TWI487652B - Automatic warehouse and item confirmation control method - Google Patents
Automatic warehouse and item confirmation control method Download PDFInfo
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- TWI487652B TWI487652B TW099125092A TW99125092A TWI487652B TW I487652 B TWI487652 B TW I487652B TW 099125092 A TW099125092 A TW 099125092A TW 99125092 A TW99125092 A TW 99125092A TW I487652 B TWI487652 B TW I487652B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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Description
本發明，是有關於自動倉庫及其所使用的物品確認控制方法，特別是，該自動倉庫及其所使用的物品確認控制方法，包含：具有保管物品用的複數棚的載架、及在與棚之間移載物品並且在棚之間可移動的移載裝置。The present invention relates to an automatic warehouse and an item confirmation control method therefor, and more particularly to the automatic warehouse and an item confirmation control method therefor, comprising: a carrier having a plurality of sheds for storing articles, and A transfer device that transfers items between the sheds and is movable between the sheds.
習知的自動倉庫，是例如具有：一對的載架、及塔式起重機、及入出庫平台。一對的載架，是朝前後方向隔有預定間隔的方式被設置。塔式起重機，是朝左右方向可移動自如地被設在前後的載架之間。入庫平台，是被配置於一方的載架的側方。出庫平台，是被配置於另一方的載架的側方。載架，具有上下、左右並列的多數的物品收納棚(以下，稱為棚)。塔式起重機，具有：行走台車、及在被設於其的柱可昇降自如的昇降台、及設於其的物品移載機構(例如朝前後方向可滑動自如地設置的滑動式叉)。A conventional automatic warehouse is, for example, a pair of carriers, a tower crane, and an inbound and outbound platform. The pair of carriers are provided with a predetermined interval in the front-rear direction. The tower crane is movably disposed between the front and rear carriers in the left-right direction. The warehousing platform is placed on the side of one of the carriers. The outbound platform is placed on the side of the other carrier. The carrier has a plurality of article storage sheds (hereinafter referred to as sheds) which are arranged up and down and left and right. The tower crane includes a traveling trolley, an elevating platform that can be lifted and lowered in a column provided thereon, and an article transfer mechanism (for example, a sliding fork that is slidably provided in the front-rear direction).
如此的自動倉庫的其中一例，在半導體工場中已知保管FOUP(前開口式通用容器、Front Opening Unified Pod)用的貯藏庫。在貯藏庫中，例如，在入庫時，頂棚搬運車是將FOUP朝入庫口搬入，接著塔式起重機是將FOUP搬運至預定的棚為止。在出庫時，塔式起重機是將FOUP從預定的棚朝出庫口搬運，接著，頂棚搬運車是將FOUP從出庫口搬出。As an example of such an automatic warehouse, a storage for a FOUP (Front Opening Unified Pod) is known to be stored in a semiconductor factory. In the storage, for example, when the storage is carried out, the overhead transport vehicle carries the FOUP toward the storage port, and then the tower crane transports the FOUP to the predetermined shed. At the time of delivery, the tower crane transports the FOUP from the predetermined shed toward the storage port, and then the overhead truck moves the FOUP out of the storage port.
但是被自動倉庫的電腦保存的資料及實際的入庫狀況不一致的事情會發生。例如在資料中雖為空的，但是在實際上在棚中有物品被放置的事態。這種事態，例如作業者先將塔式起重機的叉上的物品放在空的棚，之後忘記返回至叉上的情況時就會發生。如此，在某棚中在資料上雖為空的，但是實際上物品被載置，物品若朝那被移載的話，有可能物品彼此接觸而導致雙方破損。However, the information stored in the computer of the automatic warehouse and the actual warehousing situation are inconsistent. For example, in the data, although it is empty, there are actually things in the shed where items are placed. This kind of state of affairs, for example, occurs when the operator first places the item on the fork of the tower crane in an empty shed and then forgets to return to the fork. In this way, although the materials are empty in a certain shed, in fact, the articles are placed, and if the articles are transferred there, there is a possibility that the articles come into contact with each other and the two sides are damaged.
在此，已知的物品容納裝置，具有：物品載置部、及移載裝置、及為了檢出物品載置部的物品的有無而設在移載裝置的感測器。感測器，是朝幾乎水平方向被投光的方式被配置。反射板是被配置於物品載置部的後側。移載裝置，當感測器未受到來自反射板的反射光的情況時，不將物品移載至物品載置部(例如專利文獻1參照)。Here, the known article storage device includes an article placement unit, a transfer device, and a sensor provided in the transfer device for detecting the presence or absence of the article on the article placement portion. The sensor is configured to be projected in a nearly horizontal direction. The reflector is disposed on the rear side of the article placing portion. In the case where the sensor is not subjected to the reflected light from the reflecting plate, the transfer device does not transfer the article to the article placing portion (for example, refer to Patent Document 1).
[專利文獻1]日本特開2007-55720號公報[Patent Document 1] Japanese Patent Laid-Open Publication No. 2007-55720
在習知的自動倉庫中，為了調查移載裝置進行移載前的棚的狀態(有先放入品、無先放入品)，移載裝置會在棚之前停止，其後使用感測器確認物品的有無。且，在確認終了後進行移載動作。In the conventional automatic warehouse, in order to investigate the state of the shed before the transfer of the transfer device (there is a first product, no first product), the transfer device will stop before the shed, and then the sensor is used. Confirm the presence or absence of the item. And, after the confirmation is completed, the transfer operation is performed.
且在卸棚時，移載裝置，也同樣在棚之前一旦停止之後，確認物品的有無。Moreover, when the shed is unloaded, the transfer device also confirms the presence or absence of the article once it is stopped before the shed.
如此，在先前技術中，移載裝置為了進行物品有無的確認而有需要棚之前停止，而會花費大多的時間。As described above, in the prior art, the transfer device needs to stop before the shed in order to confirm the presence or absence of the article, and it takes a lot of time.
本發明的課題，是對於自動倉庫可短縮供確認物品是否被放置於棚用的時間。An object of the present invention is to shorten the time for the automatic warehouse to confirm whether or not the article is placed in the shed.
以下，說明供解決課題用手段的複數態樣。這些態樣，可以依據需要任意組合。Hereinafter, a plural aspect of the means for solving the problem will be described. These aspects can be arbitrarily combined as needed.
本發明的一觀點的自動倉庫，具備；載架、及移載裝置、及感測器、及被檢出體、及檢出判斷部。載架，具有保管物品用的複數棚。移載裝置，是在與棚之間移載物品用的裝置，通過棚之前在棚之間可移動。感測器，是設在移載裝置。被檢出體，是設在棚，在棚中物品被放置的情況時位於物品的後側，具有藉由被放置於棚的物品而從感測器被隱藏的部分及未被隱藏的部分。檢出判斷部，是使用由感測器所獲得的檢出結果判斷物品是否被放置於棚，將從被檢出體的檢出朝非檢出的切換使用作為物品是否被放置於棚的判斷。An automatic warehouse according to an aspect of the present invention includes a carrier, a transfer device, a sensor, a detected object, and a detection determination unit. The carrier has a plurality of sheds for storing articles. The transfer device is a device for transferring articles between the shed and the shed, and is movable between the sheds before passing through the shed. The sensor is located in the transfer device. The detected object is placed in the shed, and is placed on the rear side of the article when the article is placed in the shed, and has a portion hidden from the sensor by the article placed in the shed and a portion that is not hidden. The detection determination unit determines whether or not the article is placed in the shed using the detection result obtained by the sensor, and uses the detection of the detected object to be non-detected as the article whether or not the article is placed in the shed. .
在此自動倉庫中，移載裝置到達目標的棚並移動於棚之前的話，感測器是最初檢出藉由被檢出體的物品未被隱藏的部分。移載裝置，是將從被檢出體的檢出朝被檢出的切換使用作為檢出判斷。即，無物品的話獲得「未切換」的結果，有物品的話獲得「有切換」的結果。如此，檢出判斷部，因為在移載裝置的移動中可以確認物品是否被放置於棚，所以可以短縮直到確認物品是否被放置於棚為止的時間。In this automatic warehouse, when the transfer device reaches the target shed and moves before the shed, the sensor is initially detected as the portion of the object to be detected that is not hidden. The transfer device is a detection determination from the detection of the detected object to the detected use. In other words, if there is no item, the result of "no switching" is obtained, and if there is an item, the result of "having switching" is obtained. In this way, the detection determination unit can confirm whether or not the article is placed in the shed during the movement of the transfer device, so that it can be shortened until the time when the article is placed in the shed is confirmed.
被檢出體，是在棚中具有朝一方向延伸的至少1個直線部分也可以。此情況，移載裝置，雖是在目標的棚以外之前可自由地移動，但是在目標的棚之前只有被許可沿著一方向移動。The detected object may have at least one straight line portion extending in one direction in the shed. In this case, the transfer device is free to move before the target shed, but is only allowed to move in one direction before the target shed.
在此自動倉庫中，因為移載裝置在目標的棚以外之前可以自由地移動，所以直到棚為止的移動時間可以短縮。且，因為移載裝置是在目標的棚之前沿著直線部的延長方向移動，所以被檢出體的設置處可以減少。In this automatic warehouse, since the transfer device can move freely before the target shed, the movement time up to the shed can be shortened. Further, since the transfer device moves in the extending direction of the straight portion before the target shed, the position of the detected object can be reduced.
至少1個直線部分，是在棚中朝水平方向延伸的第1直線部分及朝鉛直方向具有延伸的第2直線部分也可以。此情況，移載裝置，雖是在目標的棚以外之前可同時進行水平方向及鉛直方向的移動動作，但是在目標的棚之前只有被許可水平方向及鉛直方向的移動的其中一方。At least one straight portion may be a first straight portion extending in the horizontal direction in the shed and a second straight portion extending in the vertical direction. In this case, the transfer device can simultaneously move in the horizontal direction and the vertical direction before the target shed, but only one of the movements in the horizontal direction and the vertical direction is permitted before the target shed.
在此自動倉庫中，因為移載裝置在目標的棚以外之前可以自由地移動，所以直到棚為止的移動時間可以短縮。且，移載裝置在目標的棚之前因為沿著第1直線部及第2直線部的延長方向移動，所以被檢出體的設置處可以減少。In this automatic warehouse, since the transfer device can move freely before the target shed, the movement time up to the shed can be shortened. Further, since the transfer device moves in the direction in which the first straight portion and the second straight portion extend in the front of the target booth, the position of the detected object can be reduced.
檢出判斷部，是在移載裝置移動中取得被檢出體被感測器檢出的檢出距離，將檢出距離使用作為物品是否被放置於棚的判斷也可以。The detection determination unit may determine the detection distance detected by the sensor when the transfer device moves, and use the detection distance as the item to be placed in the shed.
在此自動倉庫中，檢出判斷部，例如檢出距離是預定距離以上的話，判定物品未被放置於棚。如此在移載裝置移動中可以判斷物品是否被放置於棚。In the automatic warehouse, the detection determination unit determines that the article is not placed in the booth, for example, if the detection distance is equal to or greater than the predetermined distance. In this way, it can be determined whether the article is placed in the shed during the movement of the transfer device.
檢出判斷部，若檢出距離到達第1預定距離的話，判定物品未被放置於棚也可以。The detection determination unit may determine that the article is not placed in the booth if the detection distance reaches the first predetermined distance.
第1預定距離，是在對應被檢出體的棚中比從設有被檢出體的部分的端部直到中心部為止的距離更短也可以。The first predetermined distance may be shorter than the distance from the end of the portion where the detected object is provided to the center portion in the shed corresponding to the detected object.
檢出判斷部，是在移載裝置移動中取得被檢出體未被感測器檢出的非檢出距離，將非檢出距離使用作為判斷物品是否被放置於棚也可以。The detection determination unit acquires the non-detection distance detected by the sensor without being detected by the sensor during the movement of the transfer device, and uses the non-detection distance as the determination whether or not the article is placed in the booth.
在此自動倉庫中，檢出判斷部，例如非檢出距離是預定距離以上的話，判定物品被放置於棚。如此藉由將非檢出距離取得作為判斷基準，將無先放入品者誤判為有先放入品的可能性就可減少。In the automatic warehouse, the detection determination unit determines that the article is placed in the shed, for example, if the non-detection distance is equal to or greater than the predetermined distance. In this way, by taking the non-detection distance as the criterion for judgment, it is possible to reduce the possibility that the person who has not placed the product first is mistakenly determined to have the first product.
檢出判斷部，若非檢出距離到達第2預定距離的話，判定物品被放置於棚也可以。The detection determination unit may determine that the article is placed in the shed if the non-detection distance reaches the second predetermined distance.
檢出判斷部，是在移載裝置移動中非檢出距離直到到達第2預定距離之前從非檢出狀態切換至檢出狀態的話，判定目標的物品以外的物體是被放置於棚也可以。The detection determination unit may switch the non-detection state to the detection state until the non-detection state is reached until the second predetermined distance is reached during the movement of the transfer device, and the object other than the target article may be placed in the booth.
本發明的其他的觀點的物品確認控制方法，是延伸使用至以下的自動倉庫。自動倉庫，具備：載架，具有保管物品用的複數棚；及移載裝置，為了在與棚之間移載物品而可進行移動動作及移載動作；及感測器，設在移載裝置；及被檢出體，設在棚，當物品被放置在棚的情況時位於物品的後側，具有藉由被放置於棚之物品而從感測器被隱藏的部分及未被隱藏的部分。此方法具備下述的步驟。The article confirmation control method according to another aspect of the present invention is extended to the following automatic warehouse. An automatic warehouse having: a carrier having a plurality of sheds for storing articles; and a transfer device for moving and transferring operations for transferring articles between the sheds; and a sensor disposed on the transfer device And the detected object, located in the shed, on the back side of the item when the item is placed in the shed, having a portion hidden from the sensor by the item placed in the shed and an unconcealed portion . This method has the following steps.
◎第1步驟，判斷在移載裝置移動於棚之前中被檢出體所檢出的檢出距離是否到達第1預定距離。◎ In the first step, it is determined whether or not the detection distance detected by the detected object reaches the first predetermined distance before the transfer device moves to the shed.
◎第2步驟，在移載裝置移動中檢出距離到達第1預定距離之前檢出狀態被切換至非檢出狀態的話，判定至少有東西被放置於棚。◎ In the second step, when the detection state is switched to the non-detection state before the detection distance reaches the first predetermined distance during the movement of the transfer device, it is determined that at least something is placed in the shed.
在此方法中，移載裝置到達棚並移動至棚之前的話，感測器最初是檢出被檢出體。在第1步驟中檢出距離到達第1預定距離的話，判定沒有東西被放置於棚。且，直到檢出距離到達第1預定距離之前從檢出狀態切換至非檢出狀態的話，判定至少有東西被放置於棚。In this method, the sensor initially detects the detected object before the transfer device reaches the shed and moves to the shed. When the detected distance reaches the first predetermined distance in the first step, it is determined that nothing is placed in the shed. Further, when the detected distance is switched from the detected state to the non-detected state before the detected distance reaches the first predetermined distance, it is determined that at least something is placed in the shed.
此方法進一步具備下述的步驟也可以。This method may further have the following steps.
◎第3步驟，在移載裝置移動中判斷被檢出體未被感測器檢出的非檢出距離是否到達第2預定距離。◎ In the third step, it is determined whether or not the non-detection distance detected by the sensor is not detected by the sensor during the movement of the transfer device reaches the second predetermined distance.
◎第4步驟，在移載裝置移動中非檢出距離到達第2預定距離之前非檢出狀態被切換至檢出狀態的話，判定目標的物品以外的物體被放置於棚。In the fourth step, when the non-detected state is switched to the detected state before the non-detection distance reaches the second predetermined distance during the movement of the transfer device, the object other than the target article is placed in the shed.
在此方法中，直到非檢出距離到達第2預定距離之前從非檢出狀態切換至檢出狀態的話，判定目標的物品以外有東西被放置於棚。如此，在移載裝置的移動中因為可以確認物品是否被放置於棚，所以確認物品是否被放置於棚為止的時間可以短縮。In this method, until the non-detection distance is switched from the non-detected state to the detected state before the non-detection distance reaches the second predetermined distance, something other than the target article is placed in the shed. In this way, since it is possible to confirm whether or not the article is placed in the shed during the movement of the transfer device, the time for confirming whether or not the article is placed in the shed can be shortened.
本發明的自動倉庫，可短縮確認物品的有無用時間。The automatic warehouse of the present invention can shorten the time of use of the article to be confirmed.
(1)自動倉庫整體(1) Automatic warehouse overall
以下，使用第1圖～第3圖，說明本發明的一實施例的自動倉庫1。第1圖，是本發明的一實施例的自動倉庫的概略平面圖。第2圖，是自動倉庫的概略側面圖。第3圖，是載架的概略側面圖。又，在以下的實施例中被搬運、保管的物體是FOUP，簡單以物品F表示。Hereinafter, an automatic warehouse 1 according to an embodiment of the present invention will be described using Figs. 1 to 3 . Fig. 1 is a schematic plan view of an automatic warehouse according to an embodiment of the present invention. Figure 2 is a schematic side view of an automated warehouse. Figure 3 is a schematic side view of the carrier. Moreover, the object conveyed and stored in the following examples is FOUP, and it is simply shown by the item F.
自動倉庫1，主要由載架2、及塔式起重機3所構成。The automatic warehouse 1 is mainly composed of a carrier 2 and a tower crane 3.
(2)載架(2) Carrier
載架2，具有第1載架2A及第2載架2B。第1載架2A及第2載架2B，是將朝第1圖的X方向延伸的塔式起重機通路中的軌道4挾住的方式在Y方向被並列配置。在第1載架2A及第2載架2B中，設有複數棚6。The carrier 2 has a first carrier 2A and a second carrier 2B. The first carrier 2A and the second carrier 2B are arranged side by side in the Y direction so as to be caught by the rails 4 in the tower crane passage extending in the X direction of the first drawing. A plurality of sheds 6 are provided in the first carrier 2A and the second carrier 2B.
使用第3圖，說明第1載架2A的構成。第1載架2A，具有複數棚6。棚6，具有物品載置板7、及背面板8。物品載置板7，具有平坦的上面。背面板8，是被配置於從塔式起重機3側所見後側。背面板8是具有平坦的表面，並朝鉛直方向延伸。The configuration of the first carrier 2A will be described using FIG. The first carrier 2A has a plurality of sheds 6. The shed 6 has an article placing plate 7 and a back panel 8. The article placing plate 7 has a flat upper surface. The back panel 8 is disposed on the rear side as seen from the side of the tower crane 3. The back panel 8 has a flat surface and extends in the vertical direction.
在背面板8中，如第3圖所意示，被貼有複數被檢出體10。被檢出體10，具有細長的形狀，且具有：朝水平方向呈直線狀延伸的第1反射板10A、及朝鉛直方向呈直線狀延伸的第2反射板10B。第1反射板10A是位於背面板8的縱方向中間位置，第2反射板10B是位於背面板8的橫方向中間位置，其結果，第1反射板10A及第2反射板10B是在背面板8的大致中心部分交叉。由此，在背面板8中，藉由第1反射板10A及第2反射板10B形成有十字形的反射體。In the back panel 8, as shown in Fig. 3, a plurality of detected objects 10 are attached. The object to be detected 10 has an elongated shape and has a first reflecting plate 10A extending linearly in the horizontal direction and a second reflecting plate 10B extending linearly in the vertical direction. The first reflecting plate 10A is located at the intermediate position in the longitudinal direction of the back plate 8, and the second reflecting plate 10B is located at the intermediate position in the lateral direction of the back plate 8. As a result, the first reflecting plate 10A and the second reflecting plate 10B are on the back plate. The approximate center portion of 8 intersects. Thereby, in the back panel 8, the cross-shaped reflector is formed by the 1st reflection board 10A and the 2nd reflection board 10B.
使用第4圖及第5圖，進一步詳細說明棚6中的被檢出體10。第4圖是物品未被放置的物品收納棚的側面圖，第5圖是物品被放置的物品收納棚的側面圖。第4圖及第5圖皆是將棚6從正面所見的情況的圖。The detected object 10 in the shed 6 will be described in further detail using Figs. 4 and 5. Fig. 4 is a side view of the article storage shed in which the article is not placed, and Fig. 5 is a side view of the article storage shed in which the article is placed. Both Fig. 4 and Fig. 5 are diagrams showing the situation in which the shed 6 is seen from the front.
如第4圖所示，第1反射板10A，是在棚6中且在背面板8的上下方向中間朝水平方向延伸。且，第2反射板10B，是在棚6中且在背面板8的左右方向中間朝鉛直方向延伸。在此實施例中，第1反射板10A及第2反射板10B，是從背面板8的端直到端為止連續形成。As shown in Fig. 4, the first reflecting plate 10A extends in the horizontal direction in the vertical direction of the back panel 8 in the shed 6. Further, the second reflecting plate 10B extends in the vertical direction in the middle of the left and right direction of the back panel 8 in the shed 6. In this embodiment, the first reflecting plate 10A and the second reflecting plate 10B are continuously formed from the end of the back plate 8 to the end.
如第5圖所示，物品F是在被放置於棚6的狀況中，藉由物品F使第1反射板10A及第2反射板10B的交叉部分及其兩側的一部分被隱藏，並使第1反射板10A及第2反射板10B的端部側的一部分被露出。As shown in Fig. 5, in the case where the article F is placed in the shed 6, the intersection of the first reflecting plate 10A and the second reflecting plate 10B and a part of both sides thereof are hidden by the article F, and A part of the end portions of the first reflecting plate 10A and the second reflecting plate 10B are exposed.
又，箭頭A～D，是顯示起重機的移載裝置(後述)可進入棚6之前方的入口及可移動的進行方向。但是，在此圖中，在物品F被放置的狀態下因為在箭頭D側被檢出體10未露出，所以移載裝置(後述)不會沿著箭頭D進入來到物品收納棚之前。Further, the arrows A to D are indicators for indicating the entrance of the crane transfer device (described later) before entering the shed 6 and the moving direction of movement. However, in this figure, in the state in which the article F is placed, since the detected object 10 is not exposed on the arrow D side, the transfer device (described later) does not enter the article storage shed along the arrow D.
(3)塔式起重機的機構(3) Mechanism of tower crane
使用第2圖，說明塔式起重機3。The tower crane 3 will be described using Fig. 2 .
塔式起重機3，是沿著軌道4，朝X方向可移動地被導引。塔式起重機3，具有：行走台車12、及設在行走台車12上部的行走方向兩側的一對的柱13、及可昇降自如地被裝設於柱13的昇降台14、及設在昇降台14供移載物品F用的滑動式叉15。The tower crane 3 is guided along the rail 4 so as to be movable in the X direction. The tower crane 3 includes a traveling trolley 12, a pair of columns 13 provided on both sides in the traveling direction of the upper portion of the traveling trolley 12, and a lifting platform 14 which is mounted on the column 13 so as to be movable up and down, and is provided at the lifting platform The table 14 is provided with a sliding fork 15 for transferring articles F.
在行走台車12中，設有將軌道4的上面作為走行面的車輪(無圖示)。行走台車12，是進一步具有使車輪(無圖示)旋轉用的行走馬達21(第6圖)和減速機(無圖示)。In the traveling trolley 12, a wheel (not shown) having the upper surface of the rail 4 as a running surface is provided. The traveling vehicle 12 further includes a traveling motor 21 (Fig. 6) and a speed reducer (not shown) for rotating a wheel (not shown).
昇降台14，具有：朝柱13被導引的一對的導引構件25、及將導引構件25彼此之間延伸的支撐台26。The lifting table 14 has a pair of guiding members 25 that are guided toward the column 13 and a support base 26 that extends the guiding members 25 to each other.
在昇降台14的支撐台26中，設有滑動式叉15的滑動式叉15，是朝Y方向(第1圖)且朝水平方向可進出。滑動式叉15，是透過減速機和皮帶與移載馬達23(第6圖)連接。In the support table 26 of the elevating table 14, the slide fork 15 provided with the slide fork 15 is movable in the horizontal direction in the Y direction (Fig. 1). The slide fork 15 is connected to the transfer motor 23 (Fig. 6) via a reduction gear and a belt.
為了使昇降台14昇降，設有：將昇降台14驅動用的皮帶(無圖示)、昇降用帶輪(無圖示)、將昇降用帶輪驅動用的昇降馬達22(第6圖)。In order to elevate the elevating table 14 , a belt (not shown) for driving the elevating table 14 , a lifting pulley (not shown), and a lifting motor 22 for driving the lifting pulley (FIG. 6) are provided. .
昇降台14及滑動式叉15，是可對應棚6進行移載動作，且因為是一體地進行移動動作的構成，所以以下將昇降台14及滑動式叉15總稱為移載裝置16。The lifting table 14 and the sliding fork 15 are configured to be movable in accordance with the shed 6 and are configured to move integrally. Therefore, the lifting table 14 and the sliding fork 15 will be collectively referred to as a transfer device 16 hereinafter.
(4)塔式起重機的控制構成(4) Control structure of tower crane
接著，使用第6圖，說明塔式起重機3的起重機控制器31及系統控制器32。第6圖，是顯示塔式起重機的控制構成的方塊圖。Next, the crane controller 31 and the system controller 32 of the tower crane 3 will be described using FIG. Fig. 6 is a block diagram showing the control structure of the tower crane.
起重機控制器31，是被搭載在塔式起重機3，並可與將自動倉庫1整體控制的系統控制器32進行通訊。The crane controller 31 is mounted on the tower crane 3 and can communicate with the system controller 32 that controls the automatic warehouse 1 as a whole.
起重機控制器31，具有：主控制器43、及行走控制部44、及昇降控制部45、及移載控制部46。這是包含CPU和記憶體等的電腦、硬體，且在第6圖中是顯示藉由電腦、硬體及軟體的協動而被實現的功能方塊。又，這些是藉由具有複數功能的單獨的電腦實現也可以。The crane controller 31 includes a main controller 43, a travel control unit 44, a lift control unit 45, and a transfer control unit 46. This is a computer and hardware including a CPU, a memory, etc., and in Fig. 6, a function block realized by the cooperation of a computer, a hardware, and a software. Moreover, these can also be realized by a separate computer having a plurality of functions.
主控制器43，可與行走控制部44、昇降控制部45及移載控制部46交訊。The main controller 43 can communicate with the travel control unit 44, the elevation control unit 45, and the transfer control unit 46.
行走控制部44，是進行行走台車12的行走、停止控制用的控制部，與行走馬達21及旋轉式編碼器47連接。昇降控制部45，是使昇降台14沿著柱13上下動用的控制部，與昇降馬達22及旋轉式編碼器48連接。移載控制部46，是將滑動式叉15驅動用的控制部，與移載馬達23及旋轉式編碼器49連接。The travel control unit 44 is a control unit for controlling the travel and stop of the traveling vehicle 12, and is connected to the travel motor 21 and the rotary encoder 47. The lift control unit 45 is a control unit that moves the lift table 14 up and down along the column 13 and is connected to the lift motor 22 and the rotary encoder 48. The transfer control unit 46 is a control unit for driving the slide fork 15 and is connected to the transfer motor 23 and the rotary encoder 49.
在主控制器43的記憶體中，容納有載架2中的物品F的配置狀況等。主控制器43，是參照記憶體的內容，並且依據需要更新。In the memory of the main controller 43, the arrangement state of the articles F in the carrier 2 and the like are accommodated. The main controller 43 refers to the contents of the memory and is updated as needed.
(5)感測器(5) Sensor
使用第7圖～第10圖，說明感測器51。第7圖是移載裝置及物品未被放置的物品收納棚的側面圖，第8圖是移載裝置及物品被放置的物品收納棚的側面圖。第9圖，是在物品被放置的棚之前移動中的移載裝置及棚的平面圖，顯示移載裝置的第1階段的圖。第10圖，是在物品被放置的棚之前移動中的移載裝置及棚的平面圖，顯示移載裝置的第2階段的圖。The sensor 51 will be described using Figs. 7 to 10 . Fig. 7 is a side view of the transfer device and the article storage shed in which the article is not placed, and Fig. 8 is a side view of the transfer device and the article storage shed in which the article is placed. Fig. 9 is a plan view showing the transfer device and the shed before moving the article in which the article is placed, showing the first stage of the transfer device. Fig. 10 is a plan view showing the transfer device and the shed before moving the article in which the article is placed, showing the second stage of the transfer device.
感測器51，是檢出被檢出體10用的感測器，且是光學的反射型感測器。感測器51，是如第6圖所示，主要由投光元件52及受光元件53構成。在感測器51中，投光元件52是將可視光和紅外線光的感測光(雷射光)朝幾乎水平發射，受光元件53是將反射光受光。The sensor 51 is a sensor for detecting the object to be detected 10, and is an optical reflection type sensor. As shown in FIG. 6, the sensor 51 is mainly composed of a light projecting element 52 and a light receiving element 53. In the sensor 51, the light projecting element 52 emits the sensed light (laser light) of visible light and infrared light toward almost horizontally, and the light receiving element 53 receives the reflected light.
感測器51，是設在：昇降台14的導引構件25的一方、及昇降台14的導引構件25的另一方。從感測器51的投光元件52呈水平被發射的光接觸被檢出體10的話，如第7圖及第9圖所示，反射光會入射至受光元件53。且，從投光元件52被發射的光接觸物品F的話，如第8圖及第10圖所示，雷射光不會到達被檢出體10，其結果不會入射至受光元件53。The sensor 51 is provided on one of the guide members 25 of the elevating table 14 and the other of the guide members 25 of the elevating table 14. When the light emitted horizontally from the light projecting element 52 of the sensor 51 contacts the object 10 to be detected, as shown in FIGS. 7 and 9, the reflected light enters the light receiving element 53. Further, when the light emitted from the light projecting element 52 contacts the article F, as shown in FIGS. 8 and 10, the laser light does not reach the detected object 10, and as a result, it does not enter the light receiving element 53.
主控制器43，是對於投光元件52可發訊驅動訊號，從受光元件53可收訊檢出訊號。The main controller 43 can transmit a driving signal to the light projecting element 52, and can receive a detection signal from the light receiving element 53.
又，其他的實施例，投光元件是設在昇降台14的導引構件25的一方，受光元件是設在昇降台14的導引構件25的另一方也可以。Further, in another embodiment, the light projecting element may be provided on one of the guide members 25 of the elevating table 14, and the light receiving element may be provided on the other of the guide members 25 of the elevating table 14.
(6)入庫作業(6) warehousing operations
使用第11圖，說明入庫作業。第11圖，是顯示將物品移載至載架時的控制動作的流程圖。又，移載裝置16，是在目標的棚6以外之前可同時進行行走動作及昇降動作，但是在目標的棚6之前只有進行昇降動作及行走動作的其中一方。如此，可以短縮移載裝置16直到棚6為止移動的時間。Use Figure 11 to illustrate the warehousing operation. Fig. 11 is a flow chart showing the control operation when the article is transferred to the carrier. Further, the transfer device 16 can simultaneously perform the walking operation and the lifting operation before the target shed 6, but only one of the lifting operation and the walking operation before the target shed 6. In this way, the time during which the transfer device 16 moves until the shed 6 can be shortened.
又，在此流程圖中，是以主控制器43依據由感測器51所獲得的被檢出體10的檢出的結果來判斷物品F的有無的判斷動作為中心進行說明。且，在此流程圖中，說明移載裝置16是以水平方向進入、移動至棚6之前的例。In the flowchart, the main controller 43 will mainly describe the determination operation of determining the presence or absence of the article F based on the result of the detection of the detected object 10 obtained by the sensor 51. Further, in this flowchart, an example in which the transfer device 16 is moved in the horizontal direction and moved to the booth 6 will be described.
在步驟S1中，主控制器43，是等待移載裝置16到達目標的棚6。接著，移載裝置16，是呈水平方向移動至棚6之前。此時，使來自感測器51的投光元件52的投射光沿著第1反射板10A的方式使移載裝置16移動。此時使用的感測器51，如第9圖所示是進行方向前側的感測器51。In step S1, the main controller 43 is a shed 6 waiting for the transfer device 16 to reach the target. Next, the transfer device 16 is moved in the horizontal direction before the shed 6. At this time, the transfer device 16 is moved so that the projection light from the light projecting element 52 of the sensor 51 is along the first reflection plate 10A. The sensor 51 used at this time is a sensor 51 that performs the front side of the direction as shown in FIG.
在步驟S2中，主控制器43，判斷由感測器51檢出被檢出體10的檢出距離是否到達第1預定距離。在第1預定距離未到達的話使控制流程移行至步驟S3，到達第1預定距離的話判定「棚6中無物品F」使控制流程移行至步驟S10。「第1預定距離」，是例如可判斷物品F未被載置在棚6的距離，較佳是比從背面板8的端部直到中心為止的距離更短的距離。由此，在移載裝置16到達背面板8的中心前之前，可以判斷通過或停止。In step S2, the main controller 43 determines whether or not the detection distance of the detected object 10 by the sensor 51 has reached the first predetermined distance. When the first predetermined distance has not arrived, the control flow is shifted to step S3, and when the first predetermined distance is reached, it is determined that "there is no item F in the shed 6", and the control flow is shifted to step S10. The "first predetermined distance" is, for example, a distance at which the article F is not placed on the shed 6, and is preferably a shorter distance than the distance from the end of the back panel 8 to the center. Thereby, it is possible to judge passage or stop before the transfer device 16 reaches the center of the back panel 8.
在步驟S10中，主控制器43，是朝行走控制部44發訊停止指令。其結果，行走控制部44會停止行走馬達21的驅動，藉此將移載裝置16停止在預定位置(背面板8的中心)。In step S10, the main controller 43 issues a stop command to the travel control unit 44. As a result, the travel control unit 44 stops the driving of the traveling motor 21, thereby stopping the transfer device 16 at a predetermined position (the center of the back panel 8).
在步驟S11中，主控制器43，是朝移載控制部46發訊移載指令。其結果，移載控制部46會將移載馬達23驅動，藉此滑動式叉15可將物品F移載至棚6。In step S11, the main controller 43 transmits a transfer command to the transfer control unit 46. As a result, the transfer control unit 46 drives the transfer motor 23, whereby the slide fork 15 can transfer the article F to the shed 6.
在步驟S3中，主控制器43，是判斷感測器51是否持續檢出被檢出體10。持續檢出的話使控制流程返回至步驟S2，檢出終了的話使控制流程移行至步驟S8。又，「檢出終了」，是如第10圖所示被檢出體10成為藉由物品F從感測器51被隱藏的狀態的意思。In step S3, the main controller 43 determines whether the sensor 51 continues to detect the detected object 10. If the detection is continued, the control flow is returned to step S2, and if the detection is completed, the control flow is moved to step S8. In addition, the "detection end" means that the detected object 10 is hidden from the sensor 51 by the article F as shown in FIG.
在步驟S8中，主控制器43，是朝行走控制部44持續送出行走於指令。其結果，行走控制部44會持續驅動行走馬達21，因此移載裝置16持續移動狀態。換言之，主控制器43，在如第10圖所示的入庫動作時被檢出體10未被檢出的話，就判定有先放入品，依據其中止朝該棚6入庫。此結果，物品F是朝其他的棚6被入庫。In step S8, the main controller 43 continues to send the walking command to the travel control unit 44. As a result, the travel control unit 44 continues to drive the travel motor 21, so that the transfer device 16 continues to move. In other words, when the main body 43 is not detected in the storage operation as shown in Fig. 10, it is determined that the main product 10 is placed first, and the storage is first placed in the storage. As a result, the item F is stored in the other shed 6.
如以上所述，在入庫動作時在棚6中有先放入品的情況時，移載裝置16會檢出其存在而不會停止(S3)地通過(S8)。As described above, when there is a product placed in the shed 6 at the time of the warehousing operation, the transfer device 16 detects the presence thereof and does not stop (S3) (S8).
在此自動倉庫1中，移載裝置16到達棚6在其前移動的話，感測器51最初是檢出被檢出體10的未藉由物品F被隱藏的部分。移載裝置16，是將從被檢出體10的檢出朝被檢出的切換的有無使用作為檢出判斷。即，無物品F的話獲得「無切換」的結果，有物品F的話獲得「有切換」的結果。如此，主控制器43，因為在移載裝置16的移動中可以確認物品F的有無，所以可以短縮供確認物品F的有無為止的時間。In this automatic warehouse 1, when the transfer device 16 reaches the shed 6 and moves forward, the sensor 51 initially detects the portion of the detected object 10 that is not hidden by the article F. The transfer device 16 determines the presence or absence of the switch from the detection of the detected object 10 to the detected detection. In other words, if there is no item F, the result of "no switching" is obtained, and if there is item F, the result of "having switching" is obtained. In this way, since the main controller 43 can confirm the presence or absence of the article F during the movement of the transfer device 16, it is possible to shorten the time until the presence or absence of the article F is confirmed.
(7)出庫作業(7) Outbound operations
使用第12圖，說明出庫作業。第12圖，是顯示物品被移載至移載裝置時的控制動作的流程圖。Use Figure 12 to illustrate the outbound job. Fig. 12 is a flow chart showing the control operation when the article is transferred to the transfer device.
又，在此流程圖中，是以主控制器43依據由感測器51所獲得的被檢出體10的檢出的結果來判斷物品F的有無的判斷動作為中心進行說明。且，在此流程圖中，說明移載裝置16是以水平方向進入、移動至棚6之前的例。In the flowchart, the main controller 43 will mainly describe the determination operation of determining the presence or absence of the article F based on the result of the detection of the detected object 10 obtained by the sensor 51. Further, in this flowchart, an example in which the transfer device 16 is moved in the horizontal direction and moved to the booth 6 will be described.
在步驟S1中，主控制器43，是等待移載裝置16到達目標的棚6。接著，移載裝置16，是呈水平方向移動至棚6之前。此時，如第9圖所示，使來自感測器51的投光元件52的投射光沿著第1反射板10A的方式，使移載裝置16移動。此時使用的感測器51，是如第9圖所示，進行方向前側的感測器51。In step S1, the main controller 43 is a shed 6 waiting for the transfer device 16 to reach the target. Next, the transfer device 16 is moved in the horizontal direction before the shed 6. At this time, as shown in FIG. 9, the transfer device 16 is moved so that the projection light from the light projecting element 52 of the sensor 51 is along the first reflection plate 10A. The sensor 51 used at this time is a sensor 51 that performs the front side of the direction as shown in Fig. 9.
在步驟S2中，主控制器43，是判斷感測器51所檢出的被檢出體10的檢出距離是否到達第1預定距離。未到達第1預定距離的話使控制流程移行至步驟S3，到達第1預定距離的話判定「棚6中無物品F」使控制流程移行至步驟S14。In step S2, the main controller 43 determines whether or not the detection distance of the detected object 10 detected by the sensor 51 has reached the first predetermined distance. When the first predetermined distance has not been reached, the control flow is shifted to step S3, and when the first predetermined distance is reached, it is determined that "there is no item F in the shed 6", and the control flow is shifted to step S14.
在步驟S14中，主控制器43，是朝行走控制部44持續發訊行走指令。其結果，行走控制部44會持續驅動行走馬達21，因此移載裝置16會通過目標的棚6。In step S14, the main controller 43 continues to send a walking command to the travel control unit 44. As a result, the traveling control unit 44 continues to drive the traveling motor 21, so that the transfer device 16 passes through the target shed 6.
在步驟S3中，主控制器43，是持續判斷感測器51是否檢出被檢出體10。持續檢出的話使控制流程返回至步驟S2，檢出終了的話使控制流程移行至步驟S4。又，「檢出終了」，是如第10圖所示被檢出體10成為藉由物品F從感測器51被隱藏的狀態的意思。In step S3, the main controller 43 continuously judges whether or not the sensor 51 detects the detected object 10. If the detection is continued, the control flow is returned to step S2, and if the detection is completed, the control flow is moved to step S4. In addition, the "detection end" means that the detected object 10 is hidden from the sensor 51 by the article F as shown in FIG.
在步驟S4中，主控制器43，是算出感測器51檢出被檢出體10的距離，並將其保存在記憶體(無圖示)。In step S4, the main controller 43 calculates the distance at which the sensor 51 detects the detected object 10 and stores it in a memory (not shown).
在步驟S5中，主控制器43，是判斷感測器51未檢出被檢出體10的非檢出距離是否到達第2預定距離。未到達第2預定距離的話使控制流程移行至步驟S6，到達第2預定距離的話判定「棚6中有物品F」並使控制流程移行至步驟S12。「第2預定距離」，是可認識通常的物品F的距離，較佳是配合檢出距離比從背面板8的端部直到中心為止的距離更短的距離。由此，在移載裝置16到達背面板8的中心前之前，可以判斷通過或停止。In step S5, the main controller 43 determines whether the sensor 51 has not detected whether or not the non-detection distance of the detected object 10 has reached the second predetermined distance. When the second predetermined distance has not been reached, the control flow is shifted to step S6, and when the second predetermined distance is reached, it is determined that "the article F is in the shed 6" and the control flow is shifted to step S12. The "second predetermined distance" is a distance from which the normal article F can be recognized. It is preferable to match the detection distance to a shorter distance than the distance from the end of the back panel 8 to the center. Thereby, it is possible to judge passage or stop before the transfer device 16 reaches the center of the back panel 8.
在步驟S12中，主控制器43，是朝行走控制部44發訊停止指令。其結果，行走控制部44會停止行走馬達21的驅動，藉此使移載裝置16停止在預定位置(背面板8的中心)。In step S12, the main controller 43 issues a stop command to the travel control unit 44. As a result, the travel control unit 44 stops the driving of the traveling motor 21, thereby stopping the transfer device 16 at the predetermined position (the center of the back panel 8).
在步驟S13中，主控制器43，是朝移載控制部46將移載指令。其結果，移載控制部46會驅動移載馬達23，滑動式叉15會移載物品F至移載裝置16。In step S13, the main controller 43 shifts the command to the transfer control unit 46. As a result, the transfer control unit 46 drives the transfer motor 23, and the slide fork 15 transfers the article F to the transfer device 16.
在步驟S6中，主控制器43，是判斷感測器51是檢出或未檢出被檢出體10。未持續檢出的話使控制流程返回至步驟S4，開始被檢出的話使控制流程移行至步驟S7。In step S6, the main controller 43 determines whether the sensor 51 has detected or not detected the detected object 10. If the detection is not continued, the control flow is returned to step S4, and if the detection is started, the control flow is moved to step S7.
在步驟S7中，主控制器43，會判定被檢出預定的物品F以外的物品，而實行檢出錯誤處理。In step S7, the main controller 43 determines that an item other than the predetermined item F is detected, and performs detection error processing.
在步驟S8中，主控制器43，是朝行走控制部44持續送出行走指令。其結果，行走控制部44會持續驅動行走馬達21，因此移載裝置16持續行走狀態。In step S8, the main controller 43 continues to send the walking command to the travel control unit 44. As a result, the travel control unit 44 continues to drive the travel motor 21, so that the transfer device 16 continues to travel.
如以上所述，在入庫動作時在棚6中無先放入品的情況時，移載裝置16會檢出其不存在而不會停止(S2)地通過(S14)。As described above, when there is no product placed first in the shed 6 at the time of the warehousing operation, the transfer device 16 detects that it does not exist and does not stop (S2) (S14).
在此自動倉庫1中，主控制器43，例如非檢出距離是第2預定距離以上的話，判定物品F是位於棚6中(S5)。藉由如此取得非檢出距離作為判斷基準，將無先放入品者先誤判為有放入品的可能性就可減少。In the automatic warehouse 1, the main controller 43, for example, if the non-detection distance is equal to or greater than the second predetermined distance, it is determined that the article F is located in the shed 6 (S5). By obtaining the non-detection distance in this way as a criterion for judging, it is possible to reduce the possibility that the person who has not placed the product first is mistakenly judged to have the product.
(8)卸棚作業(8) Unloading work
使用第13圖，說明卸棚作業。第13圖，是顯示卸棚時的控制動作的流程圖。Use Figure 13 to illustrate the unloading operation. Fig. 13 is a flow chart showing the control operation at the time of unloading.
又，在此流程圖中，是以主控制器43依據由感測器51所獲得的被檢出體10的檢出的結果來判斷物品F的有無的判斷動作為中心進行說明。且，在此流程圖中，說明移載裝置16是以水平方向進入、移動至棚6之前的例。In the flowchart, the main controller 43 will mainly describe the determination operation of determining the presence or absence of the article F based on the result of the detection of the detected object 10 obtained by the sensor 51. Further, in this flowchart, an example in which the transfer device 16 is moved in the horizontal direction and moved to the booth 6 will be described.
在步驟S1中，主控制器43，是等待移載裝置16到達目標的棚6。接著，移載裝置16，是呈水平方向移動至棚6之前。此時，使來自感測器51的投光元件52的投射光沿著第1反射板10A的方式使移載裝置16移動。此時使用的感測器51，如第9圖所示是進行方向前側的感測器51。In step S1, the main controller 43 is a shed 6 waiting for the transfer device 16 to reach the target. Next, the transfer device 16 is moved in the horizontal direction before the shed 6. At this time, the transfer device 16 is moved so that the projection light from the light projecting element 52 of the sensor 51 is along the first reflection plate 10A. The sensor 51 used at this time is a sensor 51 that performs the front side of the direction as shown in FIG.
在步驟S2中，主控制器43，是判斷感測器51所檢出的被檢出體10的檢出距離是否到達第1預定距離。未到達第1預定距離的話使控制流程移行至步驟S3，到達第1預定距離的話判定「棚6中無物品F」使控制流程移行至步驟S14。In step S2, the main controller 43 determines whether or not the detection distance of the detected object 10 detected by the sensor 51 has reached the first predetermined distance. When the first predetermined distance has not been reached, the control flow is shifted to step S3, and when the first predetermined distance is reached, it is determined that "there is no item F in the shed 6", and the control flow is shifted to step S14.
在步驟S14中，主控制器43，是朝行走控制部44持續發訊行走指令。其結果，行走控制部44會持續驅動行走馬達21，因此移載裝置16會通過目標的棚6。In step S14, the main controller 43 continues to send a walking command to the travel control unit 44. As a result, the traveling control unit 44 continues to drive the traveling motor 21, so that the transfer device 16 passes through the target shed 6.
在步驟S3中，主控制器43，是持續判斷感測器51是否檢出被檢出體10。持續檢出的話使控制流程返回至步驟S2，檢出終了的話使控制流程移行至步驟S4。又，「檢出終了」，是如第10圖所示被檢出體10成為藉由物品F從感測器51被隱藏的狀態的意思。In step S3, the main controller 43 continuously judges whether or not the sensor 51 detects the detected object 10. If the detection is continued, the control flow is returned to step S2, and if the detection is completed, the control flow is moved to step S4. In addition, the "detection end" means that the detected object 10 is hidden from the sensor 51 by the article F as shown in FIG.
在步驟S4中，主控制器43，是算出感測器51檢出被檢出體10的距離，並將其保存在記憶體(無圖示)。In step S4, the main controller 43 calculates the distance at which the sensor 51 detects the detected object 10 and stores it in a memory (not shown).
在步驟S5中，主控制器43，是判斷感測器51未檢出被檢出體10的非檢出距離是否到達第2預定距離。未到達第2預定距離的話使控制流程移行至步驟S6，到達第2預定距離的話判定「棚6中有物品F」使控制流程移行至步驟S8。In step S5, the main controller 43 determines whether the sensor 51 has not detected whether or not the non-detection distance of the detected object 10 has reached the second predetermined distance. When the second predetermined distance has not been reached, the control flow is shifted to step S6, and when the second predetermined distance is reached, it is determined that "the article F is in the shed 6", and the control flow is shifted to step S8.
在步驟S6中，主控制器43，是判斷感測器51檢出或未檢出被檢出體10。未持續檢出的話使控制流程返回至步驟S5，開始被檢出的話使控制流程移行至步驟S7。In step S6, the main controller 43 determines that the sensor 51 has detected or not detected the detected object 10. If the detection is not continued, the control flow is returned to step S5, and if the detection is started, the control flow is moved to step S7.
在步驟S7中，主控制器43，會判定被檢出預定的物品F以外的物品，而實行檢出錯誤處理。In step S7, the main controller 43 determines that an item other than the predetermined item F is detected, and performs detection error processing.
在步驟S8中，主控制器43，是朝行走控制部44持續送出行走指令。其結果，行走控制部44會持續驅動行走馬達21，因此移載裝置16持續行走狀態。In step S8, the main controller 43 continues to send the walking command to the travel control unit 44. As a result, the travel control unit 44 continues to drive the travel motor 21, so that the transfer device 16 continues to travel.
如以上所述，在卸棚時，在棚6中有及無先放入品的情況的雙方中，移載裝置16可檢出物品F的有無而不會停止地通過棚6之前。As described above, in the case where both the shed 6 is present and there is no case where the product is placed first, the transfer device 16 can detect the presence or absence of the article F without passing through the shed 6 without stopping.
(9)特徵(9) Features
(A)說明自動倉庫1。自動倉庫1，具備：載架2、及移載裝置16、及感測器51、及被檢出體10、及主控制器43。載架2，是具有保管物品F用的複數棚6。移載裝置16，是在與棚6之間移載物品用的裝置，通過棚之前並在棚之間可移載。感測器51，是設在移載裝置16。被檢出體10，是設在棚6，在棚6中有物品F被放置的情況時位於物品F的後側，具有藉由物品F從感測器51被隱藏的部分及未被隱藏的部分。主控制器43，是使用由感測器51所獲得的檢出結果來判斷物品F是否被放置於棚6，將從被檢出體10的檢出朝非檢出的切換使用作為物品是否被放置於棚的判斷。(A) Description of the automated warehouse 1. The automatic warehouse 1 includes a carrier 2, a transfer device 16, and a sensor 51, a detected object 10, and a main controller 43. The carrier 2 is a plurality of sheds 6 for storing articles F. The transfer device 16 is a device for transferring articles between the sheds 6 and can be transferred between the sheds before passing through the shed. The sensor 51 is provided in the transfer device 16. The detected object 10 is provided in the shed 6, and is located on the rear side of the article F when the article F is placed in the shed 6, and has a portion hidden from the sensor 51 by the article F and is not hidden. section. The main controller 43 determines whether or not the article F is placed in the shed 6 using the detection result obtained by the sensor 51, and uses the switching from the detection of the detected object 10 to the non-detection as whether the article is Placed in the shed judgment.
在此自動倉庫1中，移載裝置16是到達目標的棚6並移動至棚6之前的話，感測器51最初是檢出被檢出體10的未藉由物品F被隱藏的部分。移載裝置16，是將從被檢出體10的檢出朝非檢出的切換使用在檢出判斷。即，無物品F的話獲得「無切換」的結果，有物品F獲得「有切換」的結果。如此，主控制器43，因為是在移載裝置16的移動中可以確認物品F的有無，所以可以短縮確認物品F的有無為止的時間。In the automatic warehouse 1, when the transfer device 16 reaches the target shed 6 and moves to the shed 6, the sensor 51 initially detects the portion of the detected object 10 that is not hidden by the article F. The transfer device 16 uses the detection from the detection of the detected object 10 to the non-detection, and determines the detection. In other words, if there is no item F, the result of "no switching" is obtained, and the item F is obtained as a result of "having switching". In this way, the main controller 43 can confirm the presence or absence of the article F during the movement of the transfer device 16, so that the time until the presence or absence of the article F can be shortened.
(B)被檢出體10，是在棚6中具有朝一方向延伸的至少1個直線部分(第1反射板10A或是第2反射板10B)。移載裝置16，雖是在目標的棚6以外之前可自由地移動，但是在目標的棚6之前只有被許可沿著一方向移動。(B) The detected object 10 has at least one straight portion (the first reflecting plate 10A or the second reflecting plate 10B) extending in one direction in the shed 6. The transfer device 16 is freely movable before the target shed 6, but is only allowed to move in one direction before the target shed 6.
在此自動倉庫1中，因為移載裝置16在目標的棚6以外之前可以自由地移動，所以直到棚6為止的移動時間可以短縮。且，移載裝置16，因為是在目標的棚6之前沿著直線部(第1反射板10A或是第2反射板10B)的延長方向移動，所以被檢出體10的設置處可以減少。In this automatic warehouse 1, since the transfer device 16 can move freely before the target shed 6, the movement time up to the shed 6 can be shortened. Further, since the transfer device 16 moves in the extending direction of the straight portion (the first reflecting plate 10A or the second reflecting plate 10B) before the target shed 6, the position of the detected object 10 can be reduced.
(C)至少1個直線部分，是在棚6中具有朝水平方向延伸的第1反射板10A及鉛直方向延伸的第2反射板10B。移載裝置16，雖是在目標的棚6以外之前可同時進行行走動作及昇降動作，但是在目標的棚6之前只有昇降動作及行走動作的其中一方被許可。(C) At least one straight portion is a first reflecting plate 10A extending in the horizontal direction and a second reflecting plate 10B extending in the vertical direction in the shed 6. The transfer device 16 can simultaneously perform the walking operation and the lifting operation before the target shed 6, but only one of the lifting operation and the walking operation is permitted before the target shed 6.
在此自動倉庫1中，因為移載裝置16是在目標的棚6以外之前可以自由地移動，所以直到棚6為止的移動時間可以短縮。且，移載裝置16，因為是在目標的棚6之前沿著第1反射板10A及第2反射板10B的延長方向移動，所以被檢出體10的設置處可以減少。In this automatic warehouse 1, since the transfer device 16 is freely movable before the target shed 6, the movement time up to the shed 6 can be shortened. Further, since the transfer device 16 moves in the extending direction of the first reflecting plate 10A and the second reflecting plate 10B before the target shed 6, the position of the detected object 10 can be reduced.
(D)主控制器43，是在移載裝置16移動中取得被檢出體10藉由感測器51被檢出的檢出距離，將檢出距離使用作為物品F是否被放置於棚6的判斷。(D) The main controller 43 acquires the detection distance of the detected object 10 detected by the sensor 51 while the transfer device 16 is moving, and uses the detection distance as the article F to be placed in the shed 6 Judgment.
在此自動倉庫1中，主控制器43，是例如，檢出距離是預定距離以上的話，判定物品F未被放置於棚6。如此在移載裝置16移動中可判斷物品是否被放置於棚6。In the automatic warehouse 1, the main controller 43 determines that the article F is not placed in the shed 6, for example, if the detection distance is equal to or greater than a predetermined distance. Thus, it can be determined whether the article is placed in the shed 6 during the movement of the transfer device 16.
(E)主控制器43，是檢出距離到達第1預定距離的話，判定物品F未被放置於棚6。(E) When the detection distance reaches the first predetermined distance, the main controller 43 determines that the article F is not placed in the shed 6.
(F)第1預定距離，是在棚6中比從設有被檢出體10的部分的端部直到中心部為止的距離更短。(F) The first predetermined distance is shorter in the shed 6 than the distance from the end portion of the portion where the detected object 10 is provided to the center portion.
(G)主控制器43，是在移載裝置16移動中取得被檢出體10未藉由感測器51被檢出的非檢出距離，將非檢出距離使用作為物品F是否被放置於棚的判斷。(G) The main controller 43 acquires the non-detection distance that the detected object 10 is not detected by the sensor 51 during the movement of the transfer device 16, and uses the non-detection distance as the article F to be placed. Judging in the shed.
在此自動倉庫1中，主控制器43，例如非檢出距離是預定距離以上的話判定物品F被放置於棚6。如此藉由取得非檢出距離作為判斷基準，將無先放入品誤判為是有先放入品的可能性就可減少。In the automatic warehouse 1, the main controller 43 determines that the article F is placed in the shed 6, for example, if the non-detection distance is equal to or greater than a predetermined distance. By taking the non-detection distance as a criterion for judging, the possibility that the first-in-place product is misjudged as having the first product can be reduced.
進一步，主控制器43，是藉由把握非檢出距離，也可以判斷物品F的姿勢(是否被放置於正確位置)。Further, the main controller 43 can determine the posture of the article F (whether or not it is placed at the correct position) by grasping the non-detection distance.
(H)主控制器43，是非檢出距離到達第2預定距離的話，判定物品F被放置於棚6。(H) When the non-detection distance reaches the second predetermined distance, the main controller 43 determines that the article F is placed in the shed 6.
(I)主控制器43，是在移載裝置16移動中直到非檢出距離到達第2預定距離之前從非檢出狀態切換至檢出狀態的話，判定目標的物品F以外的物體被放置於棚6。(I) The main controller 43 is placed in the non-detected state to the detected state until the non-detection distance reaches the second predetermined distance before the transfer device 16 moves, and the object other than the target item F is placed. Shed 6.
(J)說明自動倉庫1的物品確認控制方法。此方法被使用於自動倉庫1，具備：載架2，具有保管物品F用的複數棚6；及移載裝置16，在與棚6之間移載物品F的裝置，通過棚之前並在棚之間可移動；及設在移載裝置16的感測器51；及被檢出體10，設在棚6，在棚6中物品F被放置的情況時位於物品F的後側，具有藉由被放置於棚6的物品F從感測器51被隱藏的部分及未被隱藏的部分。此方法具備下述的步驟。(J) A description will be given of an item confirmation control method of the automatic warehouse 1. This method is used in the automatic warehouse 1, and includes: a carrier 2 having a plurality of sheds 6 for storing articles F; and a transfer device 16 for transferring articles F between the sheds 6 and passing through the shed and in the shed Between the movable sensor; and the sensor 51 provided in the transfer device 16; and the detected object 10 is disposed in the shed 6 and is located on the rear side of the article F when the article F is placed in the shed 6 The portion of the article F placed in the shed 6 that is hidden from the sensor 51 and the portion that is not hidden. This method has the following steps.
◎第1步驟，在移載裝置16移動於棚6之前中判斷非檢出對藉由感測器51被檢出的檢出距離是否到達第1預定距離。In the first step, it is determined whether or not the detection distance detected by the sensor 51 reaches the first predetermined distance before the transfer device 16 moves to the shed 6.
◎第2步驟，在移載裝置16移動中直到檢出距離到達第1預定距離之前檢出狀態是切換至非檢出狀態的話，判定至少有東西被放置於棚6。In the second step, when the detection state is switched to the non-detection state until the detection distance reaches the first predetermined distance during the movement of the transfer device 16, it is determined that at least something is placed in the shed 6.
在此方法中，移載裝置16是到達棚6並移動至棚6之前的話，感測器51最初是檢出被檢出體10。在第1步驟中若檢出距離到達第1預定距離的話，判定沒有東西被放置於棚6。且，在第2步驟中，直到檢出距離到達第1預定距離之前檢出狀態是切換至非檢出狀態的話，判定至少有東西被放置於棚。In this method, when the transfer device 16 reaches the shed 6 and moves to the shed 6, the sensor 51 initially detects the detected object 10. When the detected distance reaches the first predetermined distance in the first step, it is determined that nothing is placed in the shed 6. Further, in the second step, when the detected state is switched to the non-detected state until the detected distance reaches the first predetermined distance, it is determined that at least something is placed in the shed.
(K)此方法進一步具備下述的步驟。(K) This method further has the following steps.
◎第3步驟，在移載裝置16移動中判斷被檢出體10未被檢出的非檢出距離是否到達第2預定距離。In the third step, it is determined whether or not the non-detection distance that the detected object 10 has not detected reaches the second predetermined distance during the movement of the transfer device 16.
◎第4步驟，在移載裝置16移動中直到非檢出距離到達第2預定距離之前非檢出狀態是切換至檢出狀態的話，判定目標的物品F以外的某東西被放置於棚6。In the fourth step, when the non-detection state is switched to the detection state until the non-detection distance reaches the second predetermined distance during the movement of the transfer device 16, the thing other than the target article F is placed in the shed 6.
在此方法中，直到非検出距離到達第2預定距離之前從非檢出狀態切換至檢出狀態的話，判定物品F以外的某東西被放置於棚6。如此，因為在移載裝置16的移動中可以確認物品F是否被放置於棚6，所以確認物品F是否被放置於棚的為止的時間可以短縮。In this method, it is determined that something other than the article F is placed in the shed 6 until the non-detection distance is switched from the non-detected state to the detected state before reaching the second predetermined distance. In this way, since it is possible to confirm whether or not the article F is placed in the shed 6 during the movement of the transfer device 16, the time until the article F is placed in the shed can be shortened.
(10)其他的實施例(10) Other embodiments
以上，雖說明了本發明的一實施例，但是本發明不限定於上述實施例，在不脫離發明的實質範圍內可進行各種變更。特別是，在本說明書中所記載的複數實施例及變形例可依據需要任意組合。The embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit and scope of the invention. In particular, the plural embodiments and modifications described in the present specification can be arbitrarily combined as needed.
(A)在前述實施例中在棚6中第1反射板10A及第2反射板10B雖是從背面板8的端部開始，但是本發明不限定於如此的實施例。例如，在第14圖及第15圖所示的實施例中，在棚6中，第1反射板10A'及第2反射板10B'是從遠離背面板的端部處開始。(A) In the above-described embodiment, the first reflecting plate 10A and the second reflecting plate 10B in the shed 6 are from the end of the back plate 8, but the present invention is not limited to such an embodiment. For example, in the embodiment shown in Figs. 14 and 15, in the shed 6, the first reflecting plate 10A' and the second reflecting plate 10B' are started from the end portion away from the back plate.
(B)在前述實施例中在棚6中第1反射板10A及第2反射板10B雖具有左右上下降對稱的形狀，但是本發明不限定於如此的實施例。例如，移載裝置16是在棚6之前只有水平方向或鉛直方向的任一方向可進入的情況時，可以省略不進入方向的反射板。該情況是只設有一條的反射板。且，只有從相同方向的片側進入的情況時，可以縮短反射板的不進入側。(B) In the above-described embodiment, the first reflecting plate 10A and the second reflecting plate 10B have a shape in which the first reflecting plate 10A and the second reflecting plate 10B are vertically symmetrical, but the present invention is not limited to such an embodiment. For example, when the transfer device 16 is accessible only in either of the horizontal direction or the vertical direction before the shed 6, the reflection plate that does not enter the direction can be omitted. In this case, there is only one reflector. Moreover, when entering from the sheet side in the same direction, the non-entry side of the reflecting plate can be shortened.
(C)在前述實施例中反射板雖是對於背面板朝水平方向及鉛直方向延伸，被是本發明不限定於如此的實施例。例如，朝背面板的對角線方向延伸的方式設置2條的反射板也可以。(C) In the foregoing embodiment, the reflecting plate extends in the horizontal direction and the vertical direction with respect to the back panel, and the present invention is not limited to such an embodiment. For example, two reflecting plates may be provided so as to extend in the diagonal direction of the back panel.
(D)在前述實施例中反射板雖是直線狀，但是本發明不限定於如此的實施例。例如，反射板是直線以外的其他的形狀也可以。(D) Although the reflecting plate is linear in the foregoing embodiment, the present invention is not limited to such an embodiment. For example, the reflector may be other shapes than straight lines.
(E)在前述實施例中反射板雖是對於背面板部分地設置，但是本發明不限定於如此的實施例。例如，反射板是橫跨背面板的幾乎全面形成也可以。(E) In the foregoing embodiment, the reflecting plate is partially provided for the back panel, but the present invention is not limited to such an embodiment. For example, the reflector may be formed almost entirely across the back panel.
(F)在前述實施例中貼在全部的物品收納棚的反射板的形狀雖是相同，但是本發明不限定於如此的實施例。例如，分別在載架中央部分、周邊部部分、角部分中的物品收納棚，將反射板的形狀變更也可以。(F) Although the shapes of the reflecting plates attached to all the article storage shelves in the above embodiments are the same, the present invention is not limited to such an embodiment. For example, the shape of the reflector may be changed in the article storage shed in the central portion of the carrier, the peripheral portion, and the corner portion.
(G)在前述實施例中感測器的投光元件及受光元件雖是各別被設置在移載裝置的一對的導引構件，但是本發明不限定於如此的實施例。(G) In the foregoing embodiment, the light projecting element and the light receiving element of the sensor are each a pair of guiding members provided in the transfer device, but the present invention is not limited to such an embodiment.
(H)在前述實施例中將物品移載至物品收納棚的裝置雖是使用滑動式叉，但是本發明不限定於如此的實施例。例如，平面關節型機械手臂和其他的裝置也可以。(H) Although the apparatus for transferring an article to the article storage shed in the foregoing embodiment uses a sliding fork, the present invention is not limited to such an embodiment. For example, a planar articulated robotic arm and other devices are also possible.
(I)在前述實施例中被檢出體雖使用反射板，但是本發明不限定於如此的實施例。例如，被檢出體是使用膠帶或塗料等的其他的材料也可以。(I) Although the reflector is used as the detected body in the foregoing embodiment, the present invention is not limited to such an embodiment. For example, the detected object may be other materials such as tape or paint.
(J)在前述實施例中移載裝置雖是無法對於物品收納棚朝向上方移動，但是本發明不限定於如此的實施例。例如，藉由將載置板配置於比物品收納棚的下端更上方，在物品的下側確保被檢出板的露出部分也可以。(J) In the above embodiment, the transfer device cannot move upward toward the article storage shed, but the present invention is not limited to such an embodiment. For example, by arranging the placing plate above the lower end of the article storage shed, the exposed portion of the detected plate may be secured on the lower side of the article.
(K)在前述實施例中被搬運、保管的物品雖說明使用FOUP，但是本發明不限定於如此的實施例。(K) Although the article transported and stored in the above embodiment describes the use of the FOUP, the present invention is not limited to such an embodiment.
(L)主控制器，是算出由感測器所獲得的檢出從導通(ON)切換至斷開(OFF)之後直到通常停止位置為止的距離，進行貨物的偏離的確認也可以。具體而言，貨物的偏離的有無、和具有偏離情況的偏離量被確認。(L) The main controller may calculate the distance from the detection of the sensor to the normal stop position after switching from ON to OFF, and may confirm the deviation of the cargo. Specifically, the presence or absence of the deviation of the goods and the amount of deviation from the deviation are confirmed.
本發明，可廣泛適用於自動倉庫，特別是，具備設有保管物品用的複數棚的載架及在與棚之間移載物品並且在棚之間可移動的移載裝置之自動倉庫。The present invention can be widely applied to an automatic warehouse, and more particularly, to an automatic warehouse having a carrier for storing a plurality of sheds for storing articles, and a transfer device for transferring articles between the sheds and movable between the sheds.
1．．．自動倉庫1. . . Automatic warehouse
2．．．載架2. . . Carrier
2A．．．第1載架2A. . . First carrier
2B．．．第2載架2B. . . Second carrier
3．．．塔式起重機3. . . Tower crane
4．．．軌道4. . . track
6．．．棚6. . . shed
7．．．物品載置板7. . . Item placement board
8．．．背面板8. . . Back panel
10．．．被檢出體10. . . Detected body
10A．．．第1反射板10A. . . First reflector
10B．．．第2反射板10B. . . Second reflector
12．．．行走台車12. . . Walking trolley
13．．．柱13. . . column
14．．．昇降台14. . . Lifts
15．．．滑動式叉15. . . Sliding fork
16．．．移載裝置16. . . Transfer device
21．．．行走馬達twenty one. . . Travel motor
22．．．昇降馬達twenty two. . . Lift motor
23．．．移載馬達twenty three. . . Transfer motor
25．．．導引構件25. . . Guide member
26．．．支撐台26. . . Support table
31．．．起重機控制器31. . . Crane controller
32．．．系統控制器32. . . System controller
43．．．主控制器(檢出判斷部)43. . . Main controller (detection judgment unit)
44．．．行走控制部44. . . Walking control department
45．．．昇降控制部45. . . Lift control department
46．．．移載控制部46. . . Transfer control unit
47．．．旋轉式編碼器47. . . Rotary encoder
48．．．旋轉式編碼器48. . . Rotary encoder
49．．．旋轉式編碼器49. . . Rotary encoder
51．．．感測器(感測器)51. . . Sensor (sensor)
52．．．投光元件52. . . Projection component
53．．．受光元件53. . . Light receiving element
F．．．物品F. . . article
[第1圖]採用本發明的一實施例的自動倉庫的概略平面圖。[Fig. 1] A schematic plan view of an automatic warehouse according to an embodiment of the present invention.
[第2圖]自動倉庫的概略側面圖。[Fig. 2] A schematic side view of an automated warehouse.
[第3圖]載架的概略側面圖。[Fig. 3] A schematic side view of the carrier.
[第4圖]物品未被放置的棚的側面圖。[Fig. 4] A side view of a shed where items are not placed.
[第5圖]物品被放置的棚的側面圖。[Fig. 5] A side view of the shed where the article is placed.
[第6圖]顯示塔式起重機的控制構成的方塊圖。[Fig. 6] A block diagram showing the control structure of the tower crane.
[第7圖]移載裝置、及物品未被放置的棚的側面圖。[Fig. 7] A side view of the transfer device and the shed where the article is not placed.
[第8圖]移載裝置、及物品被放置的棚的側面圖。[Fig. 8] A side view of the transfer device and the shed where the article is placed.
[第9圖]在物品被放置的棚之前移動中的移載裝置及棚的平面圖，顯示移載裝置的第1階段的圖。[Fig. 9] A plan view of the transfer device and the shed which are moved before the shed where the article is placed, showing the first stage of the transfer device.
[第10圖]在物品被放置的棚之前移動中的移載裝置及棚的平面圖，顯示移載裝置的第2階段的圖。[Fig. 10] A plan view of the transfer device and the shed which are moved before the shed where the article is placed, showing the second stage of the transfer device.
[第11圖]顯示將物品移載至棚時的控制動作的流程圖。[Fig. 11] A flow chart showing the control operation when the article is transferred to the shed.
[第12圖]顯示將物品移載至移載裝置時的控制動作的流程圖。[Fig. 12] A flow chart showing the control operation when the article is transferred to the transfer device.
[第13圖]顯示卸棚時的控制動作的流程圖。[Fig. 13] A flow chart showing the control operation at the time of unloading.
[第14圖]在其他的實施例中物品未被放置的棚的側面圖。[Fig. 14] A side view of a shed in which articles are not placed in other embodiments.
[第15圖]在其他的實施例中物品被放置的棚的側面圖。[Fig. 15] A side view of a shed in which articles are placed in other embodiments.
2A．．．第1載架2A. . . First carrier
6．．．棚6. . . shed
10．．．被檢出體10. . . Detected body
10A．．．第1反射板10A. . . First reflector
10B．．．第2反射板10B. . . Second reflector
F．．．物品F. . . article
Claims (13)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| JP2009177386 | 2009-07-30 |
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| TWI487652B true TWI487652B (en) | 2015-06-11 |
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| TW099125092A TWI487652B (en) | 2009-07-30 | 2010-07-29 | Automatic warehouse and item confirmation control method |
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| JP (1) | JP5252084B2 (en) |
| TW (1) | TWI487652B (en) |
| WO (1) | WO2011013336A1 (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5546411U (en) * | 1978-09-20 | 1980-03-26 | ||
| JPH0672511A (en) * | 1992-08-26 | 1994-03-15 | Toyota Autom Loom Works Ltd | Controler for automatic warehouse |
| JP2007055720A (en) * | 2005-08-23 | 2007-03-08 | Murata Mach Ltd | Article storage device |
-
2010
- 2010-07-23 WO PCT/JP2010/004716 patent/WO2011013336A1/en active Application Filing
- 2010-07-23 JP JP2011524649A patent/JP5252084B2/en not_active Expired - Fee Related
- 2010-07-29 TW TW099125092A patent/TWI487652B/en not_active IP Right Cessation
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5546411U (en) * | 1978-09-20 | 1980-03-26 | ||
| JPH0672511A (en) * | 1992-08-26 | 1994-03-15 | Toyota Autom Loom Works Ltd | Controler for automatic warehouse |
| JP2007055720A (en) * | 2005-08-23 | 2007-03-08 | Murata Mach Ltd | Article storage device |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201103844A (en) | 2011-02-01 |
| WO2011013336A1 (en) | 2011-02-03 |
| JP5252084B2 (en) | 2013-07-31 |
| JPWO2011013336A1 (en) | 2013-01-07 |
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