JP2018034964A - Multistage shelf conveyance system and multistage shelf conveyance method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently convey a required product.SOLUTION: A multistage shelf conveyance system comprises: a multistage shelf which has plural stages which can be divided in a vertical direction, and in which each of the plural stages can be solely conveyed solely or in such a manner that said stage is overlapped on lower one or more stages; a conveyance wheel which conveys one or more stages by supporting any of the plural stages of the multistage shelf; and a multistage shelf control device which instructs to the conveyance wheel as to which stage of the multistage shelf should be conveyed solely or in the overlapped state.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a multistage shelf conveyance system and a multistage shelf conveyance method.

  In recent years, with the expansion of the mail order market and diversification of customer needs, the handling of goods handled in a distribution warehouse has been reduced, and the work related to collection (picking) in the distribution warehouse has become complicated. On the other hand, the working population is decreasing, and there is a need for automation and efficiency of work. As an example of improving the labor burden of a worker in a warehouse, there is a method in which an automatic guided vehicle transports a shelf in which goods are stored to a worker's picking position.

  In the system of Patent Document 1, an automatic guided vehicle transports a shelf in which inventory items are stored to a position where an operator assembles or boxes the inventory items. The shelf is arranged without being fixed to the floor surface, and the automatic guided vehicle sinks into the lower part of the shelf and conveys the shelf while the shelf is lifted. Thereby, the work efficiency is improved as compared with the case where the worker goes to pick the stock item to the position of the shelf.

Special table 2009-539727

In practice, however, other unnecessary items are often conveyed simultaneously with the original picking target. For example, it is assumed that ten stock items are stored in a certain shelf, and the worker wants to pick two of them. The automatic guided vehicle of patent document 1 conveys the said shelf to a worker's position. The worker picks (takes out) two of the ten inventory items stored on the shelf. Thereafter, the automatic guided vehicle transports the shelves storing the eight stock items that are not picked to the original position. Then, not only is the energy consumed to transport the eight inventory items lost, but there is a possibility that inventory items that are not subject to picking will be lost due to vibration during transportation. Get higher.
Accordingly, an object of the present invention is to efficiently transport a necessary product.

The multistage shelf transport system of the present invention has a plurality of stages that can be divided in the vertical direction, and each of the plurality of stages can be transported by being individually or overlapping one or more lower stages. By supporting any one of the plurality of stages of the shelf and the multi-stage shelf, the transport vehicle that transports one or a plurality of stages, and which stage of the multi-stage shelf is transported individually or overlapped to the transport vehicle. And a multistage shelf management device for instructing the above.
Other means will be described in the embodiment for carrying out the invention.

  According to the present invention, necessary products can be efficiently conveyed.

It is a figure explaining the environment where a multistage shelf conveyance system is operated. It is a figure explaining the structure of a multistage shelf. (A) And (b) is a figure explaining the structure of a conveyance vehicle. (A)-(d) is a figure explaining the relationship between the height of the cargo handling board of a conveyance vehicle, and the stage conveyed. It is a figure explaining a dummy stage. It is a figure explaining a dummy stage. (A) is a figure explaining a slip-off prevention measure. (B) is a figure explaining recovery of superposition arrangement. It is a figure explaining a some mounting board. It is a figure explaining expansion of a top plate. It is a figure explaining composition of a multistage shelf management device etc. It is a figure which shows an example of order information. It is a figure which shows an example of product information. It is a figure which shows an example of cargo handling board height information. It is a figure which shows an example of conveyance vehicle information. It is a figure which shows an example of map information. It is a figure which shows an example of a task instruction document. It is a flowchart of a processing procedure. It is a figure explaining the procedure in which a conveyance vehicle conveys a multistage shelf. It is a figure explaining the procedure in which a conveyance vehicle conveys a multistage shelf. It is a figure explaining the procedure in which a conveyance vehicle conveys a multistage shelf.

  Hereinafter, a mode for carrying out the present invention (referred to as “the present embodiment”) will be described in detail with reference to the drawings. Note that “product” in the present embodiment means general inventory items including products to be sold and articles to be consumed by the house.

(Environment in which a multistage shelf transport system is operated)
An environment in which the multistage shelf transport system is operated will be described with reference to FIG. FIG. 1 is a bird's-eye view of the warehouse. The warehouse includes a work area 4 and a storage area 5. In the storage area 5, a plurality of multistage shelves 3 (3a to 3d) are arranged. In the work area 4, a user interface 1b and a worker 6 are arranged. Here, the worker 6 performs operations such as taking out the product from the multi-stage shelf 3 conveyed by the conveyance vehicle 2. On the floor surface including the storage area 5 and the work area 4, the plurality of transport vehicles 2 (2 a to 2 d) are traveling or temporarily stopped according to the control of the multistage shelf management device 1.

  The multistage shelf management device 1 is placed at a location away from the work area 4 and the storage area 5 of the warehouse. The user interface 1b is a personal computer (including a tablet personal computer) that functions as a terminal device of the multistage shelf management apparatus 1. Between the multistage shelf management apparatus 1 and the user interface 1b, wired or wireless communication is possible. In addition, wired communication is also possible between the multistage shelf management device 1 and the transport vehicle 2.

  Each of the multi-stage shelves 3 has a nested structure, for example, three stages of upper, middle, and lower stages (details will be described later). The number of stages of the multistage shelf 3 is not particularly limited. However, the description will be continued below assuming that the number of stages is 3 as an example. The transport vehicle 2a goes under the multistage shelf 3c and tries to lift the upper stage, the middle stage, and the lower stage of the multistage shelf 3c. The transport vehicle 2 b extracts the lower stage of the multistage shelf 3 a and transports it to the work area 4. The transport vehicle 2 c extracts the middle stage and the lower stage from the multistage shelf 3 d and transports them to the work area 4. The transport vehicle 2d travels toward the multistage shelf 3b. In addition, the multistage shelf management apparatus 1, the multistage shelf 3, and the transport vehicle 2 constitute a multistage shelf transport system. Moreover, you may make it only the multistage shelf management apparatus 1 and the conveyance vehicle 2 comprise a multistage shelf conveyance system.

(Structure of multistage shelf)
The structure of the multistage shelf 3 will be described with reference to FIG. The multistage shelf 3 has a so-called nested structure, and includes an upper stage 7, a middle stage 8, and a lower stage 9 that can be divided in the vertical direction. The upper stage 7 includes a top plate 7a, a mounting plate 7b, and four legs 7c. In FIG. 2, the fourth leg is overlapped and cannot be seen. The product is stored on the mounting plate 7b. The planar shapes of the top plate 7a and the mounting plate 7b are not particularly limited. However, for the sake of simplicity, the description will be continued below assuming that the top plate 7a and the mounting plate 7b have a square shape in plan view. The cross-sectional shape of the four legs 7c is not particularly limited. However, for the sake of simplicity, the description will be continued below assuming that the cross-sectional shape of the four legs 7c is a square. The distance (the height of the storage space) between the top plate 7a and the placement plate 7b is arbitrary. These apply to the middle stage 8 and the lower stage 9 as well.

(Relationship between upper, middle and lower stages)
Referenced to the floor, the lower surface of the height of the mounting plate 7b of the upper 7 and H _UB. Similarly, the height of the upper surface of the top plate 8a of the middle 8 and H _MA, the lower surface of the height of the mounting plate 8b of the middle 8 and H _MB. Further, the height of the top plate 9a upper surface of the lower 9 and _{H LA,} the lower surface of the height of the mounting plate 9b of the lower 9 and _{H LB.} At this time, “H _LB <H _LA <H _MB <H _MA <H _UB ” is established.

The inner width of the four legs 7c in the upper stage 7 is defined as L _UI . Similarly, the outer width of four feet 8c of the middle 8 and _{L ME,} the inner width of four feet 8c of the middle 8 and _{L MI.} The outer width of the four legs 9c in the lower stage 9 is L _LE and the inner width of the four legs 9c in the lower stage 9 is L _LI . At this time, “L _LI <L _LE <L _MI <L _ME <L _UI ” is established. Due to the interrelationship of these sizes as a nested structure, the lower stage 9 can be stored in the lower part of the middle stage 8 without touching the middle stage 8. Similarly, the middle stage 8 can be stored in the lower part of the upper stage 7 without touching the upper stage 7. The transport vehicle 2 has a width which is located in the lower portion of the lower 9 a passage is L _LI, without protruding from the width, and travels without contacting the lower 9.

(Transport vehicle)
The structure of the conveyance vehicle 2 is demonstrated along FIG. FIG. 3A is a perspective view of the transport vehicle 2, and FIG. 3B is a front view of the transport vehicle 2. The transport vehicle 2 includes a carriage 61, a cargo handling plate 62, and a sensor 66. The carriage 61 and the cargo handling plate 62 are connected by a shaft 63. The carriage 61 has two drive wheels 64 and two auxiliary wheels (driven wheels) 65. The shaft 63 expands and contracts in the vertical direction by power from a motor, an actuator, or the like. Then, the height of the cargo handling plate 62 relative to the floor surface changes.

  The drive wheel 64 rotates in both directions by the power of a motor or the like. When the left and right drive wheels 64 rotate at the same speed in the same direction, the transport vehicle 2 goes straight. When one drive wheel 64 rotates in a certain direction and the other drive wheel 64 rotates in the other direction, the transport vehicle 2 turns (super turning) at that position. The turning angle can be any angle from 0 to 360 degrees in plan view. The auxiliary wheel 65 does not have power, and arbitrarily changes the direction of the axle according to the rotation of the drive wheel 64.

  When the transport vehicle 2 moves along the movement path, the sensor 66 recognizes its own position, grasps the deviation from the movement path, and transmits a control parameter transmitted to the drive wheel / loading board control unit 74. Mounted to calculate. The sensor device (type) is selected according to the self-position recognition method. For example, a method may be employed in which a floor surface marker such as a two-dimensional barcode is affixed to the floor surface in a grid pattern, and the position and posture of the device are recognized by reading the floor surface marker. In this case, the sensor 66 is mounted as a gray camera, a color camera, or the like attached toward the floor surface. In addition, the transport vehicle 2 recognizes the shape map of the entire space in advance, and calculates the portion of the shape map corresponding to the partial shape in the space measured by the transport vehicle 2 to determine its position and orientation. A recognition method may be employed. In this case, the sensor 66 is mounted as a laser distance sensor, a sonar, or the like attached so as to measure an obstacle on a horizontal plane. A plurality of sensors 66 may be attached, and their types may be different.

  The shaft 63 not only expands and contracts in the vertical direction, but also rotates about the vertical direction. For example, simultaneously with the bogie 61 turning 90 degrees clockwise, the shaft 63 rotates 90 degrees counterclockwise. Then, the mounting plate 62 also rotates 90 degrees counterclockwise. That is, the transport vehicle 2 keeps the direction of the transporting stage constant by turning the mounting plate 62 according to the direction in which the transport vehicle 2 travels.

(Relationship between the height of the cargo handling plate and the transported stage)
The relationship between the height of the cargo handling plate 62 of the transport vehicle 2 and the transported stage will be described with reference to FIG. In FIG. 4A, the upper stage 7, the middle stage 8, and the lower stage 9 of the multi-stage shelf 3 are superposed. “Superimposition” means that the intersections of the diagonals of the top plate, the middle plate 8 and the bottom plate 9 have the same coordinate values when the floor surface is regarded as a coordinate plane, The lower row 9 shows a state (nested state) arranged in this order from the top. Arranging each stage on the floor surface while maintaining a space between the upper stage 7 and the middle stage 8 and between the middle stage 8 and the lower stage 9 is expressed as “superimposing arrangement”. Further, conveying in such a superimposed state without space is expressed as “superimposed conveyance”.

A space is generated between the placing plate of the upper stage 7 and the top plate of the middle stage 8, and the height of the space is d ₂ (d ₂ = H _UB −H _MA ). Similarly, a space is also generated between the placing plate of the middle stage 8 and the top plate of the lower stage 9, and the height of the space is d ₁ (d ₁ = H _MB −H _LA ). In this state, when the length of the shaft 63 of the transport vehicle 2 is gradually increased, the height “H _V ” of the upper surface of the cargo handling plate 62 with respect to the floor surface is gradually increased.

First, “H _V = H _LB ”. At this time, the cargo handling plate 62 is in contact with the lower surface of the mounting plate 9b of the lower stage 9. When the transport vehicle 2 travels while supporting the lower stage 9 while maintaining “H _V = H _LB + α ₁ ”, the transport vehicle 2 transports only the lower stage 9 of the multistage shelf 3 (FIG. 4). (B)). Here, “0 <α ₁ <d ₁ ” is established. α ₁ is a clearance for preventing dragging, and is the height of the lower end of the leg 9c of the lower stage 9 with respect to the floor surface. Note that when the transport vehicle 2 pulls the lower stage 9 from the lower part of the middle stage 8 and enters the passage, “α ₁ <d ₁ ” does not necessarily have to be satisfied.

Next, the shaft 63 is extended to become “H _V = H _LB + d ₁ ”. At this time, the upper surface of the top plate 9 a of the lower stage 9 is in contact with the lower surface of the mounting plate 8 b of the middle stage 8. When the transport vehicle 2 travels while supporting the lower stage 9 while maintaining “H _V = H _LB + d ₁ + α ₂ ”, the transport vehicle 2 transports the middle stage 8 and the lower stage 9 of the multistage shelf 3 at the same time. (FIG. 4C). Here, “0 <α ₂ <d ₂ ” is established. alpha ₂ is also a clearance for the drag prevention, the lower end of the legs 8c of the middle 8 relative to the floor surface is high. When the transport vehicle 2 pulls out the middle stage 8 and the lower stage 9 from below the upper stage 7 and enters the passage, “α ₂ <d ₂ ” does not necessarily have to be satisfied.

Subsequently, the shaft 63 is extended to be “H _V = H _LB + d ₁ + d ₂ ”. At this time, the upper surface of the top plate 8 a of the middle stage 8 is in contact with the lower surface of the mounting plate 7 b of the upper stage 7. When the transport vehicle 2 travels while supporting the lower stage 9 while “H _V = H _LB + d ₁ + d ₂ + α ₃ ” is maintained, the transport vehicle 2 includes the upper stage 7, the middle stage 8, and the lower stage 9 among the multistage shelves 3. Are simultaneously conveyed (FIG. 4D). Incidentally, alpha ₃ is also a clearance for the drag prevention, the lower end of the leg 7c of the upper 7 relative to the floor surface is high.
Here, H _LB is the height of the lower surface of the mounting plate 9b of the lower stage 9 with respect to the floor surface in the case where there is no “dent” to be described later. If depression is present, the value of H _LB are depressions in the height (depth) component only increases. The same applies to H _UB and H _MB .
As described above, the multi-level shelf management apparatus 1 increases or decreases the height of the cargo handling plate 62 by the height of the space existing between the levels, so that the number of levels to be superimposed and conveyed is any one of 1 to 3. To decide.

  When the transport vehicle 2 extends the shaft 63 in a state where the lower stage 9 does not exist, the transport vehicle 2 can support the middle stage 8 and carry the upper stage 7 and the middle stage 8 in a superimposed manner. Further, when the transport vehicle 2 extends the shaft 63 in a state where the middle stage 8 and the lower stage 9 do not exist, the transport car 2 can support the upper stage 7 and transport only the upper stage 7. As is clear from the above, the multistage shelf 3 has a plurality of (three in the above example) nested stages that can be divided in the vertical direction, and each of the stages overlaps a single or a lower stage. Can be transported.

(Application of multi-level shelf 1: dummy level)
A dummy stage is demonstrated along FIG.5 and FIG.6. In the description of FIG. 4, there are three types of objects that the transport vehicle 2 transports: (1) only the lower stage 9, (2) the middle stage 8 and the lower stage 9, and (3) all of the upper stage 7, the middle stage 8, and the lower stage 9. Met. In any case, it is assumed that the upper stage 7, the middle stage 8, and the lower stage 9 are superposed. However, as described above, for example, even when only the upper stage 7 and the middle stage 8 are superposed (the lower stage 9 is moving to another location), the transport vehicle 2 greatly extends the shaft 63 so that the upper stage 7 and the middle stage 8 can be conveyed.

However, if the cargo handling plate 62 lifts the middle stage 8 directly (and also only the upper stage 7 only) without passing through the lower stage 9, the length of the shaft 63 becomes abnormally long and the stability decreases. Therefore, in this case, to utilize the empty lower 9 _d that does not store the product as a "dummy stages" (Figure 5). The size of the dummy stage 9 _d is the same as the size of the lower 9. In FIG. 5, once lift the dummy stage 9 _d is guided vehicle 2, then slip underneath the middle 8, lift the middle 8 via a dummy stage 9 _d, carrying a middle 8 and dummy stage 9 _d . At this time, although the upper stage 7 is not lifted in FIG. 5, the transport vehicle 2 can also transport the upper stage 7 at the same time.

As another example, as described above, only the upper stage 7 may be arranged alone. At this time, the transport vehicle 2, in order to stably convey the upper 7 and take advantage of the dummy stage 8 _d (FIG. 6). The height of the upper surface of the top plate of the dummy stage 8 _d is equal to the height H _MA of the upper surface of the top plate 8a of the middle 8. The lower surface of the height of the mounting plate of the dummy stage 8 _d is equal to the height H _LB of the lower surface of the mounting plate 9b of the lower 9. Outer width of the four legs of the dummy stage 8 _d is equal to the outer width L _ME of the four legs 8c of the middle 8. In FIG. 6, once lift the dummy stage 8 _d is guided vehicle 2, then slip under the upper 7, lift the upper 7 via a dummy stage 8 _d, are carrying the upper 7 and dummy stage 8 _d . Dummy stage 8 _d is not only used as a dummy stage, may be used as a step to store the large size products.

(Application of multi-level shelf 2: Prevention of slipping down)
A measure for preventing slipping will be described with reference to FIG. Fig.7 (a) is the perspective view which looked up the middle stage 8 and the lower stage 9 from the bottom. Actually, it is difficult to stably carry the two or three layers in a superimposed manner. When the transport vehicle 2 accelerates or decelerates or changes direction, an inertial force or centrifugal force acts on the stage. Then, the step located in the upper part may slide down. Even if it barely slides down, the overlapping state of the multistage shelves is not maintained at the location of the movement destination (arranged with the shafts shaken). In addition, when the shaft is shaken, the dimension in plan view becomes large, and the multistage shelf collides with the surrounding ones, so that it cannot be operated normally. In order to prevent this, for example, the following measures are effective.

(1) A square recess 83 is provided on the lower surface of the placing plate in the middle stage 8 (FIG. 7A). The depth of the recess 83 is arbitrary, but the length of one side of the recess is equal to “the length of one side of the top plate of the lower stage 9 + minimum play”. Similarly, a square recess may be provided on the lower surface of the loading plate of the upper stage 7, and a square recess (receiving the cargo handling plate 62 of the transport vehicle 2) may be provided on the lower surface of the loading plate of the lower stage 9.
(2) Furthermore, the surface where the recess 83 and the top plate (or the cargo handling plate 62) are in contact with each other may be processed so as to increase the friction coefficient.

(Application of multistage shelves 3: Restoration of superposition)
The recovery of the superimposed arrangement will be described along FIG. The above-described rising surface 84 of the depression is inclined to be tapered. The right figure of FIG.7 (b) is XX sectional drawing of a mounting board. Compared to the length 85 of one side of the dent when not inclined, the length 86 of one side at the bottom of the dent when inclined is significantly larger. Each time the transport vehicle 2 repeatedly transports the multistage shelf 3, the superposition arrangement collapses. That is, the intersection of the diagonal lines of the top board does not ride on one straight line perpendicular to the floor surface. However, when such an inclination is applied to the depression, even if the superposition is temporarily lost, it is recovered at the next conveyance. That is, the inclined surface 84 adjusts the positional relationship when a plurality of steps overlap.

(Application of multi-level shelf 4: Multiple mounting plates)
A plurality of mounting plates will be described along FIG. If a product that is frequently picked and transported is stored in the lower stage 9, the transport efficiency is improved and the consumed energy can be saved. Therefore, for example, the lower 9 _m of the improved can have a mounting plate of a plurality of (two in FIG. 8).

(Application of multistage shelves 5: Expansion of top plates, etc.)
The expansion of the top plate and the like will be described along FIG. Now, the longitudinal length of the upper 7 and D _U, the longitudinal length of the middle 8 and D _M, the longitudinal length of the lower 9 and D _L. The horizontal length of the upper stage 7 is W _U , the horizontal length of the middle stage 8 is W _M, and the horizontal length of the lower stage 9 is W _L. In FIG. 9, “D _U = W _U ”, “D _M <W _M ”, “D _L <W _L ”, “W _U = W _M = W _L ”, and “D _L <D _M −2 × β”. And “D _M <D _U -2 × β”. Here, β is the thickness of the leg of each step.

  In this way, the storage capacity of each stage is increased as compared to the case where the top plate, the middle plate 8 and the top plate of the lower plate 9 and the mounting plate are all square in shape. In this case, the transport vehicle 2 can carry out (draw out) the lower stage 9, or the middle stage 8 and the lower stage 9 in the horizontal (W) direction of FIG.

(Configuration of multistage shelf management device, etc.)
The structure of the multistage shelf management apparatus 1, the user interface 1b, and the conveyance vehicle 2 is demonstrated along FIG. The multistage shelf management apparatus 1 is a general computer. The multistage shelf management device 1 includes a central control device 11, an input device 12, an output device 13, a main storage device 14, an auxiliary storage device 15, and a communication device 16. These are connected by a bus. The auxiliary storage device 15 stores order information 31, product information 32, cargo handling plate height information 33, transport vehicle information 34, map information 35, and task instructions 36 (detailed later). The order reception unit 21, the product information acquisition unit 22, the transport vehicle information acquisition unit 23, and the task management unit 24 in the main storage device 14 are programs. In the following description, when the operation subject is described as “XX part”, it means that the central control unit 11 reads the XX part from the auxiliary storage device 15 and loads it into the main storage device 14 and then loads the XX part. It means to realize the function (detailed later).

  The communication device 16 of the multistage shelf management device 1 is connected to the transport vehicle 2 via a wired or wireless network 10. The transport vehicle 2 includes a carriage 61, a cargo handling plate 62, a shaft 63, a drive wheel 64, an auxiliary wheel 65, a sensor 66, a control device 71, and an auxiliary storage device 91. Note that description of a motor for extending the shaft 63 and a motor for rotating the drive wheel 64 is omitted. The control device 71 is a so-called microcomputer incorporated in the transport vehicle 2. The control device 71 stores a communication management unit 72 as a program, a self-position estimation unit 73, and a driving wheel / loading plate control unit 74. The self-position estimation unit 73 estimates the self-position based on the data acquired by the sensor 66 and calculates a deviation from the movement route. The drive wheel / loading plate control unit 74 controls the rotation (rotation speed, rotation direction, etc.) of the drive wheel 64. Further, the drive wheel / loading plate control unit 74 controls the length of the shaft 63 and, as a result, controls the height of the loading plate 62. There is no limit to the number of transport vehicles 2.

  The auxiliary storage device 91 stores a conveyance path 92, sensor data 93, and a sensor map 94. The sensor map 94 is a map showing the position in the warehouse where the sensor can move. The conveyance route 92 indicates a route through which the conveyance vehicle 2 passes in order to execute a specific task. The sensor data 93 is data acquired by the sensor 66.

  The communication device 16 of the multistage shelf management device 1 is connected to the user interface 1b via a wired or wireless network 10. The user interface 1b includes a display device 95, an input device 96, a work instruction display unit 97, and a communication management unit 98. The display device 95 presents the work content to the worker 6. The input device 96 receives an input operation such as pressing a work end button by the worker 6. The work instruction display unit 97 controls overall display performed via the display device 95. The communication management unit 98 controls communication between the multistage shelf management apparatus 1 and the user interface 1b, such as transmitting data input from the input device 96 to the multistage shelf management apparatus 1b. A plurality of workers 6 may share one user interface 1b. Further, the same number of user interfaces 1b as the number of workers 6 may exist. In this case, the user interface 1b is preferably a tablet personal computer.

(Order information)
The order information 31 will be described with reference to FIG. In the order information 31, in association with the order ID stored in the order ID column 101, the product ID column 102 stores the product ID, the product name column 103 stores the product name, and the order quantity column 104 stores the order quantity. Has been.

The order ID in the order ID column 101 is an identifier that uniquely identifies the order. The order is an instruction to transport the product to the work area 4 (FIG. 1).
The product ID in the product ID column 102 is an identifier that uniquely identifies the product. One order ID may correspond to a plurality of product IDs.
The product name in the product name column 103 is the name of the product.
The order quantity in the order quantity column 104 is the quantity of the product that has been ordered.

(Product information)
The product information 32 will be described with reference to FIG. In the product information 32, in association with the product ID stored in the product ID column 111, the product name column 112 has the product name, the shelf position column 113 has the shelf position, the partition number column 114 has the partition number, The step position column 115 stores the step position, the inventory quantity column 116 stores the inventory quantity, and the update date / time column 117 stores the update date / time.

The product ID in the product ID column 111 is the same as the product ID in FIG.
The product name in the product name column 112 is the same as the product name in FIG.
The shelf position in the shelf position column 113 is information indicating the position of a multistage shelf in which products are stored. Here, the coordinate values (vertical position and horizontal position) in the coordinate plane of the floor are shown.
The section number in the section number column 114 is a number that uniquely identifies the section where the multistage shelf where the product is stored is located. Although details will be described later, the floor of the warehouse is divided into a plurality of sections. Therefore, the section number is also a kind of position information. In the present embodiment, it is assumed that a plurality of multistage shelves 3 cannot be arranged in one section.

The stage position in the stage position column 115 is “U” indicating that the product is stored in the upper stage 7 of the multistage shelf 3, “M” indicating that the product is stored in the middle stage 8, and stored in the lower stage 9. It is one of “L” indicating that the When there are four or more stages, the stage positions are “1”, “2”, “3”, “4”,.
The stock quantity in the stock quantity column 116 is the quantity of the product stored in the stage of the multistage shelf 3.
The update date / time in the update date / time column 117 is the year / month / day / date for the latest time when the record (row) is updated.

(Loading board height information)
The cargo handling plate height information 33 will be described with reference to FIG. In the loading plate height information 33, the loading plate height column 122 stores the loading plate height, and the velocity column 123 stores the speed in association with the conveyance steps stored in the conveyance step column 121.

  The transport stage in the transport stage column 121 is any one of “L”, “L + M”, “L + M + U”, and “None”. “L” indicates that the transport vehicle 2 transports only the lower stage 9. “L + M” indicates that the transport vehicle 2 simultaneously transports (superimpose transport) the middle stage 8 and the lower stage 9. “L + M + U” indicates that the transport vehicle 2 transports the upper stage 7, the middle stage 8 and the lower stage 9 simultaneously. “None” indicates that the transport vehicle 2 does not transport any shelf.

The loading plate height in the loading plate height column 122 is the height of the loading plate 62 based on the lowest loading plate position. “H0 = 0”, and of course, “H0 <H1 <H2 <H3” holds.
The speed in the speed column 123 is a speed when the transport vehicle 2 travels (conveys). As the number of stages to be conveyed increases, the multistage shelf 3 becomes unstable and the load collapses easily. Therefore, the greater the number of stages transported, the lower the speed. That is, “V3 <V2 <V1 <V0” is established.
Note that the cargo handling plate height information 33 may include a record in which the transport stages are “M”, “U”, “L + U”, and “M + U”, but the description is omitted here.

(Car information)
The conveyance vehicle information 34 is demonstrated along FIG. In the transport vehicle information 34, the state is stored in the state column 132 and the partition number is stored in the partition number column 133 in association with the transport vehicle ID stored in the transport vehicle ID column 131.

The transport vehicle ID in the transport vehicle ID column 131 is an identifier that uniquely identifies the transport vehicle 2.
The state in the state column 132 is either “task in progress” indicating that the transport vehicle 2 is executing a task, or “waiting” indicating that it is other than that. A task is a series of operations performed by the transport vehicle 2. There may be a case where a plurality of tasks correspond to one order. For example, for a single order for transporting a plurality of types of products to the work area 4, the transport vehicle 2 temporarily places a stage where a certain product is stored in a place other than the work area 4.
The section number in the section number column 133 is the same as the section number in FIG. The section number here indicates a section where the transport vehicle 2 currently exists.

(Map information)
The map information 35 is demonstrated along FIG. The map information 35 is a plan view inside the warehouse. A floor with a warehouse is divided into a lattice pattern, and square sections N1 to N108 are formed. Note that the numbers N1 to N108 here are the partition numbers described above as they are.

  In the storage area 5, one multistage shelf 3 is arranged in a section surrounded by a thick line. In the storage area 5, sections other than the section surrounded by a thick line are passages for the transport vehicle 2. In this example, each of the sections enclosed by a bold line faces at least one passage. In the work area 4, a section N86 and the like surrounded by a thick one-dot chain line is a place where the carriage 2 stops while supporting (lifting up) the multistage shelf 3 in order for the worker 6 to work on the product. is there. Of the work area 4, the hatched section N98 and the like are sections where the worker 6 performs work.

(Car carrier size)
The transport vehicle 2 can turn 360 degrees in any section including a section on which the multistage shelves 3 are superimposed. In this case, as described above, the transport vehicle 2 turns the cargo handling plate 62 in the opposite direction by the same angle and maintains the direction of the multistage shelf 3 constant. For this purpose, it is necessary for the transport vehicle 2 not to contact the leg 9c of the lower stage 9 when the transport vehicle 2 turns. For example, when the length of one side of the square projected from the top of the transport vehicle 2 onto the floor surface is L _P and the diameter of the circle inscribed in the leg 9c is L _R , “√2 × L _P <L _R "Needs to be established (the figure on the right side of FIG. 15). In addition, the magnitude | size of the top plate 7a of the upper stage 7 of the multistage shelf 3 should just be a magnitude | size which can be accommodated in each division.

(Task instructions)
The task instruction sheet 36 will be described with reference to FIG. The task instruction 36 is a detailed instruction for the multistage shelf management device 1 to instruct the transport vehicle 2 to execute the task. In the task instruction 36, a plurality of operations performed by the transport vehicle 2 in a certain task are described in time series.

  Now, the worker 6 is in the section N102 in FIG. 15 to perform the work. The work here refers to, for example, taking out the products stored in the multistage shelf 3 and putting the products into the collection box. The product is stored in the lower stage 9 of the multistage shelf 3 that is superimposed on the section N18 of FIG. A certain transport vehicle 2 stands by in a waiting section N91. The worker 6 hopes that the transport vehicle 2 transports the product in the section N18 to the section N90 and then returns the product to the section N18 that is the original storage position after the work is completed. This series of operations to be executed by the transport vehicle 2 is a task. At this time, the multistage shelf management apparatus 1 creates the task instruction sheet 36 of FIG. Thereafter, the operations instructed by the multistage shelf management apparatus 1 are sequentially viewed from the task instruction sheet 36.

(Row 141) The transport vehicle 2 travels at a speed “V0” in the order of section numbers N91 → N67 → N65 → N17 → N18. The transport vehicle 2 repeats straight, 90-degree right turn or 90-degree left turn, and arrives at the section N18. At this stage, the transport vehicle 2 has entered under the multi-stage shelf 3 superimposed on the section N18.
(Row 142) The transport vehicle 2 lifts the cargo handling plate 62 by 50 mm by extending the shaft 63 by a specified stroke of 50 mm. The 50 mm is, for example, an extension (corresponding to the height H1 in FIG. 13) for the transport vehicle 2 to transport only the lower stage 9 of the multistage shelf 3. At this stage, only the lower stage 9 is in a lifted state.

(Row 143) The transport vehicle 2 transports at the speed “V1” in the order of section numbers N18 → N17 → N65 → N66 → N90. At this stage, the transport vehicle 2 has arrived at the section N90 of the work area 4.
(Row 144) The transport vehicle 2 transmits a signal indicating that the transport has been completed to the multistage shelf management apparatus 1.
(Row 145) The transport vehicle 2 temporarily stands by in the section N90. Here, “temporary” means “in the middle of a task”. As described above, the transport vehicle 2 stands by in the waiting section N91 at a time before receiving the task instruction 36. While the transport vehicle 2 is temporarily waiting, the worker 6 is working on the product.

(Row 146) The transport vehicle 2 receives from the multi-level shelf management device 1 a signal to resume transport.
(Row 147) The transport vehicle 2 transports at the speed “V1” in the order of section numbers N90 → N78 → N77 → N17 → N18. At this stage, the transport vehicle 2 is under the multi-stage shelf 3 (the upper stage and the middle stage remain) arranged in the section N18.
(Row 148) The transport vehicle 2 lowers the cargo handling plate 62 by 50 mm by contracting the shaft 63 by a specified stroke of 50 mm. The height of the cargo handling plate 62 is equivalent to H0 in FIG. 13 by the operation of the row 142 and the operation of the row 148. At this stage, the transport vehicle 2 is in an empty state and is ready to execute another task next. It ’s done.
(Row 149) The transport vehicle 2 transmits a signal to the effect that the task has been completed to the multistage shelf management apparatus 1.

(Processing procedure)
A processing procedure will be described with reference to FIG. FIG. 17 is a processing procedure for the transport vehicle 2 to execute the task of FIG. 16 described above. As a premise for starting the processing procedure, it is assumed that the product information 32, the cargo handling board height information 33, the transport vehicle information 34, and the map information 35 are stored in the auxiliary storage device 15 in the latest updated state.

  In step S201, the order receiving unit 21 of the multistage shelf management apparatus 1 receives an order. Specifically, first, the order receiving unit 21 receives the worker 6 inputting the order information 31 (FIG. 11) via the input device 12, and the received order information 31 is stored in the auxiliary storage device 15. To remember. Here, it is assumed that order information 31 (orders C001, C002, and C003) as shown in FIG. 11 is received.

  Secondly, the order receiving unit 21 selects an arbitrary unprocessed record in the order information 31. The record selected here corresponds to each task. For example, when the first record in FIG. 11 is selected, the task is an operation in which the transport vehicle 2 transports two products P001 to the work area 4 and returns them to their original positions after the work is completed. Hereinafter, the record selected here may be referred to as “selected record”.

In step S202, the product information acquisition unit 22 of the multistage shelf management apparatus 1 refers to the product information 32 (FIG. 12). Specifically, first, the product information acquisition unit 22 acquires one record of the product information 32 that satisfies all of the following conditions.
-The product ID matches the product ID of the selected record.
-The stock quantity must be greater than or equal to the order quantity in the selected record.
Secondly, the product information acquisition unit 22 acquires the partition number and stage position of the record acquired in “first” in step S202. The product information acquisition unit 22 may acquire the shelf position instead of the partition number, but the following description will be continued on the assumption that the partition number has been acquired. Then, when the first record in FIG. 11 is a selection record, the section number “N18” and the stage position “L” are acquired here.

  Third, the product information acquisition unit 22 refers to the cargo handling plate height information 33 (FIG. 13), and determines the height of the cargo handling plate capable of transporting the level at the level acquired in “second” in step S202. Since the step position “L” is acquired in “second” in step S202, the loading plate height “H1” is determined here. As another example, when the step position “U” is acquired in “second” in step S202, the loading plate height “H3” is determined here.

In step S203, the transport vehicle information acquisition unit 23 of the multistage shelf management apparatus 1 refers to the transport vehicle information 34 (FIG. 14). Specifically, first, the transport vehicle information acquisition unit 23 acquires one record of the transport vehicle information 34 that satisfies all of the following conditions.
-The status is "Waiting".
The distance between the section specified by the section number and the section specified by the section number acquired in “second” in step S202 is the shortest.
If the first record in FIG. 11 is a selection record, the record in the third row is acquired here.
Second, the transport vehicle information acquisition unit 23 acquires the transport vehicle ID of the record acquired in “first” in step S203. Here, the transport vehicle ID “T03” is acquired.

In step S204, the task management unit 24 of the multistage shelf management apparatus 1 creates a task instruction 36 (FIG. 16). Specifically, the task management unit 24 creates a task instruction sheet 36 as shown in FIG. 16 and stores it in the auxiliary storage device 15. Since the task instruction 36 has been described above, detailed description will not be repeated here. The task management unit 24 can create a task instruction sheet 36 as shown in FIG. 16 from the following information.
-Position of worker 6 (assuming input from worker 6)
-Section number (product storage position) acquired in “second” of step S202
-Loading board height determined in "third" of step S202-Map information 35 (Fig. 15)

  In step S <b> 205, the task management unit 24 of the multistage shelf management apparatus 1 transmits a task instruction 36 to the transport vehicle 2. Specifically, the task management unit 24 transmits the task instruction 36 created in step S204 to the transport vehicle 2 specified by the transport vehicle ID (T03) acquired in “second” in step S203. In the subsequent processing procedure, when simply referred to as “transport vehicle 2”, it means the transport vehicle 2 specified by the transport vehicle ID acquired in “second” of step S203.

In step S <b> 206, the communication management unit 72 of the transport vehicle 2 receives the task instruction 36 from the multistage shelf management apparatus 1.
In step S207, the transport vehicle 2 travels to the multistage shelf 3. Specifically, the drive wheel / loading board control unit 74 of the transport vehicle 2 drives the drive wheels 64 of the transport vehicle 2 so that the transport vehicle 2 passes the route indicated by the “travel” record 141 of the task instruction 36. To control. Further, the drive wheel / loading board control unit 74 of the transport vehicle 2 controls the drive wheels 64 of the transport vehicle 2 so that the speed of the transport vehicle 2 becomes “V0” indicated in the record 141.

In step S208, the transport vehicle 2 lifts the multistage shelf 3. Specifically, the drive wheel / loading plate control unit 74 of the transport vehicle 2 extends the shaft by the length of the stroke indicated in the “lift” record 142 of the task instruction 36 and lifts the load handling plate 62.
In step S <b> 209, the transport vehicle 2 transports the multistage shelf 3 to the work area 4. Specifically, the drive wheel / loading board control unit 74 of the transport vehicle 2 drives the drive wheels 64 of the transport vehicle 2 so that the transport vehicle 2 passes the route indicated by the “transport” record 143 of the task instruction 36. To control. Further, the drive wheel / loading board control unit 74 of the transport vehicle 2 controls the drive wheels 64 of the transport vehicle 2 so that the speed of the transport vehicle 2 becomes “V1” indicated in the record 143.

In step S <b> 210, the communication management unit 72 of the transport vehicle 2 transmits a transport completion report to the multistage shelf management apparatus 1. This process corresponds to the “send” record 144 of the task instruction 36. Thereafter, the worker 6 starts work, and the transport vehicle 2 temporarily stands by in the work area 4 (section N90) until the worker 6 finishes the work. This temporary standby corresponds to the “temporary standby” record 145 of the task instruction 36.
In step S <b> 211, the task management unit 24 of the multistage shelf management apparatus 1 receives a transport completion report from the transport vehicle 2.

In step S212, the task management unit 24 of the multistage shelf management apparatus 1 transmits a package arrival report to the user interface 1b.
In step S213, the communication management unit 98 of the user interface 1b receives a package arrival report from the multistage shelf management apparatus 1.
In step S214, the work instruction display unit 97 of the user interface 1b displays the content of the work performed by the worker 6 via the display device 95. Thereafter, the worker 6 starts work. When the work is completed, the worker 6 presses the work end button via the input device 95 of the user interface 1b.

In step S215, the communication management unit 98 of the user interface 1b transmits the work end to the multistage shelf management apparatus 1 when the work end button is pressed.
In step S216, the task management unit 24 of the multistage shelf management apparatus 1 receives work completion from the user interface 1b.

In step S <b> 217, the task management unit 24 of the multistage shelf management apparatus 1 transmits a transport resumption instruction to the transport vehicle 2. The task management unit 24 executes step S217 when triggered by the completion of work from the user interface 1b.
In step S <b> 218, the communication management unit 72 of the transport vehicle 2 receives a transport resumption instruction from the multistage shelf management apparatus 1. This process corresponds to the “receive” record 146 of the task instruction 36.

In step S219, the transport vehicle 2 transports the multistage shelf 3 to the original position. Specifically, the drive wheel / loading board control unit 74 of the transport vehicle 2 drives the drive wheels 64 of the transport vehicle 2 so that the transport vehicle 2 passes along the route indicated by the “transport” record 147 of the task instruction 36. To control. Further, the drive wheel / loading board control unit 74 of the transport vehicle 2 controls the drive wheels 64 of the transport vehicle 2 so that the speed of the transport vehicle 2 becomes “V1” indicated in the record 147.
In step S220, the conveyance vehicle 2 lowers the multistage shelf 3. Specifically, the drive wheel / loading board control unit 74 of the transport vehicle 2 contracts the shaft by the length of the stroke indicated in the “lowering” record 148 of the task instruction 36 and lowers the loading board 62.

In step S <b> 221, the communication management unit 72 of the transport vehicle 2 transmits a task completion report to the multistage shelf management apparatus 1. This process corresponds to the “send” record 149 of the task instruction 36.
In step S222, the task management unit 24 of the multistage shelf management apparatus 1 receives a task completion report from the transport vehicle 2.
The above steps S201 to S222 are repeated for each “selected record” until there is no arbitrary unprocessed record in the order information 31. When the repetitive process ends, the processing procedure ends.

(Vertical position of the stage with high conveyance frequency)
When the transport vehicle 2 transports only the lower stage 9, not only the energy cost is reduced but also the stability during transport is increased as compared with the case where the other stages are also transported in a superimposed manner. Therefore, it is preferable to store products frequently transferred to the work space 4 in the lower stage 9. Therefore, the task management unit 24 executes the following processing at an arbitrary timing.

(1) With reference to the order information 31 (FIG. 11), a product ID whose number of appearances in the order information 31 is larger than a predetermined threshold in a certain period (for example, the immediately preceding week) is specified. A plurality of product IDs may be specified.
(2) The product information 32 (FIG. 12) is searched using the specified product ID as a search key, and the step position is specified for each product ID.

(3) Extract a product ID such that the identified stage position is higher than a predetermined reference (for example, “M”). In this example, the product ID of the product stored in the upper stage 7 is extracted.
(4) A warning is displayed on the output device 13 in association with the extracted product ID and the identified step position. The warning here is, for example, “Product P002 is stored in the upper stage even though the frequency of being carried out is high. It is recommended to move to the lower stage”.

(Transport procedure)
A procedure in which the transport vehicle 2 transports the multistage shelf 3 will be described with reference to FIGS. 18, 19, and 20. The following situation is assumed.
・ There are three types of products to work on.
The three types of products are distributed and stored in the upper stage 7, the middle stage 8 and the lower stage 9 of the plurality of multistage shelves 3.
The transport vehicle 2 is required to superimpose and transport the three types of products to the work area 4 (FIG. 1) in a single multi-stage shelf 3 in an upper stage 7, a middle stage 8, and a lower stage 9.

  In this situation, an example in which one transport vehicle 2 transports a work target product distributed and stored on two multistage shelves 3 is the example of FIG. FIG. 19 shows an example in which two transport vehicles 2 transport products to be worked that are distributed and stored on two multistage shelves 3. The example of FIG. 20 is an example in which a single work vehicle 2 transports a work target product distributed and stored in three multi-level shelves 3.

  Note the first stage in FIG. There are six multi-stage shelves 3, each of which is superimposed on each of the sections N1 to N6. Note that the section numbers in FIG. 18 do not match the section numbers in FIG. The same applies to FIGS. 19 and 20. The products to be worked are distributed in the lower stage of the section N1, the upper stage of the section N5, and the middle stage of the section N5. The shelves of these tiers are distinguished from others by “#”. The transport vehicle 2 (not shown in FIG. 18) transports the lower stage # from the section N1 to an arbitrary temporary place.

Proceed to the second stage in FIG. The transport vehicle 2 transports the lower stage of the section N5 from the section N5 to an arbitrary temporary place.
The process proceeds to the third stage in FIG. The transport vehicle 2 transports the lower stage # temporarily placed in the first stage from the temporary placement place to the section N5.
The process proceeds to the fourth stage in FIG. The transport vehicle 2 transports the upper stage #, the middle stage #, and the lower stage # from the section N5 to an arbitrary temporary place.

Proceed to the fifth stage of FIG. The transport vehicle 2 transports the lower stage temporarily placed in the second stage from the temporary place to the section N5.
Proceed to the sixth stage of FIG. The transport vehicle 2 transports the upper #, middle #, and lower # temporarily placed in the fourth stage from the temporary placement location to the work area 4 (FIGS. 1 and 15).

  Pay attention to the first stage of FIG. FIG. 19 shows cooperative control by two transport vehicles. The products to be worked are distributed in the lower stage of the section N1, the upper stage of the section N5, and the middle stage of the section N5. The shelves of these tiers are distinguished from others by “#”. Up to this point, it is the same as the example of FIG. In the example of FIG. 19, there are two transport vehicles 2a and transport vehicles 2b. First, the transport vehicle 2b transports the lower stage of the section N5 from the section N5 to an arbitrary temporary place. Next, the transport vehicle 2a transports the lower stage # from the section N1 to the section N5.

Proceed to the second stage of FIG. The transport vehicle 2a transports the upper stage #, the middle stage #, and the lower stage # from the section N5 to the work area 4.
Proceed to the third stage of FIG. The transport vehicle 2b transports the lower stage temporarily placed in the first stage from the temporary placement place to the section N5.

Note the first stage in FIG. The products to be worked are distributed in the middle stage of the section N2, the lower stage of the section N4, and the upper stage of the section N5. The shelves of these tiers are distinguished from others by “#”. The transport vehicle 2 transports the lower stage # of the section N4 from the section N4 to an arbitrary temporary place.
Proceed to the second stage in FIG. The transport vehicle 2 transports the lower stage of the section N2 from the section N2 to an arbitrary temporary place.
Proceed to the third stage of FIG. The transport vehicle 2 transports the lower stage # temporarily placed in the first stage from the temporary placement location to the section N2.

Proceed to the fourth stage in FIG. The transport vehicle 2 transports the middle stage # and the lower stage # from the section N2 to an arbitrary temporary place.
Proceed to the fifth stage of FIG. The transport vehicle 2 transports the lower stage temporarily placed in the second stage from the temporary place to the section N2.
Proceed to the sixth stage of FIG. The transport vehicle 2 transports the middle stage and the lower stage of the section N5 from the section N5 to an arbitrary temporary place.

Proceed to the seventh stage of FIG. The transport vehicle 2 transports the middle stage # and the lower stage # temporarily placed in the fourth stage from the temporary placement place to the section N5.
Proceed to the eighth stage of FIG. First, the transport vehicle 2 transports the upper stage #, the middle stage #, and the lower stage # from the section N5 to the work area 4. Next, the transport vehicle 2 transports the middle stage and the lower stage temporarily placed in the sixth stage from the temporary placement place to the section N5.

(Shape of multistage shelf)
The shape of the top plate and the mounting plate in each step of the multi-stage shelf 3 may be various shapes. However, when the multistage shelf 3 also turns according to the turn of the transport vehicle 2, the shape of the top plate and the mounting plate of each stage of the multistage shelf 3 is a point-symmetrical figure such as a regular even-numbered square or a circle. Preferably there is. In this case, the point symmetry reference point is the center of the shape in plan view, such as the center of a circle or the intersection of diagonal lines of regular and even angles.

(Shape of cargo handling plate)
The shape of the cargo handling plate 62 does not have to be a flat plate having a “plate” shape when viewed from the front. Furthermore, the shape of the cargo handling plate 62 in plan view includes various shapes such as a circle, a ring shape (having inner and outer diameters that are concentric circles, and the inside of the inner diameter is hollow) in addition to a square shape. possible. The shape of the cargo handling plate 62 in plan view is preferably a point-symmetrical figure in accordance with the multistage shelf 3. In this case, the point-symmetric reference point is the center of the shape in plan view, such as the center of a circle or the center of a ring shape. The cargo handling plate 62 having such a shape may be generalized as a cargo handling “member”. After all, it is preferable that the cargo handling member has a shape that is symmetrical with respect to a plane viewpoint with respect to the center point.

(Effect of this embodiment)
The effects of the multistage shelf conveyance system of the present embodiment are as follows.
(1) The transport vehicle can transport one stage alone or in a plurality of stages. Therefore, energy can be saved.
(2) The conveyance vehicle can change the number of steps to convey only by changing the height of the cargo handling plate. Therefore, the control for the transport vehicle is simplified.
(3) The transport vehicle can change the number of steps to be conveyed only by increasing or decreasing the height of the cargo handling plate by the height of the space between the steps. Therefore, the center of gravity of the transported multistage shelf can be lowered.
(4) Each step can be prevented from being displaced by the depression.

(5) Each step can eliminate the deviation once caused by the inclined surface (taper surface) of the recess.
(6) Since each stage and the cargo handling plate of the transport vehicle have a shape of a plane-view symmetrical figure, it can be easily rotated under a multistage shelf, and even if the direction of each stage changes The transport vehicle can stably support the multistage shelf.
(7) Since the direction of the steps can be kept constant, there is little collapse of the product and the work on the product is easy.
(8) The transport vehicle can prevent the collapse of the load by reducing the speed when transporting many stages.
(9) Since a warning is issued when a stage with a high conveyance frequency is at the upper level, it becomes easy to transfer a product stored in such a level to a lower level.

  In addition, this invention is not limited to an above-described Example, Various modifications are included. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

Each of the above-described configurations, functions, processing units, processing means, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit. Each of the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by the processor. Information such as programs, tables, and files that realize each function can be stored in a recording device such as a memory, a hard disk, or an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.
In addition, the control lines and information lines are those that are considered necessary for the explanation, and not all the control lines and information lines on the product are necessarily shown. In practice, it may be considered that almost all the components are connected to each other.

DESCRIPTION OF SYMBOLS 1 Multistage shelf management apparatus 1b User interface 2 Conveyor vehicle 3 Multistage shelf 7 Upper stage 8 Middle stage 9 Lower stage 11 Central controller 12 Input device 13 Output device 14 Main storage device 15 Auxiliary storage device 16 Communication device 21 Order reception part 22 Product information acquisition part 23 Carriage Vehicle Information Acquisition Unit 24 Task Management Unit 31 Order Information 32 Product Information 33 Cargo Board Height Information 34 Carriage Car Information 35 Map Information 36 Task Instructions 61 Carriage 62 Cargo Board (Handling Material)
63 Shaft 64 Drive wheel 65 Auxiliary wheel 66 Sensor 71 Control device 72 Communication management unit 73 Self-position estimation unit 74 Drive wheel / loading board control unit 91 Auxiliary storage device 92 Transport path 93 Sensor data 94 Sensor map 95 Display device 96 Input device 97 Work instruction display section 98 Communication management section

Claims (11)

A plurality of tiers that can be divided in the vertical direction, each of the tiers being independent or multi-tier shelves that can be transported by overlapping one or more lower tiers;
A transport vehicle that transports one or more stages by supporting any of the plurality of stages of the multistage shelf;
A multistage shelf management device that instructs the transport vehicle which stage of the multistage shelf is to be transported alone or in piles;
A multi-stage shelf conveyance system comprising: The transport vehicle is
A cargo handling member for supporting the step;
The multistage shelf management device is:
Instructing the height of the cargo handling member to the transport vehicle;
The multi-stage shelf conveyance system according to claim 1. The plurality of stages includes
There is a space between the step immediately below and the step directly above,
The cargo handling member is
Supporting any one of the plurality of stages;
The multistage shelf management device is:
Determining the number of steps to be conveyed in layers by increasing or decreasing the height of the cargo handling member by the height of the space;
The multi-stage shelf conveyance system according to claim 2. Each of the stages is
Having a dent directly below or receiving the cargo handling member;
The multi-stage shelf conveyance system according to claim 3. The depression is
Having an inclined surface that adjusts the positional relationship when the plurality of steps overlap;
The multi-stage shelf conveyance system according to claim 4. Each stage of the multistage shelf is
It has a shape that is symmetric with respect to a plane viewpoint with respect to the center point,
The cargo handling member of the transport vehicle is
Having a plane view symmetrical shape with respect to the center point;
The multi-stage shelf conveyance system according to claim 5. The transport vehicle is
Maintaining the direction of the transporting stage constant by turning the cargo handling member according to the direction in which the transporting vehicle travels,
The multi-stage shelf conveyance system according to claim 6. The multistage shelf management device is:
Changing the speed of the transport vehicle in accordance with the number of stages transported in an overlapping manner;
The multi-stage shelf conveyance system according to claim 7. The multistage shelf management device is:
Identify the vertical position of the stage where the frequency of conveyance is high compared to a predetermined standard,
If the specified position is higher than a predetermined reference, issue a warning;
The multi-stage shelf conveyance system according to claim 8. It has a plurality of stages that can be divided in the vertical direction, and each of the plurality of stages is a single stage or a plurality of stages of a multi-stage shelf that can be transported by overlapping one or more lower stages. A carrier vehicle that conveys one or more stages by supporting any one of them;
A multistage shelf management device that instructs the transport vehicle which stage of the multistage shelf is to be transported alone or in piles;
A multi-stage shelf conveyance system comprising: The transport vehicle
It has a plurality of stages that can be divided in the vertical direction, and each of the plurality of stages is a single stage or a plurality of stages of a multi-stage shelf that can be transported by overlapping one or more lower stages. By supporting either one or more stages,
Multistage shelf management device
Instructing the transport vehicle which stage of the multi-stage shelf is to be transported alone or in piles;
A multistage shelf transport method for a multistage shelf transport system comprising the transport vehicle and the multistage shelf management device.

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