JP2019034830A - Automatic warehouse system - Google Patents

Abstract

To simply correct a stop position of a transfer device to a predetermined shelf of a rack.SOLUTION: Automatic warehouse systems 1 and 1' include a rack 3, a stacker crane 5, and a controller 61. The rack 3 has a support 31, a shell part 33 forming a plurality of frontages S, and a detection member 35 provided between mutually adjacent frontages S. The stacker crane 5 has a transfer machine 57, a lift stage 55, a travel carriage 53, and a detector 59 facing a detection member 35 corresponding to the frontages S when a cargo A is transferred. The controller 61 executes correction of a travel stop position in a conveyance direction of the travel carriage 53 corresponding to the frontages S when the cargo A is transferred between the transfer device 57 and the frontages S based on the detection result of the detection member 35 by the detector 59 acquired while the travel carriage 53 travels in the conveyance direction.SELECTED DRAWING: Figure 9

Description

  The present invention relates to an automatic warehouse system for transferring a load between a rack and a transfer device.

  2. Description of the Related Art Conventionally, a system for transferring a load between a rack and a conveying device having a lifting platform provided with a transfer machine such as a slide fork and a traveling carriage is known. In this system, the transfer machine is moved in the direction in which the rack shelves exist, and the loader places the load on the shelves or removes them from the shelves, so that the rack can be moved between the rack shelves and the transfer device. Perform the transfer of the load.

  In order for the transfer device to properly place the load on a desired shelf, it is necessary to accurately stop the lifting platform and the traveling carriage at a position corresponding to the rack shelf to which the load is to be transferred.

  As a method of accurately stopping the lifting platform and traveling carriage at appropriate positions, the lifting platform and traveling carriage when the mark sensor provided on the lifting platform detects the mark provided on the shelf to which the load is to be transferred are detected. There is a method of setting the position as these stop positions (for example, Patent Document 1).

  In Patent Document 1, in order to correct the stop position, a mark provided on the shelf support includes a target area indicating the center position of the mark, a concentric circle of the target area, and a mark in a plurality of regions (quadrants). ) And a boundary line to be divided. Then, based on whether the visual field center of the mark sensor is within the target area or between the target area and the concentric circle, the distance error of the stop position is detected. The direction of shift of the stop position is detected based on which quadrant of the mark is present, and the stop position is corrected based on the detected error and the direction of shift.

Japanese Patent No. 4438736

  In the above-mentioned Patent Document 1, in order to detect the distance error of the stop position using the mark and in which quadrant of the mark the center of the visual field exists, a mark having a characteristic shape and surface structure is placed on the shelf. It is necessary to provide in.

  An object of the present invention is to more easily correct a stop position of a transfer device with respect to a predetermined shelf of the rack in an automatic warehouse system including a transfer device and a rack.

Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary.
An automatic warehouse system according to an aspect of the present invention includes a rack, a transfer device for transferring a load between the racks, and a controller. A rack has a support | pillar, a shelf part, and a detection member. The support columns are arranged in a pair of front and rear with respect to the transfer direction when the load is transferred between the rack and the transfer device. On the other hand, a plurality of support columns are arranged along the transport direction which is the traveling direction of the transport device. A shelf part forms between the support | pillars, and forms the frontage in which a load is mounted in multiple numbers along a conveyance direction. The detection member is provided between the adjacent openings.

  The transport device includes a transfer machine, a lifting platform, a traveling carriage, and a detector. The transfer machine transfers the load to and from the front of the rack. The lifting platform is equipped with a transfer machine and moves up and down in the height direction of the rack. The traveling carriage is equipped with a lifting platform and moves in the transport direction. The detector is a sensor that detects the detection member. When the load is transferred between the transfer machine and the frontage, the detector is provided at a position facing the detection member corresponding to the frontage.

  The controller, when transferring the load between the transfer machine and the frontage, the control to stop the traveling carriage at the travel stop position that is the position in the transport direction where the target frontage for transferring the load exists, and Control is performed to stop the elevator platform at the elevation stop position, which is the position in the height direction where the target frontage exists. Furthermore, if a detector detects the detection member corresponding to the target opening, a controller will perform control which makes a transfer machine transfer a load between target openings.

  Further, the controller moves the lifting platform to the lifting stop position set with respect to the predetermined frontage, and then causes the detector to detect the detection member corresponding to the predetermined frontage while moving the traveling carriage in the transport direction, Further, the position in the transport direction of the traveling carriage when the detection member corresponding to the predetermined frontage and the detector, obtained on the basis of the detection result of the detection member, faces the new frontage corresponding to the predetermined frontage. By setting as a position, the travel stop position corresponding to the predetermined frontage is corrected.

In the automatic warehouse system described above, when the detection member transfers a load between the transfer machine and the frontage, whether or not the transfer machine and the frontage are in a positional relationship at which the load can be transferred. It is used to detect.
Further, in the above automatic warehouse system, when the travel stop position corresponding to the predetermined frontage is corrected, the elevator base is moved to the up / down stop position currently set for the predetermined frontage. The detection member corresponding to the predetermined opening is detected by the detector while the traveling carriage is moved in the transport direction. Based on the detection result of the detection member, the travel stop position is corrected. As a result, the travel stop position can be easily corrected using the existing member used for transferring the load without newly providing a member for correcting the travel stop position in the rack.

The detection member may have a detection hole. In this case, when executing the correction of the travel stop position corresponding to the predetermined frontage, the controller causes the detector to detect the edge of the detection hole corresponding to the predetermined frontage while traveling the traveling carriage in the transport direction. The edge detection result is stored. In addition, the controller sets the position in the transport direction at the center of the detection hole corresponding to the predetermined opening calculated based on the stored detection result of the edge of the detection hole as a new travel stop position.
When a detection result exceeding the hole diameter assumed from the hole form is obtained by providing a hole-shaped portion on the detection member and causing the detector to detect the hole form, the detection result is inappropriate. Can be judged. As a result, an appropriate detection result can be obtained with certainty. In addition, since the detection member has a simple hole shape, the traveling stop position can be accurately corrected by a simple method without performing complicated calculations.

The controller moves the traveling carriage from one end to the other end in the conveyance direction of the shelf, and causes the detector to detect a detection member corresponding to each of the plurality of fronts existing in the shelf. You may perform correction | amendment of the driving | running | working stop position with respect to each of several frontage which exists in a part.
Thereby, the correction | amendment of the driving | running | working stop position with respect to a some frontage can be performed efficiently.

  The controller moves the traveling carriage to the corrected travel stop position corresponding to the frontage where the travel stop position has been corrected, and then causes the detector to detect the detection member corresponding to the frontage while moving the lift up and down. May be. Thereby, the relationship between the position in the height direction of the lifting platform and the presence or absence of the detection member provided for the frontage where correction of the stop position is desired can be acquired easily and accurately.

In addition, the controller detects the detection member corresponding to the frontage to be corrected for the stop position obtained based on the detection result of the detection member (the relationship between the position in the height direction of the lifting platform and the presence or absence of the detection member) By setting the position in the height direction of the lifting platform when facing the container as a new lifting stop position corresponding to the frontage, the elevation stop position corresponding to the frontage is corrected.
Thereby, the raising / lowering stop position can be easily corrected by using the existing member used for transferring the load without newly providing a member for correcting the raising / lowering stopping position in the rack.

A plurality of transfer machines may be mounted on the lifting platform along the transport direction. At this time, the detector may be provided between the plurality of transfer machines. In this case, the controller determines which detection member is to be detected by the detector among the detection members provided on both sides of the frontage according to the transfer machine for transferring the load, and The position in the transport direction of the traveling carriage when the detection member determined to be detected and the detection unit face each other is determined as a travel stop position for the transfer machine. On the other hand, the position in the height direction of the lifting platform when the detection member determined to be detected by the detection unit and the detection unit face each other is determined as the lifting stop position with respect to the transfer machine.
Thereby, even if it does not provide a detector with respect to each of a some transfer machine, the driving | running | working stop position of a conveying apparatus and the raising / lowering stop position of an elevator stand can be determined accurately about each transfer machine.

  The stop position of the transfer device with respect to a predetermined shelf of the rack can be corrected more easily.

The top view of the automatic warehouse system as one Embodiment of this invention. The side view of a rack. The top view of a rack. The top view of a stacker crane and a shelf. The figure which shows the control structure of a controller. The figure which shows an example of a stop position management table. The figure which shows another example of a stop position management table. The figure which shows another example of a stop position management table. The flowchart which shows operation | movement of an automatic warehouse system. The flowchart which shows the correction process of a stop position. The flowchart which shows the correction process of a driving stop position. The figure which shows typically the mode of detection (conveyance direction) of a detection member. The figure which shows an example of the detection result (conveyance direction) of a detection member. The flowchart which shows the correction process of the raising / lowering stop position. The figure which shows typically the mode of the detection (height direction) of a detection member. The figure which shows an example of the detection result (height direction) of a detection member. The figure which shows the structure of the lifting platform which concerns on 2nd Embodiment.

1. First Embodiment (1) Entire Automatic Warehouse An automatic warehouse system 1 as an embodiment according to the present invention will be described with reference to FIGS. 1 and 2. The automatic warehouse system 1 is a facility that is capable of storing, entering and leaving a package A (an example of a package). In this embodiment, the left-right direction of the paper surface of FIGS. 1 and 2 is the conveyance direction of the luggage A in the automatic warehouse system 1. The vertical direction of the paper surface of FIG. FIG. 1 is a plan view of an automatic warehouse system as one embodiment of the present invention. FIG. 2 is a side view of the rack.

The conveyance direction of the luggage A is a direction in which the luggage A is conveyed by the movement of the stacker crane 5 (described later). Therefore, the conveyance direction of the load A corresponds to the traveling direction of the stacker crane 5.
On the other hand, the transfer direction of the load A is a direction in which the load A is moved by a transfer machine 57 (described later) of the stacker crane 5. That is, the transfer direction corresponds to the direction of movement of the load A when the load A is exchanged between the stacker crane 5 and the rack 3.

  The automatic warehouse system 1 has a rack 3. The rack 3 is a facility for storing the luggage A. As shown in FIG. 1, in the present embodiment, two racks 3 are arranged in the transfer direction with a guide rail 51 interposed therebetween. The transfer direction is the movement direction of the load A when the load A is transferred between the rack 3 and the transfer machine 57, and is the vertical direction of the page in FIG. However, the present invention is not limited to this, and only one rack 3 may be arranged in the transfer direction.

  The automatic warehouse system 1 has a stacker crane 5 (an example of a transport device). The stacker crane 5 is a device for transferring the load A between the rack 3. The configuration of the stacker crane 5 will be described in detail later.

  As shown in FIG. 1, a warehousing station 7 for warehousing goods A is disposed on the side surface in the transport direction of the rack 3 disposed below the paper surface in the transfer direction with respect to the guide rail 51. In the example shown in FIG. 1, the warehousing station 7 is disposed on the side surface on the right side of the rack 3.

  In addition, a delivery station 9 is disposed on the side surface in the transport direction of the rack 3 disposed on the upper side of the paper surface in the transfer direction with respect to the guide rail 51. In the example shown in FIG. 1, the delivery station 9 is disposed on the side surface of the rack 3 on the right side of the page.

  The warehousing station 7 and the warehousing station 9 have conveyors for carrying the luggage A for warehousing and warehousing, respectively.

(2) Rack Hereinafter, the configuration of the rack 3 will be described with reference to FIGS. FIG. 2 is a side view of the rack. FIG. 3 is a plan view of the rack. As shown in FIG. 1, the rack 3 extends along the transport direction. As shown in FIGS. 2 and 3, the rack 3 has a column 31. The support columns 31 are members extending in the height direction, and are disposed at the four corners of the rack 3. That is, in this embodiment, the rack 3 has two pairs of front and rear columns 31 along the transfer direction and two along the transfer direction. Here, the forward direction of the transfer direction is a direction from the rack 3 toward the stacker crane 5. The backward direction of the transfer direction is the direction opposite to the forward direction in the transfer direction, that is, the direction away from the stacker crane 5 when viewed from the rack 3.

  In another embodiment, the rack 3 may have two or more struts 31 along the conveyance direction. This makes the rack 3 more stable.

  The rack 3 has a shelf portion 33. The shelf 33 is constructed between the columns 31 to form a plurality of front openings S on which the luggage A is placed along the conveyance direction. Specifically, as illustrated in FIGS. 2 and 3, the shelf portion 33 includes a first shelf portion 33 a and a second shelf portion 33 b.

The first shelf portion 33a is a member extending in the transport direction, and the support columns 31 are installed in the transport direction at both ends in the transport direction. As shown in FIG. 2, a plurality of first shelf portions 33 a are arranged at predetermined intervals in the height direction of the rack 3. The second shelf portion 33b is a member extending in the transfer direction, and a plurality of second shelf portions 33b are arranged at a predetermined interval in the transport direction and fixed on the first shelf portion 33a, so that the support column 31 and the first shelf portion are arranged. 33a is installed in the transfer direction.
The 1st shelf part 33a and the 2nd shelf part 33b arrange | positioned as mentioned above form the front-end | tip S for mounting the load A in multiple steps in a conveyance direction, and multiple steps | paragraphs in a height direction.

  Of the end portions of the rack 3 in the transport direction, the end portion present on the right side of FIG. 2 and FIG. 3 is referred to as the “first end”, and the end portion present on the left side of the paper is referred to as the “second end”.

  The rack 3 has a detection member 35. As shown in FIGS. 2 and 3, the detection member 35 is attached to the front end of the second shelf 33 b in the transfer direction. On the other hand, in the transport direction, it is attached to the center of the second shelf 33b. That is, the detection member 35 is provided between the adjacent openings S.

  The detection member 35 is formed of, for example, a material that reflects light (for example, a glossy metal material), and can reflect light that has reached the surface of the detection member 35. As shown in FIG. 2, the detection member 35 is provided with a detection hole O having a predetermined size at the center thereof. The light that reaches the center of the detection member 35 passes through the detection hole O.

  As shown in FIG. 2, in the present embodiment, the detection member 35 has a long rectangle in the transport direction. However, the present invention is not limited to this, and the detection member 35 can have any shape such as a circle or a polygon (such as a triangle, a square, or a pentagon).

  The detector 59 detects that light is reflected at a place other than the detection hole O of the detection member 35 or that the light has passed through the detection hole O (for example, light that is weaker than the reflected light is detected. Alternatively, the detection hole O is detected by detecting (not detecting light). Thereby, when the detection result exceeding the hole diameter assumed from the hole configuration of the detection hole O is obtained by the detector 59, it can be determined that the detection result is inappropriate. As a result, an appropriate detection result can be obtained with certainty.

(3) Stacker crane The stacker crane 5 is a device that transports the load A between the plurality of front doors S, the warehousing station 7, and / or the unloading station 9 by moving along the transporting direction. The stacker crane 5 is movable along a guide rail 51 provided along the transport direction.

  As shown in FIG. 4, the stacker crane 5 includes a traveling carriage 53, a lifting platform 55, a transfer machine 57, and a detector 59 that detects the detection member 35. FIG. 4 is a plan view of the stacker crane and the shelf.

  The traveling carriage 53 is an apparatus that can move on the guide rail 51 in the conveyance direction, and is an apparatus that includes, for example, a wheel that rotates on the guide rail 51 and a motor that rotates the wheel. The traveling carriage 53 is provided with a mast extending in the height direction.

  The lifting platform 55 is mounted on a mast provided in the traveling carriage 53 and moves up and down in the height direction by moving along the mast.

  The transfer machine 57 is mounted on the lifting platform 55. Accordingly, the transfer device 57 can be moved in the height direction by the lifting platform 55 and can be moved in the transport direction by the traveling carriage 53. The transfer machine 57 transfers the load A from the stacker crane 5 to the frontage S of the rack 3, the warehousing station 7, or the warehousing station 9, or vice versa.

  As the transfer machine 57, for example, a transfer machine having a hook for hooking the load A, a transfer machine having a clamp part for holding the load A, etc., an arbitrary transfer of the load A between the frontage S and the like. A transfer machine can be used. Examples of the transfer machine having a hook for hooking the luggage A include a front hook type transfer machine for hooking a hook on the front surface of the luggage A, and a rear hook type transfer machine for hooking a hook on the rear end of the luggage A.

  The detector 59 is, for example, a photoelectric sensor including a light source that outputs light and a detection element that detects light (reflected light) output from the light source. The detector 59 is provided at a position facing the detection member 35 corresponding to the opening S when the load A is transferred between the lifting table 55 and the opening S in the lifting table 55.

  Specifically, when the elevator 55 and the frontage S face each other to transfer the load A, the light output from the detector 59 is used for detection of the detection member 35 corresponding to the frontage S. The light passes through the hole O and is not detected by the detector 59 or is detected as weak light.

  On the other hand, a stop position in the transport direction of the traveling carriage 53 (travel stop position described later) and a stop position in the height direction of the elevator base 55 (elevation stop position described later) transfer the elevator base 55 and the load A. When the frontage S is deviated from the position facing directly, the light output from the detector 59 is reflected by the detection member 35 and is detected by the detector 59 as light having a predetermined intensity or more.

  Thus, based on the presence or absence of the detection of the reflected light by the detector 59, or the strength of the reflected light detected by the detector 59, the position between the lifting platform 55 and the frontage S where the load A is to be transferred. The relationship can be detected.

(4) Control Configuration The stacker crane 5 has a controller 61 having a control configuration as shown in FIG. The controller 61 can communicate with a control unit (not shown) that controls the entire automatic warehouse system 1 and controls the stacker crane 5. The controller 61 is realized by a computer system including a CPU, a memory (a storage device such as a RAM and a ROM), various interfaces, and the like. The controller 61 may be configured by SoC (System on Chip). FIG. 5 is a diagram illustrating a control configuration of the controller.

  The controller 61 may realize an operation of controlling each part of the stacker crane 5 by executing software stored in the storage device of the computer system in the computer system.

  The controller 61 detects, for example, the number of pulses from an encoder provided on the wheel of the traveling carriage 53 or the output rotation shaft of the motor (that is, the number of rotations of the wheel or motor) and / or along the conveyance direction. By detecting an identification mark (for example, a barcode) provided at the position by a detection device (for example, a barcode reader) provided on the stacker crane 5, the travel distance of the traveling carriage 53 in the transport direction and / or Alternatively, the position is detected.

  In another embodiment, for example, the controller 61 may detect the movement distance and / or position of the traveling carriage 53 in the transport direction by detecting a reference position in the transport direction using a distance sensor.

  For example, the controller 61 detects the number of pulses from an encoder provided on the output rotation shaft of the motor that drives the lifting platform 55 (that is, the number of rotations of the motor) and / or follows the height direction. The moving distance and / or position in the height direction of the lifting platform 55 is detected by detecting an identification mark (for example, a barcode) provided at the selected position with a detection device (for example, a barcode reader). .

  In another embodiment, the controller 61 may detect the moving distance and / or position of the lifting platform 55 in the height direction by detecting a reference position in the height direction with a distance sensor, for example.

  The controller 61 can control the traveling / stopping of the traveling carriage 53. For example, when the load A is transferred between the transfer machine 57 and the frontage S, the traveling carriage 53 is at a travel stop position that is a position in the transport direction where the target frontage S for transferring the load A is present. Stop.

  The controller 61 can control an elevating device 551 for elevating the elevating platform 55 along the mast. For example, when the load A is transferred between the transfer machine 57 and the frontage S, the lifting platform 55 is stopped at the elevation stop position that is the height direction position where the target frontage S exists.

  When transferring the load A between the transfer machine 57 and the frontage S, the controller 61 first stops the traveling carriage 53 at the traveling stop position, and then stops the lifting platform 55 at the elevation stop position. Alternatively, conversely, the lifting platform 55 may be first stopped at the lifting stop position, and then the traveling carriage 53 may be stopped at the traveling stop position.

  Further, the controller 61 may simultaneously perform an operation of causing the traveling carriage 53 to stop at the travel stop position and an operation of stopping the lift base 55 at the lift stop position.

  When transferring the load A between the transfer device 57 and the target slot S, the controller 61 detects the detection hole O of the detection member 35 corresponding to the target slot S (for example, , When the detector 59 detects weak reflected light of a predetermined intensity or less, or when the detector 59 does not detect light), the detector 59 faces the detection member 35 corresponding to the target slot S, That is, it is determined that the transfer device 57 has reached a position where the load A can be transferred to the target frontage S.

  When it is determined that the transfer machine 57 has reached a position where the load A can be transferred to and from the target slot S, the controller 61 makes a transfer to the transfer slot 57 with the target slot S. To transfer.

  The controller 61 grasps the positional relationship between the transfer machine 57 and the frontage S based on the presence or absence or strength of reflected light detected by the detector 59. Based on the data representing the relationship between the position of the traveling carriage 53 in the conveying direction and the presence or absence or intensity of reflected light detected by the detector 59, the controller 61 moves the load A between the transfer machine 57 and the frontage S. The traveling stop position of the traveling carriage 53 when the vehicle is transferred is corrected.

  Further, the controller 61 determines whether the position between the transfer device 57 and the frontage S is based on the data representing the relationship between the position of the lifting platform 55 in the height direction and the presence or absence or intensity of reflected light detected by the detector 59. Then, the lifting / lowering stop position of the lifting / lowering platform 55 when the load A is transferred is corrected.

  In addition, various switches and sensors 611 are connected to the controller 61 so that the state of various devices of the stacker crane 5 can be grasped.

  The controller 61 includes a storage unit 613 that stores a travel stop position and a lift stop position for each frontage S of the rack 3. The storage unit 613 is, for example, a storage area of a storage device provided in a computer system that constitutes the controller 61. Specifically, for example, the storage unit 613 associates a travel stop position and a lift stop position with respect to the frontage S corresponding to the identification number with a number that identifies each frontage S of the rack 3 as illustrated in FIG. 6A. The stop position management table T is stored. FIG. 6A is a diagram illustrating an example of a stop position management table.

  In another embodiment, the travel stop position and the lift stop position may be associated with each detection member 35 of the rack 3 in the stop position management table.

  The travel stop positions D1, D2,... Dn stored in the stop position management table T are, for example, the travel distance of the travel carriage 53 from the reference position. On the other hand, the lift stop positions H1, H2,... Hn are, for example, heights from a reference position (for example, a floor surface).

  As another embodiment, as shown in FIG. 6B, not only the travel stop position and the lift stop position but also the correction values when the travel stop position and the lift stop position are corrected are associated with the identification number of each frontage S. The stop position management table T ′ may be stored. FIG. 6B is a diagram illustrating another example of the stop position management table.

  The correction values C11, C12,... C1n in FIG. 6B are correction values for the travel stop position corresponding to each frontage S. On the other hand, the correction values C21, C22,... C2n are correction values for the lift stop position corresponding to each frontage S.

  As yet another embodiment, as shown in FIG. 6C, the identification numbers of each frontage S are detected not only when the travel stop position and the lift stop position are corrected, but also when the travel stop position and the lift stop position are corrected. You may memorize | store stop position management table T '' which linked | related the detection result of the member 35. FIG. FIG. 6C is a diagram illustrating still another example of the stop position management table.

  Detection results d11, d12,..., D1n in FIG. 6C are detection results when the detection member 35 corresponding to each frontage S is detected in the transport direction. On the other hand, detection results d21, d22,..., D2n are detection results when the detection member 35 corresponding to each frontage S is detected in the height direction.

(5) Operation of Automatic Warehouse System Hereinafter, the operation of the automatic warehouse system 1 according to the present embodiment will be described with reference to FIG. FIG. 7 is a flowchart showing the operation of the automatic warehouse system.
When the automatic warehouse system 1 starts operation, the controller 61 (or an external controller) determines whether or not to correct the travel stop position and the lift stop position corresponding to each frontage S (step S1). For example, when the automatic warehouse system 1 is operated first, or when a predetermined time has elapsed since the automatic warehouse system 1 was first operated (in the case of “Yes” in step S1), the travel stop position Then, the elevation stop position is corrected (step S2).

  When determining whether or not to correct the travel stop position and the lift stop position, the controller 61 (or an external controller) asks the user whether to correct the travel stop position and the lift stop position. It may be selected.

  Whether it is decided not to execute the correction of the travel stop position and the lift stop position (in the case of “No” in step S1), or after the travel stop position and the lift stop position are corrected, a transfer instruction of the luggage A is issued The controller 61 starts the transfer operation of the package A. Specifically, the controller 61 first sets the travel stop position and the lift stop position associated with the frontage S to which the load A indicated in the transfer command is to be transferred, as the target travel stop position and the target lift stop position, respectively. Are read from the stop position management tables T, T ′, T ″ (step S3).

  Next, the controller 61 controls the traveling carriage 53 to move to the target traveling stop position (Step S4), and controls the lifting device 551 to move the lifting base 55 to the target lifting stop position (Step S5).

  After the movement of the traveling carriage 53 to the target traveling stop position and the movement of the lifting platform 55 to the target lifting stop position are completed, the controller 61 determines whether or not the detector 59 detects the detection hole O. (Step S6). Specifically, if the reflected light is not detected by the detector 59 or if the weak reflected light is detected, it is determined that the light output from the detector 59 has passed through the detection hole O. It is determined that the detector 59 detects the detection hole O, that is, the transfer device 57 is facing the frontage S where the load A is to be transferred.

  When it is determined that the detector 59 is detecting the detection hole O (in the case of “Yes” in step S6), the controller 61 controls the transfer device 57 so that the space between the designated frontage S The package A is transferred (step S7).

  On the other hand, for example, when the light output from the detector 59 is reflected by the detection member 35 and the detector 59 detects reflected light having a predetermined intensity or higher, that is, the detector 59 detects the detection hole O. If it is determined that there is not (“No” in step S6), the transfer operation of the load A returns to step S4, and the stop positions of the traveling carriage 53 and the lifting platform 55 are finely adjusted. Thereafter, when the detector 59 detects the detection hole O, the load A is transferred to and from the designated frontage S.

  Thus, by providing the detection member 35 in the rack 3, when the load A is transferred between the transfer device 57 and the frontage S, the transferer 57 and the frontage S transfer the load A. It is possible to determine whether or not the positional relationship is possible (in this embodiment, the positional relationship in which the transfer machine 57 and the frontage S face each other).

  After completing the transfer of the package A instructed by the transfer command, for example, unless a stop command such as an emergency stop is issued to the automatic warehouse system 1 (in the case of “No” in step S8), the above steps S1 to S7 are repeatedly executed.

  In the above description, both the target travel stop position and the target travel stop position are read in step S3. However, the present invention is not limited to this. As another embodiment, for example, first, only the target travel stop position is read and the travel carriage 53 is moved to the target travel stop position, then the target lift stop position is read and the lift base 55 is moved to the target lift stop position. It may be moved to.

  In still another embodiment, first, only the target lift stop position is read and the lift base 55 is moved to the target lift stop position, then the target travel stop position is read and the travel carriage 53 is moved to the target travel stop position. It may be moved.

(6) Stop Position Correction Process Hereinafter, the travel stop position / lift stop position correction process executed in step S2 will be described with reference to FIG. FIG. 8 is a flowchart showing a stop position correction process.
In the present embodiment, as shown in FIG. 8, first, the travel stop position is corrected for each frontage S of the rack 3 (step S21), and then the elevation stop position for each frontage S is corrected. (Step S22).

(7) Travel Stop Position Correction Process The travel stop position correction process executed in step S21 will be described below with reference to FIG. FIG. 9 is a flowchart showing a travel stop position correction process. Below, the example which performs correction | amendment of the travel stop position with respect to each of several frontage S which exists along the conveyance direction in the 1st shelf part 33a in which the frontage S which wants to correct | amend a travel stop position is demonstrated. Further, the correction of the travel stop position stored in the stop position management table T shown in FIG. 6A will be described as an example.

  First, the controller 61 moves the traveling carriage 53 to a position corresponding to the first end in the transport direction of the rack 3 (step S2101).

  Next, the controller 61 determines which position (stage) in the height direction of the rack 3 to correct the travel stop position of the front edge S of the first shelf 33a, and exists in the first shelf 33a. The lift stop position associated with the front opening S closest to the first end among the front openings S is read from the stop position management table T (step S2102).

  In the above, when the correction of the first travel stop position is executed, the controller 61 determines to correct the travel stop position of the opening S of the first shelf portion 33a at the uppermost stage or the lowermost stage of the rack 3. In another embodiment, the controller 61 may determine to first correct the travel stop position of the frontage S of the first shelf 33a at an arbitrary position (arbitrary stage) in the height direction.

  After determining from which position in the rack 3 the travel stop position of the frontage is to be corrected, and reading the lift stop position, which is the height direction position where the determined stage exists, from the stop position management table T, the controller 61 moves the lifting platform 55 to the lifting stop position (step S2103).

  In another embodiment, the order of processing in steps S2101 to S2103 may be changed. That is, firstly, it is determined which first shelf portion 33a the travel stop position of the frontage S is to be corrected, and the lifting platform 55 is moved to the elevation stop position corresponding to the first shelf portion 33a. The traveling carriage 53 may be moved to a position corresponding to the first end.

  In still another embodiment, the above steps S2101 to S2103 may be performed simultaneously. That is, the traveling carriage 53 may be moved to a position corresponding to the first end while moving the lifting platform 55 to the target lifting stop position.

  In still another embodiment, for example, when the traveling carriage 53 already exists at a position corresponding to the first end of the rack 3 and the lifting platform 55 already exists at the target position in the height direction, Steps S2101 to S2103 may be omitted.

  Next, the controller 61 sequentially detects the detection member 35 present in the target first shelf 33a of the rack 3, and exists in the first shelf 33a based on the detection result of the detection member 35. The travel stop position corresponding to the frontage S is sequentially corrected.

  For this purpose, the controller 61 first moves the traveling carriage 53 to the traveling stop position of the first frontage S on the first end side present in the first shelf 33a of the rack 3 (step S2104), and stops the traveling. The traveling carriage 53 is moved to a position shifted from the position in the direction of the first end by an off-search distance δ1 (step S2105).

  In another embodiment, instead of executing the above steps S2101 and S2104, the controller 61 calculates a position deviated from the travel stop position to be corrected in advance by a distance δ1 and directly moves the traveling carriage 53 to the position. You may let them.

  In yet another embodiment, in steps S2101 to S2105 described above, the controller 61 first moves the traveling carriage 53 to a position shifted from the travel stop position to be corrected by the search removal distance δ1, and then corrects the travel stop position. The lifting platform 55 may be moved to a position in the height direction where the frontage S to be present exists.

  In still another embodiment, in steps S2101 to S2105 described above, the controller 61 moves the travel carriage 53 to a position shifted from the travel stop position to be corrected by the search removal distance δ1 and the frontage S to be corrected for the travel stop position. The lifting platform 55 may be moved simultaneously to a position in the height direction where there is.

  The search removal distance δ1 is necessary for moving the traveling carriage 53 to a position on the first end side where the detection hole O corresponding to the frontage S that is the target of correction of the traveling stop position cannot be reliably detected. The distance traveled in the transport direction from the travel stop position.

  Therefore, the search removal distance δ1 can be, for example, the length of the detection member 35 in the transport direction. Thereby, for example, as a result of moving the traveling carriage 53 to the travel stop position to be corrected, the detector 59 faces the end on the second end side of the detection member 35 to be detected. However, the detector 59 can be moved to a position facing the end portion on the first end side of the detection member 35 by moving the traveling carriage 53 to the first end side by the search removal distance δ1. As a result, the traveling carriage 53 is moved in the direction from the first end to the second end, and the detector 59 is moved in the direction from the first end to the second end, thereby reliably detecting the detection hole O. it can.

  For example, when correcting the travel stop position for the kth frontage S (an example of a predetermined frontage) in the stop position management table T, as a result of moving the travel carriage 53 to the travel stop position Dk corresponding to the frontage S, Assume that the detector 59 exists at a position directly opposite the position (1) in FIG.

  Thereafter, the traveling carriage 53 is moved in the direction of the first end by the search removal distance δ1 (assuming that the length of the detection member 35 is set in the conveyance direction), so that the position (2) in FIG. The position of the detector 59 is opposed to the direction Dk−δ1). FIG. 10 is a diagram schematically illustrating how the detection member is detected (conveyance direction).

  After moving the traveling carriage 53 to a position shifted by the un-search distance δ1, the controller 61 causes the detector 59 to detect the intensity of the reflected light while moving the traveling carriage 53 toward the second end of the rack 3 ( Step S2106).

  In the present embodiment, the controller 61 allows the detector 59 to detect the intensity of the reflected light by the search distance δs1 in the direction of the second end of the rack 3 (that is, up to the position (3) in FIG. 10). The traveling carriage 53 is moved.

  As shown in FIG. 10, the search distance δs1 described above is such that the detector 59 faces the two edges in the transport direction of the detection hole O while the traveling carriage 53 moves in the direction of the second end of the rack 3. It is set as a distance greater than the distance required to pass the position. In the example shown in FIG. 10, the search distance δs1 is set to be twice the search removal distance δ1.

  While detecting the intensity of the reflected light while moving the traveling carriage 53 toward the second end, the controller 61 determines whether or not the edge of the detection hole O has been detected by the detector 59 (step S2107). .

  While moving the traveling carriage 53 in the direction of the second end, the detector 59 moves from the position facing directly to (2) in FIG. 10 to the position facing directly to (3) in FIG. The intensity of reflected light as shown in FIG. 11 is detected as a detection result of the detection member 35. FIG. 11 is a diagram illustrating an example of the detection result (conveyance direction) of the detection member.

  In the detection result of the detection member 35, as shown in FIG. 11, when the detector 59 moves from a position directly facing (2) in FIG. 11 to a position facing the edge of the first end of the detection member 35, The instrument 59 detects a sudden increase in the intensity of the reflected light. Thereafter, when the detector 59 moves from a position facing the edge of the first end of the detection member 35 to a position facing the edge on the first end side of the detection hole O (that is, the traveling carriage 53 moves to (2) in FIG. )), The detector 59 detects a sudden decrease in the intensity of the reflected light.

  Further, when the detector 59 moves from a position facing the edge on the first end side of the detection hole O to a position facing the edge on the second end side of the detection hole O (that is, the traveling carriage 53 is shown in FIG. 11). The detector 59 again detects a sudden increase in the intensity of the reflected light.

  When the detector 59 further moves and reaches a position facing the edge on the second end side of the detection member 35, the detector 59 again detects a sudden decrease in the intensity of the reflected light.

  Accordingly, in step S2107, the controller 61 detects that the detector 59 has detected a sudden decrease in reflected light, and is a predetermined time (the time during which the traveling carriage 53 has moved by the length of the detection hole O in the transport direction). When a sudden increase in reflected light is detected after the passage, it is determined that the detector 59 has detected two edges in the transport direction of the detection hole O.

  However, when the time from when the detector 59 first detects a sudden decrease in reflected light to when the detector 59 detects a sudden increase in reflected light is longer than the predetermined time, the detector 59 is not in the detection hole O. It is determined that two edges in the transport direction are not detected.

  As described above, it is determined that two edges in the transport direction of the detection hole O are detected when a sudden decrease in reflected light is detected and a sudden increase in reflected light is detected after a predetermined time has elapsed. Thus, the edge of the detection hole O in the transport direction can be detected appropriately.

  For example, if the detector 59 detects only an abrupt decrease in reflected light and detects the edge of the detection hole O in the transport direction, the detector 59 is strong by detecting the load A and / or the shelf 33. If a sudden decrease in reflected light is detected by detecting the load A and / or the shelf 33 after detecting the reflected light, the edge of the load A and / or the shelf 33 in the transfer direction is set to the transfer direction of the detection hole O. It will be erroneously detected that it is the edge of.

  If the detector 59 has not detected a sudden decrease in reflected light, or has detected a first decrease in reflected light, but has not detected a sudden increase in reflected light after a predetermined time has elapsed (step S2017). In the case of “No”, the controller 61 determines that the two edges in the transport direction of the detection hole O have not been detected, and continues to move the traveling carriage 53 to the second end.

  On the other hand, when the detector 59 detects a sudden decrease in reflected light and detects a sudden increase in reflected light after a lapse of a predetermined time (in the case of “Yes” in step S2107), the controller 61 detects It is determined that two edges in the transport direction of the hole O have been detected, and the position in the transport direction of the traveling carriage 53 when the detector 59 detects a sudden decrease in reflected light is stored as an edge on the first end side. . Further, the position in the transport direction of the traveling carriage 53 when the detector 59 detects an abrupt increase in reflected light after the predetermined time has elapsed is stored as an edge on the second end side (step S2108).

  For example, in the detection member 35 corresponding to the k-th slot S, the distance Ek1 moved until the stacker crane 5 detects the edge on the first end side from the position (2) in FIG. The distance Ek2 that has been moved until the edge on the second end side is detected is stored as the edge position on the second end side, and is stored as the edge position on the second end side.

  In another embodiment, at the timing when the detector 59 detects a sudden decrease in reflected light, the controller 61 stores the position in the transport direction of the traveling carriage 53 at the timing as the edge on the first end side. At the timing at which 59 detects a sudden increase in reflected light after the predetermined time has elapsed, the position in the transport direction of the traveling carriage 53 at that timing may be stored as the edge on the second end side.

  In this case, even if a predetermined time (time when the traveling carriage 53 has moved by the length of the detection hole O in the transport direction) elapses after a sudden increase in the reflected light is detected, a sudden decrease in the reflected light is detected. If not detected, the controller 61 deletes the stored position facing the first end side edge of the detection hole O from the storage unit, and again detects the two edges in the transport direction of the detection hole O. May start.

  While the traveling carriage 53 is moving from the first end to the second end in order to detect two edges in the conveying direction of the detection hole O, the controller 61 searches after the traveling carriage 53 starts the movement. It is determined whether or not the distance δs1 has been moved (step S2109).

  When the traveling carriage 53 has not moved by the search distance δs1 (in the case of “No” in step S2109), the controller 61 moves the traveling carriage 53 in the direction from the first end to the second end, and detects the detection hole O. The detection of the two edges in the transport direction is continued.

  On the other hand, if it is determined that the traveling carriage 53 has moved by the search distance δs1 (in the case of “Yes” in step S2109), the controller 61 calculates a new traveling stop position Dk ′ for the traveling stop position to be corrected. The new travel stop position Dk ′ is stored in the storage unit 613 in association with the identification number of the corresponding frontage S in the stop position management table T (step S2110). Thereby, the correction of the travel stop position for one frontage S is completed.

  The new travel stop position Dk ′ can be calculated as follows, for example. Below, the case where the correction | amendment of the driving | running | working stop position with respect to kth slot S is performed is taken as an example.

  First, the midpoints of the two edges in the transport direction of the detection hole O obtained by executing steps S2106 to S2109 are calculated. Thereby, the center position of the detection hole O in the transport direction can be calculated. For example, when the above distances Ek1 and Ek2 are used, it can be calculated as (Ek1 + Ek2) / 2.

  Next, the midpoint of the two edges in the transport direction is added to the transport direction position (Dk−δ1) deviated from the travel stop position to be corrected by the search removal distance δ1 to obtain Dk−δ1 + (Ek1 + Ek2) / 2 and a new travel stop position Dk ′ can be calculated.

  In another embodiment, the controller 61 uses the distances Ek1 and Ek2 as values Ek1 ′ and Ek2 ′ (for example, a travel distance from the reference position of the traveling carriage 53 in the transport direction) to the positions in the transport direction, respectively. You may get as In this case, the new travel stop position Dk ′ can be calculated as the midpoint between Ek1 ′ and Ek2 ′, that is, (Ek1 ′ + Ek2 ′) / 2.

  After correcting the travel stop position with respect to one frontage S, the controller 61 determines that the corrected travel stop position is the last frontage S (frontage closest to the second end in the first shelf portion 33a on which the travel stop position has been corrected). It is determined whether or not it is for S) (step S2111). That is, it is determined whether the traveling carriage 53 has been moved to a position corresponding to the second end of the rack 3.

  When the traveling carriage 53 has not been moved to the position corresponding to the second end of the rack 3 (in the case of “No” in step S2111), the controller 61 moves the traveling carriage 53 in the transport direction to move the traveling carriage 53. It moves to the travel stop position of the next frontage S (for example, k + 1st frontage S). Thereafter, the above steps S2104 to S2111 are executed. That is, the above steps S2104 to S2111 are repeatedly executed until the travel stop position is corrected for all the frontage S present on the first shelf 33a.

  In another embodiment, for one position in the height direction, after correcting the travel stop position for the frontage S closest to the first end of the rack 3, the travel stop position for the subsequent frontage S is corrected. When executing the correction, the above steps S2104 and S2105 may not be executed. In other words, the traveling carriage 53 is moved (scanned) in the direction from the first end to the second end of the rack 3, and two edges in the transport direction of the detection hole O corresponding to each frontage S are detected. Also good.

  In still another embodiment, after the travel stop position is corrected for the frontage S closest to the first end of the rack 3, the travel stop position is corrected for the subsequent frontage S. The above step S2104 may not be executed. That is, when the correction of the travel stop position for one frontage S is completed, the travel carriage 53 may be moved directly to a position shifted by the distance δ1 from the travel stop position (before correction) for the next frontage S (before correction). Good.

  On the other hand, when the travel stop position is corrected with respect to all the slots S existing in the first shelf 33a at the current lifting stop position (in the case of “Yes” in step S2111), with respect to all the slots S of the rack 3 It is then determined whether or not the travel stop position has been corrected (step S2112).

  Specifically, when it is determined that correction of the travel stop position is first executed for the first shelf portion 33a existing in the lowermost stage, the controller 61 sequentially proceeds from the lowermost stage to the uppermost stage in the transport direction. When the travel stop position of the frontage S is corrected and finally the travel stop position is corrected for all the frontage S present in the uppermost first shelf portion 33a, all the frontage S of the rack 3 are corrected. It is determined that the travel stop position has been corrected.

  On the other hand, when it is determined that the travel stop position correction is first executed for the first shelf 33a existing in the uppermost stage, the controller 61 applies to all the fronts S existing in the lowermost first shelf 33a. When the travel stop position correction is executed, it is determined that the travel stop position correction has been executed for all the frontage S of the rack 3.

  In addition, the 1st shelf part 33a of the object which correct | amends a driving | running | working stop position is not restricted to changing only to one direction of an upward direction or a downward direction. For example, in another embodiment, when the position of the first shelf 33a that first executes the correction of the travel stop position is set to an arbitrary position other than the uppermost stage or the lowermost stage, the first shelf part 33a exists at the arbitrary position. After correcting the travel stop position with respect to all the frontage S from the first shelf 33a to the uppermost first shelf 33a in the upward direction, the first shelf 33a is moved downward from the first shelf 33a one step below the arbitrary position. You may correct | amend a driving | running | working stop position with respect to all the front openings S to the 1st shelf part 33a of the lowest step in a direction.

  In this case, when the controller 61 executes the correction of the travel stop position for all the front slots S present in the lowermost first shelf portion 33a, the controller 61 sets the travel stop position for all the front slots S of the rack 3. It is determined that correction has been performed.

  In yet another embodiment, after correcting the travel stop position for all the frontage S from the first shelf 33a existing at any position to the first shelf 33a in the lowermost stage, The travel stop position may be corrected with respect to all the openings S from the first shelf 33a one step above the arbitrary position to the first shelf 33a that is the uppermost step in the upward direction.

  In this case, when the controller 61 executes the correction of the travel stop position for all the front slots S existing in the uppermost first shelf 33a, the controller 61 sets the travel stop position for all the front slots S of the rack 3. It is determined that correction has been performed.

  In still another embodiment, the travel stop position is corrected with respect to all the front edges S from the first shelf 33a existing at the arbitrary position to the first shelf 33a at the uppermost stage, and then moved up and down. The platform 55 is lowered from the position of the first shelf 33a at the uppermost stage to the position of the first shelf 33a at the lowermost stage, and the first shelf one stage below at an arbitrary position upward from the first shelf 33a at the lowermost stage. You may correct | amend a driving | running | working stop position with respect to all the frontages S to the part 33a.

  In this case, when the controller 61 executes the correction of the travel stop position with respect to all the front slots S existing in the first shelf 33a one step below the arbitrary position, the controller 61 applies all the front slots S of the rack 3 to each other. It is determined that the travel stop position has been corrected.

  In still another embodiment, the travel stop position is corrected with respect to all the front openings S from the first shelf 33a existing at any position to the first shelf 33a in the lowermost stage, and then moved up and down. The base 55 is raised from the position of the first shelf 33a at the lowermost stage to the position of the first shelf 33a at the uppermost stage, and the first shelf on the first stage at an arbitrary position downward from the uppermost first shelf 33a. You may correct | amend a driving | running | working stop position with respect to all the frontages S to the part 33a.

  In this case, when the controller 61 executes the correction of the travel stop position for all the frontage S present in the first shelf 33a one step above the arbitrary position, the controller 61 applies to all the frontage S of the rack 3. It is determined that the travel stop position has been corrected.

  When the travel stop position correction is not executed for all the frontage of the rack 3 (in the case of “No” in step S2112), the first shelf 33a for correcting the travel stop position is changed to the first shelf of the next stage. As the unit 33a, the above steps S2101 to S2112 are executed. That is, steps S2101 to S2112 are repeatedly executed until the travel stop position is corrected for all the frontage S.

  By executing the above steps S2104 to S2111, the transfer machine 57 and the frontage S are transferred when the load A is transferred between the transferer 57 and the frontage S without providing a new detection member in the rack 3. The travel stop position can be easily corrected using the detection member 35 used to detect whether or not the cargo A is in a positional relationship in which the load A can be transferred.

  Further, by executing the above-described steps S2104 to S2111 and correcting the travel stop position, the detection member 35 is simply provided with a simple-shaped detection hole O, and can be simplified without complicated calculations. By the method, the travel stop position can be corrected with high accuracy.

  Furthermore, by correcting the travel stop positions with respect to the plurality of frontage openings S present in the specific first shelf 33a obtained in steps S2101 to S2112, it is possible to know the bending state of the rack 3. The state of bending can be known, for example, from the dependence on the frontage S of the difference between the corrected travel stop position and the corrected travel stop position.

(8) Elevation Stop Position Correction Process Hereinafter, the elevation stop position correction process executed in step S22 will be described with reference to FIG. FIG. 12 is a flowchart showing a process for correcting the lift stop position. Below, the example which performs correction | amendment of the raising / lowering stop position with respect to each of the some frontage S arrange | positioned in a height direction is demonstrated. Further, a description will be given by taking as an example correction of the lift stop position stored in the stop position management table T shown in FIG. 6A.

  The correction process of the lifting / lowering stop position in the above example was described in the above “(7) Travel stop position correction process” except that the moving direction of the detector 59 was changed from the transport direction to the height direction. The lifting / lowering stop position is corrected by substantially the same process. Therefore, in the following, the correction process of the lift stop position will be schematically described.

  First, the controller 61 moves the traveling carriage 53 to the traveling stop position where the opening / closing stop S to be corrected exists (step S2201), and then lowers the lifting platform 55 to the lowest level of the rack 3 (step S2202). ).

  Next, the controller 61 raises and lowers the elevator platform 55 to the elevation stop position Hk of the entrance S for correcting the elevation stop position (the entrance S for which the elevation stop position is to be corrected) (step S2203).

  After raising / lowering the lifting platform 55 to the lifting / lowering stop position Hk of the frontage S for which the lifting / lowering stop position is to be corrected, the lifting / lowering platform 55 is lowered to a position shifted by a distance δ2 from the lifting / lowering stop position by moving downward from the lifting / lowering stop position (step S2204).

  As a result, the detector 59 is in a state in which the detector 59 is directly opposed to the position (k) in FIG. 13 (2) (ie, Hk−δ2) from the state in FIG. Will be transferred to. FIG. 13 is a diagram schematically illustrating how the detection member is detected (in the height direction).

  After moving the lifting platform 55 to a position shifted by the search removal distance δ2, the controller 61 causes the detector 59 to detect the intensity of the reflected light while raising the lifting platform 55 (step S2205).

  While causing the detector 59 to detect the intensity of the reflected light while raising the elevator 55, the controller 61 detects the sudden decrease in the reflected light as shown in FIG. It is determined whether or not a sudden increase in reflected light has been detected after a lapse of time (step S2206).

  Note that, depending on the positional relationship between the detection member 35 and other members of the rack 3 such as the first shelf 33a, the detector 59 may detect the sudden decrease in the intensity of the reflected light. By detecting the lower edge of the member 35, the increase in the intensity of the reflected light may be detected. Alternatively, the increase in the intensity of the reflected light may not be detected before the rapid decrease in the intensity of the reflected light is detected.

  The detector 59 has not detected a sudden decrease in reflected light, or the detector 59 has detected a sudden decrease in reflected light for the first time, but the sudden increase in reflected light after a predetermined time has elapsed. If not detected (in the case of “No” in step S2206), the controller 61 determines that two edges in the height direction of the detection hole O have not been detected, and detects the detector while raising the lifting platform 55. The operation of causing 59 to detect the intensity of the reflected light is continued. FIG. 14 is a diagram illustrating an example of the detection result (height direction) of the detection member.

  On the other hand, when the detector 59 detects a sudden decrease in the reflected light, and detects a sudden increase in the reflected light after a predetermined time has elapsed (in the case of “Yes” in step S2206), the controller 61 59 determines that two edges in the height direction of the detection hole O have been detected.

  Thereafter, the elevation distance (in the height direction) of the lifting platform 55 until the detector 59 detects a sudden decrease in the reflected light from the position shifted from the position Hk by the search removal distance δ2 (position (2) in FIG. 14). In the example shown in FIG. 14, ek1) is stored as the lower edge.

  In addition, the up / down distance (ek2 in the example shown in FIG. 14) in the height direction until the detector 59 detects an abrupt increase in reflected light from the position shifted from the position Hk by the search off distance δ2 is set to the upper side. (Step S2207).

  In another embodiment, the controller 61 may acquire the above “ek1” and “ek2” as positions from the reference position in the height direction.

  While executing steps S2205 to S2207, the controller 61 determines whether the elevator 55 has been moved by the search distance δs2 (step S2208). If it is determined that the elevator 55 has not been moved by the search distance δs2 (“No” in step S2208), the above steps S2205 to S2207 are continuously executed.

  On the other hand, if it is determined that the lift 55 has moved by the search distance δs2 (in the case of “Yes” in step S2208), the controller 61 determines the midpoint (ek1 + ek2) between the lower edge and the upper edge of the detection hole O. / 2 and the position (Hk−δ2) of the stacker crane after movement by the search removal distance δ2 are added to calculate a new lifting stop position Hk ′ as Hk−δ2 + (ek1 + ek2) / 2. The elevator stop position Hk ′ is stored in association with the identification number of the corresponding frontage S in the stop position management table T (step S2209). Thereby, the correction of the raising / lowering stop position for one frontage S is completed.

  When the correction of the raising / lowering stop position with respect to one opening S is completed, the controller 61 raises the lifting platform 55 to the raising / lowering stopping position of the next opening S to correct the raising / lowering stopping position of the next opening S (described above). Steps S2203 to S2210 are repeated), and the lift stop position from the frontage S existing at the lowermost level to the frontage S existing at the uppermost level is changed with respect to a plurality of frontage S existing at the same position in the transport direction. Perform correction.

  When the lifting / lowering stop positions of all the frontage S existing in the position in one transport direction are corrected, the above steps S2203 to S2210 are executed after the stacker crane 5 is moved to the travel stop position of the next frontage S adjacent in the transport direction. By repeating the above process (that is, repeatedly executing steps S2201 to S2211), it is possible to correct the lifting / lowering stop positions with respect to all the slots S of the rack 3.

  By executing steps S2203 to S2210 described above, the elevation stop position can be easily corrected using the existing detection member 35 without providing a new detection member in the rack 3.

  In another embodiment, when the stop position management table T ′ that stores correction values for correcting the travel stop position and the lift stop position shown in FIG. 6B is used, the correction of the travel stop position is performed in the above step S2109. The midpoints ((Ek1 + Ek2) / 2) of the two edges in the transport direction of the detection hole O calculated in step 2 are set to the corresponding frontage S corresponding to the “transport direction” of the “correction value” in the stop position management table T ′. The information may be stored in association with the identification number (identification number k) field (C1k field).

  Further, the midpoint ((ek1 + ek2) / 2) of the two edges in the height direction of the detection hole O calculated in step S2209 is set to the “height” of the “correction value” in the stop position management table T ′. It may be stored in association with the column (column C2k) of the identification number (identification number k) of the frontage S corresponding to “direction”.

  In the above case, once the travel stop position and the lift stop position stored in the stop position management table T 'are determined, they are not updated even if the stop position is corrected. In this case, the target travel stop position and the target lift stop position when the load A is transferred between the lift platform 55 and the frontage S are determined in the above step S3. It may be calculated on the occasion.

  The target travel stop position is, for example, Dk−δ1 + (Ek1 + Ek2) / 2 (using the travel stop position and the correction value associated with the identification number of the frontage S where the load A is to be transferred in the stop position management table T ′. And the identification number of the frontage S where the package A is to be transferred is k).

  The target lift stop position is, for example, Hk−δ2 + (ek1 + ek2) / 2 () using the lift stop position and the correction value associated with the identification number of the frontage S to which the load A is to be transferred in the stop position management table T ′. And the identification number of the frontage S where the package A is to be transferred is k).

  In still another embodiment, when the stop position management table T ″ that stores the detection result of the detection member 35 corresponding to each frontage S shown in FIG. 6C is used, the correction of the travel stop position is performed in the above-described step S2107. The positions (Ek1, Ek2) of the two edges in the transport direction of the detection hole O acquired in step 2 are identified with the identification numbers of the frontage S corresponding to the “transport direction” of the “detection result” in the stop position management table T ″. It may be stored in association with the column of identification number k) (column of d1k).

  Further, the positions (ek1, ek2) of the two edges in the height direction of the detection hole O acquired in step S2207 are set in the “height direction” of the “detection result” of the stop position management table T ″. The corresponding frontage S identification number (identification number k) field (d2k field) may be stored in association with each other.

  In the above case, once the travel stop position and the lift stop position stored in the stop position management table T ″ are determined, they are not updated even if correction of the stop position is executed. In this case, the target travel stop position and the target lift stop position when the load A is transferred between the lift platform 55 and the frontage S are determined in the above step S3. It may be calculated on the occasion.

  The target travel stop position is, for example, Dk−δ1 + (Ek1 + Ek2) / 2 (using the travel stop position and the detection result associated with the identification number of the frontage S where the load A is to be transferred in the stop position management table T ′. And the identification number of the frontage S where the package A is to be transferred is k).

  The target lift stop position is determined by using, for example, Hk−δ2 + (ek1 + ek2) / 2 () using the lift stop position and the detection result associated with the identification number of the frontage S to which the load A is to be transferred in the stop position management table T ′. And the identification number of the frontage S where the package A is to be transferred is k).

2. 2nd Embodiment In said 1st Embodiment, although the number of the transfer machines 57 arrange | positioned at the raising / lowering stand 55 was 1, it is not restricted to this. In the automatic warehouse system 1 ′ according to the second embodiment, as shown in FIG. 15, a plurality of transfer machines 57 are mounted on the lifting platform 55 along the transport direction. FIG. 15 is a diagram illustrating a configuration of a lifting platform according to the second embodiment. In the example shown in FIG. 15, each of the four transfer machines 57 a, 57 b, 57 c, and 57 d is mounted with a predetermined interval in the width direction in the transport direction of the lifting platform 55.

  Further, since the lifting platform 55 includes the four transfer machines 57a, 57b, 57c, and 57d, the load A can be simultaneously transferred between the four shelves 33.

  Further, as shown in FIG. 15, the frontage S of the rack 3 is formed between two second shelves 33b that are spaced apart in the transport direction. Moreover, the detection member 35 is provided in each 2nd shelf part 33b. Therefore, one frontage S has detection members 35 at one end and the other end in the transport direction (that is, detection members 35 are provided on both sides of the frontage S).

  The automatic warehouse system 1 ′ according to the second embodiment is an automatic warehouse system according to the first embodiment, except that the lifting platform 55 includes a plurality of transfer machines 57 (and a plurality of detectors 59 in some cases). It has the same configuration as the warehouse system 1. Therefore, hereinafter, only the transfer machine 57 and the detector 59 provided on the lifting platform 55 will be described, and description of other configurations of the automatic warehouse system 1 'will be omitted.

  In the second embodiment, one detector 59 is common to a plurality of transfer machines 57. In the example shown in FIG. 15, one detector 59a is provided between two adjacent transfer machines 57a and 57b, and the other detector 59b includes two adjacent transfer machines 57c, 57d. That is, in the example shown in FIG. 15, two detectors 59 are provided for the four transfer machines 57.

  In another embodiment, the detector 59 may be further provided on the lifting platform 55 on the opposite side of the transfer direction from the side on which the detectors 59a and 59b are attached. Thereby, the detection member 35 of the rack 3 on the opposite side to the side shown in FIG. 15 can also be detected.

  The positional relationship between the detector 59a and the two transfer machines 57a and 57b is such that when the detector 59a faces the specific detection member 35, the transfer machines 57a and 57b The positional relationship is directly opposite to two corresponding frontage S adjacent to each other.

  The positional relationship between the detector 59b and the two transfer machines 57c and 57d is such that when the detector 59b faces the specific detection member 35, the transfer machines 57c and 57d The positional relationship is directly opposite to two corresponding frontage S adjacent to each other.

  In this case, the stop position management tables T, T ′, and T ″ are stored in the storage unit 613 for each of the detectors 59a and 59b. Therefore, the correction of the travel stop position and the lift stop position described in the first embodiment is performed for each of the detectors 59a and 59b.

  In the stop position management tables T, T ′, T ″, the travel stop position and the lift stop position (correction value and detection result) are associated with each detection member 35 of the rack 3. Further, in the stop position management tables T, T ′, T ″, one frontage S is associated with the two detection members 35, and the controller 61 is shown in the transfer instruction of the load A (the load From the identification number of the frontage S), which two detection members 35 are to be detected by the detector 59 is determined.

  When executing the transfer of the load A, the detection members 35 (described above) provided on both sides of the frontage S using any of the detectors 59a and 59b in accordance with the transfer machine 57 that transfers the load A. It is determined which of the two detection members 35) determined in (1) is to be detected by the detectors 59a and 59b.

  And the position in the conveyance direction of the traveling carriage 53 when the detectors 59a and 59b determined to be used for the detection of the detection member 35 and the detection members 35 determined to be detected by the detectors 59a and 59b face each other, The travel stop position is determined with respect to the transfer machines 57a, 57b, 57c, and 57d that transfer the load A.

  On the other hand, the position in the height direction of the lifting platform 55 when the detectors 59a and 59b determined to be used for detection of the detection member 35 and the detection members 35 determined to be detected by the detectors 59a and 59b face each other. Then, it is determined as a lifting / lowering stop position for the transfer machines 57a, 57b, 57c, and 57d for transferring the load A.

  Specifically, for example, the load A is transferred to the frontage S (indicated by a one-dot chain line in FIG. 15) between the p-th detection member 35 and the p + 1-th detection member 35 shown in FIG. In the case where the load A is transferred using the transfer machine 57a, it is determined that the detection of the p-th detection member 35 is performed using the detector 59a. Further, in the stop position management tables T, T ′, T ″ of the detector 59a, the travel stop position and the lift stop position associated with the p-th detection member 35 are respectively set as the target travel stop position of the stacker crane 5, And it determines with the target raising / lowering stop position of the raising / lowering stand 55. FIG.

  When the load A is transferred using the transfer device 57b, it is determined that the detection of the p + 1th detection member 35 is performed using the detector 59a. In the stop position management tables T, T ′, and T ″ of the detector 59a, the travel stop position and the lift stop position associated with the (p + 1) th detection member 35 are respectively set as the target travel stop position of the stacker crane 5, And it determines with the target raising / lowering stop position of the raising / lowering stand 55. FIG.

  When the load A is transferred using the transfer device 57c, it is determined that the p-th detection member 35 is detected using the detector 59b. Further, in the stop position management tables T, T ′, T ″ of the detector 59b, the travel stop position and the lift stop position associated with the p-th detection member 35 are respectively set as the target travel stop position of the stacker crane 5, And it determines with the target raising / lowering stop position of the raising / lowering stand 55. FIG.

  When the load A is transferred using the transfer machine 57d, it is determined that the detection of the p + 1th detection member 35 is performed using the detector 59b. Further, in the stop position management tables T, T ′, T ″ of the detector 59b, the travel stop position and the lift stop position associated with the (p + 1) th detection member 35 are respectively set as the target travel stop position of the stacker crane 5, And it determines with the target raising / lowering stop position of the raising / lowering stand 55. FIG.

  As described above, by installing a plurality of transfer machines 57 on the lifting platform 55, the number of loads A that can be transported at once by the stacker crane 5 can be increased, and the transport and transfer of the loads A can be performed efficiently. .

  In addition, by arranging the detectors 59 as described above for the plurality of transfer machines 57, detection close to the transfer machine 57 can be achieved without providing the detectors 59 for each of the plurality of transfer machines 57. By detecting the detection member 35 with the instrument 59, the corresponding detection member 35 can be detected with high accuracy. Further, it is possible to accurately determine the travel stop position and the lift stop position with respect to the transfer machine 57 that transfers the load A. As a result, it is possible to reduce the cost of the automatic warehouse system 1 ′ without reducing the accuracy of the elevation stop position and the elevation stop position.

3. Features of the embodiment The features of the above embodiment are as follows.
The automatic warehouse system 1, 1 ′ (an example of an automatic warehouse system) includes a rack 3 (an example of a rack), a stacker crane 5 (an example of a transport device), and a controller 61 (an example of a controller). The rack 3 includes a column 31 (an example of a column), a shelf 33 (an example of a shelf), and a detection member 35 (an example of a detection member). The support columns 31 are arranged in a pair of front and rear with respect to the transfer direction when the load A is transferred between the rack 3 and the stacker crane 5, and a plurality of the support columns 31 are arranged along the transport direction that is the traveling direction of the stacker crane 5. . The shelf 33 is constructed between the columns 31 to form a plurality of fronts S (an example of fronts) on which the luggage A is placed along the transport direction. The detection member 35 is provided between the front openings S adjacent to each other.

  The stacker crane 5 includes a transfer machine 57 (an example of a transfer machine), an elevator 55 (an example of an elevator), a traveling carriage 53 (an example of a traveling carriage), a detector 59 (an example of a detector), Have. The transfer machine 57 transfers the load A to and from the frontage S. The lifting platform 55 is mounted with a transfer machine 57 and moves up and down in the height direction of the rack 3. The traveling carriage 53 is mounted with a lifting platform 55 and moves in the transport direction. The detector 59 is a sensor that detects the detection member 35. When the load A is transferred between the transfer device 57 and the frontage S, the detector 59 is positioned at a position facing the detection member 35 corresponding to the frontage S. Provided.

  When the controller 61 transfers the load A between the transfer machine 57 and the frontage S, the travel stop position, which is a position in the transport direction where the target frontage S for transferring the travel cart 53 exists, is provided. Execute the control to stop. In addition, the controller 61 performs control to stop the lifting platform 55 at a lifting stop position that is a position in the height direction where the target frontage S exists. Further, when the detector 59 detects the detection member 35 corresponding to the target slot S, the controller 61 executes control for transferring the load A to and from the target slot S with respect to the transfer device 57.

  Further, the controller 61 moves the lifting platform 55 to the lifting stop position set with respect to the predetermined slot S, and detects the detection member 35 corresponding to the predetermined slot S while moving the traveling carriage 53 in the transport direction. 59 (detectors 59a and 59b). Further, the position in the transport direction of the traveling carriage 53 when the detection member 35 corresponding to the predetermined frontage S and the detector 59 (detectors 59a and 59b) face each other, obtained based on the detection result of the detection member 35. Is set as a new travel stop position corresponding to the predetermined frontage S, so that the travel stop position corresponding to the predetermined frontage S is corrected.

  In the automatic warehouse system 1, 1 ′, when the detection member 35 transfers the load A between the transfer device 57 and the frontage S, the transferer 57 and the frontage S transfer the load A. It is used to detect whether or not the positional relationship is possible.

  Further, in the automatic warehouse system 1, 1 ′, when the travel stop position corresponding to the predetermined slot S is corrected, the automatic warehouse system 1, 1 ′ moves up and down to the lift stop position currently set for the predetermined slot S. After moving the base 55, the detector 59 (detectors 59a and 59b) is made to detect the detection member 35 corresponding to the predetermined frontage S while the traveling carriage 53 is traveling in the transport direction. As a result, the travel stop position can be easily corrected using the existing member used when the load A is transferred without newly providing a member for correcting the travel stop position in the rack.

  In addition, the controller 61 detects the detection member 35 corresponding to the predetermined slot S while moving the traveling carriage 53 to the travel stop position set with respect to the predetermined slot S and raising and lowering the lifting platform 55 in the height direction. The detector 59 (detectors 59a and 59b) is detected. Further, in the height direction of the lifting platform 55 when the detection member 35 corresponding to the predetermined slot S and the detector 59 (detectors 59a and 59b) face each other obtained based on the detection result of the detection member 35. By setting the position as a new lift stop position corresponding to the predetermined slot S, the lift stop position corresponding to the predetermined slot S is corrected.

  Thereby, the raising / lowering stop position can be simply corrected using the existing member used when the load A is transferred without newly providing a member for correcting the raising / lowering stopping position in the rack.

4). Other Embodiments Although a plurality of embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the scope of the invention. In particular, a plurality of embodiments and modifications described in this specification can be arbitrarily combined as necessary.

  For example, the first embodiment and the second embodiment can be combined. That is, even if the lifting platform 55 has a plurality of transfer machines 57, the travel stop position and the lifting stop position correction described in the first embodiment can be performed.

  (A) In the first embodiment and the second embodiment described above, correction of the travel stop position and the lift stop position for a plurality of frontage openings S is performed in one process. It is also possible to execute correction of the stop position only for this.

  In this case, the controller 61 moves the traveling carriage 53 to the currently set traveling stop position with respect to one specific frontage S (for example, designated by the user), and the currently set lifting / lowering stop is performed. After moving the elevator 55 to the position, for example, steps S2104 to S2109 described in the first embodiment are executed to correct the travel stop position for the specific frontage S, and steps S2204 to S2209 are executed. Thus, the elevation stop position can be corrected for the specific frontage S.

  Alternatively, when the load A is transferred between the lifting platform 55 and the frontage S, when it is determined that the lifting platform 55 and the frontage S are not in a positional relationship capable of transferring the load A (for example, detection When the device 59 detects reflected light having a predetermined intensity or higher), the travel stop position and the lift stop position described in the first embodiment may be corrected. In this case, the stop position after correction, the correction value of the stop position, or the detection result of the detection member 35 may not be stored in the stop position management tables T, T ′, and T ″.

  Specifically, for example, when the load A is transferred between the lifting platform 55 and the frontage S, the stacker crane 5 is moved to the target travel stop position with respect to the frontage S, and the lifting platform 55 is moved to the target lifting stop position. When the detector 59 detects reflected light having a predetermined intensity or higher after moving the front door S, the steps S2104 to S2109 described in the first embodiment are executed to transfer the load A. The travel stop position is corrected with respect to and the steps S2204 to S2209 are executed to correct the elevation stop position with respect to the frontage S.

  Thereafter, the stacker crane 5 is moved to the corrected travel stop position, and the lift platform 55 is moved to the corrected lift stop position, so that the lift platform 55 and the frontage S where the load A is to be transferred can be directly opposed. .

  (B) In the first embodiment and the second embodiment described above, depending on whether or not the light from the detector 59 passes through the detection hole O provided in the detection member 35, the lifting platform 55 and the frontage S Is in a positional relationship where the package A can be transferred. However, the present invention is not limited to this, and for example, the elevator 55 and the frontage S can transfer the load A depending on whether or not the detection member 35 is detected with the detection member 35 having the same size as the detection hole O. It may be determined whether or not there is a proper positional relationship.

  In the above case, when the detector 59 detects reflected light having a predetermined intensity or more, it is determined that the lifting platform 55 and the frontage S are in a positional relationship where the load A can be transferred. When the stop position is corrected, a sudden increase in reflected light is first detected while the stacker crane 5 is moved in the transport direction or while the elevator 55 is moved in the height direction. When a sudden decrease in reflected light is detected after a predetermined time has elapsed, the position of the stop position is determined using the midpoint between the position when the sudden increase is detected and the position when the sudden decrease is detected. Correction can be performed.

  In addition, for example, instead of the detection hole O, the surface of the region corresponding to the detection hole O of the detection member 35 may have a concavo-convex structure that irregularly reflects light. Or, conversely, the region other than the region corresponding to the detection hole O of the detection member 35 may be an uneven structure that reflects light, and the region corresponding to the detection hole O may be configured to reflect light.

  (C) In said 1st Embodiment and 2nd Embodiment, it exists in the same position of the specific conveyance direction only in the traveling stop position with respect to several frontage S formed in the specific 1st shelf part 33a. You may correct | amend only the raising / lowering stop position with respect to several opening S. FIG.

  (D) As described above, when correcting the lifting stop position for each frontage S arranged in the height direction with respect to a certain transport position, the controller 61 moves from the lowermost frontage S to the lowest. Two edges in the height direction of the detection hole O are detected while moving the lifting platform 55 toward the upper entrance S. As a result, the detection hole O can be detected by stabilizing the elevator table 55 by its own weight.

  However, the present invention is not limited to this, and when the elevation stop position is corrected for each frontage S arranged in the height direction with respect to a certain transport position, the elevation is moved from the uppermost frontage S toward the lowermost frontage S. Two edges in the height direction of the detection hole O may be detected while moving the table 55.

  (E) When correcting the lift stop position for each frontage S arranged in the height direction with respect to a certain transport position, the correction is not limited to the case where the correction is started from the lowermost or uppermost frontage S, You may start correction | amendment from the raising / lowering stop position about the frontage S which exists in the arbitrary positions of a height direction.

  (F) When the controller 61 cannot detect the detection hole O (two edges) in the correction of the travel stop position and the lift stop position, for example, the controller 61 issues a warning with sound (voice). Or the lamp may be turned on (or blinked) to notify that the detection hole O could not be detected.

  In this case, for example, even when the traveling carriage 53 or the lifting platform 55 has moved the search distances δs1 and δs2, no rapid decrease in the first reflected light is detected, or there is no rapid decrease in the first reflected light. The controller 61 determines that the detection hole O could not be detected and detected the detection hole O when, for example, the detection did not detect a sudden increase in reflected light after a predetermined time, but detected the detection hole O. Notify that.

  (G) In the correction process of the lift stop position, the execution order of steps S2201 and S2202 may be reversed. That is, the stacker crane 5 may be moved to the travel stop position where the correction target frontage S exists after the elevator 55 is lowered to the lowest level of the rack 3.

  (H) In the process of correcting the lift stop position, the lift base 55 may be lifted or lowered directly to the lift stop position Hk of the frontage S for correcting the lift stop position without executing step S2202. In this case, the execution order of steps S2201 and S2203 may be reversed. That is, the traveling carriage 53 may be moved to the travel stop position of the frontage S after the elevation platform 55 is moved up and down to the elevation stop position Hk of the frontage S that corrects the elevation stop position.

  (I) In the correction process of the lift stop position, step S2203 may be omitted when executing step S2204. That is, after the elevator 55 is moved to the lowest level of the rack 3 in step S2202, the elevator 55 is moved to a position shifted by a distance δ2 away from the elevator stop position Hk of the frontage S that directly corrects the elevator stop position. Also good.

  (J) In executing the step S2204 in the elevation stop position correction process, both steps S2202 and S2203 may be omitted. That is, in step S2201, after the traveling carriage 53 is moved to the travel stop position where the lift stop position correction target opening S exists, the search shift distance δ2 is shifted from the lift stop position Hk of the front opening S that directly corrects the lift stop position. The elevator 55 may be moved to a different position. In this case, after moving the lifting platform 55 to the lifting stop position Hk of the frontage S for correcting the lifting stop position, the traveling carriage 53 may be moved to the traveling stop position where the frontage S exists.

  (K) In the correction process of the lift stop position, after performing the correction of the lift stop position for the lowermost frontage S for the position in one transport direction, the lift stop position correction for the subsequent frontage S is executed. In this case, steps S2203 and S2204 may not be executed. That is, two edges in the height direction of the detection hole O corresponding to each of the front edges S are detected while moving (scanning) the lifting platform 55 from the next front edge S to the uppermost front edge S. May be.

  (L) In the correction process of the lift stop position, after performing the correction of the lift stop position for the lowermost slot S, when performing the correction of the lift stop position for the subsequent slot S, step S2203 is performed. It is not necessary to execute. That is, when the correction of the raising / lowering stop position is completed for one slot S, the lifting platform 55 may be moved directly to a position shifted by the distance δ2 from the search stop position with respect to the next slot S (before correction). Good.

  The present invention can be widely applied to an automatic warehouse system for transferring a load between a rack and a transfer device.

DESCRIPTION OF SYMBOLS 1, 1 'Automatic warehouse system 3 Rack 31 Support | pillar 33 Shelf part 33a 1st shelf part 33b 2nd shelf part 35 Detection member O Detection hole S Frontage 5 Stacker crane 51 Guide rail 53 Traveling carriage 55 Lifting platform 551 Lifting device 57, 57a, 57b, 57c, 57d Transfer machine 59, 59a, 59b Detector 61 Controller 611 Sensor 613 Storage section 7 Warehousing station 9 Unloading station A Luggage T, T ′, T ″ Stop position management table

Claims (5)

A rack, a transfer device for transferring a load between the racks, and a controller,
The rack is
A pair of support columns arranged in a front-rear direction with respect to the transfer direction when transferring the load between the rack and the transfer device, and a plurality of columns arranged along the transfer direction which is the traveling direction of the transfer device,
A shelf that forms a plurality of frontage openings along which the load is placed by laying between the columns,
A detection member provided between the frontage adjacent to each other,
The transfer device
A transfer machine for transferring the load to and from the frontage;
A lifting platform that mounts the transfer machine and moves up and down in the height direction of the rack;
A traveling carriage mounted with the lifting platform and moving in the conveying direction;
A sensor for detecting the detection member, and a detector provided at a position facing the detection member corresponding to the frontage when the load is transferred between the transfer machine and the frontage. Have
The controller is
Control for stopping the traveling carriage at a travel stop position that is a position in the transport direction where a purpose frontage for transferring the load is present when the load is transferred between the transfer machine and the frontage. And a control for stopping the lifting platform at a lifting stop position that is a position in the height direction where the target frontage exists,
When the detector detects the detection member corresponding to the target frontage, the transfer machine is controlled to transfer the load to and from the target frontage,
Furthermore, the controller
Moving the lifting platform to the lifting stop position set for a predetermined opening;
Then, while moving the traveling carriage in the transport direction, the detector detects the detection member corresponding to the predetermined frontage,
The position in the transport direction of the traveling carriage when the detection member corresponding to the predetermined frontage and the detector face each other obtained based on the detection result of the detection member corresponds to the predetermined frontage. By executing the correction of the travel stop position corresponding to the predetermined frontage by setting as a new travel stop position to be performed,
Automatic warehouse system. The detection member has a detection hole;
When executing the correction of the travel stop position corresponding to the predetermined frontage, the controller moves the travel carriage in the transport direction, while the detection hole in the transport direction corresponding to the predetermined frontage. The edge of the detector is detected by the detector, and the detection result of the edge is stored,
The position in the transport direction of the center of the detection hole corresponding to the predetermined opening calculated based on the stored detection result of the edge in the transport direction is set as the new travel stop position.
The automatic warehouse system according to claim 1.   The controller moves the traveling carriage from one end to the other end in the transport direction of the shelf, and detects the detection member corresponding to each of a plurality of frontage existing in the shelf. The automatic warehouse system according to claim 1 or 2 which performs amendment of said run stop position to each of a plurality of frontage which exists in the shelf concerned by making it. The controller is
Moving the traveling carriage to the corrected travel stop position corresponding to the frontage that has corrected the travel stop position;
Then, while raising and lowering the lifting platform, the detector detects the detection member corresponding to the frontage,
The position in the height direction of the lifting platform when the detection member corresponding to the frontage and the detector face each other obtained based on the detection result of the detection member is a new one corresponding to the frontage. By executing the correction of the lift stop position corresponding to the frontage by setting as a lift stop position,
The automatic warehouse system in any one of Claims 1-3. A plurality of the transfer machines are mounted on the lifting platform along the transport direction;
The detector is provided between the plurality of transfer machines,
The controller is
In accordance with the transfer machine for transferring the load, it is determined which of the detection members provided on both sides of the frontage is to be detected by the detector.
The position in the transport direction of the traveling carriage when the detector and the detector determined to be detected by the detector face each other is determined as the traveling stop position with respect to the transfer machine, and the lifting platform The position in the height direction is determined as the lifting stop position for the transfer machine,
The automatic warehouse system in any one of Claims 1-4.

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