Automated warehouse, its control method and program

Abstract

This technology provides the ability to appropriately detect relative positional misalignment between the loading / unloading device and the rack. [Solution] The automated warehouse 1 according to the present invention comprises a rack 11 on which a reflector 12 is provided, an loading / unloading device 13 that is movable relative to the rack and performs loading / unloading operations, and a control device 14. The loading / unloading device comprises a laser and a light detection unit. The control device is capable of detecting reflected light of laser light emitted from the laser using the light detection unit. Markers are provided on the reflector. During initial setup, the position of the loading / unloading device where a predetermined position on the reflector of the rack and the irradiation position of the laser light overlap is registered as a reference position, and the distance from the predetermined position to the markers is registered as a reference distance. At any time of subsequent use, the loading / unloading device is moved so that the irradiation position of the laser light and the markers overlap, and the amount of positional displacement of the rack is calculated based on the distance the loading / unloading device moves during that time.

Description

[Technical Field]

[0001] This invention primarily relates to automated warehouses. [Background technology]

[0002] In automated warehouses that use loading / unloading devices to load and unload items from racks arranged in a row, there are some that can identify misalignment of the loading / unloading device by irradiating a reflector with laser light and detecting the reflected light from the reflector (see Patent Document 1). [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Patent No. 5382407 [Overview of the project] [Problems that the invention aims to solve]

[0004] In such automated warehouses, after assembly and installation, relative positional displacement may occur between the loading / unloading equipment and the racks due to external factors such as earthquakes. Therefore, there is a need for technology that can detect such positional displacement appropriately and relatively easily.

[0005] The exemplary objective of this invention is to provide a novel technique that can appropriately and relatively easily detect the above-mentioned misalignment. [Means for solving the problem]

[0006] One aspect of the present invention relates to an automated warehouse, the automated warehouse is A rack equipped with a reflector, A loading / unloading device that is movable relative to the rack and performs loading / unloading operations for the rack, The system includes a control device that controls the movement of the loading / unloading device and the loading / unloading operations, The aforementioned loading / unloading device is, Lasers and, Light detection unit, Equipped with, The control device is capable of detecting the reflected light from the reflector by the laser beam emitted from the laser using the light detection unit. The reflector is provided with a marker that acts on the reflected light, The control device is In the first timing, a registration means registers the position of the loading / unloading device where a predetermined position on the reflector of the rack and the irradiation position of the laser beam overlap as a reference position, and registers the distance from the predetermined position to the mark on the reflector as a reference distance. A drive control means that performs a first control to move the loading / unloading device to the reference position at a second timing after the first timing, and then performs a second control to move the loading / unloading device so that the laser beam irradiation position and the marker overlap with each other. A calculation means for calculating the amount of positional displacement of the rack based on the travel distance of the loading / unloading device from the first control to the second control and the reference distance, Equipped with It is characterized by the following: [Effects of the Invention]

[0007] According to the present invention, the above-mentioned positional misalignment can be detected appropriately and relatively easily. [Brief explanation of the drawing]

[0008] [Figure 1A] A perspective view showing an example of the configuration of an automated warehouse according to the embodiment. [Figure 1B] A schematic diagram showing an example of the configuration of a loading / unloading device. [Figure 2] A flowchart for the initial setup of an automated warehouse. [Figure 3] A flowchart for evaluating the positional misalignment of an automated warehouse. [Figure 4] A schematic diagram showing an example of the configuration of the laser and light detection unit. [Figure 5] A schematic diagram illustrating the method of detecting reflected light.

Best Mode for Carrying Out the Invention

[0009] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the invention according to the claims, and not all combinations of the features described in the embodiments are essential to the invention. Two or more of the plurality of features described in the embodiments may be arbitrarily combined. Also, the same or similar configurations are given the same reference numerals, and duplicate explanations are omitted.

[0010] Here, in the accompanying drawings, for ease of understanding of the structure, the X, Y, and Z directions that intersect (substantially orthogonal) each other may be shown in the drawings. The X direction indicates the left-right direction or the width direction, the Y direction indicates the front-back direction or the depth direction, and the Z direction indicates the up-down direction or the height direction. Also, each of the X and Y directions may be expressed as the horizontal direction, and correspondingly, the Z direction may be expressed as the vertical direction. Also, in the following description, one side and the other side of each of the X, Y, and Z directions may be distinguished by attaching "+" and "-", but when such distinction is not necessary, they may simply be expressed as the X, Y, or Z direction. Here, the -X side is taken as the left and the +X side as the right, the -Y side as the front (near) and the +Y side as the back (far), and the -Z side as the bottom and the +Z side as the top.

[0011] ≪Configuration of the Automated Warehouse≫ FIG. 1A shows an example of the configuration of an automated warehouse 1 according to an embodiment. The automated warehouse 1 includes a rack 11, rails 12, a loading / unloading device 13, and a control device 14. As shown in the enlarged schematic view, the rack 11 includes a plurality of storage units 111. Each storage unit 111 is configured to be able to store an object to be loaded / unloaded by the loading / unloading device 13. In this embodiment, the plurality of storage units 111 are arranged in the X direction and the Z direction, and the number of columns (the number arranged in the X direction) and the number of tiers (the number arranged in the Z direction) are often 2 or more, but may be 1.

[0012] Here, the loading and unloading referred to herein shall include loading and unloading in a broad sense. In the present embodiment, loading may correspond to the storage unit 111 storing the object in a stored state, and may be expressed as, for example, insertion, placement, installation, etc. Further, unloading may correspond to the storage unit 111 releasing the stored state of the object, and may be expressed as, for example, removal, extraction, detachment, etc. The object of loading and unloading is, for example, a battery unit or the like, but is not limited thereto, and any article that can be the object of a commercial transaction, for example, is sufficient. The object of loading and unloading may be expressed as a storage object since it is stored in the storage unit 111, may also be expressed as a holding object since it is held by the object holding unit 131 described later, or may simply be expressed as an object.

[0013] The rail 12 is laid so as to extend in the X direction on the front side of the rack 11 (the side where the object is loaded and unloaded).

[0014] The loading and unloading device 13 includes an object holding unit 131, a forward and backward movement mechanism 132, a lifting and lowering mechanism 133, and a slider mechanism 134. The object holding unit 131 only needs to be configured to be able to hold the object of loading and unloading, and in the present embodiment, it includes two or more plate materials on which the object of loading and unloading can be placed. The forward and backward movement mechanism 132 enables the object holding unit 131 to move forward and backward in the Y direction, thereby enabling loading and unloading with respect to the rack 11. The lifting and lowering mechanism 133 enables the forward and backward movement mechanism 132 to move up and down together with the object holding unit 131. The object holding unit 131, the forward and backward movement mechanism 132, and the lifting and lowering mechanism 133 can be collectively expressed as a working mechanism because they cooperate to realize this when performing the loading and unloading operation, and these are mounted on the slider mechanism 134. The slider mechanism 134 is slidable on the rail 12, whereby the loading and unloading device 13 can reciprocate along the rail 12.

[0015] With this configuration, the loading / unloading device 13 is movable relative to the rack 11 by a slider mechanism 134, and the object holding section 131 is raised and lowered by a lifting mechanism 133, thereby allowing appropriate access to any storage section 111. Furthermore, the loading / unloading device 13 can perform loading and unloading operations to any storage section 111 by moving the object holding section 131 forward and backward by a reciprocating mechanism 132.

[0016] The control device 14 is capable of controlling the drive of the loading / unloading device 13, that is, it is capable of controlling the movement and loading / unloading operations of the loading / unloading device 13. In this embodiment, the drive control of the loading / unloading device 13 by the control device 14 is implemented wirelessly, but in other embodiments, it may be implemented by wire. The control device 14 is a computer having a processor (typically a CPU or similar arithmetic unit), memory (volatile memory such as DRAM), and storage (non-volatile memory such as HDD or SSD), but its functions may be realized by semiconductor devices such as ASICs. In other words, each function of the control device 14 described in this embodiment can be realized by either hardware or software.

[0017] Furthermore, as shown in Figure 1A, the rack 11 is provided with a reflector 112 capable of reflecting light. In this embodiment, the surface of the reflector 112 is provided with grooves formed in a concave shape relative to the surface, which serve as markers 112m, thereby allowing them to act on the reflected light of the reflector 112. The grooves serving as markers 112m extend in the X and Z directions (cross-shaped), and for the sake of simplicity, the grooves extending in the X direction will be referred to as groove 112mX, and the grooves extending in the Z direction will be referred to as groove 112mZ.

[0018] Figure 1B is a schematic diagram showing an example of the configuration of the loading / unloading device 13. The loading / unloading device 13 further includes a laser 135 and a light detection unit 136, both of which are fixed to the object holding unit 131. The laser 135 is capable of emitting laser light in the +Y direction. When the laser light is shone on the reflector 112 provided on the rack 11, the laser light is reflected by the reflector 112, i.e., reflected light in the -Y direction is generated. In this manner, the control device 14 controls the drive of the loading / unloading device 13, emits laser light from the laser 135, and detects the reflected light from the reflector 112 using the light detection unit 136, thereby enabling the detection of the position of the loading / unloading device 13 relative to the rack 11. The laser 135 and the light detection unit 136 are installed adjacent to or close to each other and are configured as a single unit in this embodiment, but in other embodiments they may be configured as separate units.

[0019] At least one reflector 112 may be provided at any position on the front side of the rack 11. If multiple reflectors 112 are provided, they should be installed at positions spaced apart from each other, for example, one may be installed for each predetermined row and / or predetermined shelf of the rack 11.

[0020] <<About the initial setup of the automated warehouse>> Figure 2 shows a flowchart for the initial setup of automated warehouse 1. This flowchart is mainly performed by the control device 14, and its outline is to register the position of the loading / unloading device 13 relative to the rack 11 in its initial state as the reference position, and at the same time, to register the distance from that position to the marker 112m as the reference distance. The contents of this flowchart can be performed at any time by the user, such as the owner or manager of automated warehouse 1, after automated warehouse 1 has been assembled (i.e., after the rack 11, rail 12, loading / unloading device 13 and control device 14 have been installed).

[0021] In step S2010 (hereinafter simply referred to as S2010; the same applies to other steps described later), the loading / unloading device 13 is moved so that the irradiation position of the laser beam from the laser 135 coincides with a predetermined position 112p on the reflector 112 (see the enlarged perspective view of Figure 1). Position 112p can be any position on the reflector 112, but it should be a position separated from the marker 112m (a position different from the marker 112m). Furthermore, if multiple reflectors 112 are provided on the rack 11, any one of the multiple reflectors 112 may be selected. In this case, the loading / unloading device 13 should be moved so that the laser beam irradiation position coincides with the position 112p on the selected reflector 112.

[0022] In S2020, the position of the loading / unloading device 13 moved in S2010 (in this embodiment, the position of the object holding unit 131 to which the laser 135 and the light detection unit 136 are fixed) is stored and registered as the reference position P0 in a predetermined storage. The reference position P0 is determined based on the movement distance of the slider mechanism 134 in the X direction and the movement distance of the object holding unit 131 in the Z direction by the lifting mechanism 133. To achieve this, the lifting mechanism 133 and the slider mechanism 134 may be equipped with, for example, encoder sensors. Furthermore, the origin for identifying the reference position P0 can be, for example, the lowest point in the range of movement of the object holding part 131 by the lifting mechanism 133 when the slider mechanism 134 is positioned at the starting end of the rail 12. For the sake of clarity, the following will be defined as the X-direction travel distance of the slider mechanism 134 and the Z-direction travel distance of the object holding section 131 by the lifting mechanism 133, respectively, as the X-direction travel distance and the Z-direction travel distance of the loading / unloading device 13.

[0023] In S2110, the loading / unloading device 13 is moved in the X direction. In this embodiment, since position 112p is located on the +X side with respect to the groove 112mZ extending in the Z direction, the loading / unloading device 13 is moved in the -X direction. The distance moved in the -X direction is set in advance to be greater than the distance from position 112p to the groove 112mZ, and the endpoint of the movement is set to a position inside the outer edge of the reflector 112. For example, the distance moved in the -X direction may be set to about half the size of the reflector 112 in the X direction.

[0024] In S2120, the device detects that the irradiation position of the laser beam from the laser 135 coincides with the groove 112mZ during the movement of the loading / unloading device 13 in S2110 (the groove 112mZ is detected. Specifically, after a relatively steep change from the detected value corresponding to the surface of the reflector 112 to the detected value corresponding to the bottom of the groove 112mZ (i.e., a change in the detected value due to the depth of the groove 112mZ, indicated by 112mY in the figure), the detected value returns to the value corresponding to the surface of the reflector 112, thereby realizing the detection of the groove 112mZ). Here, the control device 14 is able to measure the distance from the light detection unit 136 to the irradiation position of the laser beam on the reflector 112 based on, for example, the difference in optical path lengths between the laser beam and the reflected light, and enables this detection by continuing this measurement during the movement of the loading device 13.

[0025] In S2130, for S2110 to S2120, the distance Lx0 in the X direction required from the start of movement of the loading / unloading device 13 until the laser beam irradiation position coincides with the groove portion 112mZ is stored in a predetermined memory.

[0026] In S2210, the loading / unloading device 13 is moved in the Z direction. In this embodiment, since position 112p is located on the -Z side with respect to the groove 112mX extending in the X direction, the loading / unloading device 13 is moved in the +Z direction. The distance moved in the +Z direction is set in advance to be greater than the distance from position 112p to the groove 112mX, and the endpoint of the movement is set to a position inside the outer edge of the reflector 112. For example, the distance moved in the +Z direction may be set to about half the size of the reflector 112 in the Z direction.

[0027] In S2220, it is detected that the irradiation position of the laser beam from the laser 135 overlapped with the groove 112mX during the movement of the loading / unloading device 13 in S2210. This detection can be performed in the same way as in S2120.

[0028] In S2230, for S2210 to S2220, the distance Lz0 in the Z direction required from the start of movement of the loading / unloading device 13 until the laser beam irradiation position overlaps with the groove 112mX is stored in a predetermined memory.

[0029] In S2310, the travel distances Lx0 and Lz0 in the X and Z directions of the loading / unloading device 13, which were held in S2130 and S2230 respectively, are stored in a predetermined storage and registered as reference distances. As described above, the initial setup of automated warehouse 1 is performed, and the reference position P0, reference distance Lx0, and reference distance Lz0 are registered, thus completing the initial registration. The reference position P0 may also be expressed as the initial position, and similarly, the reference distances Lx0 and Lz0 may be expressed as the initial distances.

[0030] In this example, position 112p is located on the +X side with respect to groove 112mZ and on the -Z side with respect to groove 112mX, but it may be any other position, and the direction of movement of the loading / unloading device 13 in S2110 and S2210 should be changed according to that position. Furthermore, the order of the steps performed in this flowchart may be changed as long as it does not deviate from its purpose. For example, steps S2110-S2130 and S2210-S2230 may be swapped.

[0031] Regarding the detection of misalignment in automated warehouses: As described above, once the initial setup of the automated warehouse 1 is complete, the control device 14 can determine the relative position between the loading / unloading device 13 and the racks 11, allowing the loading / unloading device 13 to be moved to any storage unit 111 for appropriate access. Therefore, loading and unloading to any storage unit 111 can be properly achieved. In contrast, if a relatively long period of time has passed since the initial setup was completed (for example, one month or one year later), or if external factors such as an earthquake are applied to the automated warehouse 1, there is a possibility that an unexpected positional misalignment may occur between the loading / unloading device 13 and the racks 11. Therefore, the user needs to perform regular maintenance on the automated warehouse 1, and at that time, it is necessary to identify any positional misalignment that may occur between the loading / unloading device 13 and the racks 11.

[0032] Figure 3 shows a flowchart for evaluating the positional deviation of automated warehouse 1. This flowchart is mainly performed by the control device 14, and its general procedure is to move the loading / unloading device 13 to the reference position registered during initial setup, and then determine the difference between the distance from that position to the marker 112m and the reference distance registered during initial setup. This flowchart can be performed at any time by the user after the initial setup is completed (after S2310).

[0033] In S3010, the loading / unloading device 13 is moved so that the reference position P0 registered during initial setup coincides with the laser beam irradiation position. If there is no positional misalignment between the loading / unloading device 13 and the rack 11, the laser beam irradiation position coincides with position 112p on the reflector 112. Conversely, if there is a positional misalignment between the loading / unloading device 13 and the rack 11, the laser beam irradiation position does not coincide with position 112p.

[0034] In S3020, the light detection unit 136 determines whether or not reflected light from the reflector 112 is present. If reflected light from the reflector 112 is present, the process proceeds to S3110; otherwise, it proceeds to S3030.

[0035] In S3030, the drive control of the loading / unloading device 13 is suppressed, stopping the user from using the automated warehouse 1. At this time, a predetermined notification may be output to the user, and the user can perform maintenance on the automated warehouse 1 in response to the notification.

[0036] In S3110, the loading / unloading device 13 is moved in the X direction. The direction of movement at this time corresponds to the direction of movement in S2110 (the -X direction in this example), and the distance of movement is the same as in S2110.

[0037] In S3120, similar to S2120, it is determined whether the irradiation position of the laser beam from laser 135 coincides with the groove portion 112 mZ. If the irradiation position of the laser beam reaches the groove portion 112 mZ, the process proceeds to S3130; otherwise, it proceeds to S3030.

[0038] In S3130, for S3110 to S3120, the distance Lx1 in the X direction required from the start of movement of the loading / unloading device 13 until the laser beam irradiation position coincides with the groove portion 112mZ is stored in a predetermined memory.

[0039] In S3210, the loading / unloading device 13 is moved in the Z direction. The direction of movement at this time corresponds to the direction of movement in S2210 (the +Z direction in this example), and the distance of movement is the same as in S2210.

[0040] In S3220, similar to S2220, it is determined whether the irradiation position of the laser beam from laser 135 coincides with the groove portion 112mX. If the irradiation position of the laser beam reaches the groove portion 112mX, the process proceeds to S3230; otherwise, it proceeds to S3030.

[0041] In S3230, for S3210 to S3220, the distance Lz1 in the Z direction required from the start of movement of the loading / unloading device 13 until the laser beam irradiation position overlaps with the groove 112mX is stored in a predetermined memory.

[0042] In S3310, the difference between the X-direction travel distance Lx1 of the loading / unloading device 13 held in S3130 and the reference distance Lx0 registered during initial setup is calculated as the X-direction positional displacement. In addition, in S3230, the difference between the Z-direction travel distance Lz1 of the loading / unloading device 13 held in S3230 and the reference distance Lz0 registered during initial setup is calculated as the Z-direction positional displacement.

[0043] for example, If Lx1-Lx0>0, a positional shift occurs in the +X direction. If Lx1-Lx0<0, a positional shift occurs in the -X direction. When Lx1 - Lx0 = 0, no positional displacement occurs in the X direction. It can be said that... Similarly, If Lz1-Lz0>0, a positional shift occurs in the +Z direction. If Lz1-Lz0<0, a positional shift occurs in the -Z direction. If Lz1-Lz0=0, no positional displacement occurs in the Z direction. It can be said that...

[0044] In S3320, it is determined whether the amount of misalignment calculated in S3310 meets the reference amount. If the amount of misalignment meets the reference amount, this flowchart is terminated; otherwise, the process proceeds to S3330. The reference amount here can be any parameter that is pre-set to indicate the allowable amount of misalignment. For example, the allowable amount of misalignment ΔL lim If this setting is enabled, |Lx1-Lx0|>ΔL lim , and / or, |Lz1-Lz0|>ΔL lim When this condition is met, the process proceeds to S3330.

[0045] In S3330, assuming that a positional misalignment exceeding a certain limit has occurred between the loading / unloading device 13 and the rack 11, the drive control of the loading / unloading device 13 is suppressed, and the user's use of the automated warehouse 1 is stopped. At this time, a predetermined notification may be output to the user, and the user may perform maintenance on the automated warehouse 1 in response to the notification. The notification may be output along with information indicating the amount of positional misalignment calculated in S3310.

[0046] Furthermore, the order of the steps performed in this flowchart may be changed as long as it does not deviate from its purpose. For example, steps S3110 to S3130 and S3210 to S3230 may be swapped.

[0047] The above describes the allowable displacement ΔL in the X and Z directions. lim It was assumed that this was set, but the allowable amount ΔL lim This can be set based on the control accuracy of the loading / unloading device 13's movement in the X and Z directions by the control device 14. Therefore, the allowable deviation in the X direction and the allowable deviation in the Z direction can be set individually, for example, in millimeters and micrometers, and they may be set to different values ​​from each other. For example, if the movement of the slider mechanism 134 in the X direction is controlled with an accuracy of ±2 mm, and the movement of the object holding part 131 by the lifting mechanism 133 in the Z direction is controlled with an accuracy of ±1 mm, then the allowable positional displacement ΔL in the X direction is... lim It is set to 2 mm, and the allowable positional displacement in the Z direction is ΔL. lim It can be set to 1 mm.

[0048] Furthermore, the control accuracy of the movement of the loading / unloading device 13 by the control device 14 may also vary depending on the movement speed of the loading / unloading device 13. Therefore, the allowable amount ΔL lim This may be set based on the control accuracy when the loading / unloading device 13 is moved at its maximum travel speed.

[0049] ≪Summary≫ According to this embodiment, at the initial setup timing (first timing), the position of the loading / unloading device 13 where a predetermined position 112p on the reflector 112 of the rack 11 and the irradiation position of the laser beam from the laser 135 overlap is pre-registered as a reference position (or initial position). Along with this, the distance from position 112p to the marker 112m is pre-registered as a reference distance (or initial distance). At any subsequent timing (second timing), the amount of positional displacement of the rack 11 can be calculated. In calculating the amount of positional displacement, first, control is performed to move the loading / unloading device 13 to the registered reference position. Then, control is performed to move the loading / unloading device 13 so that the irradiation position of the laser beam from the laser 135 and the marker 112m overlap with each other. The amount of positional displacement of the rack 11 can be calculated based on the distance the loading / unloading device 13 moves from the registered reference position to the point where the irradiation position of the laser beam and the marker 112m overlap, and the reference distance (or initial distance).

[0050] According to this embodiment, if a relative misalignment occurs between the loading / unloading device 13 and the rack 11 after the automated warehouse 1 has been assembled and installed, the amount of this misalignment can be identified. If the identified amount of misalignment falls outside the acceptable range, the control device 14 can suppress the drive control of the loading / unloading device 13, thereby stopping the user from using the automated warehouse 1. Additionally / alternatively, the control device 14 can output a predetermined notification to the user, allowing the user to perform maintenance on the automated warehouse 1 accordingly.

[0051] The marker 112m can be any object that can act on the reflected light detected by the light detection unit 136. In this embodiment, it is a groove 112mX and 112mZ formed in a concave shape on the surface of the reflector 112, but it is not limited to this. For example, the marker 112m may be formed in a convex shape on the surface of the reflector 112. Furthermore, if the laser beam irradiation position moves outside the edge of the reflector 112, the light detection unit 136 will be unable to detect the reflected light. Therefore, the marker 112m may be the edge of the reflector 112. To achieve this effect, the marker 112m may be made of a light-absorbing material.

[0052] ≪First Example≫ In this embodiment, position 112p is located on the +X side with respect to groove 112mZ and on the -Z side with respect to groove 112mX, but its position may be determined by the configuration of the laser 135 and the photodetector 136.

[0053] Figure 4 is a schematic diagram showing an example of the configuration of the laser 135 and the photodetector 136. The laser 135 and the photodetector 136 are configured to measure the distance from the laser 135 or the photodetector 136 to the surface to be detected based on triangulation. In this example, the photodetector 136 includes an optical system 1361 and a light receiving sensor 1362. Of the laser light emitted from the laser 135 and diffusely reflected from the surface to be detected, a portion that heads toward the photodetector 136 is focused by the optical system 1361 and detected by the light receiving sensor 1362. For example, when the surface to be detected is located proximal to the sensor, reflected light is mainly detected at one end of the light receiving sensor 1362, and when the surface to be detected is located distal to the sensor, reflected light is mainly detected at the other end of the light receiving sensor 1362. With this configuration, the distance from the light detection unit 136 (or laser 135) to the surface to be detected can be determined.

[0054] Figure 5 is a schematic diagram illustrating the detection method of reflected light by the reflector 112 in a configuration in which the light detection unit 136 is positioned on the +Z side relative to the laser 135. In this configuration, it is conceivable that the reflected light from one side of the side wall within the groove 112mX (the side wall on the +Z side, denoted as side wall F112mX') may be blocked by the side wall, making it difficult for the light detection unit 136 to detect the reflected light. In other words, in a configuration where the light detection unit 136 is positioned on the +Z side with respect to the laser 135 and the groove 112mX is positioned on the +Z side with respect to position 112p, by moving the laser beam irradiation position from position 112p to the groove 112mX, the distance from the light detection unit 136 to the main surface F112 of the reflector 112 and the distance from the light detection unit 136 to the bottom surface F112mX of the groove 112mX can be continuously detected, and no unexpected interruptions in detection occur. In contrast, if the light detection unit 136 is positioned on the +Z side of the laser 135 and the groove 112mX is positioned on the -Z side with respect to position 112p, when the laser beam irradiation position is moved from position 112p to the groove 112mX, the reflected light when the laser beam reaches the groove 112mX is shielded by the side wall F112mX' inside the groove 112mX. As a result, it becomes difficult for the light detection unit 136 to detect the reflected light, which may cause the control device 14 to mistakenly detect, for example, that the laser beam irradiation position has moved outside the reflector 112.

[0055] Therefore, in a configuration where the light detection unit 136 is positioned on the +Z side with respect to the laser 135, position 112p is preferably located on the -Z side with respect to the groove 112mX (however, it may also be located on the +X side or the -X side with respect to the groove 112mZ). With this configuration, the distance from the photodetector 136 (or laser 135) to the surface to be detected can be determined, and the contents of the embodiment can be appropriately realized.

[0056] Here, we have described the case where the laser 135 and the photodetector 136 are arranged side by side in the Z direction, but the same applies when they are arranged side by side in the Y direction. For example, if the photodetector 136 is positioned on the +Y side relative to the laser 135, position 112p should be located on the -Y side relative to the groove 112mZ (however, it may be located on the +Z side or the -Z side relative to the groove 112mX).

[0057] ≪Second Example≫ In this embodiment, the rack 11 is positioned on the -Y side relative to the loading / unloading device 13 (see Figure 1A). However, it may also be positioned on the +Y side relative to the loading / unloading device 13, and the loading / unloading device 13 may be capable of performing loading / unloading operations on the +Y side rack 11 as well. In this case, the +Y side rack 11 is positioned opposite the -Y side rack 11, and the laser 135 and the light detection unit 136 may similarly be positioned on the +Y side of the object holding unit 131. With this configuration, the same effects as in the embodiment can be obtained, and the storage efficiency of the automated warehouse 1 can be improved.

[0058] ≪Third Example≫ In the embodiment, when multiple reflectors 112 are provided, a method is exemplified in which a reference position P0, reference distance Lx0, and reference distance Lz0 are registered for any one of the multiple reflectors 112, and the amount of positional deviation is calculated for them (see Figures 2-3). However, such calculation of the amount of positional deviation may be performed for all of the multiple reflectors 112, or for some of them. In this case, the distortion of the entire rack 11 can also be appropriately detected, enabling more appropriate use of the automated warehouse 1 by the user.

[0059] For example, the number of rows and tiers of the storage section 111 are set based on the storage capacity of the automated warehouse 1 (the quantity of items that the automated warehouse 1 can store). Therefore, for example, if the number of rows increases, the size of the storage section 111 in the X direction is also set to be larger (for example, several tens of meters), and if the number of tiers increases, the size in the Z direction is also set to be larger (for example, several tens of meters). In such cases, as illustrated in Figure 1A, the reflectors 112 installed on the rack 11 are installed one at a time in a given row, for example, between the second and third from the top, and additionally / alternatively, one at a time between the second and third from the bottom of the storage unit 111. These are provided as a pair of reflectors 112 in that row. Furthermore, as illustrated in Figure 1A, multiple pairs of these reflectors 112 are installed between a given row and the adjacent row, for example, at intervals of two rows. In this way, multiple reflectors 112 are installed, and by using each of them to detect the misalignment of the rack 11, it becomes possible to appropriately detect the distortion that has occurred in the entire rack 11.

[0060] As an example, in a configuration where two reflectors 112 are provided, one of the reflectors 112 is... |Lx1-Lx0|=0, and, |Lz1-Lz0|=0 And in the other reflector 112, |Lx1-Lx0|≠0, and / or, |Lz1-Lz0|≠0 This can sometimes happen. In such cases, it can be said that distortion has occurred throughout rack 11.

[0061] As another example, on both of the two reflectors 112, |Lx1-Lx0|≠0, and, |Lz1-Lz0|=0 However, it is possible that the amount of displacement in the X direction between them is equal. In such a case, it can be said that no distortion occurs in the entire rack 11, but a displacement in the X direction occurs.

[0062] In these cases as well, the control device 14 can suppress the drive control of the loading / unloading device 13, stop the user from using the automated warehouse 1, and / or issue a notification prompting maintenance of the automated warehouse 1.

[0063] ≪Other≫ In the above explanation, for the sake of ease of understanding, each element has been given a name related to its function. However, each element is not limited to having the content described in the embodiment as its primary function, but may also have it as a supplementary function.

[0064] In the above explanation, for the sake of ease of understanding, each element has been given a name related to its function. However, each element is not limited to having the content described in the embodiment as its primary function, but may also have it as a secondary function. Therefore, each element is not strictly limited to its expression, and its expression can be replaced with other equivalent expressions. In the same vein, terms such as "apparatus," "unit," "mechanism," "member," and "portion" are interchangeable, and may be added or omitted.

[0065] Furthermore, two or more elements with similar functions may be distinguished by adding expressions such as "first," "second," etc., but these expressions are not intended to set priority, and their order is interchangeable. For example, the X direction may be the first direction and the Z direction the second direction, or the Z direction may be the first direction and the X direction the second direction (the same applies to the Y direction).

[0066] Furthermore, the two or more elements exemplified as selectable in the embodiment are not strictly limited to those examples and may be combined in any way. For example, each of the two or more exemplified elements may be additionally selected or substituted for others. For example, if two elements A and B can be combined in any way, it may be expressed as "A and / or B" or "at least one of A and B" to indicate that it is either A only, B only, or both A and B.

[0067] Summary of the Embodiments Some of the features illustrated in the embodiments are as follows: [Item 1] A rack (e.g., 11) equipped with a reflector (e.g., 112), A loading / unloading device (e.g., 13) that is movable relative to the rack and performs loading / unloading operations for the rack, The system includes a control device (e.g., 14) that controls the movement of the loading / unloading device and the loading / unloading operations, The aforementioned loading / unloading device is, A laser (e.g., 135) and A light detection unit (e.g., 136), Equipped with, The control device is capable of detecting the reflected light from the reflector by the laser beam emitted from the laser using the light detection unit. The reflector is provided with a marker (for example, 112m) that acts on the reflected light. The control device is A registration means (e.g., S2020, S2310) registers, at a first timing (e.g., initial setup timing), the position of the loading / unloading device where a predetermined position (e.g., 112p) on the reflector of the rack and the irradiation position of the laser beam overlap each other as a reference position (e.g., P0), and registers the distance from the predetermined position to the marker on the reflector as a reference distance (e.g., Lx0, Lz0), A drive control means (e.g., S3010, S3110, S3210) performs a first control to move the loading / unloading device to the reference position at a second timing after the first timing (e.g., any timing such as one month later or one year later), and then performs a second control to move the loading / unloading device so that the laser beam irradiation position and the marker overlap with each other. A calculation means (for example, S3310) for calculating the amount of positional displacement of the rack based on the travel distance of the loading / unloading device from the first control to the second control and the reference distance, Equipped with An automated warehouse characterized by (e.g., 1).

[0068] [Item 2] The rack comprises a plurality of storage compartments (e.g., 111) arranged in a first direction (e.g., the X direction) and a second direction (e.g., the Z direction), The aforementioned markers are provided at positions spaced apart from the predetermined position in the first and second directions, respectively. The automated warehouse described in item 1, characterized by the features described herein.

[0069] [Item 3] Control of RD2 is Moving the loading / unloading device in the first direction, Moving the loading / unloading device in the second direction, including An automated warehouse as described in item 2, characterized by the features described herein.

[0070] [Item 4] The aforementioned loading / unloading device is, A slider mechanism (e.g., 134) that can reciprocate in the first direction relative to the rack, A work mechanism (for example, 131-133) is mounted on the slider mechanism and is capable of reciprocating in a second direction relative to the rack and performing the loading and unloading operations, Furthermore, The laser and the light detection unit are fixed to the work mechanism. The automated warehouse described in item 3, characterized by the features described herein.

[0071] [Item 5] The aforementioned marker is a groove formed in a concave shape on the surface of the reflector, and the groove extends in the first direction and the second direction, respectively, at a position spaced apart from the predetermined position. The automated warehouse described in item 4, characterized by the features described herein.

[0072] [Item 6] The first direction is left-right, and the second direction is up-down. The automated warehouse described in item 5, characterized by the features described herein.

[0073] [Item 7] The light detection unit is positioned on one side of the second direction (for example, the +Z side) with respect to the laser. The predetermined position is on the other side of the second direction (for example, the -Z side) with respect to the marker. The automated warehouse described in item 5, characterized by the features described herein.

[0074] [Item 8] The mark is formed in a convex or concave shape with respect to the surface of the reflector. The automated warehouse according to any one of Items 1 to 4, characterized in that.

[0075] [Item 9] The mark is the edge of the reflector. The automated warehouse according to any one of Items 1 to 4, characterized in that.

[0076] [Item 10] The control device further includes signal output means (for example, S3330) that outputs a signal indicating that there is a misalignment of the rack when the amount of misalignment calculated by the calculation means is greater than a reference amount (for example, allowable amount ΔL lim ). The automated warehouse according to any one of Items 1 to 9, characterized in that.

[0077] [Item 11] The control device further includes signal output means (for example, S3030) that outputs a signal indicating that there is a misalignment of the rack when the reflected light from the reflector is not detected by the light detection unit in the first control. The automated warehouse according to any one of Items 1 to 10, characterized in that.

[0078] [Item 12] A program for causing a computer to function as each means of the control device of the automated warehouse according to any one of Items 1 to 11. [[ID=3�]]

[0079] [Item 13] A rack (for example, 11) provided with a reflector (for example, 112), A loading / unloading device (for example, 13) that is movable with respect to the rack and performs loading / unloading operations on the rack, A control method for an automated warehouse (for example, 1) including a control device (for example, 14) that controls the movement and loading / unloading operations of the loading / unloading device, The loading / unloading device, A laser (for example, 135), A light detection unit (e.g., 136), Equipped with, The control device is capable of detecting the reflected light from the reflector by the laser beam emitted from the laser using the light detection unit. The reflector is provided with a marker (for example, 112m) that acts on the reflected light. The control method described above is Steps (S2020, S2310) include: at a first timing (for example, initial setup timing), registering the position of the loading / unloading device where a predetermined position (for example, 112p) on the reflector of the rack and the irradiation position of the laser beam overlap as a reference position (for example, P0), and registering the distance from the predetermined position to the marker on the reflector as a reference distance (for example, Lx0, Lz0); The first step (for example, S3010, S3110, S3210) is to perform a first control to move the loading / unloading device to the reference position at a second timing after the first timing (for example, one month later, one year later, or any other timing), and then to perform a second control to move the loading / unloading device so that the laser beam irradiation position and the marker overlap with each other. A step (for example, S3310) to calculate the amount of positional displacement of the rack based on the travel distance of the loading / unloading device from the first control to the second control and the reference distance, Equipped with A control method characterized by the following:

[0080] [Item 14] The positional displacement amount calculated in the above calculation step is the reference amount (for example, the allowable amount ΔL) lim The step (e.g., S3330) further includes outputting a signal indicating that there is a misalignment of the rack if it is greater than ) The reference amount is set based on the control accuracy of the movement of the loading / unloading device by the control device. The control method according to item 13, characterized by the following:

[0081] The invention is not limited to the embodiments described above, and various modifications and changes are possible within the scope of the gist of the invention. [Explanation of Symbols]

[0082] 1: Automated warehouse, 11: Rack, 112: Reflector, 112m: Groove (marker) 13: Loading / unloading device, 135: Laser, 136: Light detection unit, 14: Control device.

Claims

1. A rack equipped with a reflector, A loading / unloading device that is movable relative to the rack and performs loading / unloading operations for the rack, The system includes a control device that controls the movement of the loading / unloading device and the loading / unloading operations, The aforementioned loading / unloading device is, Lasers and, Light detection unit, Equipped with, The control device is capable of detecting the reflected light from the reflector by the laser beam emitted from the laser using the light detection unit. The reflector is provided with a marker that acts on the reflected light, The control device is In the first timing, a registration means registers the position of the loading / unloading device where a predetermined position on the reflector of the rack and the irradiation position of the laser beam overlap as a reference position, and registers the distance from the predetermined position to the mark on the reflector as a reference distance. A drive control means that performs a first control to move the loading / unloading device to the reference position at a second timing after the first timing, and then performs a second control to move the loading / unloading device so that the laser beam irradiation position and the marker overlap with each other. A calculation means for calculating the amount of positional displacement of the rack based on the travel distance of the loading / unloading device from the first control to the second control and the reference distance, Equipped with An automated warehouse characterized by the following features.

2. The rack is comprised of multiple storage compartments arranged in a first direction and a second direction. The aforementioned markers are provided at positions spaced apart from the predetermined position in the first and second directions, respectively. The automated warehouse according to feature 1.

3. The second control described above is, Moving the loading / unloading device in the first direction, Moving the loading / unloading device in the second direction, including The automated warehouse according to feature 2.

4. The aforementioned loading / unloading device is, A slider mechanism that can reciprocate in the first direction relative to the rack, A work mechanism mounted on the slider mechanism, which is reciprocable in a second direction relative to the rack and capable of performing the loading and unloading operations, Furthermore, The laser and the light detection unit are fixed to the work mechanism. The automated warehouse according to feature 3.

5. The aforementioned marker is a groove formed in a concave shape on the surface of the reflector, and the groove extends in the first direction and the second direction, respectively, at a position spaced apart from the predetermined position. The automated warehouse according to feature 4.

6. The first direction is the left-right direction, and the second direction is the up-down direction. The automated warehouse according to claim 5.

7. The light detection unit is positioned on one side of the second direction relative to the laser, The predetermined position is on the other side in the second direction with respect to the marker. The automated warehouse according to claim 5.

8. The aforementioned mark is formed to be convex or concave on the surface of the reflector. The automated warehouse according to feature 1.

9. The aforementioned marker is the edge of the reflector. The automated warehouse according to feature 1.

10. The control device further includes a signal output means that outputs a signal indicating that there is a positional misalignment of the rack when the positional misalignment amount calculated by the calculation means is greater than a reference amount. The automated warehouse according to feature 1.

11. The control device further includes signal output means that outputs a signal indicating that there is a misalignment of the rack if the reflected light from the reflector is not detected by the light detection unit in the first control. The automated warehouse according to feature 1.

12. A program for causing a computer to function as one of the means of the control device for the automated warehouse according to any one of claims 1 to 11.

13. A rack equipped with a reflector, A loading / unloading device that is movable relative to the rack and performs loading / unloading operations for the rack, A control method for an automated warehouse comprising a control device for controlling the movement of the loading / unloading device and the loading / unloading operations, The aforementioned loading / unloading device is, Lasers and, Light detection unit, Equipped with, The control device is capable of detecting the reflected light from the reflector by the laser beam emitted from the laser using the light detection unit. The reflector is provided with a marker that acts on the reflected light, The control method described above is In the first timing, the position of the loading / unloading device where a predetermined position on the reflector of the rack and the irradiation position of the laser beam overlap is registered as a reference position, and the distance from the predetermined position to the mark on the reflector is registered as a reference distance. At a second timing after the first timing, a first control is performed to move the loading / unloading device to the reference position, and then a second control is performed to move the loading / unloading device so that the laser beam irradiation position and the marker overlap with each other. Steps and A step of calculating the amount of positional displacement of the rack based on the travel distance of the loading / unloading device from the first control to the second control and the reference distance, Equipped with A control method characterized by the following:

14. The method further includes a step of outputting a signal indicating that there is a positional misalignment of the rack if the positional misalignment amount calculated in the above calculation step is greater than a reference amount. The reference amount is set based on the control accuracy of the movement of the loading / unloading device by the control device. The control method according to claim 13, characterized by the features described herein.

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