JP2007246226A - Article unloading device and article storing equipment with the article unloading device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article unloading device, automating the unloading work for discharging articles from a carrying vehicle to an article receiving portion while simplifying the structure. <P>SOLUTION: The article storing equipment includes: an unloading conveyer 11 capable of freely moving between the carrying vehicle 1 and the article discharging portion B and freely transferring the articles 2 between the carrying vehicle 1 and the article discharging portion B; an unloading conveyer position detecting means for detecting the position of the unloading conveyer 11; an article position detecting means for detecting the position of the article 2 to be unloaded, which is loaded on the carrying vehicle 1; and an unloading control means for controlling the operation of the unloading conveyer 11 based on the detection information of the unloading conveyer position detecting means and the detection information of the article position detecting means so that the article 2 to be unloaded is taken from the carrying vehicle 1, and the article 2 to be unloaded is discharged to the article discharge portion B. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention includes an article wholesaler that wholesales articles loaded on a transportation vehicle stopped at a planned stoppage for loading to an article wholesaler, and the article wholesaler, and automatically stores the articles loaded on the transportation vehicle. The present invention relates to an article storage facility to be carried in.

  The article wholesaler as described above carries out an article wholesale operation for unloading articles loaded on a transport vehicle stopped at a planned stoppage point for carrying-in from the transport vehicle to an article wholesale position on the ground side.

In a conventional goods wholesaler, an elevator platform that can be raised and lowered is provided between a planned stoppage for loading and an article wholesale location, and a conveyor that carries and operates each of the loading platform, the elevator platform, and the article wholesale location of the transport vehicle is provided. It is equipped (for example, refer to Patent Document 1).
In this conventional article wholesaler, first, the lifting platform is raised and lowered so that the conveyor surfaces of the conveyor mounted on the loading platform of the transporting vehicle and the conveyor mounted on the lifting platform have the same height, and then the loading platform of the transporting vehicle. The transfer operation is performed to transfer articles from the conveyor equipped to the conveyor to the conveyor equipped on the lifting platform. Next, after raising and lowering the elevator so that the conveyor surface installed on the elevator and the conveyor installed at the wholesale location have the same height, the conveyor installed on the elevator from the conveyor installed on the elevator The carrying operation for carrying the article is performed. In this way, automation of the goods wholesale operation for wholesale goods from the transport vehicle to the goods wholesale location by raising and lowering the lifting platform and conveying operation of each conveyor is attempted.

JP 2002-193454 A

However, in the above conventional goods wholesaler, in order to automate the goods wholesale work, in addition to the elevator that can be moved up and down, the loading platform of the transport vehicle, the elevator, and the conveyor that operates to transport the goods are provided. This has to be complicated.
In the above-described conventional goods wholesaler, the configuration can be simplified by providing only a lifting platform that can be moved up and down without providing a conveyor that moves and conveys the loading platform, the lifting platform, and the wholesale location. It is also possible to plan. However, in this case, the work of transporting the article from the loading platform of the transport vehicle to the lifting platform and the task of transporting the article from the lifting platform to the article wholesale location must be performed by an operator pushing or pulling the article. In other words, it is impossible to automate the wholesale operation.

  The present invention has been made paying attention to such a point, and the object thereof is an article wholesaler capable of automating an article wholesale operation in which an article is wholesaled from a transport vehicle to an article wholesale location while simplifying the configuration. The point is to provide a device.

In order to achieve this object, the first feature configuration of the article wholesaler according to the present invention is an article wholesaler that wholesales articles loaded on a transport vehicle that is stopped at a planned stoppage for loading to an article wholesaler.
A wholesale transporter that is movable between the transport vehicle and the article wholesale location and that is capable of transferring an article between the transport vehicle and the wholesale product location, and a position of the wholesale transport body is detected. Wholesale transport body position detection means, article position detection means for detecting the position of an article to be wholesaled loaded on the transport vehicle, detection information of the wholesale transport body position detection means, and detection of the article position detection means Based on the information, there is provided a wholesale control means for controlling the operation of the wholesale transport body in order to take out the wholesale target article from the transport vehicle and to wholesale the wholesale target article to the wholesale location. There is in point.

Based on the detection information of the wholesaler position detection means and the detection information of the article position detection means, the wholesale control means takes out the article to be wholesaled from the transport vehicle and wholesales the article to be wholesaled to the article wholesale location. Therefore, by controlling the operation of the wholesale transport body, it is possible to carry out the wholesale work of wholesale the article from the transport vehicle to the article wholesale location by the wholesale transport body.
And since the transport body for wholesale is movable between the transport vehicle and the article wholesale location and the goods can be transferred between the transport vehicle and the stock wholesale location, just providing the wholesale transport body, The goods wholesale work can be performed.
Therefore, it has become possible to provide an article wholesaler capable of automating the article wholesale operation while simplifying the configuration.

  According to a second characteristic configuration of the article wholesaler according to the present invention, the article is provided with an information storage tag capable of storing unique information of the article, and the article position detecting means is configured to transmit the information by non-contact wireless communication. A reading means capable of reading stored information of the storage tag is provided, and the position of the article to be wholesaled is detected based on a communication state of non-contact wireless communication between the reading means and the information storage tag. It is in the point comprised as follows.

When performing an article wholesale operation, reading information stored in an information storage tag provided in an article can be obtained by reading means provided in the article position detection means, whereby unique information of the article to be wholesaled can be acquired. Become. By using this unique information, it is possible to specify what kind of article is wholesaled at the article wholesale location and to inspect the article wholesaled at the article wholesale location.
The article position detection means can not only acquire the unique information of the article to be wholesaled by reading the storage information stored in the information storage tag by the reading means, but also the information storage tag can be obtained by the reading means. Based on the communication state of the non-contact wireless communication between the reading means and the information storage tag when reading the stored information, the position of the article to be wholesaled is detected. Therefore, it is possible to detect the position of the article to be wholesaled using the configuration for acquiring the unique information of the article to be wholesaled, and to simplify the configuration.
As the communication state of the non-contact wireless communication, for example, whether or not the storage information stored in the information storage tag can be read by the reading means, and whether or not the wireless communication can be performed This is the state of radio waves such as the frequency of radio waves used and the strength of radio waves. The article position detection means determines whether or not contactless wireless communication is possible, the frequency of the radio wave, and the strength of the radio wave. The position of the article can be detected.

  According to a third characteristic configuration of the article wholesaler according to the present invention, the article position detection unit includes a plurality of the reading units on the ground side, and the non-between the plurality of reading units and the information storage tag. The position of the article to be wholesaled is detected based on the communication state of contact wireless communication.

The article position detecting means is a non-contact wireless communication between the plurality of reading means and the information storage tag when the plurality of reading means installed on the ground side read the stored information stored in the information storage tag. Based on the communication state of communication, the position of the article to be wholesaled is detected.
For example, the position of the wholesale target article can be detected by determining the distance from each of the plurality of reading means to the wholesale target article from the frequency of the radio wave and the strength of the radio wave in non-contact wireless communication. .
Thus, based on the communication state of non-contact wireless communication between the plurality of reading means installed on the ground side and the information storage tag, the position of the article to be wholesaled can be accurately detected.

A characteristic configuration of an article storage facility provided with an article wholesaler according to the present invention is an article storage facility for carrying an article loaded on a transport vehicle into an automatic warehouse.
A loading carrier that is movable between the article wholesale location and an article carry-in location for carrying an article into the automatic warehouse, and is capable of transferring an article between the article wholesale location and the article carry-in location; and Based on the detection information of the carry-in transport body position detecting means for detecting the position of the carry-in transport body, and to detect the position of the carry-in transport body position detecting means, There is a carrying-in control means for controlling the operation of the carrying-in carrier.

The carry-in control means controls the operation of the carry-in carrier so as to carry the article from the article wholesale location to the article carry-in location based on the detection information of the carry-in transport body position detecting means, thereby carrying in the carry An article carrying-in operation for conveying an article from an article wholesale place to an article carry-in place can be performed by the body. Therefore, by providing the carry-in transporter, it is possible to automate the article carry-in operation while simplifying the configuration.
Then, by automating the article wholesale operation by the wholesale transport body and automating the article carry-in operation by the carry-in transport body, it is possible to automate the receiving operation until the article is carried from the transport vehicle to the article carry-in location. Become.

  Another characteristic configuration of the article storage facility provided with the article wholesaler according to the present invention is the loading for loading the article into the carrying vehicle for carrying out the article from the automatic warehouse and the delivery vehicle stopped at the planned stoppage place for carrying out. A shipping carrier that is movable between a relay location and is capable of transferring an article between the article unloading location and the loading relay location, and a shipping carrier position that detects the position of the shipping carrier. And a shipping control means for controlling the operation of the shipping carrier to transport the article from the article unloading location to the loading relay location based on detection information of the shipping carrier position detecting means. Is in the point provided.

The shipping control means controls the operation of the shipping carrier so as to transport the article from the article unloading location to the loading relay location based on the detection information of the shipping carrier position detecting means. It is possible to carry out an article shipping operation in which the article is transported from the article unloading location to the loading relay location. Therefore, by providing the shipping carrier, it is possible to automate the article shipping operation while simplifying the configuration.
And, the work of receiving goods from the transport vehicle to the automatic warehouse and the automatic warehouse by automating the goods wholesale work by the wholesale transport body, automating the goods carry-in work by the transporting carrier, and automating the goods shipping work by the shipping transport body The shipping operation from the vehicle to the transport vehicle can be automated.

  Another characteristic configuration of the article storage facility provided with the article wholesaler according to the present invention is that an article to be conveyed to the article carry-in location of the automatic warehouse is loaded with a plurality of unit articles in a stacked state on the article placing body. And the article to be carried out to the article carrying-out location of the automatic warehouse is a stacked article group in which a plurality of unit articles are stacked in a stacked state on the article storage body, The automatic warehouse transports the placement article group from the article carry-in place to the placement article group storage section that stores the placement article group, and moves between the placement article group storage section and the picking place. A loading device for carrying the placed article group, a take-out device that is installed at the picking location and takes out a single unit article from the placed article group, and a unit that is taken out by the take-out device Units that store articles A unit article transport device that transports the unit article from the unit article storage section to the article unloading position and is installed at the article unloading position and stacked on the article storage body. And a stacking device for stacking the unit articles.

The article to be carried into the article carry-in place is a placed article group in which a plurality of unit articles are placed in a stacked state on the article placing body, and the placed article group transport device uses the placed article group. It is stored in the storage unit for the placed article group from the article carrying location.
When the placed article group transport device transports the placed article group stored in the placed article group storage unit to the picking location, the takeout device takes out a single unit article from the placed article group, and The taken unit article is stored in the unit article storage unit by the unit article transport device.
In addition, when the unit article transport device transports the unit article stored in the unit article storage unit to the article unloading location, the unit article is stacked in a stacked state on the article storage body by the stacking device. The articles to be delivered to the article delivery location of the automatic warehouse are a group of stacked articles in which a plurality of unit articles are stacked in a stacked state on the article storage body.

As described above, the work of storing the placed article group from the article carry-in place into the placed article group storage section, the work of transporting the placed article group stored in the placed article group storage section to the picking place, Work for taking out a single unit article from the set article group, work for storing a single unit article taken out from the placed article group in the unit article storage unit, and unit goods stored in the unit article storage part It is possible to automate both the work of transporting to the carry-out location and the work of stacking unit articles on the article storage body in a stacked state.
And in the article storage facility by automating the article wholesale work by the wholesale transport body, automating the article carry-in work by the carry-in transport body, automating the article shipment work by the shipping transport body, and automating each work in the automatic warehouse Each work can be automated, and a useful article storage facility that can reduce the work burden on the worker can be provided.
In addition, the automatic warehouse is loaded with a group of mounted articles in which a plurality of unit articles are stacked in an article carry-in place, and is stacked in a stacked state in the article storage body at the article carry-out place. Since the stacked article group is carried out, for example, the loaded article group in which a plurality of unit articles of the same type are placed in a stacked state is carried into the article carrying location, and the plurality of unit articles of different types are stored in the article storage body. It is also possible to adapt as a distribution facility such as a distribution center that carries a group of articles stacked in a stacked state to an article delivery location.

An embodiment of an article storage facility provided with an article wholesaler according to the present invention will be described with reference to the drawings.
As shown in FIG. 1 to FIG. 3, this article storage facility wholesales an article 2 loaded on a transport vehicle 1 stopped at a carrying-in stop scheduled place A to an article wholesale place B, and places an article in an automatic warehouse 3. In addition to being conveyed to C, the article 2 at the article unloading location D of the automatic warehouse 3 is conveyed to the loading relay location E and loaded onto the transport vehicle 1 stopped at the planned unloading stop location F.
The article carry-in place C is a place for carrying the article 2 into the automatic warehouse 3, the article carry-out place D is a place for carrying out the article 2 from the automatic warehouse 3, and the loading relay place E is carried out. This is a place for loading the article 2 on the transport vehicle 1 stopped at the planned stop point F.

The planned stop point A for loading is set to the receiving port 4 where the transport vehicle 1 can travel, and the planned stop point F for unloading is set to the shipping port 5 where the transport vehicle 1 can travel. In this embodiment, the receiving port 4 and the shipping port 5 are provided adjacent to each other, and are set so that the planned stop point A for loading and the planned stop point F for unloading are arranged side by side.
The automatic warehouse 3 is installed on the floor G for automatic warehouse installation that is one step higher than the surface on which the transport vehicle 1 travels. Then, an article wholesale location B is set on the automatic warehouse installation floor G adjacent to the planned loading stop location A, and the loading relay location E is placed on the automatic warehouse installation floor G adjacent to the planned delivery stop location F. Is set.

As shown in FIG. 4, the article 2 loaded on the transport vehicle 1 is a placed article group 10 in which a plurality of unit articles 9 are placed in a stacked state on a pallet 8 as an article placing body. . The transport vehicle 1 is configured so that a plurality of placed article groups 10 can be loaded.
The pallet 8 is provided with a pallet RFID tag 13 as an information storage tag capable of storing unique information of the pallet 8. The unit article 9 is provided with a unit article RFID tag 14 as an information storage tag capable of storing unique information of the unit article 9. The pallet RFID tag 13 and the unit article RFID tag 14 are passive types that do not have a battery, and are configured to generate stored power by generating electric power to operate when receiving radio waves.
The unique information of the pallet 8 is unique information of the pallet such as a pallet No., and it is possible to specify which pallet 8 among the plurality of pallets 8 by this unique information. The unique information of the unit article 9 is unique information of the unit article such as the type, lot number, shape, and weight of the unit article, and the unit article 9 of the plurality of unit articles 9 is determined by the unique information. Can be identified.

  For example, the transport vehicle 1 is configured such that the rear portion of the load carrier 6 can be opened and closed, and the closing body 7 covering the left and right and upper portions of the load carrier 6 is swingable around an axis along the front-rear direction of the transport vehicle 1. The left and right sides of 6 are composed of wing type trucks that can be freely opened and closed.

As shown in FIGS. 1, 2, 5, and 6, the vehicle can move between the transporting vehicle 1 stopped at the carrying-in stop planned location A and the goods wholesale location B and stops at the planned carrying-out stop location A. There is provided a wholesale transport body 11 on which the placed article group 10 can be freely transferred between the loading platform 6 and the article wholesale location B of the transported vehicle 1.
The wholesale transport body 11 includes a main body portion 11a that can run on the floor surface and can be swung, and a fork-type transfer portion 11b that is supported so as to be lifted, lowered, protruded, and swiveled with respect to the main body portion 11a. Has been. The support structure of the transfer unit 11b will be described. The elevating body 11c is supported by the elevating guide body 11d so as to be movable up and down, and the egress / retreat moving body 11e is moved into and out of the egress / retreat movement guiding body 11f provided in the elevating body 11c. The transfer part 11b is rotatably provided at the front end part of the retractable moving body 11e.

The wholesale transport body 11 is configured to automatically reciprocate along a wholesale guide line 12 that extends between the transport vehicle 1 stopped at the planned stop point A for delivery and the article wholesale location B. The wholesale guide line 12 is configured by a reflector laid on the surface on which the transport vehicle 1 travels, and is linear in the form of a straight line extending between the transport vehicle 1 stopped at the planned stoppage point A for loading and the goods wholesale point B. Is formed.
In this embodiment, a pair of left and right goods wholesale locations B are set with respect to the transport vehicle 1 stopped at the planned stop location A for carrying-in. The wholesale guide line 12 is provided on both sides of the transport vehicle 1 stopped at the planned stop point A for carrying-in, and two wholesale transport bodies 11 are provided for one transport vehicle 1.

The wholesale transport body 11 is provided with a wholesale control means 19 for controlling the operation of the wholesale transport body 11. The wholesale control means 19 is configured to control the operation of the wholesale transport body 11 by controlling the travel and turning operation of the main body portion 11a, the raising and lowering, the withdrawal operation and the turning operation of the transfer portion 11b. Has been.
Further, the wholesale transport body 11 detects an optical wholesale guide line detection sensor 17 for detecting the wholesale guide line 12, and the travel distance of the wholesale transport body 11 from the end of the wholesale guide line 12. A wholesale distance detector 15 such as a rotary encoder or a laser range finder, and a wholesale lift position detector 20 that detects the lift position of the transfer part 11b are provided. The wholesale distance detection unit 15 is configured as a wholesale transport body position detection unit that detects the position of the wholesale transport body 11.

Article position detecting means 16 for detecting the position of the placed article group 10 to be wholesaled loaded on the transport vehicle 1 is provided.
The article position detection means 16 is provided with a plurality of reader devices 18 on the ground side as read means capable of reading stored information of the RFID tag 13 for pallet and the RFID tag 14 for unit article by non-contact wireless communication, and a plurality of readers are provided. Based on the communication state of non-contact wireless communication between the device 18 and the RFID tag 13 for pallet, the position of the placed article group 10 to be wholesaled is detected.

  If it demonstrates, the reader apparatus 18 will be installed in multiple numbers so that the conveyance vehicle 1 stopped at the carrying-in stop planned location A may be enclosed. Then, the article position detecting means 16 transmits radio waves having different frequencies from the respective reader devices 18 and reads the stored information of the pallet RFID tag 13 provided in the placed article group 10 to be wholesaled. At this time, the article position detection means 16 obtains a response time for each reader device 18 from when the radio wave is transmitted until the reader device 18 reads the stored information of the pallet RFID tag 13, and obtains it from the response time of each reader device 18. The distance from each reader device 18 to the RFID tag 13 for pallet equipped in the placed article group 10 to be wholesaled and the position of the placed article group 10 to be wholesaled are detected from the installation location of each reader apparatus 18. .

  The wholesale control means 19 includes detection information from the wholesale guide line detection sensor 17, detection information from the wholesale distance detection section 15, detection information from the wholesale lift position detection section 20, and detection information from the article position detection means 16. Based on the above, the transport for wholesale to take out the placed article group 10 to be wholesaled from the transport vehicle 1 stopped at the planned stop point A for delivery and to wholesale the placed article group 10 to be wholesaled to the article wholesale part B. An article wholesale process for controlling the operation of the body 11 is executed.

The operation of the goods wholesale process will be described based on the flowchart of FIG.
First, based on the detection information of the article position detection means 16, the wholesale control means 19 sets a target travel position corresponding to the wholesale placed article group 10 loaded on the transport vehicle 1 on the wholesale guide line 12. Based on the detection information of the wholesale guide line detection sensor 17 and the detection information of the wholesale distance detector 15, the target travel position obtained in the state where the wholesale transport body 11 is moved along the wholesale guide line 12 is obtained. In order to move the wholesale transport body 11, vehicle side travel control is performed to control the travel of the main body 11a (step 1).

And the wholesale control means 19 calculates | requires the target transfer height corresponding to the mounted article group 10 of wholesale object, and calculated | required the transfer part 11b based on the detection information of the raising / lowering position detection part 20 for wholesale. In order to raise and lower to the transfer height and take out the placed article group 10 to be wholesaled, vehicle side transfer control is performed to control the raising and lowering and protruding operation of the transfer part 11b (step 2).
In this vehicle side transfer control, for example, by inputting the height information of the loading platform 6 of the transport vehicle 1 to the wholesale control means 19 for the target transfer height corresponding to the placed article group 10 to be wholesaled. The wholesale control means 19 obtains a target transfer height corresponding to the placed article group 10 to be wholesaled. Alternatively, for example, by attaching an optical sensor or the like to the transfer unit 11b, an article height detecting unit that detects the height of the placed article group 10 to be wholesaled is provided, and the wholesale control unit 19 is configured to Based on the detection information of the height detection means, the target transfer height corresponding to the placed article group 10 to be wholesaled can be obtained.
Further, the wholesale control unit 19 is configured to adjust the protruding amount of the transfer unit 11b based on the detection information of the article position detection unit 16 in the vehicle side transfer control. In other words, the transfer unit 11b is configured so that the protruding amount of the transfer unit 11b increases as the position of the placed article group 10 to be detected detected by the article position detection unit 16 is further away from the wholesale guide line 12. Adjust the amount of protrusion.

Next, the wholesale control means 19 turns the main body 11a, and then, based on the detection information of the wholesale guide line detection sensor 17 and the detection information of the wholesale distance detection unit 15, the wholesale guide line In order to move the wholesale transport body 11 to the target travel position corresponding to the article wholesale location B in a state where the wholesale transport body 11 is moved along 12, the ground side travel control for controlling the travel of the main body 11a is performed ( Step 3). At this time, for the target travel position corresponding to the article wholesale location B, the wholesale control means 19 stores in advance.
Then, the wholesale control means 19 raises and lowers the transfer unit 11b to the target transfer height corresponding to the article wholesale location B based on the detection information of the wholesale lifting position detection unit 20, and places the article to be wholesaled. In order to unload the group 10 to the article wholesale location B, the ground-side transfer control is performed to control the lifting and lowering operation of the transfer unit 11b (step 4). At this time, the target transfer height corresponding to the article wholesale location B is stored in advance by the wholesale control means 19.

As described above, when the wholesale control unit 19 executes the wholesale process, the wholesale object 11 is placed on the wholesale site B from the transport vehicle 1 stopped at the planned stop point A for the carry-in. This means that it is possible to carry out a wholesale operation for wholesale of the group of items 10 and to automate the wholesale operation.
Then, the wholesale control means 19 repeatedly executes the article wholesale process, so that the plurality of wholesale target article placement groups 10 loaded on the transport vehicle 1 can be sequentially wholesaled to the article wholesale location B.

As shown in FIGS. 1, 2, and 8, the placed article group 10 is movable between the article wholesale location B and the article carry-in location C and between the article wholesale location B and the article carry-in location C. A loadable carrying body 21 is provided.
Like the wholesale transport body 11, the carry-in transport body 21 includes a main body portion 21 a that can run on the floor surface and can be swung, and a fork that is supported by the main body portion 21 a so as to move up and down, protrude, and swivel. It is comprised from the type | formula transfer part 21b. Incidentally, since the support structure of the transfer part 21b is the same as that of the wholesale transport body 11, the description thereof is omitted.

And the carrying body 21 for carrying-in is comprised so that it may drive | work automatically along the guide line 22 for carrying in over the article wholesale location B and the article carrying-in location C. As shown in FIG. The carry-in guide line 22 is constituted by a reflector laid on the floor G for automatic warehouse installation.
The carry-in transport body 21 is provided with a carry-in control means 23 for controlling the operation of the carry-in transport body 21. The carry-in control means 23 is configured to control the operation of the carry-in transport body 21 by controlling the traveling and turning operation of the main body portion 21a, the raising / lowering, the withdrawal operation and the turning operation of the transfer portion 21b. Has been.
Further, the carry-in transport body 21 detects an optical carry-in guide line detection sensor 24 for detecting the carry-in guide line 22 and a travel distance of the carry-in transport body 21 from the end of the carry-in guide line 22. A carry-in distance detection unit 25 such as a rotary encoder and a laser rangefinder, and a carry-in lift position detection unit 26 that detects the lift position of the transfer unit 21b are provided. The carry-in distance detection unit 25 is configured as a wholesale transport body position detection unit that detects the position of the transport body 11.

  The carry-in control means 23 starts from the wholesale location B based on the detection information of the carry-in guide line detection sensor 24, the detection information of the carry-in distance detection unit 25, and the detection information of the carry-in lift position detection unit 26. In order to transport the placed article group 10 to the article carry-in location C, an article carry-in process for controlling the operation of the carry-in transport body 21 is executed. Since the placed article group 10 is unloaded from the transport vehicle 1 by the wholesale transport body 11 at the article wholesale location B, the carry-in control means 23 executes the article carry-in process, whereby the article carry-in location C The article 2 to be conveyed is a placed article group 10 in which a plurality of unit articles 9 are placed on the pallet 8 in a stacked state.

The operation of the article carry-in process will be described based on the flowchart of FIG.
The carry-in control means 23 moves the carry-in transport body 21 along the carry-in guide line 12 based on detection information from the carry-in guide line detection sensor 24 and detection information from the carry-in distance detection unit 25. In order to move the carry-in transport body 21 to the target travel position corresponding to the article wholesale location B in the state, transport source side travel control for controlling the travel of the main body 21a is performed (step 11). At this time, the carrying-in control means 23 stores in advance the target travel position corresponding to the article wholesale location B.
Then, the loading control means 23 raises and lowers the transfer portion 21b to the target transfer height corresponding to the article wholesale location B based on the detection information of the carry-in lift position detector 26, and loads the article wholesale location B. In order to pick up the article group 10, the transfer side transfer control for controlling the raising / lowering and the withdrawal operation of the transfer part 21b is performed (step 12). At this time, the transfer control means 23 stores in advance the target transfer height corresponding to the article wholesale location B.

Next, the carrying-in control means 23 turns the main body portion 21a, and then, based on the detection information from the carrying-in guide line detection sensor 22 and the detection information from the carry-in distance detection unit 25, the article carrying-in location C In order to move the carry-in transport body 21 along the carry-in guide line 22 to the target travel position corresponding to, transport destination side travel control for controlling the travel of the main body 21a is performed (step 13). At this time, the carry-in control means 23 stores in advance the target travel position corresponding to the article carry-in location C.
Then, the carrying-in control means 23 raises and lowers the transfer unit 21b to the target transfer height corresponding to the article carry-in location C on the basis of the detection information of the carry-in lifting position detection unit 26, thereby moving the loaded article group 10. In order to wholesale to the article carry-in location C, the transfer side transfer control for controlling the raising / lowering and the withdrawal operation of the transfer part 21b is performed (step 14). At this time, the transfer control means 23 stores in advance the target transfer height corresponding to the article carry-in location C.

In this way, when the carry-in control means 23 executes the article carry-in process, the carry-in transport body 21 carries out an article carry-in operation for carrying the placed article group 10 from the article wholesale place B to the article carry-in place C. As a result, the article carrying-in operation can be automated.
When the plurality of placed article groups 10 are sequentially wholesaled at the article wholesale location B by the wholesale transport body 11, the carry-in control means 19 repeatedly executes the article carry-in process, and the plurality of placement places. The article group 10 can be sequentially conveyed to the article carry-in location C.

As shown in FIG. 10, the article 2 to be carried out from the automatic warehouse 3 to the article unloading point D is a group of stacked articles in which a plurality of unit articles 9 are stacked in a stacked state on a cart 33 as an article storage body. 34.
As shown in FIGS. 1, 2, and 11, the article group 34 is movable between the article unloading point D and the loading relay point E and between the item unloading point D and the loading relay point E. A transporting body 27 for shipping is provided.
Similar to the wholesale transport body 11 and the carry-in transport body 21, the shipping transport body 27 has a main body portion 27 a that can run on the floor surface and can be swung, and the main body portion 21 a can be raised, lowered, protruded, and swiveled. It consists of a fork-type transfer section that is freely supported. Incidentally, since the support structure of the transfer part is the same as that of the wholesale transport body 11, the description thereof is omitted.

  The shipping carrier 27 is configured to automatically travel along a shipping guide line 28 that extends between the article unloading point D and the loading relay point E. The shipping transport body 27 is provided with shipping control means 29 for controlling the operation of the shipping transport body 27. The shipping control means 29 is configured to control the operation of the shipping carrier 27 by controlling the traveling and turning operation of the main body portion 27a, the lifting and lowering of the transfer portion, the withdrawal operation and the turning operation. ing.

  The shipping transport body 27 includes an optical shipping guide line detection sensor 30 that detects the shipping guide line 28, and a rotary that detects the travel distance of the shipping transport body 27 from the end of the shipping guide line 28. A shipping distance detection unit 31 such as an encoder or a laser range finder and a shipping lifting position detection unit 32 for detecting the lifting position of the transfer unit 27b are provided. The shipping distance detection unit 31 is configured as a shipping carrier position detection unit that detects the position of the shipping carrier 27.

The shipping control means 29 is based on the detection information of the shipping guide line detection sensor 30, the detection information of the shipping distance detection unit 31, and the detection information of the shipping lifting position detection unit 32, from the article carry-out location D. In order to transport the stacked article group 34 to the loading relay point E, an article shipping process for controlling the operation of the shipping carrier 27 is executed.
Since this article shipping process is different only in the above-described article carrying-in process and the conveyance source and conveyance destination for conveying the article 2, detailed description thereof will be omitted.

As described above, when the shipping control unit 29 executes the article shipping process, the shipping carrier 27 performs the article shipping operation of transporting the stacked article group 34 from the article unloading location D to the loading relay location E. As a result, the goods shipping operation can be automated.
Then, the shipping control means 29 repeatedly executes the article shipping process, so that the stacked article army 34 sequentially transported to the article unloading position D can be sequentially transported to the stacking relay position E.

  As shown in FIGS. 1 to 3, the automatic warehouse 3 places the article on the placement article group storage shelf 35 as a placement article group storage section that stores the placement article group 10 from the article carry-in location C. The placed article group transport device 36 that transports the group 10 and transports the placed article group 10 between the placed article group storage shelf 35 and the picking place H, and is placed at the picking place H. A take-out device 37 for taking out a single unit article 9 from the article group 10 and a unit article 9 taken out by the take-out device 37 are conveyed to a unit article storage shelf 38 as a unit article storage section for storing the unit articles 9. In addition, the unit article transporting device 39 for transporting the unit article 9 from the unit article storage shelf 38 to the article unloading position D, and the article unloading position D are installed in a cart 33 as an article storage body in a stacked state. Stacking device 4 for stacking unit articles 9 It is equipped with a door.

  The storage shelf 35 for a group of placed articles includes a plurality of storage sections 35a arranged in the vertical direction and the horizontal direction, and is configured so that the placed article group 10 can be stored in each storage section 35a. In addition, a loaded article group warehousing conveyor 41, a loaded article group stacker crane 42, and a loaded article group delivery conveyor 43 are provided as the loaded article group conveying device 36.

The stored article group warehousing conveyor 41 has an upstream end portion in the article transport direction as an article carry-in place C and a downstream end portion in the article transport direction as a delivery place between the stacker crane 42 for placed articles group. It is arranged so that. The placement article group warehousing conveyor 41 is configured to transport the placement article group 10 transported to the article carry-in location C to the delivery location.
The stacked article group stacker crane 42 described above can store the mounted article group 10 at the delivery location of the stored article group warehousing conveyor 41 in the storage section 35a of the stored article group storage shelf 35, and can be mounted. The mounted article group 10 stored in the storage section 35 a of the article group storage shelf 35 is configured to be freely taken out to a delivery location with the mounted article group delivery conveyor 43.
The delivery article 43 for the placement article group described above has an upstream end portion in the article transport direction as a delivery location with the placement article group stacker crane 42 and a downstream end portion in the article delivery direction as a picking location H. It is arranged to do. And the loading article group delivery conveyor 43 is configured to convey the loading article group 10 to the picking spot H when it receives the loading article group 10 from the loading article group stacker crane 42 at the delivery location. Has been.

  As shown in FIG. 12, the take-out device 37 includes a swivel body 37b that can swivel on a base 37a, an arm part 37c that is provided on the swivel body 37b so as to be swingable about a horizontal axis, and an arm part 37c. It is provided with a holding portion 37d that is mounted at the tip and can hold the unit article 9 freely. The take-out device 37 manages the position information of the unit article 9 to be taken out and the position information from which the unit article 9 is taken out, which is transported to the picking place H by an imaging means (not shown) equipped on the arm portion 37c, A plurality of unit articles 9 placed in a stacked state on the H pallet 8 are taken out one by one to a predetermined take-out location of the unit article transporting device 39.

  The unit article storage shelf 38 includes a plurality of storage units 38a arranged in the vertical direction and the horizontal direction, and is configured to store the unit articles 9 in each storage unit 38a. As the unit article transporting device 39, a unit article entry conveyor 44, a unit article stacker crane 45, and a unit article delivery conveyor 46 are provided.

The unit article warehousing conveyor 44 uses the upstream end in the article transport direction as the take-out position where the take-out device 37 takes out the unit article 9 and the downstream end in the article transport direction between the unit article stacker crane 45. A plurality of conveyors are combined so as to be a delivery point. The unit article warehousing conveyor 44 is configured to convey the unit article 9 taken out by the take-out device 37 to the take-out place to the delivery place.
The unit article stacker crane 45 is capable of storing the unit article 9 at the delivery position of the unit article storage conveyor 44 in the storage section 38a of the unit article storage shelf 38, and the storage section 38a of the unit article storage shelf 38. The unit article 9 housed in the unit article 9 can be taken out to a delivery location with the unit article delivery conveyor 46.
The unit article delivery conveyor 46 has an upstream end in the article transport direction as a delivery position with the unit article stacker crane 45, and a downstream end in the article transport direction as an article unloading place D. It is arranged. The unit article delivery conveyor 46 is configured to convey the unit article 9 to the article delivery location D when it receives the unit article 9 from the unit article stacker crane 45 at the delivery location.

  As shown in FIG. 13, the stacking device 40 includes a lifting guide body 40b that supports the lifting body 40a so that it can be lifted and lowered, an arm portion 40c provided on the lifting body 40a, and a horizontal movement of the arm portion 40c. And a holding portion 40d that can hold the unit article 9 freely. Then, the stacking device 40 stores the positional information of the unit articles 9 to be stacked and the articles 9 to be stacked, which are transported to the article unloading location D by the imaging means (not shown) mounted on the arm portion 40c. It is configured to manage the stacking position information on which position to stack and to stack a plurality of unit articles 9 on the car 3 in a stacked state.

  Automatic warehouse management means 47 for managing the operation of the automatic warehouse 3 is provided. This automatic warehouse management means 47 operates the loaded article group loading conveyor 41, the loaded article group stacker crane 42, the loaded article group delivery conveyor 43, the take-out device 37, the unit article. The operation of the warehousing conveyor 44, the operation of the unit goods stacker crane 45, the operation of the unit goods delivery conveyor 46, and the operation of the stacking device 40 are managed.

Then, the automatic warehouse management means 47 stores the placed article group 10 so as to store the placed article group 10 carried into the article carry-in location C in any of the storage sections 35a of the placed article group storage shelf 35. The warehousing process for operating the conveyor 41 and operating the stacked article group stacker crane 42 is configured to be executable.
Further, the automatic warehouse management means 47 operates and places the loading article group delivery conveyor 43 to transport the loading article group 10 stored in the loading article group storage shelf 35 to the picking location H. In addition to operating the stacker crane 42 for the placed article group, a unit article take-out process for activating the take-out device 37 to take out the unit article 9 from the placed article group 10 transported to the picking location H can be executed. .
Furthermore, the automatic warehouse management means 47 is for unit articles so as to store the unit articles 9 taken out from the placed article group 10 conveyed to the picking location H in any of the storage sections 38a of the unit article storage shelves 38. A unit article storage process for operating the warehousing conveyor 44 and operating the unit article stacker crane 45 is configured to be executable.
Further, the automatic warehouse management means 47 operates the unit article stacker crane 45 and transports the unit article delivery conveyor 44 in order to transport the unit article 9 stored in the unit article storage shelf 38 to the article delivery location D. And an article carrying-out process for actuating the loading device 40 so that the unit articles 9 conveyed to the article carrying-out location D are stacked on the car 33 in a stacked state.

As shown in FIG. 1 and FIG. 2, in the transport path of the loading article group warehousing conveyor 41, the storage information of the RFID tag for pallet 13 and the RFID tag for unit article 14 can be automatically read by non-contact wireless communication. A warehouse first reader device 48 is provided. In the transport path of the unit article warehousing conveyor 44, there is provided a second reader device 49 for an automatic warehouse that can read the stored information of the unit article RFID tag 14 by non-contact wireless communication. In the transport path of the unit article delivery conveyor 46, there is provided an automatic warehouse third reader device 50 that can read the stored information of the unit article RFID tag 14 by non-contact wireless communication.
Further, as shown in FIG. 11, the loading relay location E is provided with an inspection reader device 51 that can freely read stored information of the RFID tag 14 for unit articles by non-contact wireless communication. Based on the reading information of the inspection reader device 51, the inspection of the article 2 to be loaded on the transport vehicle 1 is performed.

An operation when the placed article group 10 loaded on the transport vehicle 1 is carried into the automatic warehouse 3 and stored in the placed article group storage shelf 35 will be described.
First, when the transport vehicle 1 is stopped at the planned stop point A for loading, the left and right sides of the loading platform 6 are opened by the swinging of the closing body 7. Then, the wholesale control means 19 executes an article wholesale process, whereby the wholesale transport body 11 performs an article wholesale operation to wholesale the placed article group 10 to be wholesaled from the transport vehicle 1 to the article wholesale location B. The loaded article group 10 that has been wholesaled at the article wholesale location B is conveyed to the article delivery location C by the delivery transport body 21 when the carry-in control means 23 executes the article delivery process. The placed article group 10 transported to the article carry-in location C is stored in one of the storage sections 35a of the placed article group storage shelf 35 by the automatic warehouse management means 47 executing the warehousing process.

Hereinafter, description is added based on a flowchart.
First, the operation of the wholesale control means 19 will be described based on the flowchart of FIG.
When the start of the wholesale operation is instructed, the wholesale control means 19 executes a wholesale process and places the group of articles to be wholesaled from the transport vehicle 1 to the wholesale location B at the wholesale transport body 11. An article wholesale operation for wholesale 10 is performed (steps 21 and 22). By the way, an instruction to start the goods wholesale work is made by an operator such as a driver of the transport vehicle 1.
When the wholesale control means 19 unloads the article group 10 to be wholesaled at the article wholesale location B, the wholesale control means 19 instructs the carry-in control means 23 to start the article carry-in process, and the pallet RFID read by the reader device 18 The unique information of the pallet 8 and the unit article 9 stored in the tag 13 and the unit article RFID tag 14 is communicated to the carry-in control means 23 (steps 23 and 24).
Then, the wholesale control means 19 repeats the operations of steps 22 to 24 when the transported vehicle 1 has the wholesale target placed article group 10, and the wholesale target placed article group 10 loaded on the transport vehicle 1. When all of the items are wholesaled, the goods wholesale operation is finished (step 25).

Next, the operation of the carry-in control means 23 will be described based on the flowchart of FIG.
When the start-up of the article carry-in process is instructed from the wholesale control means 19, the carry-in control means 23 executes the article carry-in process, and the carry-in transport body 21 moves from the article wholesale location B to the article carry-in location C. An article carrying-in operation for conveying the placed article group 10 is performed (steps 31 and 32).
Then, the carrying-in control means 23 communicates the unique information received from the wholesale control means 19 to the automatic warehouse management means 47 when the loaded article group 10 is transported to the article carry-in location C (step 33).

Next, the operation of the automatic warehouse management means 47 will be described based on the flowchart of FIG.
When the automatic warehouse management means 47 detects that the placed article group 10 has been carried into the article carry-in location C by a sensor not shown in the drawing, it executes a warehousing process and places the carry-in process carried into the article carry-in location C. The article group 10 is stored in one of the storage sections 35a of the placed article group storage shelf 35 (steps 41 and 42).
Then, the automatic warehouse management means 47 compares the unique information received from the carry-in control means 23 with the unique information read by the automatic warehouse first reader device 48, so that the placement placed from the transport vehicle 1 is wholesaled. While confirming whether the article group 10 and the placed article group 10 carried into the article carry-in location C coincide with each other, the storage information of which placed article group 10 is stored in which storage unit 35a is managed. The unique information is managed (step 43).

An operation when the unit article 9 is taken out from the placed article group 10 stored in the placed article group storage shelf 35 and the taken unit article 9 is stored in the unit article storage shelf 38 will be described.
First, the automatic warehouse management means 47 executes the article take-out process to convey the placed article group 10 stored in the placed article group storage shelf 35 to the picking location H and place the placed article group 10. The unit article 9 is taken out of the unit. The unit article 9 taken out from the placed article group 10 is stored in one of the storage sections 38a of the unit article storage shelf 38 by the automatic warehouse management means 47 executing the unit article storage process.
At this time, the automatic warehouse management means 47 acquires the specific information of the unit article 9 based on the read information of the automatic warehouse second reader device 49, and which unit article 9 is stored in which storage unit 38a. Manage storage information.

The operation when the unit articles 9 stored in the unit article storage shelf 38 are stacked on the cart 33 at the article carrying-out location D and the cart 33 is loaded and transported to the relay location E will be described.
First, the automatic warehouse management means 47 executes the article carry-out process, whereby the unit article 9 stored in the unit article storage shelf 38 is transported to the article carry-out location D, and the car 33 located at the article carry-out location D is used. To stack. Then, the stacked article group 34 in which the unit articles 9 are stacked in the cart 33 is loaded on the shipping carrier 27 by the shipping control means 29 executing the article shipping process. E is transported.

Hereinafter, a description will be given based on a flowchart.
First, the operation of the automatic warehouse management means 47 will be described based on the flowchart of FIG.
The automatic warehouse management means 47 executes an article carry-out process, conveys the unit article 9 stored in the unit article storage shelf 38 to the article carry-out location D, and is located at the article carry-out location D. (Step 51). Then, the automatic warehouse management means 47 instructs the shipping control means 29 to start the article shipping process when the unit articles 9 are stacked in a stacked state on the car 33 located at the article unloading location D (step 52). ). At this time, the automatic warehouse management means 47 confirms which unit article 9 is the unit article 9 to be loaded on the car 33 based on the read information of the third reader device 50 for automatic warehouse, 9 are stacked in a stacked state on the car 33 located at the article unloading point D.
Then, the automatic warehouse management means 47 repeats the above-described steps 51 and 52 until all the unit articles 9 to be unloaded based on the unloading request are carried out, and all the unit articles 9 to be unloaded are unloaded. The article carry-out operation is completed (step 53).

Next, the operation of the shipping control means 29 will be described based on the flowchart of FIG.
When the shipment control means 29 is instructed by the automatic warehouse management means 47 to start the article shipment process, the shipment control means 29 executes the article shipment process, and the shipment carrier 27 loads the article from the article unloading location D to the loading relay location E. Then, the stacked article group 34 in which the unit articles 9 are stacked in a stacked state is transported to the car 33 (steps 61 and 62).

  When the stacked article group 34 is transported to the loading relay point E, the operator loads the stacked article group 34 on the transport vehicle 1 stopped at the unloading scheduled stop point F. At this time, the rear part of the carrier 6 is opened in the transport vehicle 1, and the stacked article group 34 is loaded on the transport vehicle 1 from the opened part. Then, when the stacked article group 34 is loaded on the transport vehicle 1, the stacked article group 34 loaded on the transport vehicle 1 is inspected based on the reading information of the inspection reader device 51.

[Another embodiment]
(1) In the above embodiment, the pallet RFID tag 13 and the unit article RFID tag 14 are passive types that do not have a battery, and the article position detection means 16 obtains the response time of each reader device 18 and is subject to wholesale. The position of the mounted article group 10 is detected by the article position detection means 16 based on the communication state of the non-contact wireless communication between the plurality of reader devices 18 and the RFID tag 13 for pallet. In this way, it is possible to appropriately change whether the position of the placed article group 10 to be wholesaled is detected.
For example, the pallet RFID tag 13 and the unit article RFID tag 14 are assumed to be active types having batteries, and the storage information transmitted from the pallet RFID tag 13 by the article position detection means 16 from among the plurality of reader devices 18 is stored. It is also possible to obtain three reader devices 18 having high radio field intensities when read, and to detect the position of the placed article group 10 to be wholesaled by three-point survey using the installation positions of the three reader devices 18.

(2) In the above embodiment, the article position detection means 16 has installed a plurality of reader devices 18 on the ground side. However, the article position detection means 16 has a plurality of reader devices installed on the wholesale transport body 11. Based on the communication state of the non-contact wireless communication between the plurality of reader devices and the pallet RFID tag 13, the position of the placed article group 10 to be wholesaled can be detected. In this case, for example, the position of the placed article group 10 to be loaded loaded on the transporting vehicle 1 stopped at the loading stop A is set in advance, and after moving to the set position, Based on the communication state of non-contact wireless communication between the plurality of reader devices installed on the carrier 11 and the RFID tag for pallet 13, the position of the placed article group 10 to be wholesaled can be detected.

(3) In the above-described embodiment, the wholesale transport body 11 has a main body portion 11a that can run on the floor and can be swung, and a fork type that is supported by the main body portion 11a so as to move up and down, project, and swivel. Although it is comprised from the transfer part 11b, it can change suitably what kind of structure the conveyance body 11 for wholesale is made. For example, it can be set as the structure provided with the moving part which can move along the guide rail installed in the ceiling, and the transfer part which can be raised-lowered with respect to the moving part.
In addition, as with the wholesale transport body 11, the configuration of the carry-in transport body 21 and the shipping transport body 27 can be appropriately changed.

(4) In the above embodiment, the stacking device 40 has a configuration different from that of the take-out device 37. However, the configurations of the take-out device 37 and the stacking device 40 can be appropriately changed. And the stacking device 40 may have the same configuration.

(5) In the above embodiment, the wholesale distance detection unit 15 such as a rotary encoder or a laser range finder is provided as the wholesale transport body position detection means, but how the position of the wholesale transport body 11 is detected. It can be changed as appropriate.
Further, in the carrying-in transport body 21 and the shipping transport body 27, the carrying-in transport body position detecting means and the shipping transport body position detecting means are not limited to the carry-in distance detecting section 25 and the shipping distance detecting section 31, Changes can be made as appropriate.

(6) In the above embodiment, the wholesale transport body 11 is automatically traveled along the wholesale guide line 12, but how the wholesale transport body 11 is traveled can be appropriately changed. . For example, reflectors are installed around the planned stoppage point A for loading and the wholesale point B for goods, and the wholesale control means 19 obtains position information about the travel route including the planned stop point A for import and the wholesale point B for goods. Stored as a layout map, the laser beam is projected in all directions by the light projecting / receiving unit, and the angle and distance of the wholesale transport body 11 relative to the reflector are calculated from the angle of the laser beam received by the light projecting / receiving unit Based on the detected information and the stored layout map, it is possible to automatically run the vehicle while calculating the current position of the wholesale transport body 11 by triangulation.
Also, in the carry-in transport body 21 and the shipping transport body 27, as with the wholesale transport body 11, how to travel can be changed as appropriate.

(7) In the above-described embodiment, the article wholesaler according to the present invention is illustrated as being adapted to an article storage facility for bringing the article 2 loaded on the transport vehicle 1 into the automatic warehouse 3. It is also possible to apply the present invention to an article wholesaler that performs an article wholesale operation for unloading articles loaded on a transport vehicle stopped at a planned location to an article wholesale location.

(8) In the above embodiment, an example in which the carrying-in transport body 21 and the shipping transport body 27 are provided has been described. For example, only one of the carry-in transport body 21 and the shipping transport body 27 is provided. Or it can also carry out, without providing both the carrying-in conveyance body 21 and the conveyance body 27 for shipment.

(9) In the above embodiment, the automatic warehouse 3 is exemplified by the automatic warehouse provided with the placed article group transport device 36, the take-out device 37, the unit article transport device 39, and the stacking device 40. The configuration of the warehouse 3 can be changed as appropriate. For example, an automatic warehouse provided with a stacker crane that can store articles in an article storage shelf from an article carry-in place and can carry out articles stored in the article storage shelf to an article carry-out place.

Schematic perspective view of goods storage equipment Schematic plan view of goods storage equipment Control block diagram of goods storage equipment The figure which shows a mounted article group Diagram showing wholesale carrier Diagram showing wholesale carrier Flow chart showing operation of goods wholesale processing The figure which shows the conveyance body for carrying in Flowchart showing operation of article carry-in processing A diagram showing a group of stacked items Diagram showing shipping carrier Figure showing the ejecting device Diagram showing the stacking device Flow chart showing operation of wholesale control means Flow chart showing the operation of the loading control means Flow chart showing operation of automatic warehouse management means Flow chart showing operation of automatic warehouse management means Flow chart showing operation of shipping control means

Explanation of symbols

2 article 8 article placing body 9 unit article 10 placed article group 11 wholesale transport body 13, 14 information storage tag 15 wholesale transport body position detecting means 16 article position detecting means 18 reading means 19 wholesale control means 21 carrying in Transport body 23 Carry-in control means 25 Carry-in transport body position detection means 27 Shipment transport body 29 Shipment control means 31 Shipment transport body position detection means 33 Article storage body 34 Stacked article group 35 Storage for mounted article group Unit 36 Placed article group transport device 37 Take-out device 38 Unit article storage unit 39 Unit article transport device 40 Stacking device A Carry-in stop location B Goods wholesale location C Article carry-in location D Article carry-out location E Loading relay location F planned stop points for unloading

Claims (6)

An article wholesaler that wholesales articles loaded on a transport vehicle that is stopped at a planned stoppage for loading to an article wholesale location,
A wholesale transport body that is movable between the transport vehicle and the article wholesale location and is capable of transferring an article between the transport vehicle and the article wholesale location;
Wholesale carrier position detecting means for detecting the position of the wholesale carrier;
Article position detecting means for detecting the position of an article to be wholesaled loaded on the transport vehicle;
Based on the detection information of the wholesaler position detection means and the detection information of the article position detection means, to take out the article to be wholesaled from the transport vehicle and to wholesale the article to be wholesaled to the article wholesale location, An article wholesaler provided with wholesale control means for controlling the operation of the wholesale transport body. The article is provided with an information storage tag capable of storing unique information of the article,
The article position detecting means includes a reading means capable of reading the information stored in the information storage tag by non-contact wireless communication, and a communication state of non-contact wireless communication between the reading means and the information storage tag The article wholesaler according to claim 1, wherein the article wholesaler is configured to detect a position of the article to be wholesaled based on the item.   The article position detecting means is provided with a plurality of reading means on the ground side, and based on a communication state of non-contact wireless communication between the plurality of reading means and the information storage tag, The article wholesaler according to claim 2, configured to detect a position of an article. An article storage facility comprising the article wholesaler according to any one of claims 1 to 3, and carrying an article loaded on the transport vehicle into an automatic warehouse,
A carrying carrier that is movable between the article wholesale location and an article carry-in location for carrying an article into the automatic warehouse, and is capable of transferring an article between the article wholesale location and the article carry-in location;
A carrying body position detecting means for detecting the position of the carrying body for carrying in;
On the basis of the detection information of the carrying-in transport body position detecting means, carrying-in control means for controlling the operation of the carrying-in transport body is provided to transport the article from the article wholesale location to the article carry-in location. Goods storage equipment. Movable between an article unloading point for unloading an article from the automatic warehouse and a loading relay point for loading an article on a transportation vehicle stopped at a planned stoppage point for unloading, and the article unloading point and the loading relay point; A shipping carrier that can freely transfer articles between,
Shipping carrier position detection means for detecting the position of the shipping carrier;
Ship control means for controlling the operation of the shipping carrier to transport the article from the article unloading location to the loading relay location based on detection information of the shipping carrier position detecting means is provided. The article storage facility according to claim 4. The article to be conveyed to the article carrying-in location of the automatic warehouse is a placed article group in which a plurality of unit articles are placed in a stacked state on the article placing body, and at the article carrying-out location of the automatic warehouse. The articles to be carried out are a group of stacked articles in which a plurality of unit articles are stacked in a stacked state on an article storage body,
The automatic warehouse is
The placed article group transports the placed article group from the article carry-in place to the placed article group storage section for storing the placed article group, and between the placed article group storage section and the picking place. A carrying device for a placed article group for carrying
A take-out device that is installed at the picking location and takes out a single unit article from the placed article group,
A unit article transporting apparatus for transporting the unit article taken out by the take-out device to a unit article storage unit for storing the unit article and transporting the unit article from the unit article storage unit to the article unloading position;
The article storage facility according to claim 5, further comprising a stacking device that is installed at the article unloading location and stacks the unit articles in a stacked state on the article storage body.

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