| 摘要 |
PURPOSE:To provide automatic measurement of a stopping position and improved accuracy in the position, in an automatic warehouse provided with a stereoscopic storage rack and a stacker crane, by reading out reference marks formed together with a bar code for rack absolute address indication in the rack on the side of the stacker crane to detect out-of-position amount and compensate a stopping position. CONSTITUTION:A member provided with a bar code 31 showing the absolute address of a rack 11 and the marks 32, 33 showing reference points is installed on the traveling passage side of the rack 11. Moreover, an optical sensor 40 provided with a bar code reading device and a primary sensor for reference mark detection is installed on the lifting body 23 of a stacker crane. A desired rack 11 is detected by reading-out through the bar code, and a mark out-of- position amount is computed by detection of the reference marks 32, 33. According to the results of the computation, the pulse number of a stopping position is compensated for stopping at a regular position. It is thus possible to improve the stopping position accuracy and provide automation. |
