storehouse

Abstract

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

Description

Technical Field

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

Background Art

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

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

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

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

Means for Solving the Problems

[0006] A warehouse equipped with storage shelves, each of which has multiple shelves arranged vertically and each has a storage compartment capable of storing goods, A laser output device equipped with a laser light source, A target member having a part to be irradiated, which is the target of the laser irradiation by the laser output device, An upper mounting member and a lower mounting member are arranged spaced apart from each other in the vertical direction. Equipped with, The laser output device is attached to a first mounting member, which is either the upper mounting member or the lower mounting member, in a position that irradiates the target member with the laser. The target member is attached to a second mounting member, which is either the upper mounting member or the lower mounting member, in a position where the irradiated portion faces the laser output device.

[0007] With this configuration, the distortion of the storage shelf can be inspected by confirming the irradiation position of the laser emitted from the laser output device to the irradiated part of the target component. This allows for inspection with a small number of people and is easy to perform as it only requires confirming the laser irradiation position. Therefore, this configuration makes it possible to easily inspect the distortion of the storage shelf.

[0008] Further features and advantages of the technology relating to this disclosure will become clearer from the following description of exemplary and non-limiting embodiments, with reference to the drawings. [Brief explanation of the drawing]

[0009] [Figure 1] Warehouse floor plan [Figure 2] Front view showing part of the warehouse [Figure 3] Front view of the storage shelf [Figure 4] Warehouse control block diagram [Figure 5] Diagram showing the configuration of the laser unit. [Figure 6]A flowchart showing the steps involved in the learning process. [Figure 7] Figure showing a target member according to the second embodiment. [Figure 8] Figure showing target members according to other embodiments. [Figure 9] Figure showing target members according to other embodiments. [Modes for carrying out the invention]

[0010] The following describes an embodiment of the warehouse with reference to the drawings.

[0011] [First Embodiment] First, we will describe the first embodiment of the warehouse.

[0012] As shown in Figures 1 and 2, the warehouse 100 comprises storage shelves 1, a conveying device 2, and a control system 3. In the illustrated example, a pair of storage shelves 1 are spaced apart from each other, and the conveying device 2 is provided between the pair of storage shelves 1.

[0013] The storage shelf 1 comprises a frame 10 that supports multiple shelf sections 11. The frame 10 includes a plurality of columns 10a arranged vertically and a plurality of beams 10b connecting the plurality of columns 10a. The combination of the plurality of columns 10a and the plurality of beams 10b forms the main framework of the storage shelf 1. Although not shown in the illustration, members other than the columns 10a and beams 10b, such as braces, are also included in the frame 10.

[0014] Each of the multiple shelves 11 arranged vertically is provided with a storage section 12 capable of accommodating items W. In this embodiment, multiple storage sections 12 are provided in each of the multiple shelves 11.

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

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

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

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

[0019] The control system 3 is configured to control the transport device 2. The control system 3 is configured to communicate with the transport device 2 and transmits transport commands to the transport device 2. The transport commands include information about the storage unit 12 where the goods W to be stored will be stored, and information about the storage unit 12 where the goods W to be shipped are stored. Based on the transport commands transmitted from the control system 3, the transport device 2 performs the above-mentioned inbound transport or outbound transport.

[0020] The control system 3 includes, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Each process or function is realized through the cooperation of this hardware and a program executed on the processor such as a computer. The control system 3 can be configured using multiple hardware components and multiple software components. In this example, the control system 3 consists of one transport device 2 and one or more storage shelves 1 located in the transportable area of ​​the transport device 2, with a higher-level control device installed in conjunction with each of these.

[0021] Figure 3 is a front view of storage shelf 1. In Figure 3, the items W and the conveying device 2 have been omitted to make the structure of storage shelf 1 easier to understand.

[0022] As shown in Figure 3, the warehouse 100 includes a laser output device 4 equipped with a laser light source, and a target member 5 having a target area 50 that is the surface to be irradiated by the laser 40 from the laser output device 4. The combination of the laser output device 4 and the target member 5 constitutes a laser unit U.

[0023] In the warehouse 100 described herein, it is possible to inspect the distortion of the storage shelves 1 based on the behavior of the laser unit U. Distortion of the storage shelves 1 occurs, for example, when the storage shelves 1 are subjected to large external forces during an earthquake. Alternatively, distortion may occur due to the aging deterioration of the storage shelves 1. By using the laser unit U, such distortion can be easily inspected. This will be explained in detail below.

[0024] As shown in Figure 3, the warehouse 100 includes an upper mounting member 6u and a lower mounting member 6d that are spaced apart from each other in the vertical direction. The laser output device 4 is mounted on a first mounting member 61, which is either the upper mounting member 6u or the lower mounting member 6d, in a position that irradiates the target member 5 with the laser 40. The target member 5 is mounted on a second mounting member 62, which is the other of the upper mounting member 6u or the lower mounting member 6d, in a position that the irradiated portion 50 faces the laser output device 4.

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

[0026] The upper mounting member 6u is fixed to the frame 10 above the uppermost shelf section 11 of the storage shelf 1. In the illustrated example, the upper mounting member 6u is a bracket connected to the beam 10b. The position of the upper mounting member 6u is such that the object to be mounted (in this example, the laser output device 4) does not overlap with the movement trajectory of the transport device 2 and the item W in a vertical view. This makes it easier for the laser 40 to be properly irradiated onto the target member 5 without being obstructed by the transport device 2 or the item W.

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

[0028] The lower mounting member 6d is fixed to the frame 10 either below the lowest shelf 11 of the storage shelf 1 or on the floor 9 on which the storage shelf 1 is installed. In the illustrated example, the lower mounting member 6d is fixed to the floor 9. The position of the lower mounting member 6d is such that the object to be mounted (target member 5 in this example) does not overlap with the movement trajectory of the transport device 2 and the item W in a vertical view. This allows the irradiated laser 40 to be properly received by the target member 5.

[0029] In this embodiment, laser units U, consisting of a laser output device 4 and a target member 5, are arranged at multiple locations spaced apart from each other in a vertical view (see Figure 1). As shown in Figure 1, when arranging multiple laser units U in one storage shelf 1, it is preferable to arrange the laser units U in the regions at both ends of the storage shelf 1 in the extending direction in a vertical view. This makes it possible to understand the locations and directions of distortion based on the information obtained from each laser unit U, and thus facilitates the analysis of the overall distortion of the storage shelf 1. For example, distortion and its direction can be estimated in areas where no laser units U are placed by interpolation (e.g., linear interpolation) based on the information obtained from multiple laser units U. In the illustrated example, laser units U are arranged at the four corners of the storage shelf 1 in a vertical view. However, laser units U may be arranged in 1 to 3 locations or in 5 or more locations per storage shelf 1. The more locations where laser units U are placed, the higher the accuracy of the distortion inspection of the storage shelf 1.

[0030] As shown in Figure 4, the control system 3 is configured to communicate with the transport device 2 and the multiple laser output devices 4. The control system 3 can control the transport device 2 based on information obtained from the laser output devices 4.

[0031] Warehouse 100 is equipped with a displacement information acquisition unit 31 that acquires displacement information indicating the change over time of the irradiation position of the laser 40 output by the laser output device 4 on the irradiated part 50 as a displacement amount Rx (see Figure 5). In this embodiment, the control system 3 is equipped with the displacement information acquisition unit 31. That is, in this embodiment, the displacement information acquisition unit 31 is a component of the control system 3. If the laser output device 4 is a laser rangefinder, the measured value by the laser rangefinder is automatically recorded as displacement information in a database, etc., or is recorded in a database, etc., through input work by an operator. Furthermore, if the laser output device 4 is a laser pointer, etc., that does not have a distance measuring function, the irradiation position of the laser may be recognized by image recognition using a camera (not shown), and the recognition result may be recorded as displacement information in a database, etc.

[0032] If the displacement amount Rx shown in the above displacement information exceeds a predetermined threshold, the control system 3 executes a learning process to acquire information on the stopping position (transfer position) of the transport device 2 for each of the multiple storage units 12.

[0033] The displacement Rx is the amount by which the irradiation position of the laser 40 has shifted from the initial state. The "initial state" refers to the state immediately after the laser output device 4 and target member 5 constituting the laser unit U are installed in the warehouse 100, or, if the arrangement of the laser output device 4 and target member 5 has been adjusted due to maintenance or other reasons, the state immediately after such adjustment.

[0034] A displacement of Rx, that is, the amount of deviation in the irradiation position of the laser 40 relative to the target member 5, being greater than or equal to a judgment threshold serves as a guideline for determining whether distortion has occurred in the storage shelf 1. If distortion has occurred in the storage shelf 1, the position of the storage section 12 may shift before and after the distortion occurs. As described above, the transport device 2 transfers the items W between any storage section 12 based on transfer position information that has been set in advance for each of the multiple storage sections 12. However, if the position of the storage section 12 shifts due to distortion in the storage shelf 1, a discrepancy will occur between the pre-set transfer position information and the actual position of the storage section 12. Therefore, when the displacement Rx is greater than or equal to a judgment threshold, that is, when distortion of the storage shelf 1 is detected, the transport device 2 is made to learn the actual position of the storage section 12 by performing a learning process as in this configuration. This makes it possible to appropriately transfer the items W between any storage section 12 even after distortion has occurred in the storage shelf 1.

[0035] In this embodiment, the control system 3 further includes a determination unit 32, which determines whether the displacement amount Rx indicated in the displacement information is greater than or equal to a determination threshold.

[0036] Figure 5 shows the configuration of the laser unit U, illustrating an example of detecting the displacement Rx described above.

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

[0038] In this embodiment, the laser axis 40a is aligned with the vertical direction. However, it is not limited to this, and the laser axis 40a may be inclined with respect to the vertical direction.

[0039] The target member 5 is a separate component from the components that make up the storage shelf 1, and is made of a metal plate, a metal block, or synthetic resin. In this embodiment, the target member 5 is formed such that its axial position L changes continuously as it moves outward in the radial direction R from a predetermined reference position P5, and is initially positioned so that the reference position P5 is on the laser axis 40a.

[0040] In this embodiment, the target member 5 is formed in a conical shape. The reference position P5 is set to the apex of the conical target member 5. However, the reference position P5 may be set to a position other than the apex of the target member 5.

[0041] Figure 5 shows an example where the actual placement position of the laser output device 4 (shown by a solid line in the figure) has shifted from its initial placement position (shown by a dashed line in the figure) due to factors such as earthquakes or deterioration of the storage shelf 1 over time. In other words, it shows an example where the actual irradiation position Pr, which is the actual irradiation position of the laser 40, has shifted from the reference position P5.

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

[0043] Let's explain how to calculate the displacement Rx. As shown in Figure 5, we can consider a hypothetical right triangle ABC with the hypotenuse being the line segment connecting the reference position P5 and the actual irradiation position Pr. In this embodiment, as described above, the displacement Rx is calculated based on the difference between the initial irradiation distance Li and the actual irradiation distance Lr. The difference between the initial irradiation distance Li and the actual irradiation distance Lr is equal to the length of side BC, which is parallel to the laser axis 40a among the sides constituting the right triangle ABC, so the length of side BC is known. Therefore, from this known value (the difference between the initial irradiation distance Li and the actual irradiation distance Lr), we can use trigonometric ratios to calculate a displacement Rx that is equal to the length of side AB, which extends radially R among the sides constituting the right triangle ABC.

[0044] The displacement Rx calculated as described above is then checked to see if it is above or below a certain threshold. If it is above or below the threshold, the learning process described above is executed.

[0045] In this embodiment, either the laser output device 4 or the target member 5 is detachably attached to the lower mounting member 6d, or the lower mounting member 6d is detachably fixed to the floor surface 9 or the frame 10 of the storage shelf 1. In this example, the lower mounting member 6d to which the target member 5 is attached is detachably fixed to the floor surface 9. In the illustrated example, the lower mounting member 6d is fixed to the floor surface 9 using fastening members F such as bolts. By removing the fastening members F, the lower mounting member 6d can be removed from the floor surface 9. This configuration makes it easier to secure space near the storage shelf 1.

[0046] Figure 6 is a flowchart showing the steps involved in the learning process performed by the control system 3.

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

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

[0049] Based on the displacement information acquired by the displacement information acquisition unit 31, it is determined whether the displacement amount Rx is greater than or equal to a determination threshold (step #3). This determination is performed by the determination unit 32 (see Figure 4).

[0050] If the displacement Rx is determined to be greater than or equal to the threshold (Step #3: Yes), the control system 3 executes a learning process (Step #4). This allows the control system 3 to teach the transport device 2 the actual position of the storage unit 12. If the displacement Rx is determined to be less than or equal to the threshold (Step #3: No), the learning process is not executed, and the routine ends.

[0051] [Second Embodiment] Next, a second embodiment of the warehouse will be described. In the second embodiment, the configuration of the target member 5 differs from that of the first embodiment. Below, the second embodiment will be described focusing on the differences from the first embodiment. Points that are not specifically described are the same as those of the first embodiment.

[0052] Figure 7 shows the configuration of the target member 5 according to the second embodiment. As shown in Figure 7, in this embodiment, the target member 5 is formed such that the axial position L changes in steps as it moves outward in the radial direction R from a predetermined reference position P5, and is positioned so that the reference position P5 is located on the laser axis 40a in the initial state.

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

[0054] In this embodiment, a second irradiated portion 52 is positioned below the first irradiated portion 51. Both the first irradiated portion 51 and the second irradiated portion 52 are formed in a cylindrical shape. The first irradiated portion 51 and the second irradiated portion 52 are positioned such that the center positions of their respective circles coincide when viewed in the vertical direction, and the second irradiated portion 52 is larger than the first irradiated portion 51 when viewed in the vertical direction.

[0055] In this embodiment, the center position of the first irradiated section 51 in a vertical view is set as the reference position P5. Initially, the irradiation position of the laser 40 is aligned with the reference position P5 set on the upper surface of the first irradiated section 51. However, if the irradiation position of the laser 40 deviates from the first irradiated section 51 due to distortion of the storage shelf 1, the laser 40 reaches the upper surface of the second irradiated section 52, which is located below the upper surface of the first irradiated section 51. As a result, the irradiation distance of the laser 40 (length L in the axial direction) changes, and it can be determined that the irradiation position of the laser 40 has been displaced radially R from the reference position P5. In this case, the amount of displacement Rx can be determined to be greater than the radius r1 of the cylindrical first irradiated section 51.

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

[0057] According to this embodiment, the expected displacement Rx can be set in stages, making it possible to easily calculate the displacement Rx.

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

[0059] (1) In the above embodiment, an example was described in which the target member 5 is formed such that the position of the axial L changes stepwise or continuously as it moves radially outward from a predetermined reference position P5. However, the example is not limited to such an example, and the position of the axial L of the target member 5 may be constant. In this case, the target member 5 may be formed in the shape of a sheet or plate, as shown in Figure 7, or it may be a mark directly displayed on the floor surface 9. The target member 5 may have multiple circular areas that increase in size stepwise when viewed in the vertical direction. In the example shown in Figure 7, the target member 5 has a circular allowable area PA with a reference position P5 set at its center, and a warning area CA that covers the allowable area PA. For example, when the laser 40 is irradiated into the allowable area PA, the distortion of the storage shelf 1 is determined to be within the allowable range. On the other hand, as shown in Figure 7, when the actual irradiation position Pr, which is the actual irradiation position of the laser 40, is within the warning area CA, it is determined that the storage shelf 1 has distortion that requires maintenance or learning processing by the control system 3. In this case, the laser output device 4 does not have to be a laser distance meter; it can be any device that allows the operator to recognize the position of the laser 40, such as a laser pointer, laser level, or laser marker.

[0060] (2) In the first embodiment described above, a cone-shaped target member 5 was shown, and an example was described in which the axial position L of the target member 5 changes continuously as it moves radially outward from a predetermined reference position P5. However, the target member 5 is not limited to a cone shape. For example, as shown in Figure 9, the target member 5 may have a shape with a cone-shaped recess on its upper surface. In this case, the recess is the part to be irradiated 50 to which the laser 40 is to be shone.

[0061] (3) In the above embodiment, an example was described in which the laser output device 4 is mounted on the first mounting member 61 in a position in which the laser 40 is irradiated along the vertical direction. However, the laser output device 4 may be mounted on the first mounting member 61 in a position in which the laser 40 is irradiated along a direction inclined with respect to the vertical direction.

[0062] (4) In the above embodiment, an example was described in which the target member 5 is a separate member from the members constituting the storage shelf 1. However, the example is not limited to this example, and a part of the members constituting the storage shelf 1 (for example, a part of the column 10a or beam 10b) may be the target member 5.

[0063] (5) In the above embodiment, an example was described in which the laser output device 4 is attached to the upper mounting member 6u and the target member 5 is attached to the lower mounting member 6d. However, the example is not limited to this, and the relationship between the two may be reversed. That is, the target member 5 may be attached to the upper mounting member 6u and the laser output device 4 may be attached to the lower mounting member 6d.

[0064] (6) In the above embodiment, an example was described in which the conveying device 2 is configured as a so-called stacker crane. However, the conveying device 2 is not limited to such an example, and for example, the conveying device 2 may be configured using a conveying trolley that travels along running rails arranged on each of the multiple levels of shelf sections 11.

[0065] (7) The configurations disclosed in the embodiments described above can be applied in combination with configurations disclosed in other embodiments, as long as they do not cause any inconsistencies. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.

[0066] [Summary of this embodiment] The following is a summary of this embodiment.

[0067] A warehouse equipped with storage shelves, each of which has multiple shelves arranged vertically and each has a storage compartment capable of storing goods, A laser output device equipped with a laser light source, A target member having a part to be irradiated, which is the target of the laser irradiation by the laser output device, An upper mounting member and a lower mounting member are arranged spaced apart from each other in the vertical direction. Equipped with, The laser output device is attached to a first mounting member, which is either the upper mounting member or the lower mounting member, in a position that irradiates the target member with the laser. The target member is attached to a second mounting member, which is either the upper mounting member or the lower mounting member, in a position where the irradiated portion faces the laser output device.

[0068] With this configuration, the distortion of the storage shelf can be inspected by confirming the irradiation position of the laser emitted from the laser output device to the irradiated part of the target component. This allows for inspection with a small number of people and is easy to perform as it only requires confirming the laser irradiation position. Therefore, this configuration makes it possible to easily inspect the distortion of the storage shelf.

[0069] The aforementioned storage shelf comprises a frame that supports multiple levels of the shelf section, The upper mounting member is fixed to the frame above the uppermost shelf portion of the storage shelf, Preferably, the lower mounting member is fixed in position to the frame below the lowest shelf portion of the storage shelf or on the floor surface on which the storage shelf is installed.

[0070] This configuration allows for a longer laser irradiation distance, making it easier to detect even small distortions. Therefore, more accurate inspections become possible.

[0071] The combination of the laser output device and the target member is considered a laser unit. It is preferable that the laser units are arranged at multiple locations that are spaced apart from each other when viewed in the vertical direction.

[0072] With this configuration, information can be obtained from each of the laser units placed in multiple locations, making it easy to check the location and orientation of distortions in the storage shelves.

[0073] The aforementioned storage shelf comprises a frame that supports multiple levels of the shelf section, Preferably, either the laser output device or the target member is detachably attached to the lower mounting member, or the lower mounting member is detachably fixed to the floor or the frame.

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

[0075] A conveying device that performs at least one of the following: inbound conveying, which is the conveying of the articles for the purpose of placing the articles into the storage shelves; and outbound conveying, which is the conveying of the articles for the purpose of removing the articles from the storage shelves. A control system for controlling the transport device, A displacement information acquisition unit acquires displacement information that indicates the change over time of the irradiation position of the laser output by the laser output device on the irradiated part as a displacement amount, Furthermore, Preferably, the control system performs a learning process to acquire information on the stopping position of the transport device for each of the multiple storage units when the amount of displacement indicated in the displacement information exceeds a predetermined threshold.

[0076] For example, in an automated warehouse, goods are transferred between the warehouse and the storage unit by stopping the transport vehicle at a position corresponding to the target storage unit. The stopping position of the transport vehicle for each storage unit is often defined by a preset value. However, if the storage shelves become distorted, the position of the storage unit may shift before and after the distortion occurs. With this configuration, if the amount of displacement of the laser irradiation position at the irradiated area exceeds a predetermined threshold, the control system performs a learning process to acquire information on the stopping position of the transport device for each of the multiple storage units. Therefore, even after distortion occurs in the storage shelves, it becomes possible to operate the transport device appropriately for each storage unit.

[0077] The laser output device is a laser rangefinder for measuring the distance to the target member, The axis of the laser output by the laser output device is defined as the laser axis, the direction along the laser axis is defined as the axial direction, and the direction perpendicular to the laser axis is defined as the radial direction. Preferably, the target member is formed such that its axial position changes stepwise or continuously as it moves radially outward from a predetermined reference position, and is positioned so that the reference position is located on the laser axis in its initial state.

[0078] With this configuration, it is possible to measure how much the reference position of the target member has deviated from its position on the laser axis based on the changes in the measured value by the laser rangefinder. Therefore, it is possible to easily observe and measure the change in the position of the laser irradiated onto the irradiated part over time. [Industrial applicability]

[0079] The technology described herein can be used in warehouses equipped with shelving units. [Explanation of Symbols]

[0080] 100: Warehouse 1: Storage shelf 10: Frame 11:Shelf 12: Containment Unit 2: Conveying device 3: Control System 31: Displacement Information Acquisition Unit 4: Laser output device 40: Laser 40a: Laser axis 5: Target Member 50: Irradiated area 6d: Lower mounting member 6u: Upper mounting member 61: First mounting member 62: Second mounting member 9: Floor surface U: Laser unit W:Goods P5: Reference position Rx: Displacement L: Axial direction R: Radial direction

Claims

1. A warehouse equipped with storage shelves, each of which has multiple shelves arranged vertically and each has a storage compartment capable of storing goods, A laser output device equipped with a laser light source, A target member having a part to be irradiated, which is the target of the laser irradiation by the laser output device, An upper mounting member and a lower mounting member are arranged spaced apart from each other in the vertical direction. Equipped with, The laser output device is attached to a first mounting member, which is either the upper mounting member or the lower mounting member, in a position that irradiates the target member with the laser. The target member is attached to a second mounting member, which is either the upper mounting member or the lower mounting member, in a position where the irradiated portion faces the laser output device. The aforementioned storage shelf comprises a frame that supports multiple levels of the shelf section, The upper mounting member is fixed to the frame above the uppermost shelf portion of the storage shelf, A warehouse in which the lower mounting member is fixed in position to the frame below the lowest shelf portion of the storage shelf or on the floor surface on which the storage shelf is installed.

2. A warehouse equipped with storage shelves, each of which has multiple shelves arranged vertically and each has a storage compartment capable of storing goods, A laser output device equipped with a laser light source, A target member having a part to be irradiated, which is the target of the laser irradiation by the laser output device, An upper mounting member and a lower mounting member are arranged spaced apart from each other in the vertical direction. Equipped with, The laser output device is attached to a first mounting member, which is either the upper mounting member or the lower mounting member, in a position that irradiates the target member with the laser. The target member is attached to a second mounting member, which is either the upper mounting member or the lower mounting member, in a position where the irradiated portion faces the laser output device. A conveying device that performs at least one of the following: inbound conveying, which is the conveying of the articles for the purpose of placing the articles into the storage shelves; and outbound conveying, which is the conveying of the articles for the purpose of removing the articles from the storage shelves. A control system for controlling the transport device, A displacement information acquisition unit acquires displacement information that indicates the change over time of the irradiation position of the laser output by the laser output device on the irradiated part as a displacement amount, Furthermore, The control system is a warehouse that, when the amount of displacement indicated in the displacement information exceeds a predetermined threshold, executes a learning process to acquire information on the stopping position of the transport device for each of the multiple storage units.

3. A warehouse equipped with storage shelves, each of which has multiple shelves arranged vertically and each has a storage compartment capable of storing goods, A laser output device equipped with a laser light source, A target member having a part to be irradiated, which is the target of the laser irradiation by the laser output device, An upper mounting member and a lower mounting member are arranged spaced apart from each other in the vertical direction. Equipped with, The laser output device is attached to a first mounting member, which is either the upper mounting member or the lower mounting member, in a position that irradiates the target member with the laser. The target member is attached to a second mounting member, which is either the upper mounting member or the lower mounting member, in a position where the irradiated portion faces the laser output device. The upper mounting member is fixed to the storage shelf, The lower mounting member is fixed to the storage shelf or the floor surface on which the storage shelf is installed, below the upper mounting member. A warehouse in which the distortion of the storage shelves is inspected based on the misalignment of the irradiation target at the irradiated part of the laser.

4. The combination of the laser output device and the target member is considered a laser unit. The warehouse according to any one of claims 1 to 3, wherein the laser units are arranged at each of a plurality of locations that are spaced apart from each other when viewed in the vertical direction.

5. The aforementioned storage shelf comprises a frame that supports multiple levels of the shelf section, The warehouse according to any one of claims 1 to 3, wherein either the laser output device or the target member is configured to be detachably attached to the lower mounting member, or the lower mounting member is detachably fixed to the floor or the frame.

6. The laser output device is a laser rangefinder for measuring the distance to the target member, The axis of the laser output by the laser output device is defined as the laser axis, the direction along the laser axis is defined as the axial direction, and the direction perpendicular to the laser axis is defined as the radial direction. The warehouse according to any one of claims 1 to 3, wherein the target member is formed such that its axial position changes stepwise or continuously as it moves radially outward from a predetermined reference position, and is arranged so that the reference position is located on the laser axis in the initial state.

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