JP2001002208A - Storing control system in automated storage and retrieval system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a storing/retrieving control system for automated storage and retrieval systems that gives effective work instructions to automated storage and retrieval systems with at least one storing entry and at least one retrieving exit and that improves the rate of operation of transfer devices such as automated guided vehicles. SOLUTION: This automated storage and retrieval system 5, which comprise storage sections 1a and 1b having a plurality of shelves for workpiece storage, a plurality of storing entries 2a to 2d and retrieving exits 3a to 3d for workpiece storing and retrieving, and crane devices for storing and retrieving workpieces in and from the storage sections 1a and 1b, are related to a transfer controller 6 for giving storing/ retrieving work instructions to the automated storage and retrieval system 5. The storing/retrieving work instructions depend on the information about stock in the storage sections 1a and 1b that the automated storage and retrieval system 5 emit to the transfer controller 6, information about stock at the storing entries 2a to 2d and the retrieving exits 3a to 3d, the information about transfer that transfer devices 4a to 4e for workpiece transfer emit to the transfer controller 6, and the carrying-in requests that production devices 7a to 7d for workpiece processing emit to the transfer controller 6.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, a plurality of storage sections for storing articles, a loading / unloading port, and a section for storing articles in order to realize efficient distribution on a production line or the like. The present invention relates to an automatic warehouse entry / exit control system including an entry / exit unit for exiting from a warehouse and a transport control unit for controlling the entrance / exit unit.

[0002]

2. Description of the Related Art Conventionally, when a plurality of types of articles (hereinafter referred to as "workpieces") that have been processed or assembled in advance, such as a production line or an assembly line, such as a vehicle assembly line, are supplied to the assembly line. A plurality of types of workpieces that have been processed or assembled beforehand are temporarily stored in the workpiece storage by type, and the workpieces stored in the workpiece storage are selectively taken out of the workpiece storage according to the requirements of the assembly line, and the released workpieces There is known an automatic warehouse configured to transfer a product to an assembly line.

[0003] In such an automatic warehouse control method, for example, as disclosed in Japanese Patent Application Laid-Open No. 7-25425, when a work is received, the automatic warehouse is stored in the storage unit based on the presence or absence of the work. A search is made for a vacant storage unit that can be fetched in the shortest time from the entrance, and an instruction is given to enter the vacant storage unit that is detected first. Work of the same type is instructed to take out the work that is stored first. In this way, there has been proposed a method for shortening the time required for one cycle of the work loading / unloading work and efficiently operating the automatic warehouse.

By the way, the conventional automatic warehouse control method is as follows.
Generally, automatic warehouses that have one entrance and one exit are targeted, so if the status of loading at the entrance or exit changes, the warehouse is instructed to enter or exit. Had to be. However, in recent years, in an automatic warehouse in which workpieces are frequently taken in and out, the work storage unit generally has a plurality of entrances and exits, and furthermore, the traveling route of the transfer device sandwiches the work storage unit. Some of them are configured in multiple rows.

[0005] In such an automatic warehouse entry / exit control, since the contents of work to be instructed to the automatic warehouse at one time increase, the work instruction to the automatic warehouse to determine which work is to be the target of the incoming or outgoing work is given. Is a very important factor in terms of efficiency. In addition, since the work storage unit is sandwiched between the traveling paths of the plurality of transporting devices, selection of an exit port when unloading the work is also an important factor.

[0006]

However, according to the conventional method, when searching for empty shelves in order to determine a storage shelf when a work is stored, the distance from the storage opening to the shelf is limited because there are a plurality of storage openings. There is a problem that it differs for each entrance and it is not always possible to find an empty shelf at the shortest distance from the entrance. Also, when unloading a work to the entrance of an automatic warehouse by a transfer device such as an unmanned transport vehicle, if there is a work waiting to enter the warehouse at the entrance, a transfer loss occurs because the transferred work cannot be unloaded. There was a problem.

[0007] In view of the above problems, the present invention provides an efficient work instruction to an automatic warehouse having at least one or more entrances and exits, and an operation rate of a transport device such as an automatic guided vehicle. An object is to provide an automatic warehouse entry / exit control system that can be improved.

[0008]

In order to achieve the above object, the present invention provides a plurality of storage units for storing works, and at least one storage unit for storing and unloading works.
In an automatic warehouse equipped with one or more entrances and exits, and transport means for entering and exiting the work in and out of the storage unit, a transport control device for instructing the automatic warehouse to enter and exit the work is provided. Based on the presence information of the storage unit, the presence information of the loading / unloading port, the transport information transmitted from the transport device that transports the workpiece, and the loading request transmitted from the production device that processes the workpiece. The present invention is characterized in that a storage / reception work instruction is issued.

As one mode of the present invention, when the work is unloaded from the automatic warehouse, the transfer control device includes the stock information of the storage unit and the stock information of the unloading port as control information. A search is made for the nearest exit from the stored storage unit, and an exit operation instruction is issued to the automatic warehouse.

In another aspect of the present invention, when a work is stored in an automatic warehouse, the transfer control device includes, as control information, information on the presence of a storage unit and information on the presence of a storage opening. The method includes searching for an empty storage unit closest to the mouth and instructing the automatic warehouse to perform a storage operation.

[0011] Further, when the work is stored in the automatic warehouse, the transfer control device includes, as control information, information on the presence of the stocking port and the transfer information of the transfer means. In some cases, priority is given to receiving work of the work placed at the entrance first, especially if there is a transfer device that cannot wholesale the work because there is a work waiting for the incoming work at the entrance, the work at the entrance , And instructs the automatic warehouse to perform a warehousing operation with the highest priority.

[0012] Further, the transport control device may receive the transport information from the transport means or a carry-in request from the production device.
If there is no inbound / outbound work to instruct the automatic warehouse, this includes instructing the automated warehouse to move the work that is waiting to be taken out to the vicinity of the exit in advance. .

According to the automatic warehouse entry / exit control system according to the present invention, a plurality of storage sections for storing works,
In an automatic warehouse provided with at least one or more entrances and exits for loading and unloading a work, and transport means for loading and unloading the work into and out of the storage unit, an instruction for a loading and unloading operation to the automatic warehouse is made. Equipped with a transport control device, the inventory information of the storage unit transmitted from the automatic warehouse, the inventory information of the loading / unloading port, the transport information transmitted from the transport device that transports the work, and the production that processes the work Based on the carry-in request transmitted from the device, the in-and-out operation is instructed, so that the in-and-out operation can be controlled in consideration of the improvement in the operation rate of the transfer device such as an unmanned transport vehicle and the production device. Efficient logistics can be realized.

[0014] Further, when the work is unloaded from the automatic warehouse, the transfer control device may use the loading information of the storage section and the loading information of the loading port to determine the loading port closest to the storage section where the work is stored. Is retrieved, and a retrieval operation is instructed to the automatic warehouse, so that the cycle time of the retrieval operation can be shortened.

Further, when the work is stored in the automatic warehouse, the transfer control device searches for an empty storage section closest to the storage port based on the storage information of the storage section and the storage information of the storage port. By instructing the warehouse to perform a storage operation, it is possible to store in the empty storage unit closest to the storage opening, and it is possible to reduce the cycle time of the storage operation.

Further, when the work is stored in the automatic warehouse, the transfer control device may determine whether or not there is a work waiting to be stored at a plurality of storage openings based on the information on the stock of the storage opening and the transfer information of the transfer means. Priority should be given to the work placed at the entrance at the entrance, especially if there is a transport device that cannot unload the work because there is a work waiting for the entrance at the entrance. By giving the automatic warehouse the receiving work instruction with the highest priority, it is possible to suppress the occurrence of the waiting for the wholesale of the transport equipment, and if the wait for the wholesale of the transport equipment occurs, it can be quickly resolved.
Transport loss can be reduced.

Further, when there is no entry / exit operation instructing the automatic warehouse by the transport control device according to the transport information from the transport means or the import request from the production device, the process is in a standby state. By instructing the automatic warehouse to move the work to move the work near the exit in advance, the cycle time of the exit work can be reduced.

[0018]

Embodiments of the present invention will be described below. In the present embodiment, as shown in FIG. 1, a storage unit 1 (1a, 1b) on which a plurality of shelves (not shown) for storing a work (not shown) is installed, and the work is loaded and unloaded. For a plurality of entrances 2 (2a, 2b, 2c, 2
d), an outlet 3 (3a, 3b, 3c, 3d), and an automatic warehouse 5 (5a, 5b) equipped with a crane device for loading and unloading the work to and from the storage unit 1 (1a, 1b). It is provided with a transport control device 6 for instructing the warehouse 5 (5a, 5b) to carry in and out of the warehouse. The storage information of the storage unit 1 (1a, 1b) transmitted from the automatic warehouse 5 (5a, 5b), 2
(2a, 2b, 2c, 2d), outlet 3 (3a, 3b,
3c, 3d), the transport information transmitted from the transport device 4 (4a, 4b, 4c, 4d, 4e) that transports the work, and the production device 7 (7a,
7b, 7c, and 7d). This is an entry / exit control system for an automatic warehouse, which issues an entry / exit work instruction based on an import request transmitted from 7b, 7c, 7d).

As shown in the block diagram of FIG. 1, the transport control device 6 includes a transmission / reception unit 8, a storage unit 9, and a control unit 10. The transmission / reception unit 8 transmits / receives information to / from the automatic warehouse 5, the transport device 4, and the production device 7. The storage unit 9 is a place where data necessary for controlling the automatic warehouse 5 and the transport device 4 is stored, and information received by the transmission / reception unit 8 is stored as data in the storage unit (not shown). The control unit 10 updates the data in the storage unit as necessary from the information received by the transmission / reception unit 8, creates an operation to instruct the automatic warehouse 5 or the transport device 4 using the data, and A work instruction is issued through the terminal. The transporting device 4 is provided along the traveling routes 11a and 11b installed opposite to each other with the automatic warehouse 5a interposed therebetween.
4b and 4d and the transporting devices 4d and 4e run respectively. Each of the production devices 7 includes the traveling route 11
The production devices 7a, 7b and 7c, 7d are respectively installed at two positions opposite to the automatic warehouse 5a with the a and 11b interposed therebetween.

FIG. 2 is an explanatory view showing the entrance 2 and exit 3 of the automatic warehouse 5a and the shelf number, and is one embodiment of the present invention.

Each data for controlling the automatic warehouse 5a includes a work waiting list, a loading / unloading port loading status table, a shelf loading information table, a device block table, a loading priority shelf table, and a delivery priority shelf table. It is stored in the storage unit 9 of the transport control device 6. Hereinafter, each data will be described.

FIG. 3 is an explanatory diagram showing a work waiting list. The worklist waiting for delivery includes “Automatic warehouse name”, “Work ID”, “Shelf number”, “Destination device”,
There is information on “exit port that can be taken out” and “time required for carrying in”.

When the transport control device 6 receives the carry-in request transmitted from the production device 7, it uses the "work ID" in the received information as a search key and retrieves "automatic warehouse name", Acquires the "shelf number", uses the "automated warehouse name" and the "production equipment name" as search keys, acquires the "exitable exit port" from the equipment block table described later, and newly registers it in the exit waiting work list I do. Here, when the automatic warehouse 5a instructs the automatic warehouse 5a to take out the work in the work waiting list, the corresponding work is deleted from the work waiting list. Here, the shelf number is a number assigned to each shelf of the automatic warehouse 5a.

FIG. 4 is an explanatory diagram showing a loading / unloading port loading status table. The loading / unloading inventory status table has information on “automatic warehouse name”, “inbound / outbound port name”, “work ID”, “in-stock time”, and “transportation device wholesale waiting flag”.

The transfer control device 6 updates the data when receiving the information on the loading / unloading port of the entrance / exit port transmitted from the automatic warehouse 5a and the waiting-for-wholesale information transmitted from the transport device 4 such as an automatic guided vehicle. "Transportation device wholesale waiting flag" here
If there is a transport device 4 waiting for wholesale at the entrance 2, the “transport device wholesale wait flag” of the entrance 2 will be “Y”, otherwise it will be “N”.

FIG. 5 is an explanatory diagram showing a shelf inventory information table. "Automatic warehouse name",
There are information of “shelf number” and “work ID”.

The transfer control device 6 updates the data when receiving a report of completion of each of the incoming work, the outgoing work, and the moving work from the automatic warehouse 5a and when instructing the automatic warehouse 5a to perform the moving work. I do. Shelf without information of “work ID” (for example, FIG. 5, automatic warehouse 5 in shelf inventory information table)
The shelf number 102) of a is an empty shelf.

FIG. 6 is an explanatory diagram showing an apparatus block table. In the device block table, “device name”,
There is information on “exit exit” and “travel route”, and updating is not performed. The “travel route” is information on the transport device travel route that the device contacts, and for a device that contacts a plurality of travel routes, such as the automatic warehouse 5a in FIG. 1, a travel route is set for each entry / exit port. When a work is transported from the automatic warehouse 5a extending over a plurality of travel routes to the production device 7, the outlets 3 (ad) that are on the same travel route as the production device 7 (ad) that requested the carry-in are placed. It is necessary to select and leave the warehouse, and which of the available outlets 3 (a to d) is determined from the device block table.

FIG. 7 is an explanatory diagram showing a storage priority shelf table. In the warehousing priority shelf table, "Automatic warehouse name",
There is information such as “entry entrance name”, “shelf number”, “priority order”, etc., and it is not updated. The "priority order" means that the smaller the value, the closer the distance between the corresponding entrance and the corresponding shelf. This storage priority shelf table is used for storage shelf determination at the time of storage operation instruction.

FIG. 8 is an explanatory diagram showing a delivery priority shelf table. In the outgoing priority shelf table, "Automatic warehouse name",
There is information on "outlet name", "shelf number", and "priority order", and it is not updated. The "priority order" means that the smaller the value, the closer the distance between the relevant outlet and the relevant shelf. This delivery priority shelf table is used for determining a delivery shelf at the time of a delivery work instruction and selecting a moving shelf at the time of a transfer work instruction.

FIG. 9 is a flowchart showing a work instruction processing procedure in the automatic warehouse entry / exit control system according to the present invention. Hereinafter, the work instruction processing procedure will be sequentially described.

First, the transport control device 6 transmits the work loading request transmitted from the production device 7, the information on the loading / unloading port of the loading / unloading port transmitted from the automatic warehouse 5a, and the transport control device 6 such as an unmanned transport vehicle. This process is started each time the wholesale waiting information is received.

First, in S1, when a work carry-in request is received from the production equipment 7, the work waiting list is updated, and the information on the loading / unloading port at the entry / exit port transmitted from the automatic warehouse 5a or the conveyance of the unmanned carrier is carried out. When the wholesale waiting information transmitted from the device 4 is received, the entry / exit stock status table is updated.

Next, in S2, it is determined whether or not there is an empty shelf in the target automatic warehouse 5a based on the data in the shelf inventory information table. Here, if there are empty shelves, it is determined in S3 whether the automatic warehouse 5a is working. Automatic warehouse 5a
Is in the process of waiting for the completion of the work in the automatic warehouse 5a in S4, and the work is not instructed to the automatic warehouse 5a. If the automatic warehouse 5a is not working, it is checked in S5 whether there is a transport device 4 waiting for wholesale by using the loading / unloading port loading status table.

In the determination in S3, the transfer control device 6 transmits a work instruction to the automatic warehouse 5a, but if a work completion report is not transmitted from the automatic warehouse 5a, it means that the automatic warehouse 5a is in operation. If a new work instruction has not been transmitted to the automatic warehouse 5a after receiving the work completion report from the automatic warehouse 5a, the automatic warehouse 5a is on standby. In this case, after the operation of the automatic warehouse 5a is completed,
It will instruct new work.

For example, as shown in the loading / unloading port loading status table of FIG. 4, the loading / unloading port with the transport device wholesale waiting flag set to "Y", such as the loading / unloading port 2b of the automatic warehouse 5a, There will be four. Therefore, if there is a transport device 4 waiting for wholesale in S5, a work to be stocked is selected in S6.

Further, as shown in FIG. 4, if only one of the entrances 2b is waiting for the transport device to be unloaded, this work (in the example, work ID FX) is carried out as the warehousing operation in S6.
13) may be selected, but if there are a plurality of entrances waiting to be transported, the work having the longest loading time at the entrance is selected as the entry operation. After selecting a work to be stored, a storage shelf is determined with reference to the shelf stock information table and the storage priority shelf table in S7.

Further, if the work selected as the warehousing operation of the automatic warehouse 5a is placed in the warehouse 2b, the shelf having the priority 1 (see FIG. 6) is stored in the automatic warehouse name 5a of the warehouse priority shelf table. In the case of the example, empty shelves are searched in order from the shelf number 207). The determination as to whether the shelf is an empty shelf is made based on the data in the shelf presence information table.

When the storage shelf is determined in this way, a storage operation is instructed to the automatic warehouse 5a in S8, and the data in the storage port stock table is updated in S9. Next, in step S10, when the automatic warehouse 5a completes the receiving operation of the work and receives a report of the completion of the receiving operation from the automatic warehouse 5a, the data in the shelf stock information table is updated in step S11, and the process returns to step S3. It is confirmed whether or not 5a is working, and the process proceeds to the next process.

Here, returning to the previous step, if it is determined in S2 that there is no empty shelf in the automatic warehouse 5a, it is determined in S12 whether there is any work registered in the waiting-for-delivery work list. First, a case where there is no work in the waiting-for-delivery work list will be described.

At S20, there is an entrance where the work is placed,
If there is an empty shelf in the automatic warehouse 5a in S21, the process of receiving work instructions is performed after the selection of the incoming work in S6.

Next, the case where there is a work in the work waiting list in S12 will be described below. First, S
At 13, it is determined whether there is any work that can be delivered from the availability status of the available exits in the waiting work list and the entry status of the entry / exit port information table.

If there is a work that can be delivered, a work to be delivered is selected in S14. As a method of selecting a work to be unloaded, a work that has been requested to be carried in from the production device may be selected first from the work that can be unloaded, or the operation state of the production device 7 and the tact time may be considered in consideration of the operation state of the production device 7. The transfer priority may be determined, and the work may be selected based on the transfer priority. Next, an exit is determined in S15. In the method of determining the exit, when there is only one exit that can be exited, the exit is determined to be the exit, and when there are a plurality of exits, the exit that is closest to the shelf containing the work is determined from the exit priority shelf table. . When the exit is determined in this way, the exit operation instructs the automatic warehouse 5a to exit the work in S16, and updates the data of the exit waiting work list and the shelf inventory information table in S17. When the automatic warehouse 5a completes the work shipping work and receives the report of the completion of the unloading work from the automatic warehouse 5a in S18, the data of the loading / unloading port loading status table is updated in S19, and the process returns to S3 again to return to the automatic warehouse. 5a
It is confirmed whether or not is in operation, and the process proceeds to the next process.

Next, if there is no work that can be taken out in S13, it is determined in S20 whether there is an entrance where the work is placed. If there is no entrance where the work is placed in S20, or if there is no empty shelf in the automatic warehouse 5a in S21, it is checked in S22 whether there is any work in the waiting-for-delivery work list. If there is a work in the waiting-for-delivery work list, a work to be moved is selected from the waiting-for-delivery work list in S23, and a moving shelf is selected in S24.

Here, as the method of selecting the workpiece to be moved, the workpiece to which the carry-in request from the production device 7 has been requested first may be selected, or the workpiece may be selected based on the transport priority described above. The method of determining a moving shelf is to search and determine an empty shelf closest to the exit from the exit shelf priority table and the shelf presence information table.

After the work to be moved and the moving shelf are determined, S2
It is determined based on information in the retrieval shelf priority table whether or not the user moves closer to the retrieval exit by moving at step 5. If it is close to the exit, a move operation is instructed to the automatic warehouse 5a in S26, and the data of the corresponding work is deleted from the shelf information table in S27.

When the automatic warehouse 5a completes the work of moving the work and receives the report of the end of the moving work from the automatic warehouse 5a in S28, the corresponding work is registered in the shelf information table in S29, and the process returns to S3. Returning, it is confirmed whether or not the automatic warehouse 5a is working, and the process proceeds to the next process.

Next, if there is no work in the waiting-for-delivery work list in S22, or if the exit port does not become close due to the movement in S25, the process ends. Here, upon receiving the work loading request transmitted from the production device, the information on the loading / unloading status of the loading / unloading port transmitted from the automatic warehouse 5a, and the wholesale waiting information transmitted from the transport device such as an unmanned transport vehicle, the process is performed again. Start.

[0049]

As described above, according to the present invention, the work storage section has a plurality of entrances and exits, and the traveling path of the transfer device is formed in a double row with the work storage section interposed therebetween. Even in an automatic warehouse where warehousing and warehousing are frequently performed, by managing each table including information on the presence of goods in the storage part of the work, information on the warehousing and unloading of the work, information on the loading and unloading port, and the transport information of the transport device, Thus, efficient work instructions can be given, and furthermore, the transfer loss of a transfer device such as an automatic guided vehicle can be reduced, so that highly efficient physical distribution can be realized.

[Brief description of the drawings]

FIG. 1 is an overall view showing an entry / exit control system for an automatic warehouse according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing the entrance / exit port and shelf number of an automatic warehouse.

FIG. 3 is an explanatory diagram showing a work waiting waiting work list.

FIG. 4 is an explanatory diagram showing a loading / unloading port presence status table;

FIG. 5 is an explanatory diagram showing a shelf inventory information table.

FIG. 6 is an explanatory diagram showing an apparatus block table.

FIG. 7 is an explanatory diagram showing a storage entrance priority shelf table.

FIG. 8 is an explanatory view showing a delivery port priority shelf table.

FIG. 9 is a flowchart showing a work processing procedure in the automatic warehouse entry / exit control system according to the present invention.

[Explanation of symbols]

 1, 1a, 1b Storage unit 2, 2a-2d Entry port 3, 3a-3d Exit port 4, 4a-4e Transport device 5, 5a, 5b Automatic warehouse 6 Transport control device 7, 7a-7d Production device 8 Transmission / reception unit 9 Storage unit 10 Control unit 11a, 11b Travel route

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hiroyuki Yamamoto 3-11-1, Shimosakabe, Amagasaki City, Hyogo Prefecture Inside Hitachi Kiden Kogyo Co., Ltd. (72) Inventor Naomi Yomura 3-11 Shimosakabe, Amagasaki City, Hyogo Prefecture No. 1 F term in Hitachi Kiden Kogyo Co., Ltd. (reference) 3F022 MM08 MM11 MM27 MM35 MM42 NN38

Claims (5)

[Claims] 1. A plurality of storage units for storing articles,
In an automatic warehouse provided with at least one or more entrances and exits for entering and exiting articles, and transport means for entering / exiting articles in / from a storage unit, an instruction is made to enter / exit the automatic warehouse. Equipped with transport control means, information on the presence of the storage unit sent from the automatic warehouse, information on the presence of the entrance and exit,
Transport information transmitted from transport means for transporting the article,
An entry / exit control system for an automatic warehouse, which issues an entry / exit work instruction based on a carry-in request transmitted from a production device that processes an article. 2. The method according to claim 1, wherein when the article is unloaded from the automatic warehouse, the transport control means includes, as the control information, the stock information of the storage unit and the stock information of the exit port, and 2. The entry / exit control system for an automatic warehouse according to claim 1, wherein the nearest exit port is searched, and an exit work instruction is issued to the automatic warehouse. 3. The method according to claim 2, wherein when the article is stored in an automatic warehouse, the transport control unit includes, as control information, information on the presence of the storage unit,
3. An automatic warehouse according to claim 1 or 2, further comprising a search for a vacant storage section closest to the entrance, including information on the stock of the entrance, and instructing the automatic warehouse to execute a warehouse operation. Control system. 4. When the article is stored in an automatic warehouse, the transport control means includes, as control information, information on the presence of a storage opening,
Including the transport information of the transport means, if there is an article waiting to enter at multiple entrances, priority is given to the entry work of the article placed at the entrance first, especially because there is an article waiting for entry at the entrance. 4. The method according to claim 1, wherein when there is a transport device that cannot wholesale the articles, the receiving operation of the articles at the entrance is instructed to the automatic warehouse with the highest priority. 2. The warehouse entry / exit control system according to claim 1. 5. The transportation control means, if there is no loading / unloading operation instructing the automatic warehouse according to the transport information from the transportation means or the loading request from the production device, removes the article waiting to be delivered. 5. The automatic warehouse entry / exit control system according to claim 1, wherein the automatic warehouse is instructed to perform a moving operation to be moved near the exit of the warehouse in advance.