, the positions and ranges of the first area 521 and the second area 522 in the picking space 58 may change for each picking operation. The first area 521 and the second area 522 in this embodiment have the same configuration as the storage section 52.

[0030] In the picking space 58 of this embodiment, a first running path 71 extends in the X direction. A first area 521 and a second area 522 are provided on the first running path 71. A first moving means 74 can travel below the first area 521 and the second area 522. A first load collection 121 before picking is carried into the first area 521 by the first moving means 74. The picking device 10 picks up a predetermined load 12 from the first load collection 121, lifts it, moves it, and loads it onto the second load collection 122. After picking, the second load collection 122 is carried out of the second area 522 by the first moving means 74.

[0031] As shown in FIG. 3(A), the picking device 10 picks one or more loads 12 from a first load collection 121 before picking and transfers them to a second load collection 122. The picking device 10 of this embodiment is supported by a so-called gantry-type crane mechanism 60. The crane mechanism 60 includes a pair of cross beams 63, a cross girder 62, a crane cart 64, and a hoisting device lifting mechanism 66. The pair of cross beams 63 are provided spaced apart on both sides in the Y direction in the upper space of the picking space 58. Both ends of the cross beams 63 are supported by the upper ends of the vertical columns 61.

[0032] The cross beam 62 is a rail-like structure extending in the Y direction and is spanned between a pair of cross beams 63. The cross beam 62 is configured to be self-movable in the X direction on the cross beams 63. The cross beam 62 is sometimes called a crane girder. The crane cart 64 is a cart that is self-movable in the Y direction on the cross beams 62. The hoisting tool lifting mechanism 66 suspends the picking device 10 from the crane cart 64 and can move the picking device 10 up and down in the Z direction.

[0033] The crane mechanism 60 supports the picking device 10 so that it can move freely in the horizontal X and Y directions. The crane mechanism 60 also supports the picking device 10 so that it can move in the row direction (Z direction).

[0034] Fig. 4 is a diagram schematically showing the first posture of the picking device 10, in which the hoisting tool 2 is lowered to the furthest position relative to the crane mechanism 60, and the cargo receiving unit 9 is lowered to the furthest position relative to the hoisting tool 2. Fig. 5 is a diagram schematically showing the second posture of the picking device 10, in which the hoisting tool 2 and the cargo receiving unit 9 are raised to the furthest position. Figs. 4(A) and 5(A) are front views, and Figs. 4(B) and 5(B) are side views. In these figures, some pillars, frames, and the like that are not important for the explanation have been omitted.

[0035] 3 and 4, the picking device 10 includes a sling 2, a receiving unit 9, a first detection mechanism 3, a second detection mechanism 4, a third detection mechanism 16, and a relative position changing mechanism 8. The first detection mechanism 3, the second detection mechanism 4, and the third detection mechanism 16 are collectively referred to as the detection means.

[0036] In the example of FIG. 4, the hoisting tool 2 has a hoisting tool body 22 and a holding part 6 capable of holding a load 12, and is provided so as to be movable relative to the load 12 on the ground (hereinafter, sometimes referred to as a "ground load"). In this specification, "ground" refers to the underside of the picking space 58, an area including a first area 521 and a second area 522. The hoisting tool body 22 has a generally rectangular parallelepiped shape formed by combining multiple frame members. The hoisting tool body 22 is connected to the lower end of a hoisting tool lifting mechanism 66, and the upper end of the hoisting tool lifting mechanism 66 is connected to a crane cart 64 of a crane mechanism 60.

[0037] The hoisting tool lifting mechanism 66 has a guide portion 661 connected to the crane cart 64, a first slider 662, and a second slider 663. The first slider 662 can slide up and down relative to the guide portion 661. The second slider 663 can slide up and down relative to the first slider 662. Under the control of the control portion 78, the hoisting tool lifting mechanism 66 can raise and lower the hoisting tool main body 22 by moving the first slider 662 and the second slider 663 up and down using a driving means (not shown) including a motor.

[0038] The holding unit 6 is capable of holding the load 12 to be picked, and is attached below the hoist 2. In this example, the holding unit 6 includes a plurality of suction units 68 and a bracket 67 that supports the plurality of suction units 68. The plurality of suction units 68 are arranged in a matrix at predetermined intervals in the Y and X directions.

[0039] The suction unit 68 has a suction pad, and air (hereinafter referred to as "suction fluid") at a pressure lower than atmospheric pressure generated by a vacuum source (not shown) is passed through it, and the negative pressure generated in the suction pad of the suction unit 68 generates a suction force for suctioning the load 12. The vacuum source can be configured to include a vacuum pump, an ejector, a vacuum blower, etc. The suction fluid from the vacuum source is supplied to the suction unit 68 through piping (not shown).

[0040] When the suction unit 68 generates an adhesive force capable of adsorbing the load 12, the suction unit 68 is said to be in an "on state," and when it is not in an on state, the suction unit 68 is said to be in an "off state." The holding unit 6 switches the on / off state of each of the multiple suction units 68 based on the control of the control unit 78, thereby turning on the suction unit 68 in the area corresponding to the load 12 to be adsorbed, and can adsorb and hold the load 12 to be adsorbed.

[0041] The load receiving section 9 is a mechanism for supporting the underside of a load 12 (hereinafter sometimes referred to as "held load") held by the holding section 6 of the sling 2. In the example of FIG. 4, the load receiving section 9 includes multiple support members 91, a pair of deployment mechanisms 92, and a pair of retraction mechanisms 93. The support members 91 are cylindrical pipes extending in the X direction, and when supporting the load 12, they are deployed on the underside of the load 12. The pair of deployment mechanisms 92 are arranged spaced apart on both sides of the sling 2 in the X direction, and can support both ends of the deployed multiple support members 91. The multiple support members 91 are sometimes referred to as slats.

[0042] The pair of retraction mechanisms 93 can support both ends of the retracted support members 91. The deployment mechanism 92 extends in the Y direction, and the retraction mechanism 93 extends in the Z direction, each having an angular C-shaped cross section. One end of the deployment mechanism 92 and the lower end of the retraction mechanism 93 are connected, forming a sideways L-shape in front view. The multiple support members 91 move between the deployment mechanism 92 and the retraction mechanism 93 based on the control of the control unit 78.

[0043] The receiver 9 is provided so that its position relative to the hoisting tool 2 can be changed up and down. The receiver 9 may be able to be raised and lowered independently by a lifting mechanism separate from the hoisting tool lifting mechanism 66, but in the example of Figure 4, it is supported by the hoisting tool 2. The receiver 9 is connected to the hoisting tool main body 22 via the receiver lifting mechanism 96, and the receiver lifting mechanism 96 can change its position relative to the hoisting tool 2 up and down.

[0044] The receiver lifting mechanism 96 has a guide part 961 connected to the sling body 22, and a slide part 962 that can slide up and down relative to the guide part 961. The slide part 962 is connected to the retraction mechanism 93 of the receiver 9. The receiver lifting mechanism 96 can raise and lower the receiver 9 by moving the slide part 962 up and down using a driving means (not shown) including a motor under the control of the control unit 78.

[0045] The first detection mechanism 3 is provided so that its position relative to the hoisting tool 2 can be changed up and down. The first detection mechanism 3 may be able to be raised and lowered independently by a lifting mechanism separate from the hoisting tool 2 and the receiver lifting mechanism 96, but in the example of FIG. 4, it is fixed to the receiver 9 and moves integrally with the receiver 9. With this configuration, the first detection mechanism 3 can be raised and lowered relative to the load 12 to be detected. The first detection mechanism 3 can be raised and lowered relative to the ground load by one or both of the hoisting tool lifting mechanism 66 and the receiver lifting mechanism 96. The first detection mechanism 3 can be raised and lowered relative to the held load by the receiver lifting mechanism 96.

[0046] The first detection mechanism 3 can detect the load 12 from at least two directions. The load 12 to be detected by the first detection mechanism 3 may be either a held load or a ground load, but in this example, it is both. The first detection mechanism 3 may include a plurality of first detection devices 32 arranged spaced apart from each other to surround the load 12 to be detected. In particular, the first detection mechanism 3 may include two first detection devices 32 arranged at positions sandwiching the load 12 to be detected.

[0047] FIG. 3(B) is a schematic diagram showing an example of the arrangement of the first detection mechanism 3. In the example of FIG. 3(B), the first detection mechanism 3 includes four first detection devices 32 arranged at the four corners of a rectangle surrounding the load 12 to be detected. In FIG. 3(B), the laser irradiation direction of the first detection devices 32 is shown as quadrants, and each irradiation range includes the load 12. The optical axes L3 of the four first detection devices 32 are horizontal, and the irradiated light is emitted in the direction of the arrows shown in the figure. In other words, the first detection devices 32 can detect the distance to an object in the direction of the arrows. The heights of the optical axes L3 of the four first detection devices 32 may be different from each other, but in this example, they are the same.

[0048] The second detection mechanism 4 is provided separately from the first detection mechanism 3, and is capable of moving up and down relative to the load 12 to be detected, so that the load 12 can be detected from at least two directions. The second detection mechanism 4 is provided in a second area 522 for loading the load 12. The load 12 to be detected by the second detection mechanism 4 may be either a ground load or a held load, but in this example it is both.

[0049] FIG. 3(C) is a schematic diagram showing an example of the arrangement of the second detection mechanism 4. In the example of FIG. 3(C), the second detection mechanism 4 includes four second detection devices 42 arranged at the four corners of a rectangle surrounding the load 12 to be detected. In FIG. 3(C), the laser irradiation direction of the second detection devices 42 is shown as quadrants, and each irradiation range includes the load 12. The optical axes L4 of the four second detection devices 42 are horizontal, and the irradiated light is emitted in the direction of the arrows shown in the figure. In other words, the second detection devices 42 can detect the distance to an object in the direction of the arrows. The heights of the optical axes L4 of the four second detection devices 42 may be different from each other, but in this example they are the same.

[0050] The second detection mechanism 4 is provided so as to be able to move up and down relative to the load 12 to be detected. In Fig. 3(C), the four second detection devices 42 are provided so as to be able to slide up and down on support columns 44 erected at the four corners. In particular, each second detection device 42 can be moved up and down by driving means (not shown) including a motor under the control of the control unit 78.

[0051] The third detection mechanism 16 is fixed to the upper part of the sling body 22 and can detect the state of the ground load or the supported load from above.

[0052] The first detection mechanism 3, the second detection mechanism 4, and the third detection mechanism 16 (hereinafter collectively referred to as "detection mechanisms") are not limited in configuration as long as they can detect the load 12, but in this example, they include a laser sensor that can measure scattered light in response to laser irradiation and detect the distance to the target. As an example, the detection mechanism includes a LIDAR (Light Detection and Ranging). The detection mechanisms can transmit their respective detection results to the control unit 78.

[0053] It is desirable to have high accuracy in stacking the held load onto the ground load. Therefore, in this embodiment, in addition to the crane mechanism 60 for moving the hoisting device 2, a relative position changing mechanism 8 is provided that can change the relative position between the load 12 on the ground and the load 12 held by the hoisting device 2. In this embodiment, the first detection mechanism 3 and the second detection mechanism 4 detect the relative positions of the ground load and the held load, and the relative position changing mechanism 8 corrects the positions of these loads based on the detection results of the relative positions, and after the position correction, the held load is stacked onto the ground load.

[0054] The relative position changing mechanism 8 may move either the ground load or the held load, or may move both of them. In the example of Fig. 4, the relative position changing mechanism 8 is provided on the hoisting tool 2, and can correct the position of the held load by horizontally moving the holding part 6 using a driving means (not shown) including a motor.

[0055] The control unit 78 controls the above-mentioned drive means based on information about the load 12 detected by at least one of the first detection mechanism 3 and the second detection mechanism 4, thereby changing the position of at least one of the hoisting device 2, the first detection mechanism 3, and the second detection mechanism 4. The control unit 78 controls the relative position changing mechanism 8 based on the information about the load 12, thereby correcting the relative position of the ground load and the held load.

[0056] An example of the picking operation of the picking device 10 configured as described above will now be described. FIG. 6 is a flowchart showing operation S110 of the picking device 10. FIGS. 7 to 25 are diagrams schematically showing each step of operation S110. In these diagrams, components that are not important for the explanation are omitted. Operation S110 is an operation of lifting a load 12 to be picked (hereinafter referred to as "target load 12A") from a first load collection 121 (ground load) in the first area 521 and stacking it on a second load collection 122 in the second area 522.

[0057] As shown in Fig. 7, operation S110 is started when the picking device 10 is positioned above the first load collection 121, which is the ground load in the first area 521. When operation S110 is started, as shown in Fig. 8, the control unit 78 detects a positional deviation of the target load 12A using the third detection mechanism 16 and confirms that there is no interference between the target load and the picking device 10 (step S111).

[0058] After executing step S111, as shown in Fig. 9, the control unit 78 lowers the load receiving unit 9 so that the first detection mechanism 3 is positioned lower than the target load 12A, and also lowers the hoist 2 until the lower end of the holding unit 6 contacts the target load 12A (step S112). During this descent, the optical axis L3 of the first detection mechanism 3 intersects with the target load 12A. In this step, the control unit 78 controls the height position of the holding unit 6 based on the detection result of the first detection mechanism 3 so as to ensure the desired positioning accuracy and suppress height variation.

[0059] After executing step S112, the control unit 78 turns on the suction units 68 in the areas corresponding to the target load 12A, and adsorbs the target load 12A (step S113), as shown in Fig. 10. In Fig. 10, the suction units 68 in the on state are shown filled in black.

[0060] After executing step S113, as shown in Fig. 11, the control unit 78 holds the adsorbed target load 12A and raises the hoist 2 (step S114). In this step, the control unit 78 checks, based on the detection result of the first detection mechanism 3, whether the adsorbed target load 12A has been properly separated from the first load collection 121 and is being held in a normal position. This checking operation can be performed while the first detection mechanism 3 is being raised.

[0061] After executing step S114, as shown in Fig. 12, the control unit 78 further raises the hoisting device 2 while holding the target load 12A (step S115). In this step, the control unit 78 checks, based on the detection result of the first detection mechanism 3, whether the height distance between the target load 12A and the first load collection 121 exceeds the distance at which the multiple support members 91 can be deployed. This checking operation can be performed while the hoisting device 2 is being raised.

[0062] After executing step S115, as shown in FIG. 13, the control unit 78 deploys the plurality of support members 91 while further raising the hoisting device 2 while holding the target load 12A (step S116).

[0063] After executing step S116, the control unit 78 raises the load receiving unit 9 to a height at which the plurality of support members 91 can support the underside of the target load 12A (step S117), as shown in Fig. 14. This step can be executed while the hoisting device 2 is being raised.

[0064] After executing step S117, as shown in Fig. 15, the control unit 78 checks the height of the target load 12A based on the detection result of the first detection mechanism 3 (step S118). After checking the height of the target load 12A in this step, the control unit 78 raises the load receiving unit 9 so that the multiple support members 91 contact the underside of the target load 12A. This step can be executed while the hoisting device 2 is being raised.

[0065] After executing step S118, as shown in FIG. 16, the control unit 78 causes the crane mechanism 60 to move the picking device 10 to a position above the second load collector 122, which is a ground load in the second area 522 (step S119). In this step, the control unit 78 checks the position and posture of the second load collector 122 based on the detection results of the second detection mechanism 4. This checking operation can be performed while moving the second detection mechanism 4 up and down. Furthermore, the second load collector 122 may be rotated in advance, if necessary.

[0066] 17, after executing step S119, the control unit 78 moves the picking device 10 so that the target load 12A is located above the planned position (indicated by the dashed frame) of the second load collection 122 (step S120). In this step, the control unit 78 detects the position of the target load 12A using the first detection mechanism 3, detects the position of the load adjacent to the planned position (hereinafter referred to as "adjacent load 12B") using the second detection mechanism 4, and controls the crane mechanism 60 and the relative position change mechanism 8 so that the gap between the target load 12A and the adjacent load 12B is within a predetermined range.

[0067] After executing step S120, as shown in FIG. 18, the control unit 78 lowers the hoisting device 2 and the receiver 9 to lower the target load 12A to the predetermined position of the second load collection 122 (step S121).

[0068] After executing step S121, as shown in FIG. 19, the control unit 78 further lowers the hoisting tool 2 and the receiver 9 to a height where the receiver 9 does not interfere with the second receiver 122 (step S122).

[0069] After executing step S122, as shown in Fig. 20, the control unit 78 causes the plurality of support members 91 to retreat to the retreat mechanism 93 (step S123). As a result, the bottom of the target load 12A opens, and the target load 12A becomes ready to be lowered to the planned position.

[0070] After executing step S123, the control unit 78 raises the goods receiving unit 9 relative to the hoisting device 2 (step S124), as shown in Fig. 21. As a result, the goods receiving unit 9 is brought into a state where it does not interfere with the second goods collection unit 122.

[0071] After executing step S124, the control unit 78 further lowers the hoist 2 to lower the target load 12A (step S125), as shown in Fig. 22. In this step, the hoist 2 is lowered until the target load 12A reaches a predetermined height H (e.g., 30 mm) from the planned position.

[0072] After executing step S125, as shown in FIG. 23, the control unit 78 detects the position of the target load 12A using the first detection mechanism 3, detects the position of the adjacent load 12B using the second detection mechanism 4, and controls the relative position change mechanism 8 based on these detection results to reduce the gap g between the target load 12A and the adjacent load 12B (step S126).

[0073] After executing step S126, the control unit 78 lowers the hoisting device 2 and lowers the target load 12A to the scheduled position (step S127), as shown in Fig. 24. In this step, the control unit 78 turns off the suction unit 68 that has been suctioning the target load 12A.

[0074] After executing step S127, the control unit 78 causes the crane mechanism 60 to raise the picking device 10 to a predetermined position (step S128), as shown in Fig. 25. In this step, the empty hoisting tool 2 and the receiving unit 9 are raised.

[0075] When the picking device 10 has risen to the predetermined position, the operation S110 ends. The above steps are merely examples, and various modifications are possible.

[0076] The features of the picking device 10 configured as above will now be described. The picking device 10 comprises a hoist 2 that is movable relative to a load 12 on the ground and can hold the load 12, and a first detection mechanism 3 that is arranged so that its position relative to the hoist 2 can be changed up and down and that can detect the load 12 from at least two directions. The picking device 10 controls the position of at least one of the hoist 2 and the first detection mechanism 3 based on information about the load 12 detected by the first detection mechanism 3.

[0077] According to this configuration, when loading the lifted load 12, the accuracy of the loading position of the load 12 can be improved. By increasing the position accuracy in this way, the gap between adjacent loads 12 can be reduced. Since the load 12 is detected from at least two directions, the position of the load 12 can be detected with high accuracy.

[0078] As an example, the first detection mechanism 3 is provided so as to be able to rise and fall relative to the load 12 to be detected. In this case, the three-dimensional position, shape, and posture of the load 12 to be detected can be detected based on the detection results of the first detection mechanism 3 that rises and falls.

[0079] As an example, the first detection mechanism 3 includes two first detection devices 32 arranged at positions sandwiching the load 12 to be detected. In this case, since detection is performed from positions sandwiching the load 12, the position and shape of the load 12 can be detected from both sides.

[0080] As an example, the first detection mechanism 3 is attached to the load receiving section 9 that supports the underside of the load 12 held by the hoisting device 2. In this case, the first detection mechanism 3 can be raised and lowered by the mechanism that raises and lowers the load receiving section 9. This is advantageous in terms of size, weight, and cost reduction compared to when a dedicated lifting mechanism is provided for the first detection mechanism 3.

[0081] As an example, the goods receiving section 9 can be raised and lowered relative to the hoisting tool 2. In this case, the goods receiving section 9 can be raised and lowered integrally with the hoisting tool 2, and can also be raised and lowered separately from the hoisting tool 2.

[0082] As an example, a second detection mechanism 4 is provided that is movable up and down relative to the load 12 to be detected and that can detect the load 12 from at least two directions, separate from the first detection mechanism 3. In this case, the relative positional relationship between the held load and the load on the ground can be determined with high accuracy from the detection result of the held load by the first detection mechanism 3 and the detection result of the ground load by the second detection mechanism 4.

[0083] As an example, the second detection mechanism 4 includes two second detection devices 42 arranged at positions sandwiching the load 12 to be detected. In this case, since detection is performed from positions sandwiching the load 12, the position and shape of the load 12 can be detected from both sides.

[0084] As an example, the second detection mechanism 4 is provided in the second area 522 for loading the load 12. In this case, the position of the ground load placed in the second area 522 can be detected with high accuracy.

[0085] As an example, in addition to the mechanism 60 for moving the hoisting device 2, a relative position changing mechanism 8 is provided that can change the relative position between the load 12 on the ground and the load 12 held by the hoisting device 2. In this case, the relative positions of these loads can be fine-tuned to reduce the gap between these loads.

[0086] The above describes in detail exemplary embodiments of the present invention. The above-described embodiments merely illustrate specific examples of implementing the present invention. The content of the embodiments does not limit the technical scope of the present invention, and many design modifications, such as changes, additions, and deletions of components, are possible within the scope of the inventive concept defined in the claims. In the above-described embodiments, content that allows such design modifications is described using notations such as "in the embodiment" or "in the embodiment," but this does not mean that design modifications are not permitted in content that does not have such notations. Furthermore, hatching in the drawings does not limit the material of the hatched object.

[0087] (Variation) The following describes the modified examples. In the drawings and descriptions of the modified examples, the same or equivalent components and members as those in the embodiment are denoted by the same reference numerals. Explanations that overlap with the embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from the embodiment.

[0088] In the description of the embodiment, the first and second detection mechanisms 3 and 4 detect the load 12 to be detected from the side, but the present invention is not limited to this. For example, the first and second detection mechanisms may include a detection device that can detect the load to be detected from above or below.

[0089] In the description of the embodiment, an example was shown in which the relative position change mechanism 8 is provided in the hoisting device 2 and corrects the position of the held load, but the present invention is not limited to this. For example, the relative position change mechanism may be configured to include a means (e.g., a dolly) that can change the position of the load on the ground, and the position of the load on the ground may be corrected by this means.

[0090] In the description of the embodiment, an example was shown in which the picking device 10 is applied to an automated warehouse, but the present invention is not limited to this. For example, the picking device of the present invention can also be applied to depalletizing devices and palletizing devices that use arm robots in places other than automated warehouses.

[0091] In the description of the embodiment, an example has been shown in which the picking space 58 is provided integrally with the shelf 5, but the present invention is not limited to this, and the picking space 58 may be provided outside the shelf 5. In this case, the load 12 may be transported between the shelf 5 and the picking space 58 by a transport mechanism such as a forklift.

[0092] In the description of the embodiment, an example has been shown in which the picking space 58 is provided on the same plane as the shelf 5, but the present invention is not limited to this, and the picking space 58 may be provided on a different plane from the shelf 5. Also, a part of the picking device 10 may be provided on the same plane as the shelf 5, and another part may protrude outside the planar range of the shelf 5.

[0093] In the description of the embodiment, an example was shown in which the second moving means 75 and the third moving means 76 are provided separately, but this is not limiting. As the second moving means, a moving means (for example, a stacker crane) capable of moving the load 12 in the row and column directions may be used. In this case, the stacker crane may be one that cannot mount the first moving means, or one that can mount the first moving means together with the load 12.

[0094] In the description of the embodiment, an example has been shown in which a single loading / unloading section 77 is provided for all shelves and the third moving means 76 is connected to the loading / unloading section 77, but this is not limiting. Each shelf may be provided with its own loading / unloading section, and goods to be loaded and unloaded may be loaded into and unloaded from the loading / unloading section of each shelf by a forklift. Also, the loading / unloading section may be divided into an loading section and an unloading section.

[0095] In the description of the embodiment, an example was shown in which the picking device 10 is supported from the ceiling side by a gantry-type crane mechanism 60, but the present invention is not limited to this. For example, the picking device may be supported by an articulated robot or a support means with a different configuration. Furthermore, the picking device may be attached to a side wall on the side and supported from the side.

[0096] Each of these modifications provides the same functions and effects as the embodiment.

[0097] Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. A new embodiment resulting from the combination has the combined effects of the combined embodiments and modifications. [Explanation of symbols]

[0098] 2 Lifting device, 3 First detection mechanism, 4 Second detection mechanism, 5 Shelf, 8 Relative position change mechanism, 9 Receiving section, 10 Picking device, 12 Load, 32 First detection device, 42 Second detection device, 52 Storage section, 66 Lifting device lifting mechanism, 100 Automated warehouse system.

Claims

1. a hoisting device that is provided so as to be movable relative to a load on the ground and that can hold the load; a first detection mechanism that is provided so that its relative position with respect to the hoisting device can be changed up and down and that can detect a load from at least two directions; Equipped with controlling a position of at least one of the hoisting device and the first detection mechanism based on information about the load detected by the first detection mechanism; A picking device, wherein the first detection mechanism is provided so as to be able to move up and down relative to the load to be detected.

2. A hoisting device that is movable relative to a load on the ground and can hold the load; a first detection mechanism that is provided so that its relative position with respect to the hoisting device can be changed up and down and that can detect a load from at least two directions; Equipped with controlling a position of at least one of the hoisting device and the first detection mechanism based on information about the load detected by the first detection mechanism; A picking device, wherein the first detection mechanism includes two first detection devices arranged in positions that sandwich the load to be detected.

3. A hoisting device that is movable relative to a load on the ground and can hold the load; a first detection mechanism that is provided so that its relative position with respect to the hoisting device can be changed up and down and that can detect a load from at least two directions; Equipped with controlling a position of at least one of the hoisting device and the first detection mechanism based on information about the load detected by the first detection mechanism; A picking device that is provided with a second detection mechanism that is separate from the first detection mechanism and that is capable of moving up and down relative to the load to be detected and is capable of detecting the load from at least two directions.

4. A hoisting device that is movable relative to a load on the ground and can hold the load; a first detection mechanism that is provided so that its relative position with respect to the hoisting device can be changed up and down and that can detect a load from at least two directions; Equipped with controlling a position of at least one of the hoisting device and the first detection mechanism based on information about the load detected by the first detection mechanism; A picking device that is provided with a relative position changing mechanism that can change the relative position between a load on the ground and the load held by the lifting tool, separate from the mechanism for moving the lifting tool.

5. An automated warehouse system comprising: a shelf having a storage section for storing goods; and a picking device for moving goods in the storage section, The picking device is a hoisting device that is provided so as to be movable relative to a load on the ground and that can hold the load; a first detection mechanism that is provided so that its relative position with respect to the sling can be changed up and down and that can detect a load from at least two directions; An automated warehouse system that controls the position of at least one of the lifting device and the first detection mechanism based on information about the load detected by the first detection mechanism.

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