ARTICLE STORAGE FACILITY

Japanese Patent JP2015042586

A

PROBLEM TO BE SOLVED: To prevent trouble from occurring when an operation to take an article out of a container delivered from an automatic warehouse is carried out by a picking device using a picked-up image of the article.SOLUTION: Article storage facilities are configured to detect as a working article presence area a part, whose degree of matching with a template image corresponding to an image of a rectangular plane of an article is equal to or larger than a first threshold, in a working picked-up image obtained by imaging a container present at a picking place where an operation to take the article out by a picking device is performed from above, and then to recognize the position of the article based upon the working article presence area and to take the article out, and include before-warehousing inspection device which detects as a warehousing article presence area a part, whose degree of matching with the template image is equal to or larger than the first threshold, in a warehousing picked-up image obtained by imaging a container positioned at an inspection position on a conveyance path of a warehousing conveyance device from above, determines whether the number of detected warehousing article presence areas is equal to or larger than a second threshold, and outputs an error when it is determined the number of warehousing article presence areas is less than the second threshold.

KURAYAMA ATSUSHI
MINO ATSUSHI

JP2013174934A

March 05, 2015

August 26, 2013

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DAIFUKU KK

B65G1/137

JP2007130711A	2007-05-31
JPH06282705A	1994-10-07
JP2004231303A	2004-08-19
JP2004010289A	2004-01-15
JPS5391274A	1978-08-10
JP2005247458A	2005-09-15
JP2008207887A	2008-09-11

Shuichiro Kitamura
Ichiro Miyake
Masato Kimura

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