JP2018016434A - Goods storage equipment - Google Patents

Abstract

An object of the present invention is to provide an article storage facility capable of improving the storage efficiency of an article storage shelf while ensuring the efficiency of warehousing work. An article storage shelf having a storage section 21, an article conveying device, a control section, and a width information acquisition section for acquiring width information of an article width Gw are provided. A plurality of storage sections 21 set by two vertical members 25 adjacent to each other with an installation interval I are divided into a lower storage section 22 and an upper storage section. The control unit determines whether or not the article to be stored is a large article based on the width information. By controlling the conveying device, the installation interval I is the horizontal separation between the maximum article Gmax and the vertical member 25 when the largest article Gmax of which the article width Gw is equal to the allowable width Wa among the large articles is stored in the lower storage section 22. The distance Cf is set to a length that is a preset set distance. [Selection drawing] Fig. 5

Description

  The present invention provides an article storage shelf provided with a plurality of storage units for storing articles in a state in which the storage unit is arranged in the vertical direction and the horizontal direction, and moves the moving space located in front of the shelf direction of the article storage shelf to move the storage unit. The present invention relates to an article storage facility provided with an article conveying apparatus that processes an warehousing operation for warehousing articles and a control unit that controls the warehousing work of the article conveying apparatus.

The article storage facility as described above is used to store articles such as containers storing various items and pallets for placing and supporting various items in a state where they are stored in an item storage shelf. The article storage facility includes an article conveyance device, and the article conveyance device performs a warehousing operation for warehousing the article into the storage unit and a warehousing operation for unloading the article from the storage unit. The entry operation and the exit operation of the article conveying device are controlled by the control unit.
When warehousing goods by the article conveyance device, the control unit first selects a warehousing destination storage unit that is a target for warehousing among a plurality of storage units. And the warehousing operation | work of an article conveyance apparatus is controlled so that articles | goods may be received in the said storage destination storage part.
The article transport device includes a traveling carriage that travels on a floor surface in a moving space, a mast that is erected on the traveling carriage, an elevator that can be moved up and down along the mast, and an article storage unit that is supported by the elevator And a transfer device for transferring between them. When warehousing the goods to be warehousing into the warehousing destination storage unit by warehousing work, in order to position the transfer device at the transfer position with respect to the warehousing destination storage part, the traveling cart is set at the target travel position corresponding to the transfer position. The elevator is moved up and down to a target lift position corresponding to the transfer position.

By the way, in the warehousing operation, when the traveling carriage stops with respect to the target traveling position for the warehousing destination storage unit, the traveling carriage stops because the mast bends in the left-right direction with the lower end of the mast as a fulcrum due to inertial force. After that, the mast shakes for a while. In particular, the amplitude is larger toward the upper side of the mast due to the shaking characteristics of the mast. Such shaking of the mast cannot be ignored when goods are stored in a storage unit located above the article storage shelf. In other words, if an article is to be stored in the upper storage section while the mast is shaking, the article interferes with the column set that forms the storage section, and the article cannot be properly stored in the storage section. Since it is necessary to stand by without starting the transfer operation by the transfer device until the amplitude is attenuated and converges to a certain extent, there arises a problem that the warehousing work efficiency deteriorates.
As a conventional article storage facility for solving such a problem, the control unit manages the length in the left-right direction of an article stored in the article storage shelf (hereinafter, also simply referred to as “article width”), Control the operation of the article conveying device to store articles having a small width in the upper storage section of the plurality of storage sections and to store articles having a large width in the lower storage section of the plurality of storage sections. There is a configured article storage facility (for example, Patent Document 1).
When an article having a small lateral width is stored in the storage section, the difference between the width of the storage section and the width of the article increases, so that the possibility that the article interferes with the column set forming the storage section is reduced. That is, the article storage facility of Patent Document 1 stores an article having a small width that allows a certain amount of shaking of the mast in the upper storage part, and the mast may bend and interfere with the outer frame of the storage part. An article having a large lateral width that is to be raised is stored in the storage section below. Therefore, in the article storage facility of Patent Document 1, even when an article is stored in the upper storage unit, it is possible to shorten the waiting time until the mast shake converges, and suppress a decrease in storage work efficiency. It was possible.

JP 2007-217102 A

By the way, the article storage shelf of the article storage facility as described above is the same as that of Patent Document 1, but a pair of front and rear vertical members are arranged side by side at equal intervals in the left-right direction and stored between adjacent vertical members. The parts are arranged in a vertically aligned state. Therefore, the horizontal width of the plurality of storage units arranged in the vertical direction is set according to the interval between the adjacent vertical members, and the interval between the adjacent vertical members is set based on the maximum horizontal width of the article handled by the facility. As for the interval between adjacent vertical members, in general, assuming that the maximum width of goods is stored in the upper storage part that is easily affected by the shaking of the mast, the maximum width of goods should be stored with a certain level of storage efficiency. So that the mast swings are not completely converged so that the goods can be stored.
That is, although the lower storage portion is not easily affected by the shaking of the mast, the horizontal widths of the plurality of storage portions arranged in the vertical direction are formed to be the same based on the horizontal width of the upper storage portion, When an article is received in the lower storage section, a wasteful space is formed in the left-right direction between the adjacent vertical member forming the storage section and the article, and there is a problem in improving the storage efficiency of the article storage shelf. It was.

  The present invention has been made in view of the above circumstances, and the object thereof is to improve the storage efficiency of the article storage shelf while ensuring the warehousing work efficiency when the article transport device enters the article into the storage unit. This is to provide an article storage facility that can be realized.

  In order to solve the above-described problem, the characteristic configuration of the article storage facility according to the present invention includes: an article storage shelf provided with a plurality of storage units that store articles in the vertical and horizontal directions; and the depth of the shelf of the article storage shelf. Article storage device comprising: an article transport device that moves a moving space located in front of the direction and stores an article into the storage unit; and a control unit that controls the warehousing operation of the article transport device In the facility, the plurality of storage units in the article storage shelf include a plurality of vertical members extending in the vertical direction in a state of being distributed in the left-right direction with a fixed installation interval and below a preset set height. The storage part width is divided into a lower storage part belonging to the lower area located and an upper storage part belonging to the upper area located above the set height. Set by two adjacent vertical members, and the article transporting device travels on a floor surface in the moving space, a mast standing on the traveling cart, and moves up and down along the mast. And a transfer device that is supported by the lift and transfers an article to and from the storage unit. The article width, which is the length in the direction, is less than or equal to the allowable width smaller than the storage portion width, and the goods to be stored include large articles whose article width is equal to or less than the allowable width and larger than a reference width, A width information acquisition unit that acquires width information, which is information on the width of the article, before the start of the warehousing operation; and the control unit is configured such that the warehousing object is the large article based on the width information. To determine whether or not When it is determined that the target article is the large article, it is configured to control the warehousing operation of the article transport device so as to store the warehousing target article in the lower storage unit, and the installation interval is the large article. When the maximum article having the same article width as the permissible width is stored in the lower storage portion, the distance between the maximum article and the vertical member in the left-right direction is set to a length that is set in advance. It is in the set point.

According to this characteristic configuration, the article storage facility stores, as articles having an article width of an allowable width or less, articles having an article width of the reference width or less and large articles having an article width larger than the reference width in the storage unit. . The storage section width of the storage section is set by two vertical members that are adjacent in the left-right direction and extend along the up-down direction. Therefore, the storage part width of each of the plurality of storage parts arranged in the vertical direction is determined by the installation interval between two adjacent vertical members. The plurality of storage units are divided into a lower storage unit and an upper storage unit with a preset height as a boundary. Normally, the installation interval takes into account the maximum deflection of the upper end of the swaying mast at the start of transfer, and the maximum article and the vertical member required when the largest article is stored in the uppermost storage part. It is set based on the separation distance in the left-right direction. However, according to this characteristic configuration, when the maximum article having the article width equal to the allowable width is stored in the lower storage portion, the spacing between the two adjacent longitudinal members is set in the horizontal direction between the maximum article and the longitudinal member. The distance is set to a length that is a preset set distance. As described above, in this characteristic configuration, the installation interval between two adjacent vertical members is considered in the case where the maximum article is stored in the upper storage part, as in the conventional article storage equipment, with the maximum deflection of the upper end of the mast. It is not set, but it is set taking into account the maximum deflection of the upper end of the mast when small articles are stored in the upper storage part, so the installation interval between two adjacent vertical members is the conventional installation It becomes narrower than the interval.
Therefore, the article storage facility according to this characteristic configuration can reduce the storage section width of each of the plurality of storage sections included in the article storage shelf. Therefore, an article storage shelf provided with more storage units can be configured as an article storage shelf installed in a predetermined installation space, and the storage efficiency of equipment can be improved.
Furthermore, according to this characteristic configuration, the control unit determines whether the warehousing target article is a large article larger than the reference width based on the width information of the article width acquired by the width information acquiring unit before the start of the warehousing operation. Determine whether or not. When it is determined that the warehousing target article is a large article, the control unit controls the warehousing operation of the article transporting apparatus so as to store the warehousing target article in the lower storage unit. As a result, the large article is stored in the lower storage part that is less affected by the bending of the mast, so that the waiting time from when the traveling carriage stops until the start of transfer of the transfer device is allowed, that is, The time until the amplitude is reduced to the extent that the vertical member and the article do not interfere with each other after the traveling carriage stops is set to be shorter than when the large article is stored in the upper storage section. It is possible to secure warehousing work efficiency when warehousing goods in the storage section.
As described above, according to the article storage facility according to this characteristic configuration, it is possible to improve the storage efficiency of the article storage shelf while ensuring the warehousing work efficiency when the article transport device stores the article in the storage unit.

  Further, the installation interval is set such that the separation distance is set to a length that is set in advance when the maximum article is stored in the lower storage unit positioned at the lowest position in the lower region. Is preferred.

According to this characteristic configuration, the installation interval is based on the separation distance in the left-right direction between the maximum article and the vertical member when the largest article is stored in the lowermost storage unit that is hardly affected by the shaking of the mast. Set to That is, the installation interval according to the present feature configuration is set with little consideration of mast fluctuation, and therefore the installation interval between the vertical members adjacent in the left-right direction is narrower.
Therefore, the article storage facility according to this characteristic configuration can further reduce the storage section width of each of the plurality of storage sections. Accordingly, it is possible to further improve the storage efficiency of the entire equipment.

  Moreover, the said article conveyance apparatus is comprised so that the said warehousing object may be conveyed for every pallet which supports articles | goods from the downward direction, and may be warehog in the said accommodating part, The said reference width is the length of the left-right direction of the said pallet. The pallet width is set, and the control unit is configured to discriminate an article having the article width larger than the pallet width as the large article based on the width information which is the article width information. It is preferable.

  According to this characteristic configuration, when the control unit determines that the article width of the warehousing target article is larger than the pallet width, the control unit controls the operation of the article transporting apparatus so as to store the target article as a large article in the lower storage unit. It will be. That is, according to the article storage facility according to the present feature configuration, it is possible to determine whether the article supported from below by the pallet is a large article by controlling whether the article is protruding from the pallet, and to control the operation of the article conveying device. it can.

  Moreover, when the said control part discriminate | determines that the said warehousing object article is not the said large article | item, the said storage part located in the said storage part located in the downward side among the said several storage parts as the thing width | variety with respect to the said warehousing object article | item is large. It is preferable that the warehousing operation of the article conveying device is controlled to be warehousing.

  A large article having an article width exceeding the reference width may interfere with the vertical member unless it is received in the lower storage portion where the influence of mast bending is small. On the other hand, articles other than large articles whose article width is equal to or less than the reference width can be stored in both the upper storage section and the lower storage section. However, even if it is not a large article, an article having a large article width has a higher possibility of interference with the longitudinal member than an article having a small article width. According to this characteristic configuration, if there are a plurality of empty storage units in which goods are not received, the goods to be stored that have not been determined as large articles by the control unit are relatively lower as the article has a larger article width. The goods are stored in the storage section. For this reason, it is possible to store an article to be stored having an appropriate article width for a plurality of empty storage units. Therefore, it is possible to suppress the separation distance between the warehousing target article and the vertical member from becoming unnecessarily large when the warehousing target article is received. As a result, the article storage facility according to this characteristic configuration can greatly improve the storage efficiency of the entire facility.

  The installation interval is the maximum article width, which is the article width of the maximum article, and / or either a lateral displacement due to a stop error of the traveling carriage and / or a lateral displacement during installation of the vertical member. Smaller than the sum of the error dimension set based on the above and the dimension set based on the amount of deflection of the upper end of the mast after the traveling carriage is stopped and when the transfer of the article starts. It is preferable that the maximum article width and the error dimension are set to be equal to or greater than the total value.

In the conventional article storage facility, the installation interval between the vertical members adjacent in the left-right direction is set assuming that the article having the maximum width is stored in the upper storage part that is easily affected by the shaking of the mast. Also, in general, the setting of the interval between adjacent vertical members is based on either or both of the lateral displacement due to the stop error of the traveling carriage and the lateral displacement when installing the longitudinal member. The set error dimension is taken into account. That is, in the conventional article storage equipment, the installation interval between adjacent vertical members is set to a value obtained by adding the maximum article width, the error dimension, and the dimension set based on the deflection amount at the upper end of the mast. It was.
According to this characteristic configuration, the vertical member installation interval is set to a value smaller than the sum of the maximum article width, the error dimension, and the dimension set based on the amount of deflection at the upper end of the mast. Yes. Therefore, the installation interval can be narrowed compared to the conventional configuration. That is, the storage section width set by the adjacent vertical members can be reduced, and the storage efficiency of the article storage shelf can be improved. Moreover, according to this characteristic configuration, the installation interval is set to be equal to or greater than the sum of the maximum article width and the error dimension. Therefore, while further reducing the width of the storage section to improve the storage efficiency of the article storage shelf, the possibility of interference between the article and the vertical member during the transfer of the article is maintained while maintaining an appropriate installation interval. Can do.

Top view of goods storage equipment The figure which looked at the article storage equipment in the direction of the shelf depth Control block diagram Diagram showing mast deflection The figure which showed the storage part width of this embodiment Flow chart showing warehousing control Diagram showing mast deflection The flowchart which shows the warehousing control concerning 2nd embodiment. The figure which showed the conventional storing part width

  Hereinafter, the article storage equipment 1 according to the present embodiment will be described with reference to the drawings.

[Outline of goods storage equipment]
As shown in FIGS. 1 and 2, the article storage facility 1 according to the present embodiment includes an article storage shelf 2 including a plurality of storage units 21 that store articles G in a state of being arranged in the vertical direction and the horizontal direction, and the article storage. A stacker crane 3 serving as an article transporting device that processes a warehousing operation of moving the moving space S located in front of the shelf 2 in the direction of the depth of the shelf 2 and placing the article G into the storage unit 21, and loading / unloading the article G And a device 5. As shown in FIG. 3, the article storage facility 1 includes a host control device 4CP as a control unit that controls the warehousing work of the stacker crane 3. In the present embodiment, the article storage facility 1 has a pallet P that supports the article G at the top. The pallet P is carried in / out by the carry-in / out device 5 together with the article G, and is put in the storage unit 21 by the stacker crane 3. The “left-right direction” indicates a direction orthogonal to the shelf depth direction on a horizontal plane. Moreover, although FIG. 1 shows a pair of article storage shelves 2 that are opposed to each other with the moving space S therebetween, a plurality of article storage shelves 2 may be provided in the shelf depth direction. In that case, a moving space S is set between each of the pair of article storage shelves 2 facing in the depth direction of the shelf, and a stacker crane 3 is provided in each of the moving spaces S.

[Goods storage shelf]
As shown in FIG. 2, the plurality of storage units 21 in the article storage shelf 2 are provided with a plurality of vertical members 25 extending in the vertical direction in a state of being dispersed in the horizontal direction with a fixed installation interval I. A plurality of storage portions 21 are provided in a state of being arranged in the vertical direction between the vertical members 25 adjacent in the horizontal direction. That is, the storage part width which is the length of the storage part 21 in the left-right direction is set by the two vertical members 25 adjacent in the left-right direction. Each of the adjacent vertical members 25 is provided with a pair of mounting support members 26 formed in a plate shape so as to face each other in the left-right direction. The storage unit 21 is configured to store the article G together with the pallet P by supporting the both ends in the left-right direction of the pallet P on which the article G is placed by the pair of placement support members 26.

[Article conveying device]
As shown in FIGS. 1 and 2, the stacker crane 3 as an article conveying device includes a traveling carriage 31 that travels in the left-right direction on the floor surface in the moving space S, and a mast 32 that is erected on the traveling carriage 31. A lifting platform 33 that can be moved up and down along the mast 32, and a slide fork type transfer device 34 that is supported by the lifting platform 33 and transfers the article G together with the pallet P to the storage unit 21. doing. Further, the stacker crane 3 includes a host controller 4CP and a lower controller 3CP that transmits and receives control information (see FIG. 3). The traveling carriage 31 is provided with a pair of wheels 35 that can travel on a guide rail 90 that is installed along the left-right direction on the floor surface in the moving space S. One of the pair of wheels 35 is configured as a drive wheel 35A that is driven by a traveling electric motor 31M (see FIG. 3). The other wheel is configured as a driven wheel 35B that follows the drive wheel 35A. The transfer device 34 may be any device that can transfer the article G, and is not limited to the slide fork type as in the present embodiment. For example, the transfer device may be a push-pull transfer device having a hook.

  The mast 32 is erected so as to extend upward at both ends in the left-right direction of the traveling carriage 31. That is, a pair of masts 32 is provided for the traveling carriage 31. The upper ends of the pair of masts 32 are connected to each other by an upper frame 36. The upper frame 36 is provided with a plurality of upper sprockets 37. In addition, an intermediate sprocket 38 is provided at a position of the mast 32 of the pair of masts 32 that is spaced upward from the floor surface.

  The lifting platform 33 is suspended and supported by lifting chains 3 </ b> C connected to the left and right sides of the upper frame 36. The elevating chain 3 </ b> C is wound around the upper sprocket 37 and the intermediate sprocket 38 and is connected to a take-up drum 3 </ b> D provided at one end in the left-right direction of the traveling carriage 31. The take-up drum 3D can be rotated forward and backward by being driven by the lifting electric motor 33M. By driving the winding drum 3D by the lifting electric motor 33M, the lifting chain 3C is operated such as feeding and winding. By operating the elevating chain 3 </ b> C in this manner, the stacker crane 3 can move the elevating platform 33 up and down along the mast 32.

  At one end portion of the guide rail 90 in the left-right direction, a traveling laser range finder 31L that projects distance measuring beam light along the left-right direction is provided. A horizontal light reflecting plate 3H that reflects the beam light projected from the traveling laser rangefinder 31L is provided at a position of the traveling carriage 31 that faces the traveling laser rangefinder 31L in the left-right direction. . The traveling laser range finder 31L can detect the horizontal movement distance of the traveling carriage 31 by projecting beam light onto the horizontal light reflecting plate 3H. That is, the traveling laser range finder 31L can detect the traveling position that is the position of the traveling carriage 31 in the left-right direction. As described above, the article storage facility 1 includes the traveling laser rangefinder 31L as the traveling position detection device.

  The traveling carriage 31 is provided with an elevating laser range finder 33L that projects beam light for distance measurement along the horizontal direction. Further, the traveling carriage 31 is provided with an oblique mirror 39 for bending upward the beam light projected in the horizontal direction by the lifting laser range finder 33L. The oblique mirror 39 is provided in a state of being inclined approximately 45 ° upward with respect to the horizontal plane so as to bend the light beam projected in the horizontal direction by the lifting laser range finder 33L substantially vertically. The beam light bent upward by the oblique mirror 39 is applied to the vertical light reflecting plate 3 </ b> V provided on the bottom surface of the lifting platform 33. Therefore, the lifting laser range finder 33L is configured to be able to project the beam light onto the vertical light reflecting plate 3V via the oblique mirror 39. The lifting laser range finder 33L can detect the moving distance of the lifting platform 33 provided with the vertical light reflecting plate 3V by projecting beam light onto the vertical light reflecting plate 3V. That is, the elevating laser range finder 33L can detect an elevating position that is the position of the elevating platform 33 in the vertical direction. As described above, the stacker crane 3 includes the lifting laser range finder 33L as the lifting position detection device.

[Loading / unloading device]
The carry-in / out device 5 is configured to be able to deliver the article G to and from the stacker crane 3. As shown in FIG. 1, the carry-in / out device 5 includes a roller conveyor 51 that conveys the article G in the left-right direction, and a lifter 52 that separates the article G upward from the roller conveyor 51. The carry-in / out device 5 can convey the article G to the article delivery position 91 where the article G can be delivered to the stacker crane 3 by the roller conveyor 51. Further, the carry-in / out device 5 can separate the article G upward from the roller conveyor 51 so that the transfer device 34 of the stacker crane 3 can scoop the article G with a fork at the article delivery position 91. In addition, when the slide fork type is not used as the transfer device 34 (for example, when a push-pull type transfer device is used), when the article G does not need to be separated upward from the roller conveyor 51, the lifter 52 is provided. It is not necessary to provide it.

[Control configuration]
As shown in FIG. 3, a higher-order optical transmission / reception device 4LI on the fixed side is connected to the higher-order control device 4CP. A lower-level optical transmission / reception device 3LI on the moving side is connected to the lower-level control device 3CP included in the stacker crane 3. The upper optical transceiver 4LI and the lower optical transceiver 3LI are configured to transmit and receive optical signals. For this reason, the host control device 4CP and the lower control device 3CP can transmit and receive various types of information to each other.

  That is, an input request for warehousing the article G conveyed by the loading / unloading device 5 into the storage unit 21 of the article storage shelf 2, an output request for evacuating the article G from the storage unit 21 of the article storage shelf 2, and the like are input to the command unit 92 Then, the host controller 4CP transmits the operation command information to the lower controller 3CP via the host optical transceiver 4LI and the lower optical transceiver 3LI. The lower control device 3CP controls the operation of the traveling electric motor 31M, the lifting electric motor 33M, and the transfer device 34 based on the operation command information received from the upper control device 4CP. Further, the lower-level control device 3CP transmits the detection information of the lifting laser range finder 33L to the higher-level control device 4CP via the lower-level optical transmission / reception device 3LI and the higher-order optical transmission / reception device 4LI.

  In the host control device 4CP, information indicating the target travel position and the target lift position preset corresponding to the article delivery position 91 of the carry-in / out device 5 and preset corresponding to each of the plurality of storage units 21 are provided. Information indicating the target travel position and the target lift position are stored. The host controller 4CP operates the stacker crane 3 to stop the traveling carriage 31 at the target travel position based on the stored information indicating the target travel position and the detection information of the travel laser rangefinder 31L. Control. Further, the host controller 4CP operates the stacker crane 3 so as to stop the lifting platform 33 at the target lifting position based on the stored information indicating the target lifting position and the detection information of the lifting laser rangefinder 33L. To control. Further, the lower order control device 3CP controls the operation of the transfer device 34 so that the transfer device 34 transfers the article G together with the pallet P between the article delivery position 91 and the storage unit 21.

  As shown in FIG. 3, the article storage facility 1 includes a width information acquisition unit 6 that acquires width information Iw, which is information about the article width Gw for a warehousing object as a warehousing work object, before the warehousing work starts. It has more. In the present embodiment, the width information acquisition unit 6 is provided in the carry-in / out device 5. The width information acquisition unit 6 is configured to be able to acquire width information Iw detected by an article width detection sensor 93 provided in the carry-in / out device 5. As shown in FIG. 1, the article width detection sensor 93 projects detection light in a direction orthogonal to the flow direction of the roller conveyor 51. The article width detection sensor 93 is configured to be able to acquire the article width Gw from the time when the detection light is blocked by the warehousing object conveyed on the roller conveyor 51 at a predetermined speed and the conveyance speed of the roller conveyor 51. Has been.

  When an article transport request such as a warehousing request or a warehousing request is input from the command unit 92 to the host control device 4CP, the host control device 4CP sends operation command information to the lower control device 3CP via the optical transmission / reception devices 3LI and 4LI. Send. When the warehousing request is input to the host control device 4CP, the host control device 4CP determines whether or not the warehousing target article is a large article based on the width information Iw of the warehousing target article acquired by the width information acquisition unit 6. Is determined. Details of the article type discrimination by the host control device 4CP will be described later.

[Control of warehousing work]
When receiving the operation command information as the warehousing command, the lower order control device 3CP controls the traveling electric motor 31M to stop the traveling carriage 31 at the traveling position set in advance corresponding to the article delivery position 91. Further, the lower order control device 3CP controls the lifting electric motor 33M so as to stop the lifting platform 33 at a lifting position set in advance corresponding to the article delivery position 91. After the stacker crane 3 receives the goods to be stored by the transfer device 34 at the position, the low order control device 3CP moves to the traveling position corresponding to the storage unit 21 to be stored among the plurality of storage units 21. The traveling electric motor 31M is controlled to stop the motor 31. Then, the lower order control device 3CP controls the lifting electric motor 33M so as to stop the lifting platform at the lifting position corresponding to the storage unit 21 to be stored. Thus, when the lifting platform 33 stops at the lifting position corresponding to the storage unit 21 to be stored, the lower level control device 3CP controls the transfer device 34 so that the storage unit 21 stores the storage target article. The warehousing object is placed and supported by the placement support member 26 of the storage unit 21, whereby the warehousing of the warehousing object is completed. The stacker crane 3 that has finished warehousing is controlled by the subordinate control device 3CP by the next command from the host control device 4CP, or controlled by the subordinate control device 3CP to wait at a preparation position waiting for the command.

[Control of shipping operations]
When receiving the operation command information as the delivery instruction, the lower control device 3CP stops the traveling carriage 31 at the traveling position corresponding to the storage unit 21 that stores the goods G to be delivered out of the plurality of storage units 21. The traveling electric motor 31M is controlled. Further, the lower order control device 3CP controls the lifting electric motor 33M to stop the lifting platform 33 at the lifting position corresponding to the storage unit 21. Thus, when the lifting platform 33 stops at the lifting position corresponding to the storage unit 21, the lower control device 3 </ b> CP controls the transfer device 34 so that the article G is delivered from the storage unit 21. After the stacker crane 3 unloads the article G by the transfer device 34 at the position, the low order control device 3CP stops the traveling carriage 31 and the lifting platform 33 at the traveling position and the lifting position corresponding to the article delivery position 91. In this way, the traveling electric motor 31M and the lifting electric motor 33M are controlled. Then, the article G delivered from the storage unit 21 is delivered from the stacker crane 3 to the carry-in / out device 5 at the article delivery position 91.

[Setting of vertical member installation interval]
As described above, the stacker crane 3 is configured to be movable in the left-right direction between the article delivery position 91 and the storage unit 21 by the traveling carriage 31 traveling on the guide rail 90. When the traveling carriage 31 is accelerated and decelerated, the mast 32 of the stacker crane 3 receives an inertial force in the left-right direction. Due to this inertial force, a moment is applied to the mast 32 with the lower end portion, which is the connection portion with the traveling carriage 31, serving as a fulcrum. The inertial force acts on the entire mast 32, but a larger moment acts on the characteristics of the moment as the mast 32 moves away from the fulcrum. Accordingly, the upper part of the mast 32 is more easily affected by the inertial force.

  FIG. 4 is a diagram schematically showing a state in which the mast 32 is bent by the inertia force generated when the traveling carriage 31 is decelerated. As shown in FIG. 4, when the traveling carriage 31 is decelerated, the mast 32 receives the inertial force in the left-right direction and bends in the left-right direction, and shakes for a while after the traveling carriage 31 stops. In general, the deflection increases in proportion to the cube of the length of the rod-shaped member when the rod-shaped member (mast 32 in this specification) receives a concentrated load, and the length of the rod-shaped member when the distributed load is received. It is known that it increases in proportion to the fourth power. That is, in an upright rod-like member, the amount of bending is not so large at the portion near the fulcrum (the lower end of the mast 32 in the present specification), but the amount of bending is geometrically higher as the portion is spaced upward from the fulcrum. growing. In FIG. 4, the bending amount at an arbitrary height of the mast 32 at the time when the preset vibration attenuation setting time has elapsed after the traveling carriage 31 has stopped (at the start of transfer) (the left-right direction with respect to the lower end of the mast 32) (Relative displacement amount) at the upper end of the mast 32 is shown as the maximum deflection amount δmax. Note that the mast 32 of the traveling carriage 31 also has an inclination in the vertical direction in addition to the bending at the start of the transfer due to the installation accuracy with respect to the traveling carriage 31 and the inertial force accompanying the acceleration / deceleration of the traveling carriage 31. In the following description, it is assumed that the above-described deflection amount δ includes a lateral displacement amount due to the inclination of the mast 32.

FIG. 9 is a diagram showing the width of the storage unit, that is, the installation interval Io according to the conventional article storage facility. Co (Co / 2 + Co / 2) in FIG. 9 indicates the distance in the left-right direction between the maximum article Gmax and the vertical member 25. With the article width of the maximum article Gmax as the maximum article width Wmax, according to FIG. 9, the installation interval Io is expressed by the following equation.
Installation interval Io = maximum article width Wmax + separation distance Co (1)
As shown in FIG. 9, the conventional installation interval Io is set such that the maximum article Gmax that is expected to be stored in the storage unit 21 is the uppermost storage unit 21 that is affected by the maximum deflection amount δmax of the mast 32. The separation distance Co is set to a length that is a preset set distance Dso when the goods are received. That is, the separation distance Co is expressed as follows:
Separation distance Co = set distance Dso (2)
The set distance Dso takes into account an error dimension De such as a lateral displacement due to a stop error of the traveling carriage 31 and a lateral displacement when the vertical member 25 is installed, and a maximum deflection amount δmax. That is, the set distance Dso is expressed as the following equation.
Setting distance Dso = error dimension De + maximum deflection amount δmax (3)
Therefore, the conventional installation interval Io is expressed as follows.
Installation interval Io = maximum article width Wmax + error dimension De + maximum deflection amount δmax (4)

  Thus, since the conventional installation interval Io takes into account the maximum deflection amount δmax when the maximum article Gmax is received, it is a case where the maximum article Gmax is stored in the uppermost storage unit 21. However, the interference to the vertical member 25 due to the bending does not occur. As described above, the storage width of the plurality of storage portions 21 arranged in the vertical direction is uniformly determined by the installation interval Io of the vertical members 25. Therefore, according to the conventional setting of the installation interval Io, any storage portion Even if it is 21, an article G having an article width Gw equal to or less than the maximum article width Wmax can be received. However, in the conventional setting of the installation interval Io, the storage section widths of all the storage sections 21 are set based on the case where the maximum article Gmax is stored in the uppermost storage section 21. For example, the article width When an article G having a small Gw is received, the separation distance Co becomes larger than a preset set distance Dso. That is, in this case, the separation distance Co becomes excessively large, and the storage efficiency may deteriorate.

  In view of this point, the article storage equipment 1 according to the present embodiment is configured as follows. That is, as described above, the deflection amount δ does not increase so much at a position close to the traveling carriage 31, but the deflection amount δ of the mast 32 increases geometrically as the distance from the traveling carriage 31 increases. Become. In this embodiment, as schematically shown in FIG. 4, a height at which it is possible to determine that the amount of bending δ of the mast 32 is small is set in advance as the set height Sh. In the present embodiment, the article storage shelf 2 belongs to the lower storage portion 22 belonging to the lower area Dt located below the preset set height Sh and the upper area Ut located above the set height Sh. It is divided into an upper storage portion 23 (see also FIG. 6). In view of the fact that the deflection amount δ increases geometrically as it goes above the mast 32, the set height Sh is set so that the lower region Dt is larger than the upper region Ut. In the present embodiment, the warehousing object that is the warehousing work object has an article width Gw that is the length in the left-right direction that is less than or equal to the allowable width Wa that is smaller than the storage portion width. Furthermore, in this embodiment, the warehousing target article includes large articles whose article width Gw is equal to or smaller than the allowable width Wa and larger than the reference width Sw. In the present specification, the allowable width Wa is a width obtained by subtracting the error dimension De from the storage portion width. The article G having an article width Gw larger than the allowable width Wa is highly likely to interfere with the vertical member 25 when the article G is received, depending on the stopping system of the traveling carriage 31 or the installation error of the vertical member 25. It will not be a target article. The reference width Sw is a width that serves as a reference for distinguishing large articles from other articles G. The reference width Sw is set in advance corresponding to a set height Sh that separates the lower region Dt and the upper region Ut. That is, as will be described later, an article G having an article width Gw larger than the reference width Sw is determined as a large article and is received in the lower storage unit 22 belonging to the lower region Dt located below the set height Sh. It has become. Then, an article G having an article width Gw equal to or smaller than the reference width Sw is received in the upper storage portion 23 belonging to the upper region Ut located above the set height Sh.

FIG. 5 is a diagram showing the storage section width of the article storage facility 1 according to the present embodiment, that is, the installation interval I. In FIG. 5, I indicates an installation interval (storage portion width), and Wa is the maximum article width Wmax as an allowable width and corresponds to “the article width of the maximum article”. Sw represents the reference width, and Cf (Cf / 2 + Cf / 2) represents the separation distance. That is, the installation interval I is expressed as follows.
Installation interval I = maximum article width Wmax (allowable width Wa) + separation distance Cf (5)
The storage unit 21 illustrated in FIG. 5 is a lower storage unit 22. Here, in the present embodiment, the installation interval I is the left-right direction between the maximum article Gmax and the vertical member 25 when the largest article Gmax having the article width Gw equal to the allowable width Wa is stored in the lower storage portion 22 among the large articles. Is set to a length that is a preset set distance Dsf. Therefore, the maximum deflection amount δmax is not considered in the separation distance Cf. That is, the separation distance Cf is substantially equal to the error dimension De, and is expressed by the following equation.
Separation distance Cf = set distance Dsf≈error dimension De (6)
Accordingly, in the present embodiment, the installation interval I is expressed as the following equation.
Installation interval I = maximum article width Wmax (allowable width Wa) + error dimension De (7)

  According to such setting of the installation interval I, the width of the storage section can be reduced even when an article G having the same width is received as compared with the conventional case. As a result, more storage units 21 can be provided in the article storage shelf 2 and storage efficiency can be improved. In the present embodiment, as will be described later, large articles including the maximum article Gmax are received only in the lower storage unit 22 by the host control device 4CP. Therefore, a large article including the maximum article Gmax is not received in the upper storage portion 23 that may interfere with the vertical member 25. Further, the installation interval I is set such that the separation distance Cf becomes a preset set distance Dsf when the maximum article Gmax is stored in the lower storage portion 22 positioned at the lowest position in the lower region Dt. And good. In the lower storage portion 22 located at the lowest position in the lower region Dt, the bending amount δ of the mast 32 can be almost ignored. Therefore, the separation distance Cf can be further reduced. Thereby, it can be set as the structure provided with many more storage parts 21 about the article | item storage shelf 2, and the storage efficiency can be improved further as a whole.

[Discrimination of goods]
Next, discrimination of large articles by the host control device 4CP will be described. The host control device 4CP determines whether or not the warehousing target article is a large article based on the width information Iw, and when determining that the warehousing target article is a large article, The warehousing operation of the stacker crane 3 is controlled so as to enter the warehousing 22. In the present embodiment, the reference width is set to the palette width Pw that is the length of the palette P in the left-right direction. The host control device 4CP is configured to determine that the article G having the article width Gw larger than the pallet width Pw is a large article based on the width information Iw that is information on the article width Gw. In addition, information on the pallet width Pw is stored in advance in the host control device 4CP. As described above, in the present embodiment, the reference width for distinguishing large articles from other articles G is equal to the pallet width Pw. Therefore, when the article G placed on the pallet P protrudes from the pallet P, the article G is determined to be a large article, and when it does not protrude, it is determined not to be a large article.

  As shown in FIG. 6, the host control device 4CP receives the width information Iw of the warehousing object transmitted from the width information acquisition unit 6 and determines whether or not the article width Gw of the warehousing object is larger than the pallet width Pw. Is discriminated (step # 1). When it is determined that the article width Gw of the warehousing object is larger than the pallet width Pw, that is, when it is determined that the warehousing object is a large article, the upper control device 4CP belongs to the warehousing object in the lower region Dt. An instructing command is sent to the subordinate control device 3CP so as to enter the lower storage unit 22 (step # 2). When it is determined that the article width Gw of the warehousing object is not larger than the pallet width Pw, that is, when it is determined that the warehousing object is not a large article, the upper control device 4CP belongs to the upper area Ut. An instructing command is sent to the lower control device 3CP so as to enter the upper storage unit 23 (step # 3).

  In the above description, the example has been described in which the upper control device 4CP issues a warehousing instruction to the lower control device 3CP so that the warehousing object that is determined not to be a large article is warehousing into the upper storage unit 23. However, when the host control device 4CP determines that the warehousing target article is not a large article, the larger the article width Gw of the warehousing target article enters the storage section 21 located on the lower side among the plurality of storage sections 21. What is necessary is just to be comprised so that the receipt operation | work of the stacker crane 3 may be controlled as much as possible. That is, large articles exceeding the pallet width Pw may interfere with the vertical member 25 unless they are received in the lower storage section 22, but articles G other than large articles having a pallet width Pw or less are disposed in the upper storage section 23 and the lower section. It can be stored in both storage units 22. However, even if the article is not a large article, the article G having a larger article width Gw has a risk of interfering with the vertical member 25 as compared with the article G having a smaller article width Gw. Therefore, when there are a plurality of empty storage units 21 in which the articles G are not stored, the larger storage items 21 that are not determined as large items by the host control device 4CP are stored in the storage unit 21 that is relatively lower. To do. According to this configuration, an article G having an appropriate article width Gw can be stored in a plurality of empty storage units 21, and the separation distance Cf between the article G and the vertical member 25 when the article G is stored. Can be suppressed from becoming larger than necessary. As a result, the article storage facility 1 can greatly improve the storage efficiency as a whole.

  As described above, in the article storage facility 1 according to the present embodiment, the storage section width, that is, the installation interval I of the vertical members 25 is set based on the case where the maximum article Gmax is stored in the lower storage section 22. That is, in this embodiment, the installation interval I does not take into account the maximum deflection amount δmax of the mast 32. Therefore, the article storage facility 1 according to the present embodiment can reduce the width of the storage section even when receiving an article G having the same width as compared with the conventional case, and can improve the storage efficiency. Further, the host control device 4CP discriminates the goods to be stored into a large article and an article G that is not so, and the large article is transferred to the lower storage portion 22 where it is not necessary to consider the bending amount δ of the mast 32. Non-goods G are respectively stored in the upper storage part 23 as being less likely to interfere with the vertical member 25. Therefore, it is possible to safely perform the warehousing operation without interfering the warehousing object with the vertical member 25 while improving the storage efficiency.

[Second Embodiment]
Hereinafter, the article storage facility according to the second embodiment will be described. Note that points that are not particularly described in the second embodiment are the same as those in the first embodiment. As described above, the deflection amount δ increases geometrically as it goes above the mast 32. Therefore, in the range corresponding to the upper region Ut in the mast 32, a slight vertical change in position is caused by a large change in the amount of deflection δ. In view of this point, in the second embodiment, the upper region Ut is divided into a plurality of regions in the vertical direction. As shown in FIG. 7, in the second embodiment, the upper region Ut is divided into a first upper region Ut1, a second upper region Ut2, and a third upper region Ut3. These three regions are, in order from the bottom, a first upper region Ut1, a second upper region Ut2, and a third upper region Ut3. The lower region Dt, the first upper region Ut1, the second upper region Ut2, and the third upper region Ut3 are set to large regions in the order described. Further, corresponding to these areas, the upper storage part 23 includes a first upper storage part 23Ut1 belonging to the first upper area Ut1, a second upper storage part 23Ut2 belonging to the second upper area Ut2, and a third upper area. It is divided into a third upper storage portion 23Ut3 belonging to Ut3 (see FIG. 8). The host control device 4CP has a main reference width Sw that serves as a reference for determining whether or not the warehousing object is a large article, and a first reference that is used to determine the article G to be stored in the first upper storage unit 23Ut1. A reference width Sw1 and a second reference width Sw2 that serves as a reference for discriminating the articles G to be stored in the second upper storage section 23Ut2 and the articles G to be stored in the third upper storage section 23Ut3 are set in advance. The main reference width Sw, the first reference width Sw1, and the second reference width Sw2 are set to be larger in the order described.

  Next, the determination of the goods to be stored that should be stored in each storage unit 21 by the host control device 4CP will be described. Based on the main reference width Sw, the first reference width Sw1, and the second reference width Sw2, the host control device 4CP determines a storage object to be stored in each storage unit 21, and the determined storage target article is stored in the lower storage unit. 22, the lower control device 3CP is instructed to enter into the first upper storage unit 23Ut1, the second upper storage unit 23Ut2 or the third upper storage unit 23Ut3.

  As shown in FIG. 8, the host control device 4CP receives the width information Iw of the warehousing object transmitted by the width information acquisition unit 6, and determines whether or not the article width Gw of the warehousing object is larger than the main reference width Sw. It is determined whether or not the goods to be stored are large articles (step # 11). When it is determined that the article width Gw of the warehousing object is larger than the main reference width Sw, that is, when it is determined that the warehousing object is a large article, the host control device 4CP stores the warehousing object in the lower storage unit 22. The lower order control device 3CP is instructed to enter the store (step # 12). If it is determined that the article width Gw of the warehousing object is not larger than the main reference width Sw, the host control device 4CP determines whether or not the article width Gw of the warehousing object is larger than the first reference width Sw1 (step). # 13). When determining that the article width Gw of the warehousing object is larger than the first reference width Sw1, the upper control device 4CP instructs the lower control device 3CP to warehousing the warehousing object into the first upper storage unit 23Ut1. (Step # 14). When it is determined that the article width Gw of the warehousing object is not larger than the first reference width Sw1, the host controller 4CP determines whether or not the article width Gw of the warehousing object is larger than the second reference width Sw2 ( Step # 15). If it is determined that the article width Gw of the warehousing object is larger than the second reference width Sw2, the upper control device 4CP instructs the lower control device 3CP to warehousing the warehousing object into the second upper storage unit 23Ut2. (Step # 16). If it is determined that the article width Gw of the warehousing object is not larger than the second reference width Sw2, the upper control device 4CP enters the lower control device 3CP so as to enter the warehousing object into the third upper storage unit 23Ut3. Command (step # 17).

  As described above, the article storage facility according to the second embodiment divides the plurality of storage units 21 into regions according to the bending amount δ of the mast 32 by the host control device 4CP, and each of the storage units 21 includes It is possible to store goods to be stored having a corresponding article width Gw. Therefore, the storage part 21 in which the storage part width is uniformly set by the installation interval I of the vertical members 25 can be effectively used according to a plurality of warehousing objects having different article widths Gw. Therefore, the article storage facility according to the second embodiment can further improve the storage efficiency of the article G.

[Another embodiment]
(1) In the above embodiment, the article G is described as an example of the article G, and the configuration in which the article G is supported on the top of the pallet P has been described. However, the article G may be a plurality of types of containers (including folding containers) having different lengths in the shelf width direction. In this configuration, the pallet P may not be used.

(2) In the above embodiment, the article width detection sensor 93 projects the beam light in a direction orthogonal to the flow direction of the roller conveyor 51, and the beam light is received by the warehousing object flowing on the roller conveyor 51. The example in which the article width Gw is configured to be detected from the blocked time and the conveyance speed of the roller conveyor 51 has been described. However, the article width detection sensor 93 may be configured to be able to detect the article width Gw of the storage target article that has stopped. That is, the article width detection sensor 93 may be configured to move in the flow direction of the roller conveyor 51 with respect to the warehousing object that has stopped and detect the article width Gw of the warehousing object.

(3) In the above embodiment, an example in which the width information acquisition unit 6 is provided in the carry-in / out device 5 has been described. However, the width information acquisition unit may be provided on the guide rail 90 so that the article width Gw is detected during the transfer of the warehousing target article. Further, the width information acquisition unit may be configured to acquire the width information of the warehousing target article by receiving the article attribute information including at least the width information of the warehousing target article.

(4) In the above embodiment, an example in which the traveling laser rangefinder 31L is provided as a traveling position detection device that detects the traveling position of the traveling carriage 31 has been described. Moreover, the example provided with the raising / lowering laser rangefinder 33L as an raising / lowering position detection apparatus which detects the raising / lowering position of the raising / lowering stand 33 was demonstrated. However, various detection devices such as a rotary encoder and a potentiometer can be used as the travel position detection device and the lift position detection device.

(5) The vertical member may be a member that extends in the vertical direction and can set the storage widths of a plurality of storage units arranged in the vertical direction. For example, a plate-like member can be used as the vertical member.

(6) In the above embodiment, the example in which the installation interval I is set with the maximum article width Wmax as a reference has been described. However, the installation interval I is not only set on the basis of the maximum article width Wmax as the article width Gw, but the weight of the article G may be taken into consideration. That is, the deflection of the mast 32 increases as it goes upward from the lower end (fulcrum) of the mast 32, and also increases as the weight of the article G increases due to the weight of the article G. This is because the inertial force increases as the weight of the article G increases. Accordingly, the installation interval I is determined based on the maximum article Gmax, with the article G having the maximum article width Wmax and the maximum weight that can be stored in the article storage facility 1 as the maximum article Gmax. It should be set. In this case, the installation interval I is a value obtained by adding up the maximum article width Wmax, the error dimension De, and the amount of bending of the mast 32 due to the weight of the maximum article Gmax.

(7) In the above embodiment, the example in which the installation interval I is set to a value obtained by adding the maximum article width Wmax and the error dimension De has been described. However, without being limited to such an example, the installation interval is not less than the summed value, and the dimension is set based on the maximum article width, the error dimension, and the amount of deflection of the upper end of the mast. (Maximum amount of deflection) may be set smaller than the total value. According to such a configuration, the article and the vertical member can interfere with each other when the article is transferred while maintaining an appropriate installation interval while reducing the width of the storage unit to improve the storage efficiency of the article storage shelf. Sex can be suppressed.
(8) The above embodiment is merely an example, and the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention. The above embodiments can be combined within a range where no contradiction occurs.

1: Goods storage facility 2: Goods storage shelf 3: Stacker crane (goods transport device)
4CP: Host controller (control unit)
6: Width information acquisition unit 21: Storage unit Dt: Lower region Ut: Upper region 22: Lower storage unit 23: Upper storage unit 25: Vertical member 31: Traveling carriage 32: Mast 33: Lift platform 34: Transfer device Cf: Separation distance Dsf: Set distance G: Article Gmax: Maximum article Gw: Article width I: Installation interval Iw: Width information P: Pallet Pw: Pallet width S: Movement space Sh: Set height Sw: Reference width Wa: Allowable width

Claims (5)

An article storage shelf having a plurality of storage units for storing articles in a state of being arranged in the vertical direction and the left-right direction, and a moving space located in front of the shelf direction of the article storage shelf are moved to store the articles in the storage unit An article storage facility comprising: an article conveying device that processes an warehousing operation; and a control unit that controls the warehousing operation of the article conveying device;
The plurality of storage units in the article storage shelf are provided with a plurality of vertical members extending along the vertical direction in a state of being dispersed in the left-right direction with a fixed installation interval and positioned below a preset set height. Divided into a lower storage part belonging to the region and an upper storage part belonging to the upper region located above the set height,
The storage part width which is the length in the left-right direction of the storage part is set by the two vertical members adjacent in the left-right direction,
The article conveying device is supported by a traveling carriage that travels on a floor surface in the moving space, a mast that is erected on the traveling carriage, an elevator that can be moved up and down along the mast, and the elevator. And a transfer device that transfers the article to and from the storage unit,
The warehousing object that is an object that is the object of the warehousing work is an allowable width that is less than the storage width of the article width that is the length in the left-right direction,
The goods subject to warehousing include large articles whose article width is less than the allowable width and larger than a reference width,
A width information acquisition unit that acquires width information that is information on the width of the article about the warehousing target article before starting the warehousing operation;
The control unit determines whether or not the warehousing object is the large article based on the width information, and when determining that the warehousing object is the large article, It is configured to control the warehousing operation of the article conveying device to enter the lower storage unit,
The installation interval is set in advance as a distance in the left-right direction between the largest article and the vertical member when the largest article among the large articles is stored in the lower storage unit with the article width equal to the allowable width. Goods storage equipment that is set to a length that corresponds to the set distance.   The installation distance is set such that the separation distance is a length that is set in advance when the largest article is stored in the lower storage portion located at the lowest position in the lower region. The article storage equipment described in 1. The article conveying device is configured to convey the warehousing target article together with a pallet that supports the article from below and enter the storage unit.
The reference width is set to a pallet width that is the length in the left-right direction of the pallet;
3. The control unit according to claim 1, wherein the control unit is configured to determine that an article having an article width larger than the pallet width is the large article based on the width information that is information on the article width. The article storage facility as described.   When the control unit determines that the warehousing target article is not the large article, the larger the article width of the warehousing target article is stored in the storage unit located on the lower side among the plurality of storage units. Therefore, the article storage equipment according to any one of claims 1 to 3, which is configured to control a warehousing operation of the article conveying device. The installation interval is
A maximum article width that is the article width of the maximum article;
An error dimension set based on either or both of a lateral displacement due to a stop error of the traveling carriage and a lateral displacement when the vertical member is installed; and
The dimension set based on the amount of deflection of the upper end of the mast at the start of transfer of the article after the stop of the traveling carriage is smaller than the sum of the values,
The maximum article width;
The article storage facility according to any one of claims 1 to 4, wherein the article storage facility is set to a value equal to or greater than a sum of the error dimensions.

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