公开(公告)号：US12110176B2

公开(公告)日：2024-10-08

申请号：US17198580

申请日：2021-03-11

申请人： Daifuku Co., Ltd.

发明人： Jun Hamaguchi ,  Rikiya Kanai ,  Hirotaka Takenoshita ,  Toshiyuki Yokohara

IPC分类号： B65G1/04 ,  B65G1/137

CPC分类号： B65G1/0421 ,  B65G1/0428 ,  B65G1/0464 ,  B65G1/1371 ,  B65G1/1375 ,  B65G2201/0235

摘要： An article storage facility is disclosed that is capable of performing an appropriate transport operation on a container group even when a container group that includes a plurality of containers in a stacked state is placed on a placement surface in an inclined state. The control device performs inclination computation processing to obtain a placement inclination θ that is an inclination of a container group Cg placed on a placement surface F relative to a Z direction, based on coordinate information, bottom surface dimension information, and container group position information that are stored in a storage unit, and individual position computation processing to obtain individual position information that indicates a position, in X and Y directions, of each of the containers C in the tiers included in the container group Cg, based on the container group position information, the placement inclination θ, and the height dimension information, and controls a movement mechanism based on the individual position information.

公开(公告)号：US20210284443A1

公开(公告)日：2021-09-16

申请号：US17198580

申请日：2021-03-11

申请人： Daifuku Co., Ltd.

发明人： Jun Hamaguchi ,  Rikiya Kanai ,  Hirotaka Takenoshita ,  Toshiyuki Yokohara

IPC分类号： B65G1/04 ,  B65G1/137

摘要： An article storage facility is disclosed that is capable of performing an appropriate transport operation on a container group even when a container group that includes a plurality of containers in a stacked state is placed on a placement surface in an inclined state. The control device performs inclination computation processing to obtain a placement inclination θ that is an inclination of a container group Cg placed on a placement surface F relative to a Z direction, based on coordinate information, bottom surface dimension information, and container group position information that are stored in a storage unit, and individual position computation processing to obtain individual position information that indicates a position, in X and Y directions, of each of the containers C in the tiers included in the container group Cg, based on the container group position information, the placement inclination θ, and the height dimension information, and controls a movement mechanism based on the individual position information.