JP2015193430A - storage facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To minimize an inner wheel difference, while omitting a travel carriage and a retention mechanism of the same.SOLUTION: A storage facility 1 comprises: a storage room 10 partitioned from a next adjacent room 15 by a wall 11 and communicated with the adjacent room 15 on the same floor through an entrance 12 provided on the wall 11; a plurality of pedestal parts 31 placed on a floor 13 of the storage room 10 and forming travel spaces between the adjacent pedestal parts by being arranged at intervals; and an autonomous traveling transporter 60 which puts down a load 99 on the pedestal part 31 after passing through the entrance 12 from the adjacent room 15 and traveling on the floor 13 of the storage room 10 to the travel space 39 in a state of lifting the load 99 from the bottom of the load 99, and travels on the floor 13 of the storage room 10 from the travel space 39 to the adjacent 15 through the entrance 12 in the state of lifting the load 99 after lifting the load 99 placed on the pedestal part 31 in the travel space 39.

Description

  The present invention relates to a storage facility, and more particularly to a technique using an autonomous traveling type transport device.

  Patent Document 1 discloses a housing storage system. Specifically, when a traveling carriage loaded with a load is pulled by an autonomous traveling robot, the load is transported from a living room to the adjacent storage room and vice versa.

JP2012-240826A

However, since the autonomous traveling robot is a towing vehicle, the difference between the inner wheels becomes large when the autonomous traveling robot performs a turning motion.
Further, since the luggage is stored in the storage room in a state of being placed on the traveling carriage, the traveling carriage naturally moves due to vibration or the like, and a mechanism for stopping the traveling carriage becomes necessary. In addition, the traveling carriage has casters and the like, and if a plurality of such traveling carriages are prepared, the cost and space are required.

  Therefore, the problem to be solved by the present invention is to minimize the difference between the inner rings and to omit the traveling carriage and its stopping mechanism.

  The invention according to claim 1 for solving the above problem is a storage facility 1 for storing a luggage 99, for example, as shown in FIG. 1, having a ceiling height of 800 to 1400 mm and adjacent to each other by a wall 11. The storage room 10 is partitioned from the space 15, and is laid on the floor 13 of the storage room 10 and the storage room 10, which is connected to the adjacent space 15 by the doorway 12 provided in the wall 11, and is arranged at intervals. Thus, a plurality of pedestals 31 having a traveling space 39 formed between the adjacent ones, and the traveling space 39 from the adjacent space 15 through the doorway 12 to the traveling space 39 in a state where the luggage 99 is lifted from under the luggage 99. After traveling on the floor 13 of the storage chamber 10, the luggage 99 is lowered onto the pedestal portion 31, and the luggage 99 placed on the pedestal section 31 is moved to the traveling space. An autonomously traveling transport device 60 that travels on the floor 13 of the storage chamber 10 from the traveling space 39 through the doorway 12 to the adjacent space 15 in a state where the luggage 99 is lifted after being lifted at 9. A storage facility 1 is provided.

According to the first aspect of the invention, since the luggage 99 is lifted by the autonomous traveling type transport device 60 and the lifted luggage 99 is transported by the autonomous traveling type transport device 60, the autonomous traveling type transport device 60 is pulled. Therefore, the inner ring difference of the autonomously traveling transport device 60 can be minimized.
Since the plurality of pedestal portions 31 are laid on the floor 13 of the storage chamber 10 with an interval therebetween, the autonomously traveling transport device 60 travels in the traveling space 39 between these pedestal portions 31. Can do. Then, the autonomous traveling type transport device 60 transports the luggage 99 from the adjacent space 15 through the doorway 12 to the traveling space 39 in the storage room 10, and then the autonomous traveling type transport device 60 places the luggage 99 on the pedestal portion 31. Then, the autonomously traveling transport device 60 can travel in the traveling space 39 under the luggage 99. Therefore, after that, when the autonomous traveling type transport device 60 travels from the storage room 10 to the adjacent space 15, the new luggage 99 is transported onto the pedestal portion 31 of the storage room 10 using the autonomous traveling type transport device 60. Can be stored. That is, even if an operator does not enter the storage room 10, a plurality of luggage 99 can be continuously placed on the pedestal 31 of the storage room 10.
Even if the ceiling height of the storage room 10 is as low as 800 to 1400 mm, even if the worker does not enter the storage room 10, the luggage 99 is stored in the storage room 10 by the autonomously traveling transport device 60. No need to bend and work.
In addition, the luggage 99 is not loaded on the traveling carriage, but the luggage 99 is lifted by the autonomous traveling type transport device 60, and the luggage 99 is placed on the pedestal 31 after the luggage 99 is transported. A mechanism for stopping the vehicle becomes unnecessary.
Since the ceiling height of the storage chamber 10 is 800 to 1400 mm, the top of the storage chamber 10 can be used effectively.

  The invention according to claim 2 is the storage facility 1 according to claim 1, for example, as shown in FIG. The storage equipment 1 is characterized in that 39 is not blocked by the wall 11 of the storage chamber 10.

  According to the second aspect of the present invention, since the end portion of the pedestal 31 is separated from the wall 11 of the storage chamber 10 and the traveling space 39 is not blocked by the wall 11 of the storage chamber 10, the autonomous traveling transport device 60 Can enter the traveling space 39.

  The invention according to claim 3 is, for example, as shown in FIG. 1, the storage facility 1 according to claim 1 or 2, wherein the pedestal portion is bridged between adjacent pedestal portions 31. 31 is further provided with a tray 50 that can be placed on and separated from the pedestal portion 31, and the autonomous traveling type transporting device 60 transports the luggage 99 placed on the tray 50 together with the tray 50. It is the storage equipment 1 characterized by doing.

  According to the invention of claim 3, even if the load 99 is easy to roll, the load 99 is placed on the tray 50, so that the load 99 is transported in a state where it is lifted by the autonomous traveling type transporting device 60. Cheap. Even when the width of the luggage 99 is shorter than the interval between the adjacent pedestal portions 31, if the tray 50 is placed on these pedestal portions 31 so as to be bridged between the adjacent pedestal portions 31, The luggage 99 can be placed on the traveling space 39 by placing the luggage 99 thereon.

  The invention according to claim 4 is the storage equipment 1 according to any one of claims 1 to 3, for example, as shown in FIG. 1, and is thinner than the width of the pedestal portion 31, and the pedestal portion 31. A plurality of plate members 32, 33 provided in a standing state on the top, and a shelf plate 35 provided so as to be bridged between the plurality of plate members 32, 33 above the pedestal portion 31. And a storage facility in which a storage space 38 is formed on the shelf board 35.

  According to the invention of claim 4, the shelf board 35 is provided on the traveling space 39, and it is not necessary for the operator to bend deeply when storing the luggage in the storage space 38 on the shelf board 35. Moreover, the height of the luggage | load 99 can be restrict | limited by the shelf board 35, and the fall of the luggage | load 99 conveyed by the autonomous traveling type conveying apparatus 60 can be prevented.

  The invention according to claim 5 is, for example, as shown in FIGS. 1 and 7, a storage facility 1 for storing luggage 99, having a ceiling height of 800 to 1400 mm, and is partitioned from an adjacent space 15 by a wall 11. The storage chamber 10 connected to the adjacent space 15 through the floor 12 by the doorway 12 provided in the wall 11, a plurality of legs 151 spaced apart from each other, and the legs 151 provided on the legs 151, In the state where the mounting plate 150 integrated with 151 and the luggage 99 mounted on the mounting plate 150 are lifted together with the mounting plate 150 and the leg 151 from below the mounting plate 150. After traveling on the floor 13 of the storage chamber 10 from the adjacent space 15 through the entrance 12 to the storage chamber 10, the leg 151 is lowered onto the floor 13 of the storage chamber 10, and the storage chamber 10 floors 1 The luggage 99 placed on the mounting plate 150 provided on the leg 151 placed on the floor is placed under the mounting plate 150 from the bottom of the mounting plate 150 and the leg 151. And an autonomously traveling transport device 60 that travels on the floor 13 of the storage chamber 10 from the storage chamber 10 through the doorway 12 to the adjacent space 15 with the luggage 99 lifted. The storage facility 1 is characterized by this.

According to the invention of claim 5, since the load 99 is lifted by the autonomous traveling type transport device 60 and the lifted load 99 is transported by the autonomous traveling type transport device 60, the autonomous traveling type transport device 60 is pulled. Therefore, the inner ring difference of the autonomously traveling transport device 60 can be minimized.
The autonomous traveling type transporting device 60 transports the luggage 99 together with the leg portion 151 and the mounting plate 150 from the adjacent space 15 to the inside of the storage chamber 10 through the entrance / exit 12, and then the autonomous traveling type transporting device 60 stores the leg portion 151 in the storage chamber. 10 on the floor 13, the autonomously traveling transport device 60 can travel under the mounting plate 150 and the luggage 99 thereafter. Therefore, if the autonomously traveling transport device 60 travels from the storage chamber 10 to the adjacent space 15 thereafter, the new luggage 99 together with the mounting plate 150 and the leg 151 is used to store the storage chamber 10. Can be transported and stored. That is, even if the operator does not enter the storage room 10, the plurality of luggage 99 can be continuously transported to the storage room 10.
Even if the ceiling height of the storage room 10 is as low as 800 to 1400 mm, even if the worker does not enter the storage room 10, the luggage 99 is stored in the storage room 10 by the autonomously traveling transport device 60. No need to bend and work.
In addition, the luggage 99 is not loaded on the traveling carriage, but the luggage 99 placed on the placement board 150 is lifted by the autonomous traveling type transport device 60, and the luggage 99 together with the placement board 150 and the legs 151. Is stored in the storage chamber 10, a mechanism for stopping the traveling carriage becomes unnecessary.
Since the ceiling height of the storage chamber 10 is 800 to 1400 mm, the top of the storage chamber 10 can be used effectively.

  ADVANTAGE OF THE INVENTION According to this invention, while a self-propelled traveling type conveying apparatus can suppress the inner ring | wheel difference at the time of turning, a traveling cart and its stop mechanism can be abbreviate | omitted.

It is a perspective view of the storage equipment concerning a first embodiment of the present invention. It is a front view of a part of storage shelf with which the storage equipment is equipped, and an autonomous traveling type transport device. It is a perspective view of a part of storage shelf with which the storage equipment is provided, an autonomous traveling type transportation device, and a load. It is a perspective view of a part of storage shelf with which the storage equipment is provided, an autonomous traveling type transportation device, and a load. It is a perspective view of the autonomous traveling type conveying apparatus with which the storage equipment is equipped. It is a block diagram of the autonomous traveling type conveying apparatus with which the storage facility is equipped. It is a perspective view of the storage equipment which concerns on the modification of 1st embodiment of this invention. It is a front view of a part of storage shelf with which the storage facility which concerns on 2nd embodiment of this invention is equipped, an autonomous traveling type conveying apparatus, and a table. It is a top view of the storage room with which the storage equipment which concerns on the modification of 2nd embodiment of this invention is equipped.

  EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated using drawing. However, the embodiments described below are given various technically preferable limitations for carrying out the present invention. Therefore, the technical scope of the present invention is not limited to the following embodiments and illustrated examples.

[First Embodiment]
FIG. 1 is a perspective view showing the storage facility 1.
The storage facility 1 includes a storage chamber 10, a storage shelf 30, a tray 50, an IC tag 59, and an autonomous traveling type transport device 60.
The storage room 10 is installed indoors in a building (for example, a house). The storage room 10 is a low ceiling room having a ceiling height of 0.8 m to 1.4 m. Thus, since the ceiling height of the storage room 10 is the height of the half floor, another room or the like can be installed on the storage room 10 and the top of the storage room 10 can be used effectively.

  A wall 11 is provided between the storage room 10 and a space adjacent thereto (for example, an indoor space such as a living room, a bedroom, a kitchen, a living room, a dining room, an entrance hall, a dirt floor, a corridor, and a landing). The storage chamber 10 and the adjacent space 15 are partitioned. The wall 11 is provided with an entrance 12, and a person can go back and forth between the storage room 10 and the adjacent space 15 through the entrance 12. Further, the floor 13 of the storage room 10 and the floor 16 of the adjacent space 15 have the same height, and there is no step between the floor 13 and the floor 16 at the doorway 12, and the storage room 10 and the adjacent space 15 are connected to the floor at the doorway 12. It is.

  FIG. 2 is a front view of a part of the storage shelf 30. FIG. 3 is a perspective view of a part of the storage shelf 30. As shown in FIGS. 1 to 3, the storage shelf 30 includes a pedestal 31, a side plate (plate material) 32, a partition plate (plate material) 33, a top plate 34, a shelf plate 35, a back plate 36, a lower storage space 37, and an upper storage. A space 38 and a traveling space 39 are provided.

  The plurality of pedestal portions 31 are strips, and more specifically square bars. These pedestal portions 31 are laid on the floor 13 of the storage chamber 10 so as to be parallel to each other, and are juxtaposed next to each other at intervals. A space above the floor 13 is divided into a plurality of traveling spaces 39 by these pedestal portions 31, and these traveling spaces 39 are arranged on the left and right. The floor 13 of the storage room 10 is provided so that the floor surface of the traveling space 39 and the floor surface around the traveling space 39 (around the storage shelf 30) are flush with each other.

  On the pedestal portions 31 arranged at both ends, the side plates 32 are provided in a standing state. The side plates 32 are provided in parallel to each other and in parallel to the longitudinal direction of the pedestal portion 31. The side plate 32 is provided on the center line of the pedestal portion 31, the thickness of the side plate 32 is thinner than the width of the pedestal portion 31, and the pedestal portion 31 protrudes left and right from the side plate 32.

  The top plate 34 is provided so as to bridge between the side plates 32 from the upper end of one side plate 32 to the upper end of the other side plate 32. The left and right ends of the top plate 34 are respectively connected to the upper ends of the side plates 32, and the top plate 34 and the side plates 32 are assembled in an inverted U shape when viewed from the front.

  A space between both side plates 32 is divided by a partition plate 33, a shelf plate 35 and a back plate 36, and a space between these side plates 32 is divided into a plurality of lower storage spaces 37 and a plurality of upper storage spaces 38. Yes.

The partition plate 33 is provided in a state of being erected on the pedestal portions 31 excluding the pedestal portions 31 at both ends. These partition plates 33 are provided in parallel with each other and in parallel with the longitudinal direction of the pedestal portion 31. The partition plate 33 is provided on the center line of the pedestal portion 31, the thickness of the partition plate 33 is thinner than the width of the pedestal portion 31, and the pedestal portion 31 protrudes left and right from the partition plate 33.
The partition plate 33 is provided in parallel to the side plate 32. The partition plate 33 divides the space between the side plates 32 into a plurality of regions.

  The back plate 36 is perpendicular to the side plate 32, the partition plate 33, and the top plate 34 between the front and rear ends of the partition plate 33 and the side plate 32, so that the space between the partition plate 33 and the side plate 32 is increased. Each area is provided. A region between the partition plate 33 and the side plate 32 is divided into front and rear regions by the back plate 36.

  The shelf board 35 is provided in the area | region between these partition plates 33 and the side plates 32 so that it may become parallel with respect to the top plate 34, respectively. The shelf plate 35 is provided so as to be bridged between the partition plate 33 and the side plate 32.

  An upper storage space 38 and a lower storage space 37 are partitioned vertically by the shelf plate 35. The shelf board 35 may not be provided, and the upper storage space 38 and the lower storage space 37 may be an integral space.

  On the shelf board 35, a plurality of upper storage spaces 38 are divided into left and right by the partition plate 33, and these upper storage spaces 38 are arranged on the left and right. Under the shelf board 35, a plurality of lower storage spaces 37 are divided into left and right by a partition plate 33, and these lower storage spaces 37 are arranged on the left and right.

  The upper storage space 38 and the lower storage space 37 are divided forward and backward by the back plate 36, and the upper storage space 38 and the lower storage space 37 are opened toward the front or the rear of the storage shelf 30. The back plate 36 is not provided between the front end and the rear end of the partition plate 33 and the side plate 32 but may be provided at the front end or the rear end of the partition plate 33 and the side plate 32. In that case, the upper storage space 38 and the lower storage space 37 open toward either the front or the rear of the storage shelf 30. Further, the back plate 36 may not be provided. In that case, the upper storage space 38 and the lower storage space 37 open toward both the front and rear of the storage shelf 30.

  A lower storage space 37 is provided on the traveling space 39. The lower storage space 37 and the traveling space 39 are connected, and the lower storage space 37 and the traveling space 39 are an integral space. Similarly to the lower storage space 37, the traveling space 39 also opens toward the front or rear of the storage shelf 30. When the tray 50 is placed on the adjacent pedestal portion 31, the lower storage space 37 and the traveling space 39 are partitioned by the tray 50, and the tray 50 functions as a shelf board.

  An IC tag 59 is provided on the tray 50. The IC tag 59 is an RFID (Radio Frequency Identification) RF tag. That is, the IC tag 59 is a storage medium capable of reading and writing information wirelessly (non-contact). The IC tag 59 includes a small wireless circuit, a control circuit, a nonvolatile memory circuit, and the like. In the IC tag 50, individual information of the luggage 99 placed on the tray 50 is recorded. The IC tag 50 may be provided on the luggage 99.

  The front and rear surfaces of the storage shelf 30 are separated from the wall of the storage chamber 10. That is, the front end portion and the rear end portion of the pedestal portion 31, the side plate 32, the partition plate 33, the top plate 34, and the shelf plate 35 are separated from the wall of the storage chamber 10, and the upper storage space 38, the lower storage space 37, and the traveling space The front and rear openings 39 are not blocked by the wall of the storage chamber 10. Therefore, the luggage 99 can be stored in the upper storage space 3 and the lower storage space 37 from before and after the upper storage space 38 and the lower storage space 37. In addition, an object or an autonomous traveling type transport device 60 can be inserted into the traveling space 39 from before and after the traveling space 39.

  Further, both side surfaces of the storage shelf 30 are also separated from the wall of the storage chamber 10. Accordingly, a corridor passage surrounded by the storage shelf 30 is formed around the storage shelf 30. Therefore, the autonomously traveling transport device 60 can easily travel around the storage shelf 30.

  When the ceiling height of the storage room 10 is not constant, the “ceiling height” described in the claims is determined by the ceiling height of the storage room 10 at the positions of the front and rear openings of the storage shelf 30.

  As shown in FIG. 3, the back plate 36 is spaced upward from the floor 13, and an opening 40 is formed between the lower end of the back plate 36 and the floor 13. Front and rear traveling spaces 39 are connected to the opening 40. Therefore, the autonomous traveling type transport device 60 can pass through the traveling space 39 from the front to the rear of the storage shelf 30 or vice versa, and the autonomous traveling type transport device 60 can be efficiently traveled. As shown in FIG. 4, the second pedestal portion 41 may be provided under the back plate 36, and the opening 40 may be blocked by the second pedestal portion 41. The back plate 36 is provided on the second pedestal portion 41 so that the thickness of the back plate 36 is thinner than the width of the second pedestal portion 41, and the second pedestal portion 41 moves forward and backward from the back plate 36. Protrudes.

  The autonomously traveling transport device 60 is on the floor 13 and the floor 16 from the adjacent space 15 through the entrance 12 to the traveling space 39 in a state where the tray 50 and the luggage 99 are lifted from below the tray 50 on which the luggage 99 is placed. , The tray 50 and the luggage 99 are transported from the adjacent space 15 to the lower storage space 37, and the tray 50 and the luggage 99 are lowered onto the pedestal portion 31. Moreover, the autonomous traveling type transport device 60 also moves in the reverse direction. That is, the autonomously traveling transport device 60 lifts the tray 50 and the luggage 99 from under the tray 50 in the traveling space 39 and travels on the floor 13 and the floor 16 from the traveling space 39 to the adjacent space 15 through the doorway 12. As a result, the tray 50 and the luggage 99 are transported from the lower storage space 37 to the adjacent space 15. In addition, the autonomously traveling transport device 60 travels on the floor 13 and the floor 16 from the adjacent space 15 through the entrance 12 to the traveling space 39 without being loaded, or from the traveling space 39 without being loaded. The vehicle travels on the floor 13 and the floor 16 through the doorway 12 to the adjacent space 15.

  FIG. 5 is a perspective view of the autonomously traveling transport device 60. FIG. 6 is a block diagram of the autonomously traveling transport device 60. The autonomous traveling type transport device 60 includes a traveling vehicle, and the traveling vehicle travels and travels straight by the following configuration.

  Two drive wheels 62 are rotatably mounted below the traveling vehicle main body 61, and the rotation shafts of the drive wheels 62 are provided horizontally and concentrically. Two driven wheels 63 are rotatably mounted under the traveling vehicle main body 61. The driven wheel 63 is provided so as to be able to roll around an axis extending vertically, and the driven wheel 63 is a freely driven wheel whose direction can be freely changed. When viewed from above, the line connecting the two driven wheels 63 is orthogonal to the line at the midpoint of the line connecting the drive wheels 62.

  The two drive motors 64 are built in the traveling vehicle body 61, one drive motor 64 is connected to one drive wheel 62, and the other drive motor 64 is connected to the other drive wheel 62. The rotational speed of these drive motors 64 is separately controlled, so that the traveling vehicle of the autonomously traveling transport device 60 can be turned. That is, if the rotational speeds of these driving motors 64 are equal, the traveling vehicle of the autonomous traveling type transport device 60 goes straight, and if the rotational speeds of these driving motors 64 are different, the traveling vehicle of the autonomous traveling type transport device 60 turns.

  The two driving wheels 62 are driven by a common motor, the driven wheel 63 is a steering wheel, and the driven wheel 63 is turned around an axis extending up and down by the steering motor. The traveling vehicle may be steered. In this case, the two driven wheels 63 are juxtaposed side by side, the two drive wheels 62 are juxtaposed side by side, and the drive wheels 62 and the follower wheel 63 tables 155 are arranged in the front-rear direction.

  The autonomously traveling transport device 60 includes a lifter 65 and a lifting / lowering motor 66. The lifter 65 is driven by the lifting / lowering motor 66 so that the tray 50 and the luggage 99 are lifted and lowered. The lifter 65 and the lift motor 66 are provided as follows.

The lifter 65 is attached to the traveling vehicle main body 61 so as to be movable up and down, and the lifter 65 protrudes upward from the upper surface of the traveling vehicle main body 61 or retracts downward. The vehicle height of the traveling vehicle of the autonomous traveling type transport device 60 in the state where the lifter 65 is lowered is lower than the height of the pedestal portion 31.
The number of lifters 65 is four, and these lifters 65 are arranged at the four corners of the upper surface of the traveling vehicle main body 61 as viewed from above. The number of lifters 65 may be one, and the lifters 65 may be arranged at the center of the traveling vehicle main body 61 as viewed from above.
Any lifting method of the lifter 65 may be used. For example, the lifter 65 may be moved up and down using a link mechanism, or may be moved up and down using a linear motion mechanism (for example, a pinion rack mechanism or a ball screw mechanism).

  The lifting motor 66 is built in the traveling vehicle body 61. The lift motor 66 is connected to the lifter 65 through a transmission mechanism or the like, and the lifter 65 is driven by the lift motor 66.

The autonomously traveling transport device 60 includes an autonomously traveling sensor 67, a controller 68, a reader / writer 69, and an alarm device 70.
The sensor 67 is a gyro sensor, an encoder, an infrared sensor, an ultrasonic sensor, a contact sensor, or other sensors. The gyro sensor detects the angular velocity, angle, direction, etc. of the traveling vehicle main body 61. The encoder detects the travel speed and travel distance of the traveling vehicle main body 61. The infrared sensor, the ultrasonic sensor, and the contact sensor are for detecting the presence or absence of an obstacle around the traveling vehicle main body 61. The sensor 67 outputs a signal representing a detection result or detection content to the controller 68.

  The controller 68 is built in the traveling vehicle main body 61. The controller 68 is a computer including a control board, a semiconductor memory, a CPU, and the like. The controller 68 drives the drive motor 64 based on the collected data while collecting the surrounding conditions, the traveling speed, the traveling direction, the traveling distance, and the like of the traveling vehicle main body 61 by inputting the output signal of the sensor 67. To make the traveling vehicle of the autonomously traveling transport device 60 autonomously travel. Moreover, the controller 68 raises / lowers the lifter 65 by driving the raising / lowering motor 66 at a predetermined timing.

  The reader / writer 69 is provided in the traveling vehicle main body 61. The reader / writer 69 reads / writes information from / to the IC tag 59 in a non-contact manner. When the reader / writer 69 is controlled by the recording command of the controller 68, information is recorded on the IC tag 59 by the reader / writer 69. On the other hand, when the reader / writer 69 is controlled by the reading command of the controller 68, the information of the IC tag 59 is read by the reader / writer 69.

  The alarm device 70 is provided in the traveling vehicle main body 61. The alarm device 70 outputs a warning signal that can be recognized by a person. For example, the alarm device 70 is a warning signal light, a warning indicator, or a speaker. The warning signal lamp outputs light as a warning signal such as lighting and blinking. The warning indicator is a device that outputs a warning image as a warning signal (for example, a liquid crystal display). A speaker outputs a sound as a warning signal, such as a warning sound or a warning sound.

  The IC tag 59, the reader / writer 69, and the alarm device 70 may be omitted and not provided.

  A method for storing the luggage will be described, and a control operation method of the controller 68 and an operation method of the autonomous traveling type transport device 60 will be described.

(A1) Initial traveling process The controller 68 controls the drive motor 64 based on the output signal of the sensor 67 while inputting the output signal of the sensor 67, so that the traveling vehicle of the autonomous traveling type transporting device 60 is in the predetermined space 15. The vehicle travels to a position (for example, near the doorway 12 and near a remote control device (for example, a so-called smartphone) of the autonomous traveling device 60), and the traveling vehicle of the autonomous traveling device 60 stops there.

(A2) Loading Step Next, the operator places the tray 50 on the traveling vehicle body 61 and places the luggage 99 on the tray 50. Instead of using the tray 50, the luggage 99 may be placed directly on the traveling vehicle main body 61 as long as the width of the luggage 99 is longer than the interval between the adjacent pedestals 31.

(A3) Lifter Ascending Step Next, when the controller 68 drives the lift motor 66, the lifter 65 is lifted by the lift motor 66. Then, the lifter 65 stops in a state of protruding from the upper surface of the traveling vehicle main body 61. Thereby, the luggage 99 and the tray 50 are lifted.

(A4) Transporting Step Next, the controller 68 controls the drive motor 64 based on the output signal while inputting the output signal of the sensor 67. Then, the traveling vehicle of the autonomous traveling type transport device 60 travels on the floor 13 and the floor 16 from the adjacent space 15 through the entrance 12 to the traveling space 39.
In addition, the traveling vehicle of the autonomous traveling transport device 60 starts traveling when the operator presses a predetermined switch or the load cell or the like detects that the weight applied to the lifter 65 exceeds a predetermined value. The switch outputs a signal to the controller 68 when pressed, and the load cell detects the weight applied to the lifter 65 and outputs a signal representing the detection result to the controller 68. The load cell is provided in the lifter 65, for example.

(A5) Unloading step Next, when the controller 68 drives the lifting motor 66, the lifter 65 is lowered by the lifting motor 66. As the lifter 65 descends, the tray 50 and the luggage 99 are lowered and placed on the pedestal 31. Then, the lifter 65 stops in a state where the lifter 65 is drawn downward from the upper surface of the traveling vehicle main body 61. In this state, the lifter 65 is separated downward from the tray 50. When the tray 50 is not used, the luggage 99 is placed on these pedestal portions 31 so as to be bridged between the adjacent pedestal portions 31.

(A6) Return road travel process Next, the controller 68 controls the drive motor 64 based on the output signal while inputting the output signal of the sensor 67. Then, the traveling vehicle of the autonomous traveling type transport device 60 travels on the floor 13 and the floor 16 from the traveling space 39 through the doorway 12 to the adjacent space 15. Then, the traveling vehicle of the autonomously traveling transport device 60 stops near the entrance / exit 12 in the adjacent space 15.

  Thereafter, by repeating (A2) to (A6), the plurality of loads 99 are sequentially stored in different lower storage spaces 37.

  A method for taking out the luggage will be described, and a control operation method for the controller 68 and an operation method for the autonomous traveling type transport device 60 will be described.

(B1) Initial traveling process The controller 68 controls the drive motor 64 based on the output signal of the sensor 67 while the controller 68 inputs the output signal of the sensor 67. The traveling vehicle of the autonomously traveling transport device 60 stops in the traveling space 39 under the tray 50 and the luggage 99.

(B2) Unloading process Next, the lifter 65 is raised by the lift motor 66 when the controller 68 drives the lift motor 66. Then, the tray 50 and the luggage 99 are pushed up by the lifter 65, and the tray 50 moves away from the pedestal 31. Then, the lifter 65 stops in a state where it protrudes from the upper surface of the traveling vehicle main body 61.

(B3) Transporting Process Next, the controller 68 controls the drive motor 64 based on the output signal while inputting the output signal of the sensor 67. Then, the traveling vehicle of the autonomous traveling type transport device 60 travels on the floor 13 and the floor 16 from the traveling space 39 through the doorway 12 to the adjacent space 15. As a result, the luggage 99 is transported. Then, the traveling vehicle of the autonomously traveling transport device 60 stops near the entrance / exit 12 in the adjacent space 15.

(B4) Unloading step The operator places the tray 50 on the lifter 65 and places the luggage 99 on the tray 50.

(B5) Lifter Lowering Step Next, when the controller 68 drives the lifting motor 66, the lifter 65 is lowered by the lifting motor 66. The lifter 65 stops in a state where the lifter 65 is pulled down from the upper surface of the traveling vehicle main body 61. The lifter 65 starts to descend when the operator presses a predetermined switch or when the load cell or the like detects that the weight applied to the lifter 65 is less than a predetermined value.

(B6) Return road travel process Next, the controller 68 controls the drive motor 64 based on the output signal while inputting the output signal of the sensor 67. Then, the traveling vehicle of the autonomous traveling type transport device 60 travels on the floor 13 and the floor 16 from the adjacent space 15 through the entrance 12 to any tray 50 and the traveling space 39 of the luggage 99. Then, the traveling vehicle of the autonomous traveling type transport device 60 stops in the traveling space 39. At this time, the traveling vehicle of the autonomous traveling type transport device 60 may pass through the opening 40 under the back plate 14.

  Thereafter, the plurality of loads 99 are successively conveyed to the adjacent space 15 by repeating (B2) to (B6).

According to the present embodiment, the following operational effects are produced.
(1) Since the height of the floor 13 of the storage chamber 10 and the floor 16 of the adjacent space 15 are equal, the traveling of the autonomously traveling transport device 60 that passes through the doorway 12 is not hindered. Accordingly, the plurality of luggage 99 can be sequentially and continuously transported from the storage chamber 10 to the adjacent space 15 or vice versa by the autonomous traveling type transport device 60. In addition, it is possible to prevent the luggage 99 and the tray 50 from falling due to vibrations or the like generated when the autonomously traveling transport device 60 gets over the step.

(2) A plurality of pedestal portions 31 are laid on the floor 13 of the storage chamber 10, and the height of the floor of the traveling space 39 formed between these pedestal portions 31 and the height of the surrounding floor 13 are aligned. Therefore, there is no obstacle to the traveling of the autonomous traveling transport device 60 that enters the traveling space 39 from around the storage shelf 30. Therefore, a plurality of luggage 99 can be successively and continuously conveyed from the storage shelf 30 to the adjacent space 15 or vice versa by the autonomous traveling type conveyance device 60.

(3) Since the autonomous traveling type transport device 60 includes the lifter 65 and the luggage 99 is transported by the autonomous traveling type transport device 60 in a state where it is lifted by the lifter 65, the autonomous traveling type transport device 60 is a towed type. is not. Therefore, the difference between the inner wheels when the autonomous traveling type transport device 60 turns can be minimized, and the autonomous traveling type transport device 60 has a small turn.

(4) When the luggage 99 is lifted by the lifter 65 and is transported to the lower storage space 37 by the autonomously traveling transport device 60, the pedestal 31 can be used as a place for the luggage 99 and the tray 50. Since the vehicle height of the autonomous traveling type transport device 60 is lower than the height of the pedestal portion 31, if the luggage 99 and the tray 50 are placed on the pedestal portion 31, the autonomous traveling type transport device 60 is below the luggage 99 and the tray 50. You can travel from the outside. Therefore, a plurality of luggage 99 can be sequentially and continuously conveyed from the adjacent space 15 to the storage shelf 30 by the autonomous traveling type conveyance device 60. Further, it is not necessary for the operator to unload the luggage 99 from the autonomous traveling type transport device 60 in the storage room 10.

(5) The tray 50 is not a traveling carriage, and the luggage 99 is placed on the pedestal 31 together with the tray 50. Therefore, a mechanism for stopping the traveling carriage is unnecessary.

(6) Since the space above the plurality of pedestal portions 31 is partitioned by the partition plate 33 and the side plate 32, the luggage 99 stored in the lower storage space 37 moves laterally from the lower storage space 37 and moves from the tray 50. It can prevent falling.

(7) Even if the luggage 99 is easy to roll, since the luggage 99 is placed on the tray 50, it is easy to carry the luggage 99 in a state where it is lifted by the autonomous traveling type conveyance device 60.

(8) Since the tray 50 is used, the luggage 99 can be placed on the pedestal 31 via the tray 50 even if the width of the luggage 99 is shorter than the interval between the adjacent pedestals 31.

(9) Since the pedestal portion 31 is a strip having a width and a length, the width of the tray 50 is shorter than the interval between the partition plate 33 and the side plate 32, and between the tray 50 and the partition plate 33 and between the tray 50 and the side plate 32. Even if there is a play (gap) between them, the tray 50 can be placed on the pedestal 31. Therefore, the position control during the transportation of the autonomous traveling type transport device 60 may not be precise.

(10) Since the shelf board 35 is on the traveling space 39, it is not necessary for the operator to bend deeply when placing a load on the shelf board 35.

(11) The height of the luggage 99 can be limited by the shelf board 35. That is, the worker does not carry the luggage 99 that is higher than the height of the shelf board 35 by the autonomous traveling type transporting device 60 and transports the low load 99 by the autonomous traveling type transporting device 60. Thereby, it is possible to prevent the luggage 99 transported by the autonomous traveling type transport device 60 from falling.

[Modification 1]
In the first modification, the above-described luggage storage method is changed to the following two initial modes and a cleanup mode.

  First, a method for storing luggage in the initial mode will be described. The luggage storage method in the initial storage mode includes the processes (A7) and (A8) described below in addition to the processes (A1) to (A6) described above.

(A7) Weight detection step When the controller 68 drives the lifting motor 66 in the lifter lifting step of (A3), the controller 68 acquires the weight of the load 99. Specifically, an electrical signal (current, voltage, power, etc.) of the lifting motor 66 is fed back to the controller 68, and the controller 68 acquires the weight of the load 99 from the electrical signal of the lifting motor 66. When the weight of the load 99 is detected by a load cell provided in the lifter 65 or the like, the weight of the load 99 is converted into an electric signal, and the electric signal is input to the controller 68 so that the controller 68 You may get the weight of.

(A8) Writing Step After the weight detection step (A7), the reader / writer 70 is made to write the weight of the luggage 99 input by the controller 68. Then, the weight of the luggage 99 is recorded on the IC tag 59 by the reader / writer 70. This writing step may be performed between (A3) to (A6). By performing the steps (A7) and (A8) described above, the weight of the load 99 is linked to the load 99 as individual information.

  Next, the cleanup mode will be described. The luggage storage method in the clean-up mode is based on the premise that the above-described luggage storage method in the initial storage mode has been performed before, and after the luggage storage method in the initial storage mode, the luggage 99 and the tray 50 are adjacent to each other. It is assumed that it has been carried to 15. That is, it is assumed that the weight of the luggage 99 is recorded in the IC tag 59 in advance.

  In addition to the above-described steps (A1) to (A6), the luggage storage method in the tidying mode includes the steps (A9) to (A15) described below.

(A9) Weight detection step The weight detection step of (A9) is the same as the weight detection step of (A7).

(A10) Reading step After the weight detection step (A9) (more specifically, during the lifter raising step (A3)), the controller 68 reads the weight recorded on the IC tag 59 with a reader Let the lighter 70 do it. Then, the weight recorded on the IC tag 59 is read by the reader / writer 70, and the weight data is transferred to the controller 68 by the reader / writer 70.

(A11) Comparison step After the weight detection step (A9) (more specifically, during the lifter raising step (A3)), the controller 68 detects the load 99 detected in the weight detection step (A9). Is compared with a threshold value. For this threshold, the weight data read in the reading step (A10) is used.
As a result of the comparison, if the detected weight of the luggage 99 is equal to or greater than the threshold value, the process of the controller 68 shifts to the above-described transport process (A4), and the processes (A4) to (A6) are performed. On the other hand, if the detected weight of the luggage 99 is less than the threshold value, the following steps (A12) to (A15) are performed.

(A12) Temporary stop process In the temporary stop process, the controller 68 stops the lifting motor 66 during the lifter lifting process of (A3). Therefore, the lifter ascending process of (A3) is interrupted, and the traveling body main body 61 is temporarily stopped.

(A13) Alarm process After the temporary stop process of (A12), the controller 68 activates the alarm device 70, and a warning signal (lighting, blinking, warning image, warning sound, warning sound) that can be recognized by a person is displayed on the alarm device 70. Is output by. Then, the worker who has recognized the warning signal can recognize the shortage of the luggage 99 placed on the tray 50. As a result, it is possible to prevent the shortage from being forgotten to be stored or forgotten to be cleaned up.

(A14) Weight redetection step After the warning step (A13), the operator places the shortage on the tray 50 as necessary. Then, when the controller 68 inputs a predetermined trigger, the controller 68 activates the lift motor 66, and the lifter lifting step (A3) is resumed. During the resumed lifter raising process (A3), the controller 68 acquires the weight of the load 99 (see the weight detection process (A7)). Here, the trigger includes the following (a) to (c).
(A) When an operator operates (presses, touches, etc.) a predetermined switch (which may be a hardware switch or a software switch), an on signal as a trigger is input from the switch to the controller 68.
(B) When a worker operates a terminal device (for example, a so-called smartphone) capable of wireless communication with the controller 68, a predetermined wireless signal is transmitted from the terminal device to the controller 68 as a trigger.
(C) When an operator inputs a voice into a voice recognition device (for example, a so-called smartphone) and the voice is recognized as a predetermined voice by the voice recognition device, a predetermined signal as a trigger is a voice. It is transmitted from the recognition device to the controller 68.
(D) The weight applied to the lifter 65 is detected by the load cell, and when it is determined by the comparator that the weight detected by the load cell has exceeded a predetermined threshold, the output signal of the comparator becomes a trigger.

(A15) Rewriting Step After the weight redetection step (A14), the controller 68 causes the reader / writer 70 to perform a rewriting process. Then, the weight data recorded on the IC tag 59 is rewritten with the weight of the luggage 99 detected in the weight redetection step (A14).

[Modification 2]
As shown in FIG. 7, the storage shelf 30 is brought close to the wall opposite to the wall of the entrance 12, and the opening behind the storage shelf 30 is blocked by the wall. Here, the shelf plate 35 is not provided on the back side of the storage shelf 30, the upper storage space 38 is not formed, the top plate 34 of the storage shelf 30 is provided in a step shape, and the top plate 34. Among them, the back side portion is the same height as the shelf plate 35 on the near side, and the upper end of the side plate 32 is also high on the near side portion and the back side portion is low. This is because the back wall of the storage chamber 10 is lower than the front wall, the ceiling 19 of the storage chamber 10 is inclined, and the storage shelf 30 is brought close to the back wall. The length of the tray 50 is one half of the depth of the storage shelf 30, and the two trays 50 can be placed on the pedestal 31 on the back side and the near side of the storage shelf 30, respectively. In this case, after placing the tray 50 on the back side of the storage shelf 30 in the pedestal portion 31 by the autonomous traveling type transporting device 60 (see the above-described luggage storage method), the front side of the storage shelf 30 in the pedestal portion 31. The other tray 50 is placed on (see the luggage storage method described above).

[Modification 3]
The image pickup unit (6), the baggage image holding unit (7), the selection receiving unit (2), the command output unit (3), the floor surface weight detection unit (13), and the like described in JP2012-240826A are accommodated in this housing. It may be provided in the facility 1. In this case, the tow-type self-propelled mobile robot (4), the storage room (11), and the living room (12) described in Japanese Patent Application Laid-Open No. 2012-240826 are used as the autonomously traveling transport device 60 and the storage room 10 of the storage facility 1. The technology and invention described in JP 2012-240826 A (except for the carriage (51), the container (52), and the connecting member (53)) are applied to the storage facility 1 instead of the adjacent spaces 15 respectively. To do.
Accordingly, the disclosure of Japanese Patent Application Laid-Open No. 2012-240826 is included in the description of the specification of the present application.

[Second Embodiment]
In the first embodiment, the tray 50 without legs is used. On the other hand, in the second embodiment, a table 155 with legs is used as shown in FIG. Here, the table 155 has a mounting plate 150 and a plurality of legs 151, the upper ends of the legs 151 are connected to the peripheral edge of the lower surface of the mounting plate 150, and the legs 151 are spaced from each other. . For example, the number of leg portions 151 is four, the mounting plate 150 is square or rectangular, and is connected to the four corners of the lower surface of the mounting plate 150. The mounting plate 150 and the leg portion 151 are integrally assembled or integrally molded. When such a table 155 is used, the pedestal portion 31 may not be provided (see FIG. 8).

  In a state where the legs 151 are placed on the floor 13 of the storage chamber 10 or the floor 16 of the adjacent space 15, the legs 151 are erected, and the mounting plate 150 is placed on the floor 13 of the storage chamber 10 or the floor 16 of the adjacent space 15. Away from the top. Further, since these leg portions 151 are separated from each other, the autonomously traveling transport device 60 traveling on the floor 13 of the storage chamber 10 or the floor 16 of the adjacent space 15 can be sunk under the mounting plate 150.

  Even when such a table 155 is used, the autonomous traveling device 60 operates in the same manner as in the first embodiment. Here, when the luggage 99 is stored in the storage chamber 10 from the adjacent space 15 using the autonomously traveling transport device 60, the operator makes the following preparation instead of the loading operation (A3). The preparation means that the tables 151 are placed on the floor 16 with the legs 151 of the plurality of tables 155 standing on the floor 16 of the adjacent space 15, and the luggage 99 is placed on the mounting plate 150 of the tables 155. It is to place it.

  Then, in the steps (A1) and (A6), the controller 68 controls the drive motor 64 based on the output signal of the sensor 67 while inputting the output signal of the sensor 67. Sunk under the mounting plate 150 of any table 155. Therefore, in the subsequent step (A2), when the lifter 65 is raised, the load 99 is lifted together with the placing plate 150 and the leg 151 by the lifter 65, and the leg 151 is separated from the floor 16 of the adjacent space 15. . In the subsequent step (A4), the load 99 is transported together with the mounting plate 150 and the leg 151 by the traveling vehicle of the autonomous traveling type transporting device 60. In the subsequent step (A5), the lifter 65 is lowered to place the leg 151 on the floor 13 of the storage chamber 10 between the partition plate 33 and the side plate 32.

  On the contrary, when the luggage 99 is transported from the storage room 10 to the adjacent space 15 using the autonomously traveling transport device 60, the controller 68 inputs the output signal of the sensor 67 in the steps (B1) and (B6). On the other hand, by controlling the drive motor 64 based on the output signal, the traveling vehicle of the autonomous traveling type transport device 60 gets under the mounting plate 150 of any table 155. Here, the table 155 and the luggage 99 are disposed between the partition plate 33 and the side plate 32 next to each other.

  In the subsequent step (B2), when the lifter 65 is raised, the load 99 is lifted together with the mounting plate 150 and the leg 151 by the lifter 65, and the leg 151 is separated from the floor 13 of the storage chamber 10. In the subsequent step (B4), the load 99 is transported together with the mounting plate 150 and the leg 151 by the traveling vehicle of the autonomous traveling type transporting device 60. In the subsequent step (B5), the lifter 65 is lowered to place the leg 151 on the floor 16 of the adjacent space 15. This eliminates the need for the operator to perform the operation (B4).

  Note that the first modification described above can also be applied to the second embodiment. In this case, the IC tag 59 is provided on the table 150 (for example, the leg 151 or the mounting plate 150).

[Modification 4]
FIG. 9 is a plan view of the storage chamber 10. When a plurality of tables 155 are used as in the second embodiment, the storage shelf 30 may not be provided in the storage chamber 10. In this case, as in the second embodiment, the autonomously transporting device 60 can store a plurality of tables 155 (the luggage 99 is placed on the placing plate 150 of the table 155) from the adjacent space 15 into the storage chamber. When these are successively conveyed to 10, the tables 155 are arranged in a grid pattern.

  Further, it is preferable that the table 155 is not disposed in at least one of the plurality of grids of the lattice, and there is an empty grid 190. Therefore, by repeatedly moving the table 155 adjacent to the empty grid 190 to the empty grid 190, the target table 155 can be moved to the vicinity of the entrance 12 or the table 155 can be rearranged. it can. The operation of the autonomously traveling transport device 60 at that time is as follows.

(C1) First, the controller 68 controls the drive motor 64 based on the output signal while inputting the output signal of the sensor 67. Then, the traveling vehicle of the autonomously traveling transport device 60 travels under the table 155 to the bottom of the table 155 adjacent to the empty grid 190 so as to sew between the legs 151.

(C2) Next, when the controller 68 drives the lifting motor 66, the lifter 65 is lifted by the lifting motor 66. Then, the luggage 99 is lifted together with the table 155.

(C3) Next, the controller 68 inputs the output signal of the sensor 67 and controls the drive motor 64 based on the output signal. The traveling vehicle of the autonomously traveling transport device 60 moves to the next empty square 190 and moves to the place where the table 155 where the empty square 190 was moved is located.

(C4) Next, when the controller 68 drives the lifting motor 66, the lifter 65 is lowered by the lifting motor 66. As the lifter 65 moves down, the table 155 is placed on the floor 13 of the storage chamber 10.

  Thereafter, by repeating (C1) to (C4), the empty cells 190 move to the adjacent one after another.

DESCRIPTION OF SYMBOLS 1 Storage equipment 10 Storage room 11 Wall 12 Entrance / exit 13,16 Floor 15 Adjacent space 31 Base part 32 Side board (plate material)
33 Partition plate (plate material)
35 Shelf plate 38 Upper storage space 39 Traveling space 50 Tray 60 Autonomous traveling transport device 99 Luggage 150 Mounting plate 151 Leg

Claims (5)

A storage facility for storing luggage,
A storage room that has a ceiling height of 800 to 1400 mm, is partitioned from an adjacent space by a wall, and is connected to the adjacent space through a floor by an entrance provided in the wall;
A plurality of pedestal portions that are laid on the floor of the storage room and are arranged at intervals to form a traveling space between adjacent ones;
After traveling on the floor of the storage chamber from the adjacent space through the doorway to the traveling space with the luggage lifted from under the luggage, the luggage is lowered onto the pedestal part, An autonomous traveling type transporting apparatus that travels on the floor of the storage room from the traveling space to the adjacent space through the doorway in the state where the loaded luggage is lifted after the loaded luggage is lifted in the traveling space; A storage facility comprising: The storage facility according to claim 1,
The storage facility, wherein an end portion of the pedestal portion is separated from a wall of the storage chamber and the traveling space is not blocked by the wall of the storage chamber. The storage facility according to claim 1 or 2,
The tray is placed on the pedestal portion so as to be bridged between the pedestal portions, and further includes a tray that can be moved up and down from the pedestal portion,
A storage facility in which the autonomously traveling transporting device transports the load placed on the tray together with the tray. The storage facility according to any one of claims 1 to 3,
A plurality of plate members that are thinner than the width of the pedestal portion and provided in a standing state on the pedestal portion;
A shelf provided so as to be bridged between the plurality of plate members above the pedestal portion,
A storage facility, wherein a storage space is formed on the shelf board. A storage facility for storing luggage,
A storage room that has a ceiling height of 800 to 1400 mm, is partitioned from an adjacent space by a wall, and is connected to the adjacent space through a floor by an entrance provided in the wall;
A plurality of legs spaced apart from each other;
A mounting plate provided on the leg and integrated with the leg;
The luggage placed on the placement plate is lifted from the bottom of the placement plate together with the placement plate and the legs, from the adjacent space through the doorway to the storage chamber. After traveling on the floor, the legs are lowered onto the floor of the storage chamber and placed on the mounting plate provided on the legs placed on the floor of the storage chamber. The lifted baggage is lifted from the bottom of the mounting plate together with the mounting plate and the legs, and then lifted from the storage chamber to the adjacent space through the doorway in the state of lifting the load. A storage facility comprising: an autonomous traveling type transport device that travels on a vehicle.

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