# US 10,370,224 B2 · Method for controlling storage/retrieval device in flat storage facility > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,370,224 B2 - Document ID: US10370224B2 - Status: Granted - Kind: B2 - Application number: 15/809,454 - Filed: 2017-11-10 - Published: 2018-03-29 - Granted: 2019-08-06 - Earliest claimed: 2015-05-22 - Assignees: Daifuku Co., Ltd. - Applicants: Daifuku Co., Ltd. - Inventors: Kazuhiko Miyoshi; Jun Hamaguchi; Masato Inaba - Web page: https://patentgrep.com/patent/US10370224B2 ## CPC - B66C 13/23: Circuits for controlling the lowering of the load - B65G 1/04: mechanical - B65G 1/0421: {with control for stacker crane operations} - B65G 1/0464: {with access from above} - B65G 63/00: Transferring or trans-shipping at storage areas, railway yards or harbours {or in opening mining cuts}; Marshalling yard installations - B65G 63/002: {for articles} - B66C 13/22: for electric drives (transmitting control pulses B66C13/40; systems or devices of general application H02P) - B65G 2201/02: Articles - B66C: CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES ({specially adapted for lifting invalids A61G7/10;} rope, cable, or chain winding mechanisms, braking or detent devices therefor B66D; specially adapted for nuclear reactors G21) - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) ## Abstract A flat storage facility includes a storage/retrieval device having a Y-direction moving member with a length corresponding to the width of a storage item placement plane in an X direction and that is movable in a forward/backward Y direction of the storage item placement plane. A carriage is supported on the Y-direction moving member and is movable in the X direction. A storage item gripping mechanism is supported on the carriage so as to be freely raised and lowered. Lowering of the storage item gripping mechanism is controlled such that downward flexural deformation distances between end portions of the Y-direction moving member in the X direction are determined. Lowering distance adjustment values of the storage item gripping mechanism for the storage item placement points are set based on the downward flexural deformation distances, and lowering distances of the storage item gripping mechanism are reduced by the lowering distance adjustment values. ## Claims ### Claim 1 A method for controlling a storage/retrieval device in a flat storage facility which includes a rectangular storage item placement plane and a storage/retrieval device and in which the storage/retrieval device includes: a Y-direction laterally moving member that has a length corresponding to a width of the storage item placement plane in a lateral X direction and that is freely moved laterally in a forward/backward Y direction of the storage item placement plane; a carriage that is supported on the Y-direction laterally moving member so as to be freely moved in the lateral X direction; and a storage item gripping means that is supported on the carriage so as to be freely raised and lowered, and the storage/retrieval device is configured so as to be able to store and retrieve a storage item gripped by the storage item gripping means with respect to respective storage item placement points set on the storage item placement plane by the movement of the Y-direction laterally moving member in the forward/backward Y direction, the movement of the carriage in the lateral X direction, and the raising/lowering movement of the storage item gripping means, the method comprising: control being performed by determining downward flexural deformation distances of the Y-direction laterally moving member between end portions thereof in the lateral X direction; setting lowering distance adjustment values of the storage item gripping means for the storage item placement points based on the downward flexural deformation distances; and reducing lowering distances of the storage item gripping means by the lowering distance adjustment values. ### Claim 2 (depends on 1) The method for controlling a storage/retrieval device in a flat storage facility according to claim 1, wherein: a distance measuring means for measuring a vertical distance to the storage item placement plane is attached to the carriage, the carriage is moved to a measurement position between the end portions of the Y-direction laterally moving member in the lateral X direction, the vertical distance to the storage item placement plane is measured with the distance measuring means and the lowering distance adjustment value is set based on the measured value. ### Claim 3 (depends on 1) The method for controlling a storage/retrieval device in a flat storage facility according to claim 1, wherein: a distance measuring means for measuring a vertical distance to the storage item placement plane is supported on a lower end portion of the storage item gripping means, the carriage is moved to a measurement position between the end portions of the Y-direction laterally moving member in the lateral X direction, in a state where the storage item gripping means is lowered a given distance from the carriage, the vertical distance to the storage item placement plane is measured with the distance measuring means, and the lowering distance adjustment value is set based on the measured value. ### Claim 4 (depends on 3) The method for controlling a storage/retrieval device in a flat storage facility according to claim 3, wherein: the distance measuring means is attached to a support member gripped by the storage item gripping means so as to match a center position of a flat surface of the storage item gripped by the storage item gripping means or to be located in a vicinity thereof.