JP2015054768A - Stop target coordinate verification system and stop target coordinate verification method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a stop position verification system which is chiefly used for a stacker crane.SOLUTION: A stop target coordinate verification system includes: an imaging device which is disposed on a crane lifting device; and a stop target coordinate verification device which a deviation of a stop position of a stacker crane with respect to a stop target coordinate of each shelf on the basis of an image picked-up by the imaging device. The stop target coordinate verification device for performing stop coordinate verification includes: an image acquisition part which instructs the imaging device to pick up an image, acquires an image of each shelf picked-up by instructions for picking up an image, and stores the image in a storage part; a stop position detection part which detects a stop position of the stacker crane with respect to the shelf on the basis of the image; and a stop position deviation amount calculation part which calculates an amount of stop position deviation of the stacker crane with respect to each shelf on the basis of the detection result of the stop position detection part.

Description

  The present invention relates to a stop target coordinate verification system and a stop target coordinate verification method mainly used for a stacker crane.

  Containers in which articles are stored are automatically loaded and unloaded (moved) to and from a plurality of shelves installed in a continuous direction (left-right direction) and a step direction (up-down direction) between a plurality of support columns erected on the floor. A stacker crane is known.

  In order to transfer a container (container) to a shelf at a predetermined position, the stacker crane must move to an accurate position with respect to the shelf and stop. For this purpose, the stacker crane stores the stop target coordinates for each shelf in the control device. The target stop coordinates are obtained by adding correction values obtained by a method described later to the design coordinates generated based on the design drawing after the laying work of the stacker crane.

  If the shelves and stacker cranes are installed according to the design drawing, the stop target coordinates will be the same as the design coordinates, so the stacker cranes can be moved and stopped without any deviation from each shelf without any correction. Can be made. However, in reality, there are tolerances of each part, installation errors at the time of construction, and the like, even if the stacker crane is moved / stopped based on the design coordinates, an error occurs in relation to the actual shelf position. When an error or the like becomes large, the stop position of the stacker crane when the container is transferred to the actual shelf greatly deviates from the position with respect to the shelf. If it does so, it will interfere with the transfer of the container in a shelf.

  In order to make the stop target coordinates more accurate, after moving the stacker crane based on the design coordinates, it is only necessary to visually check whether or not there is a deviation from the actual stop position of the stacker crane with respect to each shelf . As a result of the confirmation, if the stop position of the stacker crane is shifted with respect to the shelf, the amount of the shift is measured, the correction value is corrected based on this, and the corrected coordinates may be set as the stop target coordinates. .

  However, there are hundreds or thousands of shelves where stacker cranes are installed. Therefore, it is difficult to confirm the stop position of the stacker crane based on the design coordinates for each shelf by visual inspection, measure the deviation amount manually, and correct the correction value. is there.

  Therefore, the stacker crane is moved based on the design coordinates related to some shelves, the amount of deviation is measured at the stop position according to each design coordinate, and the amount of deviation of other shelves is statistically processed based on the measured amount of deviation. The calculation method is known (see, for example, Patent Document 1).

  Moreover, what provides the fall prevention metal fitting for making carrying in / out of a container easy and reliable in the opening front surface of a shelf is known (for example, refer patent document 2).

JP 2011-148624 A JP 2010-143719 A

  Since the amount of displacement of the positions of the shelves and columns after the installation work is small, the sample is actually measured after the installation work as in the method of Patent Document 1, and the rest is calculated by statistical processing. Even if the stop target coordinates are generated using, the accuracy can be maintained.

  However, the situation is different in the case of a shelf in which a fall prevention metal fitting as shown in Patent Document 2 is installed. The fall prevention metal fitting is moved when the container is transferred to the shelf. That is, there is a high possibility that the fall-preventing bracket is displaced from the position at the time of completion by use. If this displacement amount increases, even if the stop target coordinates are generated by the method shown in Patent Document 1, an error occurs between the stop target coordinates and the actual stop position of the stacker crane over time. there is a possibility.

  Moreover, when installing a fall prevention metal fitting on a shelf board, it is necessary to fix to an exact position. Here too, construction errors may occur.

  For example, after generating the stop target coordinates for each shelf using the method of Patent Document 1, if the stacker crane is moved to the shelf designated as a sample again, is there any problem in transferring the container to the shelf? It is necessary to confirm whether or not and adjust the position of the fall prevention fitting.

  Such adjustment work of the fall-preventing metal fitting may be work at a high place. Further, even if the measurement is performed for adjustment, there is a concern that the error may be caused by performing it artificially.

  Accordingly, an object of the present invention is to provide a stop target coordinate verification system for a stacker crane that can perform a stop target coordinate verification operation safely and accurately without manual operation.

  The present invention provides a container in which articles are stored with respect to a shelf in which a plurality of support columns erected from a floor surface are installed in a continuous direction and a step direction and a front end of a container receiving material is open. A stacker crane having a crane lifting device provided with a loading / unloading device for transferring the container toward the front opening of each shelf and transferring the container to each shelf, and a control device for moving the stacker crane to a predetermined coordinate A stop target coordinate verification system for a stacker crane having an imaging device installed in the crane lifting device, and the stacker crane with respect to the stop target coordinates of each shelf based on an image captured by the imaging device And a stop target coordinate verification device that verifies the shift of the stop position of the camera, and the stop target coordinate verification device issues an imaging instruction to the imaging device, and An image acquisition unit that acquires an image of each imaged shelf and stores the image in a storage unit, a stop position detection unit that detects a stop position of the stacker crane with respect to the shelf based on the image, and the stop position And a stop position deviation amount calculation unit that calculates a stop position deviation amount of the stacker crane with respect to each shelf based on a detection result of the detection unit.

  According to the present invention, the stop target position verification operation can be performed safely and accurately without manual operation.

It is a functional block diagram which shows embodiment of the stop target coordinate verification system which concerns on this invention. It is a top view which shows the example of the installation state of the imaging device with which the said stop target coordinate verification system is provided. It is a flowchart which shows the example of the processing operation of the information processing apparatus with which the said stop target coordinate verification system is provided. It is a figure which shows the example of the reference | standard image imaged with the imaging device with which the said stop target coordinate verification system is provided. It is a figure which shows the example of the measurement image imaged with the imaging device with which the said stop target coordinate verification system is provided. It is the side view which looked at the stacker crane from the running direction side. It is the top view which looked at the stacker crane from the running direction upper surface.

Outline of Stacker Crane Hereinafter, an embodiment of a stop target coordinate verification system according to the present invention will be described with reference to the drawings. First, the stacker crane will be described. 6 and 7 are schematic views showing an example of a stacker crane to which the present invention can be applied and a shelf on which articles are transferred by the stacker crane.

  FIG. 6 is a side view of the stacker crane 100 as viewed from the side in the traveling direction. A container receiving member 301 that constitutes a shelf on which articles are transferred by the stacker crane 100 has a continuous direction (a left-right direction in FIG. 6) and a step direction (FIG. 6) between a plurality of shelf columns 300 erected on the floor surface. A plurality of devices are installed in the vertical direction of the drawing. The front end of the container receiving material 301 is open, and the container 400, which is a container for storing articles, is transferred toward the open portion of the container receiving material 301. A drop prevention fitting 302 for preventing the container 400 from falling is provided at the front end of the container receiving material 301.

  The fall prevention metal fitting 302 is a member having a known size and installed on each shelf. The fall prevention metal fitting 302 is provided, for example, at the front end of the container receiving material 301 located on the right side toward the opening of the shelf. By performing an image analysis process on an image obtained by capturing the fall prevention metal fitting 302, it is possible to verify the shift amount of the stop target coordinates of the stacker crane 100 with a quantity in units of length in the process described later.

  As shown in FIG. 6, the stacker crane 100 includes a crane control panel 101, a crane traveling device 102, and a crane lifting device 103.

  The crane control panel 101 is a control device that controls the operation of the entire stacker crane 100. The crane traveling device 102 and the crane lifting device 103 are operated by the crane control panel 101 to move the stacker crane 100 toward a predetermined stop target coordinate and stop it.

  The crane traveling device 102 is a traveling device, and moves in the left-right direction on the paper surface in response to an operation instruction from the crane control panel 101. The moving direction and moving amount of the crane traveling device 102 are instructed from the crane control panel 101. The instruction from the crane control panel 101 to the crane traveling device 102 is based on the stop target coordinates for the container receiver 301 to which the container 400 is transferred. The crane travel device 102 travels toward the stop target coordinates and stops.

  The crane lifting device 103 moves in the vertical direction on the paper surface in response to an operation instruction from the crane control panel 101. The moving direction and moving amount of the crane lifting device 103 are instructed from the crane control panel 101. The instruction from the crane control panel 101 to the crane lifting / lowering device 103 is based on the stop target coordinates for the container receiver 301 to which the container 400 is transferred. The crane lifting / lowering device 103 moves up and down toward this stop target coordinate and stops. The crane lifting device 103 is provided with a loading / unloading device (not shown) for transferring the container 400 to the container receiving material 301.

  The stacker crane 100 detects the positions of the crane traveling device 102 and the crane lifting device 103 by a laser distance meter when performing the traveling movement and the lifting movement described above. A value detected by the laser distance meter is transmitted from the crane control panel 101 to the information processing apparatus 10.

  The stacker crane 100 moves toward the designated stop target coordinates. A predetermined stop is determined by the position in the traveling direction of the crane traveling device 102 detected by the laser rangefinder (the left-right direction in FIG. 6) and the position in the lifting direction of the crane lifting apparatus 103 (the vertical direction in FIG. 6). Stop in position.

  Therefore, the stop position of the stacker crane 100 is configured by the stop position in the traveling direction of the crane traveling device 102 and the stop position in the lifting device of the crane lifting device 103.

  For the stop position of the stacker crane 100, an error from the stop target coordinates is allowed to some extent. Therefore, if the stop position of the stacker crane 100 with respect to the shelf to which the container 400 is transferred is within the stop target coordinates ± tolerance with respect to the stop target coordinates at the stop position, it is regarded as a normal operation and the movement operation is terminated. To do.

  FIG. 7 is a plan view of the stacker crane 100 as viewed from the top in the traveling direction. As shown in FIG. 7, the shelf columns 300 are installed on both sides of the rail 104 on which the stacker crane 100 travels. That is, the stacker crane 100 transfers the container 400 to the container receiving material 301 provided on the left and right in the traveling direction.

Stop target coordinate verification system Next, an embodiment of the stop target coordinate verification system according to the present invention will be described. FIG. 1 is a functional block diagram showing a configuration of a stop target coordinate verification system 1 according to the present embodiment. The stop target coordinate verification system 1 includes an information processing apparatus 10 that is a stop target coordinate verification apparatus, and a network camera 20 that is an imaging apparatus.

Imaging Device First, the network camera 20 will be described. FIG. 2 is a plan view showing an example of a state in which the network camera 20 is installed on the crane lifting device 103. As shown in FIG. 2, the network camera 20 is an imaging device that is fixed near the end of the crane lifting device 103. The fall prevention metal fitting 302 is in a state where it falls within the angle of view of the network camera 20. As will be described later, the image captured by the network camera 20 is fixed at the same angle of view regardless of the stop target coordinates of the stacker crane 100. In FIG. 2, only one network camera 20 is shown. However, in the case where two directions for transferring the container 400 are simultaneously imaged, they may be similarly installed in the respective directions. In addition, the illumination device 21 for illuminating the fall prevention fitting 302 that is a main subject is also installed in the same manner as the network camera 20. The network camera 20 and the lighting device 21 can be detached from the crane lifting device 103. That is, the network camera 20 is not permanently installed and may be installed when verifying the stop target coordinates.

  Note that the fall prevention metal fitting 302 is only required to be installed at either one of the tips (open portions) of the container receiving material 301 constituting the shelf. Any position can be used as long as it is within the range. However, in order to accurately grasp the position of the fall prevention metal fitting 302 in the process described later, it is desirable that the fall prevention metal fitting 302 and the network camera 20 are in a position facing each other.

  The information processing apparatus 10 and the network camera 20 are connected by a communication line. The connection line between the information processing apparatus 10 and the network camera 20 may be a wired line or a wireless line.

  The network camera 20 may include a storage unit (not shown) and a connection unit to an external storage. In this case, the network camera 20 may store an image obtained by capturing the fall prevention metal fittings 302 installed on all the shelves in the storage unit in the process described later. In this case, after that, the captured image may be transferred to the external storage unit via the connection unit, and may be taken into the information processing apparatus 10.

Stop target coordinate verification apparatus The information processing apparatus 10 controls the overall processing operation of the stop target coordinate verification system 1. The control of each processing operation is realized by information processing by software operating on hardware resources of the information processing apparatus 10. That is, the processing of the stop target coordinate verification system 1 described later is executed by software that can be executed in the information processing apparatus 10.

  As shown in FIG. 1, each process executed in the stop target coordinate verification system 1 is executed by an image acquisition unit 11, a stop position detection unit 12, and a stop position deviation amount calculation unit 13 included in the information processing apparatus 10. Is done.

  The image acquisition unit 11 issues an imaging instruction to the network camera 20. The imaging instruction is given when the stacker crane 100 moves to a predetermined stop target coordinate and stops under the control of the crane control panel 101. In response to this imaging instruction, the network camera 20 captures an image including the fall prevention fitting 302 related to the target stop coordinates. The captured image is transmitted to the information processing apparatus 10 via a communication line. The transmitted image is stored in a storage unit (not shown) of the information processing apparatus 10 together with the stop target coordinates and the actual stop position of the stacker crane 100. In this case, the storage unit of the information processing apparatus 10 may be a volatile memory or a non-volatile memory. Also, an external storage device may be used.

  The stop position detection unit 12 performs image analysis processing on an image including the fall prevention metal fitting 302 imaged by the network camera 20. Based on the result of the image analysis process, the relative position of the crane lifting device 103 and the fall prevention fitting 302 can be detected at the stop position of the stacker crane 100 with respect to each container receiving material 301. That is, the stop target coordinates of the stacker crane 100 with respect to each container receiving material 301 can be detected based on the image of the captured fall prevention metal fitting 302 by the image analysis processing by the stop position detection unit 12. Details of the processing in the stop position detection unit 12 will be described later.

  The positional deviation amount calculation unit 13 calculates the deviation amount of the stop position of the stacker crane 100 relative to the fall prevention bracket 302 according to the detection result in the stop position detection unit 12. The positional deviation amount calculation unit 13 includes a stop position of the stacker crane 100 detected by the stop position detection unit 12 (a relative position with respect to the fall prevention metal fitting 302 at each stop position) and a reference stop position (a reference). The relative position of the fall prevention metal fitting 302 is compared. By this comparison processing, it is possible to calculate the amount of displacement of the stop position of the stacker crane 100 with respect to predetermined stop target coordinates (position displacement amount). Details of processing in the positional deviation amount calculation unit 13 will be described later.

  The stop position error calculation unit 14 calculates error data of stop target coordinates corresponding to the position shift amount calculated by the position shift amount calculation unit 13. Ideally, the amount of misalignment is zero, but in practice, the amount of misalignment is often not zero due to a slight error. Therefore, in practice, an allowable error range is defined in advance, and when the allowable error range is exceeded, error data for correcting the error of the positional deviation amount with respect to the stop target coordinates is calculated. When this error data is calculated, it may be notified using notifying means (not shown).

  Here, the notification means refers to a change in display on a display means (not shown) to which the information processing apparatus 10 is connected. Moreover, you may alert | report by the output of a predetermined sound by using the audio | voice output means (not shown) with which the information processing apparatus 10 is provided as an alerting | reporting means.

● Stop target coordinate verification method 1
Next, an embodiment of the processing operation of the information processing apparatus 10 will be described with reference to the drawings. An operation instruction for the crane control panel 101 of the stacker crane 100 is also executed by the information processing apparatus 10.

  FIG. 3 is a flowchart illustrating an example of the flow of processing operations of the information processing apparatus 10 according to the present embodiment. In FIG. 3, each processing step is indicated as S1, S2,.

  First, the information processing apparatus 10 executes reference movement processing for instructing the crane control panel 101 to move the stacker crane 100 to the stop target coordinates of the container receiving material 301 (shelf) that is a predetermined reference. (S1). The reference movement process (S1) is a process for moving and stopping the stacker crane 100 using the stop target coordinates for the container receiving material 301 serving as a reference. Here, when the stop position related to the stop target coordinates is shifted, adjustment work is performed to stop the stacker crane 100 at the normal stop position.

  Next, the image acquisition unit 11 instructs the network camera 20 to take an image, and executes a reference image acquisition process for acquiring an image of the fall-preventing metal fitting 302 installed on the reference container receiving material 301 (S2). ). The image acquired here is referred to as a “reference image 200”. The reference image 200 may be stored in a storage unit (not shown) of the information processing apparatus 10. In other words, the reference image 200 can be said to be an image obtained by photographing the reference shelf.

  Next, the stop position detection unit 12 performs a reference position detection process for detecting the reference position of the fall prevention fitting 302 based on the acquired reference image 200 (S3). The reference position detection process (S3) is a process for detecting the position of the fall prevention fitting 302 in the reference image 200 from the image of the fall prevention fitting 302 in the reference image 200. In the reference position detection process (S3), a conversion coefficient for converting the size of the drop prevention fitting 302 in the reference image 200 into the number of pixels is calculated.

  Details of the reference position detection process (S3) will be described with reference to FIG. FIG. 4 is an example of a reference image 200 obtained by imaging the reference fall prevention fitting 302 (reference fall prevention fitting). FIG. 4 shows an example in which a drop prevention fitting 302 is installed at the tip of the left container receiver 301 toward the front opening of the container receiver 301.

  In FIG. 4, several line segments are drawn so as to surround the front surface of the fall prevention metal fitting 302 and the front surface of the fall prevention metal fitting 302. These line segments will be described later. As shown in FIG. 4, the fall prevention metal fitting 302 on the reference shelf imaged by the network camera 20 is located substantially at the center of the reference image 200. The reference image 200 is displayed on a display unit (not shown) included in the information processing apparatus 10.

  First, the stop position detection unit 12 executes image analysis processing for extracting the contour portion of the fall prevention fitting 302. In FIG. 4, the outline of the fall prevention metal fitting 302 is drawn with the straight line. However, in an actual image, the pixels constituting the straight line of the contour are not arranged in a straight line, but have some variation. In the image analysis processing for extracting the contour, the position of the contour on the front surface of the fall prevention fitting 302 is specified in consideration of this variation. For example, a case will be described in which the upper side is extracted from the sides constituting the outline of the fall prevention metal fitting 302. On this upper side, five pixels are extracted at regular intervals. Among these five pixels, the center point of the remaining three points excluding the uppermost point and the lowermost point is set as the position of the contour.

  After the position of the contour is specified, a line segment is drawn at a position corresponding to the contour. By this line segment, the reference position of the fall prevention metal fitting 302 in the traveling direction (left and right direction on the paper surface) and the reference position of the fall prevention metal fitting 302 in the up and down direction (up and down direction on the paper surface) are detected.

  The reference position of the fall prevention fitting 302 in the traveling direction (left and right direction on the paper surface) is defined as a first traveling direction reference position 201 and a second traveling direction reference position 202. In addition, the reference position of the fall prevention metal fitting 302 in the ascending / descending direction (up and down direction on the paper surface) is the ascending / descending direction reference position 203.

  When the container 400 is transferred to the container receiving material 301, it is necessary to clear both the positions of the fall prevention metal fittings 302 in the left-right direction. Here, the reason why the position of the fall-prevention fitting 302 in the left-right direction is clear is to calculate the size (length) per pixel (pixel) in the reference image 200, as will be described later. Further, as will be described later, this is for calculating the amount of positional deviation with respect to the container receiving material 301 in comparison with the reference image 200 and other images of the fall prevention metal fitting 302.

  On the other hand, in the up-down direction, one of the positions may be cleared. In the present embodiment, the container 400 is based on the upward direction of the fall prevention fitting 302.

  With the above processing, as shown in FIG. 4, in the reference image 200, the reference stop position with respect to the container receiver 301 is made visible together with the image of the container receiver 301. That is, in the reference image 200, a line segment indicating the first traveling direction reference position 201, the second traveling direction reference position 202, and the ascending / descending direction reference position 203 is drawn.

  Coordinate data regarding the positions of the drawn traveling line reference position 201, the second traveling direction reference position 202, and the ascending / descending direction reference position 203 on the screen, which are the drawn line segments, are stored in a storage unit (not shown).

  Further, the actual dimension L of the fall prevention metal fitting 302 is specified in advance. Therefore, after the image analysis process for detecting the outline of the fall prevention metal fitting 302 in the reference image 200, a coefficient for converting the size (length) per pixel of the image captured by the network camera 20 is calculated. Processing is executed. For example, if the number of pixels between the first traveling direction reference position 201 and the second traveling direction reference position 202 is 100 pixels and the dimension L is 50 mm, the calculated coefficient is “0.5 mm / pixel. " The calculated coefficient is stored in a storage unit (not shown).

  Next, a measurement movement process for instructing the crane control panel 101 to move the stacker crane 100 to the stop target coordinates of the container receiving material 301 to be measured, which is the container receiving material 301 of the shelf other than the reference, is executed. (S4). The measurement movement process (S4) is a process of moving the stacker crane 100 with respect to the target stop coordinates of the stacker crane 100.

  Next, the image acquisition unit 11 instructs the network camera 20 to take an image, and executes measurement image acquisition processing for acquiring an image of the fall prevention metal fitting 302 related to the shelf to be measured (S5). The image acquired here is referred to as a “measurement image 210”. In other words, the measurement image 210 can also be said to be an image of a measurement shelf that is a shelf other than the reference shelf.

  Next, the stop position detection unit 12 executes measurement position detection processing for detecting the position of the fall prevention metal fitting 302 to be measured based on the acquired measurement image 210 (S6). The measurement position detection process (S6) is a process for detecting the position (measurement stop position) of the fall prevention fitting 302 in the measurement image 210 from the image of the fall prevention fitting 302 in the measurement image 210.

  Details of the measurement position detection process (S6) will be described with reference to FIG. FIG. 5 is an example of a measurement image 210 when the fall prevention metal fitting 302 (measurement fall prevention metal fitting) to be measured is imaged. The measurement image 210 is displayed on a display unit (not shown) included in the information processing apparatus 10. The measurement drop prevention fitting means the fall prevention fitting 302 other than the reference drop prevention fitting.

  FIG. 5 is an example in which a fall prevention metal fitting 302 is installed at the tip of the left container receiving material 301 toward the front opening of the container receiving material 301, as in FIG.

  As shown in FIG. 5, the position of the fall prevention metal fitting 302 to be measured captured by the network camera 20 is shifted to the upper right of the image as compared to the reference image 200.

  The difference in the position of the fall prevention metal fitting 302 in the measurement image 210 indicates a deviation between the stop target coordinates in the stacker crane 100 and each shelf.

  First, the stop position detection unit 12 executes image analysis processing for extracting the contour portion of the fall prevention fitting 302. In FIG. 5, the outline of the fall prevention metal fitting 302 is drawn with the straight line. However, there are some variations in actual images. In the image analysis processing for extracting the contour, the position of the contour on the front surface of the fall prevention fitting 302 is specified in consideration of this variation. The contour position specifying process is the same as the process for the reference image 200 already described.

  After the position of the contour is specified, a line segment is drawn at a position corresponding to the contour in the measurement image 210. By this line segment, the measurement position of the fall prevention metal fitting 302 in the traveling direction (left and right direction on the paper surface) and the measurement position of the fall prevention metal fitting 302 in the up and down direction (up and down direction on the paper surface) are detected.

  A measurement position of the fall prevention metal fitting 302 in the traveling direction (left and right direction on the paper surface) is defined as a traveling direction measurement position 212. In addition, the measurement position of the fall prevention metal fitting 302 in the ascending / descending direction (vertical direction on the paper surface) is assumed to be the ascending / descending direction measuring position 213.

  In the measurement image 210, line segments are drawn at positions corresponding to the traveling direction measurement position 212 and the up-down direction measurement position 213, respectively.

  In the measurement position detection process (S6), the first traveling direction reference position 201, the second traveling direction reference position 202, and the up / down direction reference position 203 stored in a storage unit (not shown) are displayed in the measurement image 210. draw. This is the state shown in FIG.

  Next, the stop position deviation amount calculation unit 13 calculates the number of pixels between the travel direction measurement position 212 and the second travel direction reference position 202 in the measurement image 210. In addition, the number of pixels between the up / down direction measurement position 213 and the up / down direction reference position 203 is calculated.

  The “deviation amount” in the traveling direction and the ascending / descending direction is calculated by multiplying the calculated number of pixels by a coefficient calculated in advance.

  Next, in the stop position error calculation unit 14, based on the calculated “deviation amount”, the stop target coordinates of the stacker crane 100 corresponding to the fall prevention bracket 302 that is the measurement target, and the coordinates corresponding to the deviation amount described above. Error data representing the error is calculated (S7). That is, error data is calculated according to the calculation result by the stop position deviation amount calculation unit 13. At this time, when calculating the error data, the stop position of the stacker crane 100 includes a stop error with respect to the stop target coordinates as described above. Therefore, the error data is “deviation amount− (stop target coordinate−stop position)”. The stop error is “stop target coordinates−stop position”.

  The calculated error data has a configuration in which the running direction error 204 and the raising / lowering direction error 205 are paired with the serial number and the step number of the container receiving material 301 corresponding to the fall prevention metal fitting 302 as the measurement target as an index. Is the data.

  The error data is stored in a storage unit (not shown) together with the serial number and the column number that are indexed.

  Next, a process for determining whether or not the process has been completed for all of the container receiving materials 301 to be measured is executed (S8). If the processing for all the container receiving materials 301 to be measured has been completed (Y in S8), the processing is completed. If the processing for all the container receiving materials 301 to be measured has not been completed (N in S8), the processing is returned to the measurement movement processing (S4).

  In the measurement movement process (S4), the stacker crane 100 is moved with respect to the container receiving material 301 on which the measurement image acquisition process (S5) is not performed, and the process is continued.

  According to the stop target coordinate verification method in the stop target coordinate verification system 1 described above, the stop target coordinates of the stacker crane 100 can be easily verified by utilizing image processing.

  Since the shift of the stop target coordinates can be confirmed by image processing, the amount of shift and the direction of the shift can be easily grasped. In addition, when verifying the stop target coordinates for all shelves at the time of completion, it can be executed only by software processing without human intervention, and the displacement can be calculated by converting to coordinates, greatly reducing adjustment operations can do. Furthermore, by adjusting only the stop target coordinates for the fall prevention metal fittings 302 installed on the reference shelf, the stop target coordinates for other shelves can be automatically verified.

● Stop target coordinate verification method 2
Next, another embodiment of the processing operation of the information processing apparatus 10 will be described. The reference image 200 acquired by the reference movement process (S1) and the reference image acquisition process (S2) is stored in a storage unit (not shown). Moreover, the measurement image 210 of each container receiving material 301 is also memorize | stored in the memory | storage part which is not shown in figure by the measurement movement process (S4) and the measurement image acquisition process (S5). That is, the storage unit of the information processing apparatus 10 stores the images of the fall prevention metal fittings 302 in all the container receivers 301 in association with the stop target coordinates for each container receiver 301.

  Therefore, in the information processing apparatus 10, the measurement movement process (S4) and the measurement image acquisition process (S5) may be newly executed for all the container receivers 301. In this case, stop position error calculation processing (S7) is executed using the acquired measurement image 210 and the measurement image 210 already stored in the storage unit.

  For example, it is assumed that the measurement image 210 stored in the storage unit is acquired after completion. When a certain operation period has elapsed, the stored past measurement image 210 is read, and the above-described processing using the current measurement image 210 is executed. Thereby, the shift | offset | difference of the relative position of the fall prevention metal fitting 302 and the stacker crane 100 which may change with time can be verified.

  As a result, even during maintenance after operation, it is possible to automatically detect and correct the shift amount of the stop target coordinates of the stacker crane 100.

  In the above embodiment, the stop target coordinates are verified by capturing the edge of the fall-preventing bracket 302 provided at the tip of each container receiver 301. However, the edge of the container receiver 301 is directly captured. Also good.

DESCRIPTION OF SYMBOLS 1 Stop target coordinate verification system 10 Information processing apparatus 20 Network camera 100 Stacker crane 101 Crane control panel 102 Crane traveling apparatus 103 Crane raising / lowering apparatus 302 Fall prevention metal fitting

Claims (8)

Containers for storing articles are placed in front of the shelves with respect to shelves that are installed in a row and a row direction of a plurality of support columns that are erected from the floor and whose front end of the container receiving material is open. A stacker crane having a crane lifting and lowering device provided with a loading and unloading device for transferring toward the opening and transferring the container to each shelf;
A control device for moving the stacker crane to a predetermined coordinate;
A stop target coordinate verification system for a stacker crane having
An imaging device installed in the crane lifting device;
A stop target coordinate verification device that verifies a deviation of a stop position of the stacker crane with respect to a stop target coordinate of each shelf based on an image captured by the imaging device;
The stop target coordinate verification device is:
An image acquisition unit that issues an imaging instruction to the imaging device, acquires an image of each shelf imaged according to the imaging instruction, and stores the image in a storage unit;
Based on the image, a stop position detector that detects a stop position of the stacker crane with respect to the shelf;
Based on the detection result of the stop position detector, a stop position deviation amount calculation unit that calculates a stop position deviation amount of the stacker crane with respect to each shelf;
A stop target coordinate verification system characterized by comprising: The stop position detector
A reference stop position is detected based on an image of a reference shelf as a reference of the stop position among the respective shelves,
A measurement stop position is detected based on an image of a measurement shelf other than the reference shelf among the respective shelves, and the stop position deviation amount calculation unit compares the reference stop position with the measurement stop position, and each measurement shelf Calculating the amount of deviation of the stop position of the stacker crane at
The target stop coordinate verification system according to claim 1. The stop position detector
Detecting the past stop position of the stacker crane in the image of each shelf stored in the storage unit, and the current stop position of the stacker crane in the image of each shelf newly imaged by the imaging device,
The stop position deviation amount calculation unit compares the past stop position with the current stop position, and calculates a deviation amount of the stop position of the stacker crane in each measurement shelf.
The target stop coordinate verification system according to claim 1. The imaging device has a known size and images members installed on the shelves,
The stop position detection unit calculates a length per pixel from the image of the imaged member,
The stop position deviation amount calculated by the stop position deviation amount calculation unit has a unit as a length,
The stop target coordinate verification system according to any one of claims 1 to 3.   The stop target coordinate according to any one of claims 1 to 4, further comprising: a stop position error calculation unit that calculates an error of a stop position of the stacker crane with respect to the shelf based on a calculation result by the stop position deviation amount calculation unit. Verification system.   The stop target coordinate verification system according to any one of claims 1 to 5, wherein the stop target coordinate verification device includes software that executes processing of each unit and an information processing device that can execute the software.   The stop target coordinate verification system according to any one of claims 1 to 6, wherein the stop target coordinate verification device and the imaging device are connected via a communication line. Containers for storing articles are placed in front of the shelves with respect to shelves that are installed in a row and a row direction of a plurality of support columns that are erected from the floor and whose front end of the container receiving material is open. A stacker crane having a crane lifting and lowering device having a loading and unloading device for transferring the container toward the opening and transferring the container to each shelf; and a control device for controlling the stacker crane to move to a predetermined coordinate; A stop target coordinate verification method in a stacker crane having
A stop constituted by an imaging device installed in the crane lifting device and a stop target coordinate verification device that verifies a deviation of the stop position of the stacker crane with respect to each shelf based on an image captured by the imaging device The target coordinate verification system
An image storage step of storing an image of each shelf imaged by the imaging device;
A stop position detecting step for detecting a stop position of the stacker crane with respect to the shelf based on the image;
Based on the detection result of the stop position detection step, a stop position deviation amount calculating step for calculating a stop position deviation amount of the stacker crane with respect to each shelf;
The stop target coordinate verification method characterized by performing.

Images