JP2019001655A - Automatic warehouse system - Google Patents

Abstract

To provide an automatic warehouse system capable of controlling a placing operation on the basis of a state of an object cargo.SOLUTION: An automatic warehouse system 10 comprises: a conveying truck 14 capable of travelling in a first direction while loading a cargo; a position sensor 24 for detecting a relative positional relationship between an object cargo 12 and the conveying truck 14; and a control part for controlling an operation of the conveying truck 14. The position sensor 24 includes: a first distance measuring device 24b attached to one end side in a first direction of the conveying truck 14 to measure a distance to a measuring object; and a second distance measuring device 24c provided on the other end side in the first direction of the conveying truck 14 to measure the distance to the measuring object.SELECTED DRAWING: Figure 6

Description

  The present invention relates to an automatic warehouse system capable of receiving and unloading loads.

  2. Description of the Related Art As a warehouse system that can efficiently store and retrieve a large number of loads in a small space, an automatic warehouse system that transports loads using a cart to a three-dimensional automatic warehouse is known. For example, in Patent Document 1, a storage shelf that can store a plurality of articles is arranged, a travel rail that can access the storage rack is laid, and the transport rail that can travel on the travel rail is used to carry in / The warehouse to be taken out is listed. The transport cart of Patent Document 1 includes a mounting table that can be moved up and down on the vehicle body for mounting and supporting an article, and is configured to be able to run on a traveling rail by a rechargeable battery built in the vehicle body.

JP, 2015-157683, A

  The automatic warehouse is required to be able to guide the target load to a more appropriate position when the load is placed on the placement unit of the transport carriage or when the load is stored in the storage unit. In order to guide the load to an appropriate position, it is desirable that the operation of the transport carriage can be controlled according to the position of the target load. However, the transport cart described in Patent Document 1 has a problem to be improved from the viewpoint of controlling the operation according to the position of the load.

  This invention is made | formed in view of such a condition, The objective is to provide the automatic warehouse system which can control operation | movement of a conveyance trolley according to the position of a load.

  In order to solve the above-described problem, an automatic warehouse system according to an aspect of the present invention is an automatic warehouse system capable of storing a load, and includes a transport cart that can load and travel in a first direction, a target load, A position sensor that detects a relative positional relationship with the transport carriage; and a control unit that controls the operation of the transport carriage. The position sensor is attached to one end side in the first direction of the transport carriage, and is provided on the other end side in the first direction of the transport carriage and the first distance measuring device that measures the distance to the measurement target object. A second distance measuring device that measures the distance up to.

  According to this aspect, the 1st and 2nd distance measuring device which measures the distance with a measuring object can be provided in the one end side and other end side of the said conveyance trolley.

  Another aspect of the present invention is also an automatic warehouse system. This automatic warehouse system is an automatic warehouse system capable of storing loads, and has a storage shelf section for storing loads, a placement section for placing loads, and a transport cart that can travel in a first direction, A position sensor that detects a relative positional relationship between the load and the carriage, and a controller that controls the operation of the carriage. The control unit stops the transport carriage at a position where the relative positional relationship between the target load stored on the storage shelf and the placement unit is in a predetermined relative positional relationship, and the target is detected by the transport cart. The operation of the transport carriage is controlled so as to collect the load.

  Yet another aspect of the present invention is also an automatic warehouse system. This automatic warehouse system is an automatic warehouse system capable of storing a load, and includes a storage shelf portion for storing the load, a placing portion for placing the load, and a transport cart capable of traveling in the first direction, Position sensor that detects the relative positional relationship between the target load placed on the section and another load stored before the target load, adjacent to the position where the target load is stored in the storage shelf And a control unit for controlling the operation of the transport carriage. The control unit stops the conveyance carriage at a position where the positional relationship between the target load and another load is a predetermined relative positional relationship, and stores the target load on the storage shelf by the conveyance cart. To control the operation.

  Yet another aspect of the present invention is also an automatic warehouse system. This automatic warehouse system is an automatic warehouse system capable of storing loads, and has a storage shelf section for storing loads, a placement section for placing loads, and a transport cart that can travel in a first direction, A position sensor that detects a relative positional relationship between the load and the carriage, and a controller that controls the operation of the carriage. The control unit places the target load on the placement unit at a position where the relative positional relationship between the target load and the placement unit in the first direction is a predetermined relative positional relationship, and moves the transport carriage after placement. Then, the operation of the transport carriage is controlled so that the target load is stored in the storage shelf.

  Note that any combination of the above-described constituent elements and the constituent elements and expressions of the present invention replaced with each other among methods, apparatuses, systems, and the like are also effective as an aspect of the present invention.

  ADVANTAGE OF THE INVENTION According to this invention, the automatic warehouse system which can control operation | movement of a conveyance trolley according to the position of a load can be provided.

1 is a perspective view of an automatic warehouse system according to a first embodiment. It is a top view of the automatic warehouse system of FIG. It is a top view which shows an example of arrangement | positioning of the rail of the automatic warehouse system of FIG. It is a top view which shows an example of the conveyance trolley | bogie of the automatic warehouse system of FIG. It is a side view of the conveyance trolley | bogie of FIG. It is a front view which shows the periphery of the conveyance trolley | bogie of FIG. It is a front view which expands and shows the periphery of the position sensor of the conveyance trolley | bogie of FIG. It is a top view which shows an example of the intermediate trolley | bogie of the automatic warehouse system of FIG. FIG. 9 is a side view of the intermediate carriage in FIG. 8. It is a block diagram of the automatic warehouse system of FIG. It is a flowchart which shows an example of the conveyance operation at the time of leaving of the automatic warehouse system of FIG. It is explanatory drawing which shows an example of the conveyance operation at the time of leaving of the automatic warehouse system of FIG. It is explanatory drawing which shows operation | movement of the conveyance trolley at the time of leaving of the automatic warehouse system of FIG. It is a flowchart which shows an example of the conveyance operation at the time of warehousing of the automatic warehouse system of FIG. It is explanatory drawing which shows an example of the conveyance operation at the time of warehousing of the automatic warehouse system of FIG. It is explanatory drawing which shows operation | movement of the conveyance trolley at the time of warehousing of the automatic warehouse system of FIG. It is a schematic diagram of front view which shows the relative positional relationship of the load of the object of the automatic warehouse system which concerns on 2nd Embodiment, and a mounting part. It is a schematic diagram of front view which shows the relative positional relationship of the edge part of the mounting part of the automatic warehouse system of FIG. 17, and the load of collection | recovery. It is a schematic diagram of the front view which shows the relative positional relationship of the load of the storage object of the automatic warehouse system which concerns on 3rd Embodiment, and another load of already stored.

  In recent years, as the needs for higher density and higher speed of warehouses have increased, the present inventor has considered an automatic warehouse system using a transport cart and has gained the following recognition.

  When placing the load on the placement portion of the transport carriage, if the load is loaded at a position offset from the end of the placement portion, the load is placed by the vibration or impact when the transport carriage travels. There is a concern that it will collapse and fall off. When the collapse of the load occurs, another cart may collide with the collapsed load and may give an impact to the load. In addition, there may be a problem that extra time is required to recover from the state where the cargo collapse occurred. In order to reduce the possibility of the occurrence of load collapse, it is desirable to control the placement operation based on the state of the target load.

  This will be described more specifically. In an automatic warehouse system, it is conceivable to transport a load including an article and a pallet on which the article is placed in a direction in which a predetermined path can be self-propelled (hereinafter, referred to as a first direction) by a carriage. For example, it may be configured such that the transport cart is moved below the target load, the placing portion of the transport cart is raised, the load is lifted from the storage shelf, and transported in that state.

  If the target load is placed at a position off the center of the placement portion, it is conceivable that the load protrudes from the placement portion due to vibration of traveling or the like and causes collapse. For this reason, as for a conveyance trolley, it is desirable to mount target load in the center of a mounting part. For example, in the first direction, it is conceivable that the load is placed on the placement portion in a state where the center of the target load substantially coincides with the center of the placement portion.

  In order to efficiently store loads of different sizes, large loads are mounted on large pallets with a large length in the first direction (hereinafter referred to as the first dimension), and small loads are mounted on small pallets with a small first dimension. It can be considered to be mounted and stored. That is, it is possible to increase the storage efficiency of a warehouse by storing together a load having a small first dimension and a load having a larger first dimension. In order to transport loads with different first dimensions, you may use different transport carts, but it is preferable that one transport cart can be transported because the work efficiency of the warehouse is improved because the labor of replacing the transport cart is saved. .

  In the case of corresponding to loads having different first dimensions, it is difficult to place the target load at an appropriate position of the placement unit in the configuration in which only one end of the target load is detected. Then, this inventor recalled determining the mounting position of a conveyance trolley based on the magnitude | size of the object load. That is, the target load is detected in a state in which one end portion in the first direction (hereinafter referred to as the first end portion) of the target load and the other end portion in the first direction (hereinafter referred to as the second end portion) are detected. It was found that the target load can be placed at an appropriate position by placing it on the placement unit. Further, by grasping the first dimension from the positions of the first end and the second end, and determining the placement position of the transport carriage based on the first dimension, the target load is placed at a more appropriate position. I found it possible.

  In order to grasp the first dimension, it is conceivable that the transport carriage includes a position sensor that detects a relative positional relationship between the target load and the placement unit. The position sensor is attached to one end side of the transport carriage in the first direction, and is provided on the other end side of the transport carriage in the first direction and a first distance measuring device that measures the distance to the measurement object. A first distance measuring device that measures a distance to the object. The first distance measuring device can measure the distance to the first end, and the second distance measuring device can measure the distance to the second end.

In order to control the operation of the transport cart, the automatic warehouse system may include a control unit. The control unit stops the conveyance carriage at a position where the center of the target load and the center of the placement section substantially coincide with each other in the first direction, and then collects the target load by the conveyance carriage. The operation of the transport carriage can be controlled. As an example, the first distance to the first end measured by the first distance measuring device and the second distance to the second end measured by the second distance measuring device are transported to a position where they are substantially equal. Control may be performed such that the carriage is stopped, the placing portion is raised, and the target load is lifted and collected. By controlling in this way, it becomes possible to place the target load at an appropriate position of the placement unit.
The embodiment has been devised based on such thought, and the specific configuration will be described below.

The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiment, the comparative example, and the modified example, the same or equivalent components and members are denoted by the same reference numerals, and repeated description is appropriately omitted. In addition, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. Also, in the drawings, some of the members that are not important for describing the embodiment are omitted.
In addition, terms including ordinal numbers such as first and second are used to describe various components, but this term is used only for the purpose of distinguishing one component from other components. However, the constituent elements are not limited.

[First Embodiment]
With reference to FIGS. 1-10, the structure of the automatic warehouse system 10 which concerns on 1st Embodiment is demonstrated. FIG. 1 is a perspective view of an automatic warehouse system 10 according to the first embodiment. FIG. 2 is a plan view of the automatic warehouse system 10. The automatic warehouse system 10 according to the first embodiment is a system including an automatic warehouse capable of receiving and unloading a large number of loads 12. Hereinafter, description will be made based on the XYZ orthogonal coordinate system. The X-axis direction corresponds to the horizontal left-right direction, the Y-axis direction corresponds to the horizontal front-back direction, and the Z-axis direction corresponds to the vertical up-down direction. The Y-axis direction and the Z-axis direction are each orthogonal to the X-axis direction. In particular, the row direction and the column direction described later correspond to the X-axis direction and the Y-axis direction, respectively. In the first embodiment, an example is shown in which the load 12 includes an article and a pallet on which the article is placed. In this specification, the center of the load 12 and the position of the load 12 indicate the load in a state including the pallet. It shall refer to the center and the position of the load. It is not essential to include a pallet.

  As shown in FIG. 2, the automatic warehouse system 10 includes a storage shelf unit 20, a storage shelf unit 30, a transport carriage 14, an intermediate carriage 16, a control unit 18, a first rail 41, and a second rail 42. And the 3rd rail 43 is mainly included.

  The storage shelf 20 is a high-density storage type storage space that accommodates and stores a large number of loads 12. The storage shelf 30 is a temporary storage space for temporarily storing a plurality of loads 12. The storage shelf 20 and the storage shelf 30 will be described later.

  The first rail 41 is a pair of rails extending in the column direction in the storage shelf 20. The second rail 42 is a pair of rails extending in the row direction in the storage shelf 30. The third rail 43 is a pair of rails extending in the row direction between the storage shelf 20 and the storage shelf 30. When the first rail 41, the second rail 42, and the third rail 43 are summarized, they are referred to as a rail 44.

  The transport carriage 14 travels along the first rail 41 in the first direction, which is the row direction, and puts the load 12 in and out of the storage shelf 20. The transport carriage 14 travels along the second rail 42 in the first direction, and puts the load 12 into and out of the storage shelf 30. The intermediate carriage 16 travels along the third rail 43 in the row direction, and conveys the conveyance carriage 14 between the storage shelf 20 and the storage shelf 30. The intermediate carriage 16 conveys the conveyance carriage 14 in an empty state or a state in which the load 12 is loaded. When the transport carriage 14, the intermediate carriage 16, the first rail 41, the second rail 42, and the third rail 43 are summarized, they are expressed as an intermediate transport mechanism 40. In other words, the intermediate transport mechanism 40 is a mechanism that transports the load 12 between the storage shelf 20 and the storage shelf 30.

  In the automatic warehouse system 10, as an example, when the load 12 is received, the load 12 is carried into the storage shelf 30 by a forklift 50 that is an external transfer device. The load 12 carried into the storage shelf 30 is transported to a predetermined storage unit of the storage shelf 20 by the intermediate transport mechanism 40 and stored. In the automatic warehouse system 10, as an example, when the load 12 is unloaded, the unloaded load 12 is conveyed from the predetermined storage unit of the storage shelf unit 20 to the storage shelf unit 30 by the intermediate conveyance mechanism 40 in advance. The load 12 transported to the storage shelf 30 is unloaded by a forklift 50, for example.

(Rail)
FIG. 3 is a plan view showing an example of the arrangement of the rails 44, and shows an example of the arrangement of the first rails 41, the second rails 42, and the third rails 43. The 1st rail 41 is provided in the storage part row | line | column which connected each storage part of the storage shelf part 20. FIG. The first rail 41 is provided at each stage so that the transport carriage 14 travels in the first direction. The second rail 42 is provided in each housing part of the housing shelf 30. The second rail 42 is provided at each stage so that the transport carriage 14 travels in the first direction. The third rail 43 is provided at each stage so that the intermediate carriage 16 travels in the row direction. The extending direction of the first rail 41 and the second rail 42 is orthogonal to the extending direction of the third rail 43.

(Transport cart)
FIG. 4 is a plan view showing an example of the transport carriage 14. FIG. 5 is a side view of the transport carriage 14. FIG. 5 shows a state in which the transport carriage 14 travels on the first rail 41 with the load 12 placed thereon. FIG. 6 is a schematic front view showing the periphery of the transport carriage 14. FIG. 6 shows a state in which the transport carriage 14 travels with the load 12 placed thereon. FIG. 7 is a schematic front view showing the periphery of the position sensor 24 in an enlarged manner.

  The transport carriage 14 is a traveling carriage that travels along the first rail 41 in the first direction. The transport carriage 14 is disposed on the first rail 41 or the second rail 42 of each stage. The transport carriage 14 can enter and be transported to the intermediate carriage 16 with an empty load or a load 12 placed thereon. The transport carriage 14 mainly includes a vehicle body 14b, a placement portion 14c, a lift mechanism 14d, four wheels 14e, and a position sensor 24.

The vehicle body 14b has a substantially rectangular parallelepiped outline that is flat in the vertical direction. A motor (not shown) for driving the wheel 14e, a battery (not shown) for driving the motor, and a control circuit (not shown) for controlling these are mounted inside the vehicle body 14b.
The placement portion 14c is a portion that lifts and holds the load 12.

  The lift mechanism 14d is a mechanism that raises and lowers the placement portion 14c. The load 12 can be lifted from the storage unit 21 or the storage unit 31 by raising the placement unit 14c. The lift mechanism 14 d can lower the placement unit 14 c and lower the load 12 to the storage unit 21 or the storage unit 31. In this example, since the storage part 21 is provided on the first rail 41 and the storage part 31 is provided on the second rail 42, in actual operation, the lift mechanism 14 d has the first rail 41 or the second rail 42. The load 12 is unloaded from the rail 42 and the load 12 is lifted from the first rail 41 or the second rail 42.

  FIG. 5 shows a state in which the placing portion 14 c lifts the load 12 from the first rail 41. The wheels 14e are rotatably supported at the four corners of the vehicle body 14b. The transport carriage 14 travels on the rail by rotating the four wheels 14e on the rail. As shown in FIG. 5, the transport carriage 14 can travel on the first rail 41 and the second rail 42 with the load 12 placed thereon. The traveling operation of the transport carriage 14 and the lifting / lowering operation of the lift mechanism 14 d are controlled by the control unit 18.

(Placement part)
The mounting portion 14c is a substantially plate-shaped portion that is thin in the vertical direction. There is no special restriction | limiting in the planar shape of the mounting part 14c. As an example, the mounting portion 14c includes, in plan view, a pair of opposite sides 14f that are spaced apart in the first direction and a pair of opposite sides 14g that are spaced apart in a direction perpendicular to the first direction. It has a substantially rectangular shape.

(Position sensor)
The position sensor 24 detects the relative positional relationship between the target load 12 and the transport carriage 14. The position sensor 24 includes a first distance measuring device 24b and a second distance measuring device 24c that are spaced apart in the first direction. In particular, the first distance measuring device 24b is attached to one end side in the first direction of the transport carriage 14 and measures the distance to the measurement object. The second distance measuring device 24c is provided on the other end side in the first direction of the transport carriage 14 and measures the distance to the measurement object. The first distance measuring device 24b and the second distance measuring device 24c are collectively referred to as each distance measuring device.

  The type of each distance measuring device is not particularly limited as long as the distance to the measurement object can be measured. In the first embodiment, each distance measuring device is a laser sensor that measures the distance to the measurement object with the laser beam 24e.

  Each distance measuring device is arranged to measure the distance to the load 12 placed on the placement portion 14c. In particular, the first distance measuring device 24b may be provided so as to measure the distance L1 to the end portion 12e on the one end side in the first direction of the load 12 placed on the placement portion 14c. The second distance measuring device 24c may be provided to measure the distance L2 to the end portion 12f on the other end side in the first direction of the load 12 placed on the placing portion 14c. The 1st distance measuring device 24b may be comprised so that detection of the irradiation angle of the laser beam 24e at the time of detecting the edge part 12e of the one end side is possible. The second distance measuring device 24c may be configured to be able to detect the irradiation angle of the laser light 24e when the other end 12f is detected.

(aisle)
It is conceivable that the measurement range of each distance measuring device is limited by the placement unit 14c blocking the laser beam 24e between each distance measuring device and the measurement object. Therefore, in the first embodiment, the mounting portion 14c is provided with a passage 14h for allowing the laser light 24e to pass therethrough. For example, the passage 14h may be provided so as to penetrate the placement portion 14c in the vertical direction. The planar shape of the passage 14h is not particularly limited as long as the laser light 24e can pass therethrough. In the first embodiment, the passage 14h includes a pair of recesses 14j provided on a pair of opposite sides 14g that are spaced apart in the first direction. Each of the pair of recesses 14j has a shape that is recessed in the first direction from the pair of opposite sides 14g.

  In order to store loads at high density, it is conceivable to reduce the interval between adjacent loads (hereinafter referred to as load interval). When the load interval is reduced, the possibility that the load 12 collides with another load 12 increases. It is preferable that the possibility of such a collision is small. Therefore, in the first embodiment, the load interval is controlled to be within a predetermined range. In particular, the control unit 18 detects the load interval so that the load 12 does not approach the other adjacent load 12 and the load interval becomes excessively small, and controls the operation of the transport carriage 14 according to the detected load interval. doing.

  In order to detect the load interval, another sensor may be provided in addition to each distance measuring device. However, in the first embodiment, the load interval is also detected by each distance measuring device. In particular, each distance measuring instrument is configured to be able to change the measurement direction. Specifically, each distance measuring device is provided so as to be able to scan in a direction in which the irradiation direction of the laser light 24e is inclined by a predetermined angle with respect to the horizontal direction. The measurement direction of each distance measuring device changes according to the scan of the laser beam 24e. In the first embodiment, the tilt angle of the scan direction with respect to the horizontal direction is set to 90 °, and the laser beam 24e is scanned in the vertical direction. This inclination angle is not limited to 90 °.

  6 and 7, a load placed on the placement portion 14c of the transport carriage 14 is replaced with another load at a position away from the placement portion 14c of the delivery carriage 14 in the first direction. And written as FIG. 7 shows the distance L3 to the end 12g of the load 12 (B) by the first distance measuring device 24b in the state where the transport carriage 14 is traveling in the direction of the arrow E with the load 12 (A) placed thereon. Is shown. When the load 12 (B) is detected, the distance L3 to the end 12g can be acquired as a minimum value of the measured distance. The distance Dm between the load 12 (A) and the load 12 (B) can be obtained by calculation from the irradiation angle of the laser beam 24e when the distances L1, L3 and the distances L1, L3 are detected.

  Each distance measuring device configured in this way changes the measurement direction and measures the distance to a measurement object such as another load 12 (B) at a position away from the placement portion 14c in the first direction. can do.

  The control unit 18 is configured to be able to control the operation of the transport carriage 14. In particular, the control unit 18 is configured to be able to control the moving direction, moving speed, and stopping of movement of the transport carriage 14 according to the distance from each distance measuring instrument to the measurement object that is separated in the first direction. The control unit 18 causes the transport carriage 14 to travel in the direction of arrow E until the distance Dm between the load 12 (A) and another load 12 (B) is equal to or less than a predetermined threshold value Dt. The control unit 18 stops the transport carriage 14 when the distance Dm becomes equal to or less than the threshold value Dt. The threshold value Dt can be set according to a desired load interval. The threshold Dt is desirably small from the viewpoint of storing at high density, and the threshold Dt is desirably large from the viewpoint of suppressing contact. From these viewpoints, the threshold value Dt may be set in the range of preferably 20 mm to 300 mm, more preferably in the range of 30 mm to 200 mm, and most preferably in the range of 40 mm to 160 mm. In the first embodiment, the threshold value Dt is set in a range of 50 mm to 120 mm. The control of the control unit 18 and the operation of the automatic warehouse system 10 will be described later.

(Intermediate cart)
FIG. 8 is a plan view showing an example of the intermediate carriage 16. FIG. 9 is a side view of the intermediate carriage 16. The intermediate carriage 16 is a traveling carriage that travels in the row direction on the third rail 43 and transports the load 12 in the row direction. The intermediate carriage 16 is disposed on the third rail 43 of each stage. By providing the intermediate carriage 16 at each stage, the intermediate carriages 16 can be operated independently and simultaneously, and the conveyance efficiency between the storage shelf 30 and the storage shelf 20 can be improved. The intermediate carriage 16 mainly includes a vehicle body 16b, a loading portion 16c, and four wheels 16d. The vehicle body 16b has a flat, substantially rectangular parallelepiped outline that is thin in the vertical direction. A motor (not shown) that drives the wheels 16d, a battery (not shown) that drives the motor, and a control circuit (not shown) that controls these are mounted inside the vehicle body 16b. The loading portion 16c is a portion on which the transport carriage 14 is loaded and has a substantially rectangular shape when viewed from the top, and has a concave shape that recedes downward from the top surface of the vehicle body 16b when viewed from the side.

  As shown in FIG. 8 and FIG. 9, the size of the stacking portion 16c is such that the transport carriage 14 can travel in the first direction (X-axis direction) in the drawing without interfering with the peripheral surface of the stacking portion 16c. The size is a size obtained by adding a sufficient amount of margin to the size of the transport carriage 14. The four wheels 16d are rotatably supported at the four corners of the vehicle body 16b. The intermediate carriage 16 travels on the rail by rotating the four wheels 16d on the rail. The intermediate carriage 16 can travel on the third rail 43 with the load 12 and the transport carriage 14 placed thereon. The traveling operation of the intermediate carriage 16 is controlled by the control unit 18 described later.

(Control part)
Next, the control unit 18 will be described. FIG. 10 is a block diagram of the automatic warehouse system 10 according to the first embodiment. Each block of the control unit 18 shown in FIG. 10 can be realized in terms of hardware by elements and mechanical devices such as a CPU (Central Processing Unit) and ROM (Read Only Memory) of a computer, and in terms of software. Although realized by a computer program or the like, here, functional blocks realized by their cooperation are depicted. Therefore, it is understood by those skilled in the art who have touched this specification that these functional blocks can be realized in various forms by a combination of hardware and software.

  The control unit 18 mainly operates the intermediate cart 16 and the transport cart 14 according to the detection results of the storage unit load detection unit 54b, the storage unit load detection unit 54c, the intermediate cart position detection unit 54d, and the transport cart position detection unit 54e. It is a control unit which controls. The control unit 18 includes an operation result acquisition unit 18b, a first load detection result acquisition unit 18c, a second load detection result acquisition unit 18d, an intermediate cart position detection unit 18e, a transport cart position detection unit 18f, and display control. 18 g, a detection result acquisition unit 18 m, a transport cart control unit 18 j, and an intermediate cart control unit 18 h are mainly included.

  The operation result acquisition unit 18b acquires the operation result from the operation unit 54k. The first load detection result acquisition unit 18c acquires the detection result from the storage unit load detection unit 54b. The second load detection result acquisition unit 18d acquires the detection result from the storage unit load detection unit 54c. The intermediate cart position detector 18e acquires the detection result from the intermediate cart position detector 54d. The conveyance carriage position detection unit 18f acquires the detection result from the conveyance carriage position detection unit 54e. The operation unit 54k, the storage unit load detection unit 54b, the storage unit load detection unit 54c, the intermediate cart position detection unit 54d, and the transport cart position detection unit 54e will be described later.

  The display control unit 18g controls the display unit 54m to perform a predetermined display. The display unit 54m will be described later. The detection result acquisition unit 18m acquires the detection result from the position sensor 24. In particular, the detection result acquisition unit 18m acquires the measurement result of the distance to the measurement object from the first distance measuring device 24b and the second distance measuring device 24c. The transport carriage control unit 18j controls the travel of the transport carriage 14 and the lifting / lowering operation of the placement section 14c. The intermediate carriage control unit 18 h controls the traveling of the intermediate carriage 16.

(Storage shelf)
In particular, reference is made to FIGS. The configuration of the storage shelf 20 is not particularly limited as long as it can accommodate and store a plurality of loads 12. The storage shelf 20 according to the first embodiment has a storage unit array having storage units 21 arranged in a horizontal plane and having M (M is an integer of 2 or more) rows and N (N is an integer of 2 or more) columns. 23. That is, M is the number of rows and N is the number of columns. Each storage unit 21 is configured to store the load 12. Each storage unit 21 in each row is connected in the column direction, and constitutes a storage unit column 22 extending in the column direction. The load 12 can be transported in the storage unit row 22 in the row direction.

  Each storage unit column 22 is connected in the row direction to form a storage unit array 23. At the end of each storage section row 22 on the storage shelf section 30 side, an entrance / exit section 22b for loading and unloading the load 12 is provided. Each storage unit array 23 is connected in layers in the vertical direction with K (K is an integer equal to or greater than 1), and constitutes a storage shelf unit 20. That is, K is the number of stages. In the first embodiment, the number of columns, the number of rows, and the number of stages of the storage shelf 20 are, for example, 5 columns, 6 rows, and 3 stages. That is, the storage shelf unit 20 is configured by stacking storage unit arrays 23 in which six storage units 21 connected to five columns of storage units 21 are connected in six rows in three rows.

(Container shelf)
The number of loads 12 that can be stored in the storage shelf 30 may be smaller than the number of loads 12 that can be stored in the storage shelf 20. As long as the storage shelf 30 can temporarily store a plurality of loads 12, there is no particular limitation on the structure. The storage shelf 30 of the first embodiment includes a storage array 33 having M rows of storages 31 arranged along a horizontal plane. Each of the storage portions 31 is configured to receive and load the load 12 from the outside. Each accommodating portion 31 is connected in the row direction to constitute an accommodating portion array 33. The storage shelf 30 is configured by stacking the storage array 33 in the K-stage vertical direction in layers. The number of rows, the number of columns, and the number of stages of the accommodation unit array 33 can be arbitrarily set. That is, the number of columns of the accommodating units 31 included in the accommodating unit array 33 is not limited to one column. In the first embodiment, from the viewpoint of facilitating the operation, the number of rows in the storage unit array 33 is six, which is the same as the number of rows in the storage unit array 23, and the number of stages in the storage unit array 33 is the number of stages in the storage unit array 23. The same number of three stages. In other words, the storage shelf 30 is configured by stacking three rows of storage unit arrays 33 in which a row of storage units 31 are arranged in six rows in the row direction.

  The storage shelves 30 are spaced apart in the row direction of the storage shelves 20. A space in which the intermediate carriage 16 can travel is interposed between the storage shelf 30 and the storage shelf 20. Each accommodating part 31 is provided with the external entrance / exit part 31b and the internal entrance / exit part 31c. The external entrance / exit part 31b is a port for sending / receiving a load to / from an external transfer device for loading / unloading the load into / from the warehouse. The internal entrance 31c is a port for sending and receiving a load with the intermediate transport mechanism 40. The external entrance / exit part 31b is provided in the opposite side to the storage shelf part 20 of each accommodating part 31, for example. The internal entrance / exit part 31c is provided separately from the external entrance / exit part 31b, for example, on the side close to the storage shelf 20 of each storage part 31.

(Work space)
As shown in FIG. 1, the automatic warehouse system 10 is provided with a work space 58 for working with an external transfer device. The work space 58 is a space provided on the opposite side of the storage shelf 30 from the storage shelf 20. The work space 58 may be provided adjacent to the storage shelf 30 in the row direction. The work space 58 has a three-dimensional size such that an external transfer device such as a forklift 50 can carry the load 12 into and out of the storage shelf 30. That is, the work space 58 has an X-axis direction dimension, a Y-axis direction dimension, and a Z-axis direction dimension that allow loading and unloading of the load 12. For example, the X-axis direction dimension of the work space 58 may be set larger than the X-axis direction dimension of the storage shelf 30. By having the work space 58, the loading and unloading of the load 12 are facilitated, and the work efficiency is improved.

  Next, the other structure of the automatic warehouse system 10 of 1st Embodiment is demonstrated. As shown in FIG. 10, the automatic warehouse system 10 includes an operation unit 54k, a display unit 54m, a storage unit load detection unit 54b, a storage unit load detection unit 54c, an intermediate cart position detection unit 54d, and a transport cart position. It further includes a detection unit 54e and a control panel 56. The control panel 56 is provided in the vicinity of the storage shelf 30 or the storage shelf 20 in order to accommodate the control unit 18, the operation unit 54k, and the display unit 54m.

  The storage unit load detection unit 54 b is a sensor mechanism that detects the presence or absence of the load 12 in each storage unit 21 and outputs the detection result to the control unit 18. The storage unit load detection unit 54 c is a sensor mechanism that detects the presence or absence of the load 12 in each storage unit 31 and outputs the detection result to the control unit 18. The intermediate carriage position detection unit 54 d is a sensor mechanism that detects the position of the intermediate carriage 16 in the third rail 43 and outputs the detection result to the control unit 18. The transport carriage position detection unit 54 e is a sensor mechanism that detects the position of the transport carriage 14 in the first rail 41 and the second rail 42 and outputs the detection result to the control unit 18.

  The operation unit 54 k is an operation unit that receives an operation for controlling the automatic warehouse system 10 and outputs the operation result to the control unit 18. The operation unit 54k accepts operations such as starting and stopping of the automatic warehouse system 10, for example. The display unit 54 m is a display unit that displays the operation status of the automatic warehouse system 10 under the control of the control unit 18. For example, the display unit 54m may display the operation status of each carriage, the storage status of the load 12 in the storage unit 21 or the storage unit 31, and the like. The operation unit 54k and the display unit 54m may be provided in front of the control panel 56, for example.

  Next, the operation of the automatic warehouse system 10 configured as described above will be described.

(Outgoing operation)
With reference to FIGS. 11-13, an example of the conveyance operation at the time of delivery of the automatic warehouse system 10 is demonstrated. This transport operation includes an operation of transporting the cargo 12 to be delivered from the storage unit 21 of the storage shelf unit 20 to the storage unit 31 of the storage shelf unit 30. The load 12 transported to the storage unit 31 is carried out by an external transport device. FIG. 11 is a flowchart showing an example of a transport operation at the time of delivery, and shows a process S60 related to this operation. FIG. 12 is an explanatory diagram in a plan view illustrating an example of the transport operation when the automatic warehouse system 10 leaves the store. FIG. 13 is an explanatory diagram viewed from the front showing the operation of the transport carriage 14.

(Forward travel mode)
When process S60 is started, the control unit 18 controls the transport carriage 14 to the forward travel mode. In the forward travel mode, the control unit 18 causes the empty transport carriage 14 to travel in the first direction toward the storage unit 21 that is the transport source (step S61).

  In the forward travel mode, the control unit 18 acquires a detection result from the position sensor 24 and determines whether or not the first distance measuring device 24b has detected the target load 12 (hereinafter referred to as the load 12 (A)). (Step S62). In this step, the first distance measuring device 24b may irradiate the laser beam 24e in a certain direction, but in the first embodiment, the laser beam 24e is scanned in the vertical direction. In this case, the range in which the load 12 (A) can be detected is expanded, and the distant load 12 (A) can be detected early. FIG. 13A shows a state where the transport carriage 14 travels in the direction of arrow E while scanning the laser beam 24e.

  When the first distance measuring device 24b does not detect the load 12 (A) (N in Step S62), the control unit 18 returns the process to the beginning of Step S61, continues the forward travel mode, and further moves the transport carriage 14 Drive in the first direction.

(Positioning mode)
When the first distance measuring device 24b detects the load 12 (A) (Y in step S62), the control unit 18 controls the transport carriage 14 by switching to the positioning mode. In the positioning mode, the control unit 18 decelerates the transport carriage 14 when the first distance measuring device 24b detects the target load 12 (A). In the positioning mode, the controller 18 further travels in the first direction with the transport carriage 14 being decelerated (step S63). In this step, the control unit 18 gradually advances the transport carriage 14 under the load 12 to be delivered. FIG. 13B shows a state in which the transport carriage 14 advances in the direction of arrow E in a state where the first distance measuring device 24b detects the load 12 (A).

  The control unit 18 acquires the detection result from the position sensor 24, and determines whether or not the second distance measuring device 24c has detected the target load 12 (A) (step S64). In this step, the second distance measuring device 24c scans the laser beam 24e in the vertical direction. In this case, the load 12 (A) can be detected early.

  When the second distance measuring device 24c does not detect the load 12 (A) (N in Step S64), the control unit 18 returns the process to the beginning of Step S63 and further moves the transport carriage 14 in the decelerated state in the first direction. To run.

  When the second distance measuring device 24c detects the load 12 (A) (Y in step S64), the process may be shifted to step S67, but the process S60 of the first embodiment is performed in step S65, S66 is included. By including steps S65 and S66, the load 12 (A) can be positioned at a position closer to the center of the placement portion 14c. Hereinafter, an example including steps S65 and S66 will be described.

  When the second distance measuring device 24c detects the target load 12 (A) after the first distance measuring device 24b detects the target load 12 (A), the control unit 18 further decelerates the transport carriage 14. Specifically, when the second distance measuring device 24c detects the load 12 (A) (Y in step S64), the control unit 18 decelerates the traveling carriage 14 to travel in the first direction (step S65). . As a result of decelerating in two steps in steps S63 and S65, the control unit 18 is traveling at a speed that can be stopped immediately, so when the stop control of the transport carriage 14 is performed as described later, The transport carriage 14 can be stopped at a place that is hardly different from the place where the stop control is performed. Note that the deceleration in steps S63 and S65 does not necessarily have to be performed as long as the transport cart 14 can be stopped when the stop control is performed. FIG. 13C shows a state in which the transport carriage 14 advances in the direction of arrow E in a state where the second distance measuring device 24 c detects the load 12 (A).

    The control unit 18 acquires the detection result from the position sensor 24, and the distance L1 to the end 12e on one end side of the load 12 (A) measured by the first distance measuring device 24b and the second distance measuring device 24c measure. You may control to stop the conveyance trolley | bogie 14 in the position where distance L2 to the edge part 12f of the other end side of the load 12 (A) which satisfy | filled predetermined conditions. As an example, after the second distance measuring device 24c detects the target load 12 (A), the control unit 18 measures the target load 12 (A) measured by the first and second distance measuring devices 24b and 24c. When the distances L1 and L2 become substantially equal, the conveyance carriage 14 is controlled to stop.

  The control part 18 which performed step S65 acquires a detection result from the position sensor 24, and determines whether the distance L2 is equal to the distance L1 (see also step S66 and FIG. 6).

  When the distance L2 is not equal to the distance L1 (N in Step S66), the control unit 18 returns the process to the beginning of Step S65 and further causes the transport carriage 14 to travel in the first direction.

  When the distance L2 is equal to the distance L1 (Y in step S66), the control unit 18 stops the transport carriage 14 and lifts the load 12 (A) (step S67). Even after it is determined that they are equal, it is conceivable that the transport carriage 14 does not stop suddenly but moves only a short distance due to inertia or the like. For this reason, you may make it determine by adding the movement distance by this phenomenon to the distance L2 or the distance L1. Therefore, the case where the distance L2 is equal to the distance L1 includes the case where the distance L2 is equal to the distance L1 in the distance L2 or the distance L1 plus the moving distance due to this phenomenon.

  In step S <b> 67, the control unit 18 raises the placement unit 14 c by the lift mechanism 14 d and lifts the load 12 (A) from the storage unit 21. FIG. 13D shows a state where the stopped transport carriage 14 lifts the load 12 (A) by the placement portion 14 c. By this operation, the load 12 (A) is placed on the placement portion 14c, and the load 12 becomes transportable.

(Reverse drive mode)
When the load 12 (A) is placed on the placement portion 14c, the control portion 18 controls the transport carriage 14 by switching to the reverse travel mode (step S68). In the reverse travel mode, the control unit 18 moves the transport carriage 14 on which the load 12 is loaded toward the entrance / exit 22b (see FIG. 12A). At this time, as shown in FIG. 13E, the transport carriage 14 travels in the direction indicated by the arrow F opposite to the arrow E in the first direction.

(Unload check mode)
When the load 12 is placed and travels forward or backward, the load 12 may deviate from the placement portion 14c and cause collapse of the load. There is a concern of causing damage to the cargo if collapse occurs. In order to prevent the collapse of the cargo, it is conceivable to set the traveling speed of the transport carriage 14 low. In this case, however, the operating efficiency of the entire warehouse decreases. Therefore, in the first embodiment, the control unit 18 controls the transport carriage 14 in the load deviation confirmation travel mode. In the load deviation confirmation travel mode, the control unit 18 controls the transport carriage 14 to travel while confirming the load deviation. That is, when the transport carriage 14 is being returned, if the distance between the center of the recovered target load 12 and the center of the placement portion 14c in the first direction is equal to or greater than the threshold value, the control unit 18 The operation of the transport carriage 14 is controlled so as to unload the load 12.

  Specifically, in the load deviation confirmation travel mode, the control unit 18 obtains the difference dL from the detected distance L1 and distance L2, and determines whether dL is equal to or less than the load deviation threshold (step S69). . FIG. 13E shows a state in which the transport carriage 14 carrying the load 12 (A) travels in the direction of arrow F in the load deviation confirmation travel mode.

  When the difference dL between the distance L1 and the distance L2 is not less than the threshold and exceeds the threshold (N in Step S69), the control unit 18 stops the transport carriage 14 (Step S70). Before the load collapse occurs, the possibility of the load collapse can be reduced by stopping the transport carriage 14 and recovering the load deviation.

(Unload recovery operation)
In the load slip recovery operation, the control unit 18 stops the transport carriage 14, lowers the load 12 (A), moves the transport carriage 14 to reduce the difference dL, and lifts the load again in this state. To control.

  When the transport carriage 14 is stopped, the control unit 18 lowers the placement unit 14c and lowers the load 12 (A) onto the first rail 41 (step S71).

  With the target load 12 unloaded, the control unit 18 moves the transport carriage 14 to a position in the first direction where the center of the target load 12 and the center of the placement portion 14c substantially coincide with each other. The operation of the transport carriage 14 is controlled so as to collect the target load 12 again by 14.

  Specifically, after unloading the load 12 (A), the control unit 18 moves the transport carriage 14 in a direction in which the distance L1 and the distance L2 are equal (step S72). That is, the control unit 18 moves the transport carriage 14 in the direction in which the difference dL that is the magnitude of the load deviation decreases. In this step, the control unit 18 may control the transport carriage 14 so as to travel at a speed that can be stopped immediately.

  The control unit 18 determines whether or not the distance L2 is equal to the distance L1 (step S73).

  When the distance L2 is not equal to the distance L1 (N in Step S73), the control unit 18 returns the process to the beginning of Step S72 and further moves the transport carriage 14.

  When the distance L2 is equal to the distance L1 (Y in step S73), the control unit 18 returns the process to the beginning of step S67, lifts the placement unit 14c by the lift mechanism 14d, and loads the load 12 (A) from the storage unit 21. And the transport carriage 14 is moved toward the entrance / exit 22b.

  When the difference dL between the distance L1 and the distance L2 is equal to or smaller than the threshold (Y in Step S69), the control unit 18 determines whether or not the transport carriage 14 has arrived at the entrance / exit 22b (Step S74).

  When the transport carriage 14 has not arrived at the entrance / exit part 22b (N in Step S74), the control unit 18 returns the process to the top of Step S78 and moves the transport carriage 14 further.

  When the transport carriage 14 arrives at the entrance / exit part 22b (Y in step S74), the control unit 18 causes the transport carriage 14 loaded with the load 12 to enter the loading part 16c of the intermediate carriage 16 from the entrance / exit part 22b (step S75, (Refer FIG.12 (b)). In this step, the control unit 18 places the transport carriage 14 on the intermediate carriage 16.

  The control unit 18 moves the intermediate carriage 16 on which the carriage 14 is placed on the loading section 16c to the row of the accommodation unit 31 that is the destination (see step S76, FIG. 12C).

  When the intermediate carriage 16 arrives at the transfer destination, the control unit 18 moves the transfer carriage 14 on which the load 12 (A) is loaded from the intermediate carriage 16 and moves it to the transfer destination accommodation section 31 (step S77, FIG. 12). (See (d)).

  When the transport carriage 14 moves to the storage section 31, the control section 18 lowers the placement section 14c of the transport carriage 14 and lowers the load 12 (A) to the storage section 31 (step S78). This process S60 is completed by unloading the load 12 (A).

The load 12 transported to the accommodating portion 31 is carried out from the external entrance / exit portion 31b by the forklift 50 and loaded into a truck or the like. The transport carriage 14 that has unloaded the load 12 may wait at that position, for example.
The above-described process S60 is merely an example, and other steps may be added, some steps may be changed or deleted, and the order of steps may be changed.

(Receiving operation)
Next, with reference to FIGS. 14-16, an example of the conveyance operation at the time of warehousing of the automatic warehouse system 10 is demonstrated. FIG. 14 is a flowchart showing an example of the transport operation at the time of warehousing, and shows processing S80 related to this operation. FIG. 15 is an explanatory diagram in a plan view illustrating an example of a transport operation when the automatic warehouse system 10 enters the warehouse. FIG. 16 is an explanatory diagram of a front view showing the operation of the transport carriage 14. The transport operation at the time of warehousing includes an operation of transporting the load 12 to be stored (hereinafter referred to as the load 12 (A)) from the storage unit 31 of the storage shelf 30 to the storage unit 21 of the storage shelf 20. The load 12 (A) to be stored is carried into the storage unit 31 by the external transfer device before this transfer operation.

  When the process S80 is started, the control unit 18 moves the intermediate carriage 16 to the row of the storage unit 21 that is the transfer destination, and causes the empty transfer carriage 14 to enter the loading section 16c from the entrance / exit section 22b (step S81). ). In this step, the control unit 18 places the transport carriage 14 on the intermediate carriage 16.

  Next, the control unit 18 moves the intermediate carriage 16 on which the transport carriage 14 is placed on the stacking section 16c to the row of the transporting accommodation section 31 (step S82).

  When the intermediate carriage 16 is moved to the row of the accommodation unit 31, the control unit 18 causes the conveyance carriage 14 to enter the lower side of the target load 12 (A) in the conveyance source accommodation unit 31 (step S83).

  The control part 18 raises the mounting part 14c of the conveyance carriage 14, and lifts the load 12 (A) from the accommodating part 31 (step S84). By this operation, the load 12 (A) is placed on the placement portion 14c, and the load 12 (A) is in a state where it can be transported. In this step, the control unit 18 may control the operation of the transport carriage 14 so that the distance L2 becomes equal to the distance L1 in the positioning mode described above.

  When the load 12 (A) is placed on the transport carriage 14, the control unit 18 places the transport carriage 14 on which the load 12 (A) is placed on the loading section 16c of the intermediate carriage 16 (step S85). FIG. 15A shows a state in which the transport carriage 14 enters the stacking portion 16 c of the intermediate carriage 16.

  When the transport cart 14 is placed on the intermediate cart 16, the control unit 18 moves the intermediate cart 16 on which the transport cart 14 is placed to the row of the transport destination storage unit 21 (step S86). FIG. 15B shows a state in which the intermediate carriage 16 on which the transport carriage 14 is placed moves to the storage unit 21 row.

  When the intermediate carriage 16 arrives at the storage section 21, the control section 18 causes the transport carriage 14 carrying the load 12 (A) to travel in the first direction from the entrance / exit section 22b toward the transport destination storage section 21. (Step S87). FIG. 15C shows a state in which the transport carriage 14 carrying the load 12 (A) travels in the first direction.

(Collision reduction operation)
In a state where the transport carriage 14 carrying the load 12 (A) travels, the automatic warehouse system 10 causes the load 12 (A) to collide with another load 12 (hereinafter referred to as the load 12 (B)) and other obstacles. Operates to reduce the likelihood of doing so. As an example, this operation may include steps S87 to S91.

  In a state in which the transport carriage 14 is caused to travel, the control unit 18 acquires a detection result from the position sensor 24, and the first distance measuring device 24b is positioned on the traveling direction side in the first direction. It is determined whether or not the load 12 (B) has been detected (step S88). In this step, the first distance measuring device 24b scans the laser beam 24e in the vertical direction. In this case, the range in which the load 12 (B) can be detected can be expanded, and the distant load 12 (B) can be detected early. FIG. 16A shows a state where the transport carriage 14 travels in the direction of arrow E while scanning the laser beam 24e.

  In step S88, when the first distance measuring device 24b does not detect the load 12 (B) (N in step S88), the control unit 18 returns the process to the head of step S87, continues the forward traveling mode, and loads the load. The transport carriage 14 on which 12 (A) is placed is further traveled in the first direction. FIG. 15D shows a state in which the transport carriage 14 carrying the load 12 (A) travels in the first direction.

(Deceleration mode)
In step S88, when the first distance measuring device 24b detects the load 12 (B) (Y in step S88), the control unit 18 may control the transport carriage 14 in the deceleration traveling mode. In the deceleration travel mode, the control unit 18 decelerates the transport carriage 14 and further travels in the first direction (step S89). FIG. 16B shows a state in which the transport carriage 14 travels in the direction of arrow E while decelerating. In this step, the control unit 18 may control the transport carriage 14 so as to travel at a speed that can be stopped immediately.

  In the deceleration travel mode, the control unit 18 determines whether or not the distance Dm between the load 12 (A) and the load 12 (B) acquired from the detection result of the position sensor 24 is equal to or less than a predetermined threshold value Dt (step). S90).

  In step S90, when the distance Dm is greater than the predetermined threshold value Dt and not less than or equal to the threshold value (N in step S90), the control unit 18 returns the process to the beginning of step S89, and moves the transport carriage 14 in the first direction in the deceleration travel mode. To run. In step S89, the control unit 18 may control the transport carriage 14 to decelerate as the distance Dm decreases.

  In step S90, when the distance Dm is less than or equal to the predetermined threshold value Dt (Y in step S90), the control unit 18 stops the transport carriage 14 (step S91). FIG. 16C shows a state where the transport carriage 14 is stopped in step S91.

  As described above, the predetermined threshold value Dt in step S90 can be set according to a desired load interval between the load 12 (A) and the load 12 (B).

  When the transport carriage 14 is stopped, the control section 18 lowers the placement section 14c of the transport carriage 14 and lowers the load 12 (A) to the storage section 21 (step S92). The processing S80 ends when the load 12 is unloaded. FIG. 16D shows a state where the transport carriage 14 unloads the load 12 in step S92. The transport carriage 14 that has unloaded the load 12 may wait at that position, for example.

  The above-described process S80 is merely an example, and other steps may be added, some steps may be changed or deleted, and the order of steps may be changed.

[Second Embodiment]
In the first embodiment, the transport carriage 14 is stopped at a position where the placement portion 14 c and the center of the target load 12 substantially coincide with each other when the load 12 is collected. On the other hand, in the present embodiment, the transport carriage 14 is stopped at a position where the placement portion 14c and the end of the target load 12 substantially coincide.

  The relative position control between the placing portion 14c and the target load 12 when the transport carriage 14 collects the load 12 according to the present embodiment will be described.

  FIG. 17 is a schematic front view showing the relative positional relationship between the load 12 and the placement portion 14c. FIG. 17A shows the first relative positional relationship, and FIG. 17B shows the second relative positional relationship. In FIG. 17A, the load 12 is larger in the first direction than the placement portion 14c, and in FIG. 17B, the load 12 is first than the placement portion 14c. The case where the size in a direction is small is shown, respectively.

  In these drawings, a line segment 12m indicates a bisector obtained by dividing the first direction range of the load 12 into two halves, and a line segment 14m indicates a bisect obtained by dividing the first direction range of the mounting portion 14c into two equal parts. Shows a branch line. The center of the target load 12 in the first direction is on the line segment 12m, and the center of the placement portion 14c in the first direction is on the line segment 14m. The line segment 12m and the line segment 14m overlap in FIG. That is, the first relative positional relationship shown in FIG. 17A is a positional relationship in which the placement portion 14c and the center of the target load 12 are substantially coincident, and corresponds to the positional relationship in the first embodiment. On the other hand, in FIG. 17B, the line segment 12m and the line segment 14m do not overlap, but the placement portion 14c and the right end portion of the target load 12 coincide. That is, the second relative positional relationship shown in FIG. 17B is a positional relationship in which the placement portion 14c and the end of the target load 12 are substantially coincident with each other, and in the second embodiment (this embodiment). Corresponds to the positional relationship.

  When the size of the load 12 is larger in the first direction than the placement portion 14c, as described in the first embodiment, the center of the load 12 and the placement portion 14c as shown in FIG. It is preferable to collect the load 12 in a substantially coincident positional relationship. This is because, as described above, the possibility of collapse of the load can be reduced.

  On the other hand, when the size of the load 12 in the first direction is smaller than the placement portion 14c, the relative positional relationship is the end portion 12e in the first direction of the target load 12, as shown in FIG. And the end portion 14n in the first direction of the placement portion 14c are preferably in a positional relationship in which they substantially coincide. The reason for this will be described below.

  FIG. 18 is a schematic front view showing the relative positional relationship between the end portion 14n of the placement portion 14c, the load 12 (A) to be collected, and another load 12 (B). FIG. 18A shows a case where the load 12 (A) to be collected and another load 12 (B) are stored without a gap in the first direction, and the load 12 (A) to be collected and the placement portion 14c. It is a schematic diagram when collect | recovering in the positional relationship from which the center of a substantially coincides. At this time, if the size in the first direction of the load 12 (A) to be collected is smaller than the placement portion 14c, the end portion 14n of the load 12 (A) to be collected becomes as shown in FIG. 18 (c). It interferes with another load 12 (B). When the end portion 14n in the first direction of the placement portion 14c thus protrudes from the target load 12 in the first direction, the end portion 14n becomes another load 12 (B) as indicated by a broken line circle F. There is a possibility of interference. In this state, in order to pick up the load 12 (A) to be collected, when the placement portion 14c is raised, the end portion 14n lifts the end portion 12F of another load 12 (B). There is a risk of damaging the end 12F of the load 12 (B).

  FIG. 18B shows a case where the collection target load 12 (A) and another load 12 (B) are stored without gaps in the first direction, and the collection target load 12 (A) and the placement portion 14 c. It is a schematic diagram when collect | recovering in the positional relationship from which the edge part of this corresponds substantially. As shown by a broken line circle G in FIG. 18B, if the load 12 (A) to be collected and the end portion of the mounting portion 14c are collected in a substantially positional relationship, the end as shown in FIG. 18A is obtained. There is no interference between the portion 14n and the other load 12 (B). As described above, the load 12 (A) to be collected is smaller in the first direction than the mounting portion 14 c, and the load 12 (A) to be collected and the other load 12 (B) have no gap. When the container 12 is stored, the load 12 (A) to be collected and the end portion of the mounting portion 14 c are substantially in the same positional relationship, although the possibility of collapse of the load is increased, but another load 12 (B). This is preferable because it does not interfere with.

  In order to prevent such interference, it is conceivable to set a large distance between the loads. In this case, however, the number of loads that can be stored in the storage rack portion 20 of the same size is reduced. Therefore, in order to increase the number of loads stored in the storage shelf 20, it is necessary to reduce the distance between the loads. In this case, the end 12e of the target load 12 in the first direction It is preferable that the end portion 14n in the first direction of the placement portion 14c has a positional relationship that substantially matches.

[Third Embodiment]
In the first embodiment, when the load 12 is stored, when the distance Dm between the storage target load 12 (A) and the already stored load 12 (B) in the first direction is equal to or less than the threshold value Dt, the transport carriage 14 is used. However, the threshold value Dt can be set to a different value as appropriate. In the present embodiment, a plurality of threshold value Dt candidates are stored, and in some cases, one of a plurality of threshold value candidates is selected and set as the threshold value Dt.

  FIG. 19 is a schematic front view showing the relative positional relationship between the load 12 (A) to be stored and another load 12 (B) that has already been stored. In FIG. 19, the description of portions other than the placement portion 14 c of the transport carriage 14 is omitted.

  In order to store more loads 12 in the storage shelf 20 of the same length, as described in the second embodiment, another load 12 (B) with the target load 12 (A) and It is preferable to reduce the distance between the two. In order to store the most loads 12, the threshold value Dt is set to almost zero. Then, when the target load 12 (A) is stored, as shown in FIG. 19A, the distance Dm between the target load 12 (A) and the other direction of the load 12 (B) is the first direction. When it becomes almost zero, the transport carriage 14 stops. Therefore, the end portion 12e on one end side in the first direction of the target load 12 (A) and the end portion 12f on the other end side in the first direction of another load 12 (B) are substantially in a positional relationship. The number of storage can be maximized.

  Note that. As shown in FIG. 19 (a), when storing a load without leaving a gap between the target load 12 (A) and another load 12 (B), the end of the target load 12 (A) and the placement portion 14c. It is preferable that the target load 12 (A) is placed on the placement portion 14 c in a positional relationship in which the portions substantially coincide, and the target load 12 (A) is stored.

  In particular, when the target load 12 (A) is smaller in size in the first direction than the placement portion 14c, the positional relationship in which the target load 12 (A) and the end portion of the placement portion 14c substantially match. By doing so, it becomes possible to suppress interference between the target load 12 (A) and another load 12 (B). Conversely, when the target load 12 (A) is larger in the first direction than the placement portion 14c, the above-described interference does not occur, and therefore the target load 12 (A) is suppressed in order to suppress the collapse of the load during storage. It is preferable that 12 (A) and the placement portion 14c have substantially the same positional relationship.

  On the other hand, when the distance between the target load 12 (A) and another load 12 (B) is reduced as shown in FIG. 19A, the target load 12 is also described as described in the second embodiment. When (A) is larger in size in the first direction than the mounting portion 14c, the end may interfere with another load 12 (B) when the target load 12 (A) is collected. is there. In order to suppress this interference, it is conceivable to increase the distance between the target load 12 (A) and another load 12 (B) in advance during storage. In this case, the threshold value Dt is set to a value larger than 0 (larger than Dm in FIG. 19A). Then, as shown in FIG. 19B, the transport carriage 14 stops in a state in which the distance Dm in the first direction between the target load 12 (A) and another load 12 (B) is separated to some extent. For this reason, the end portion 12e on the one end side in the first direction of the target load 12 (A) and the end portion 12f on the other end side in the first direction of another load 12 (B) are separated by a predetermined distance. Thus, the positional relationship can be avoided and interference during collection can be avoided.

  In addition, when storing the distance between the target load 12 (A) and another load 12 (B) as shown in FIG. 19B, the center of the target load 12 (A) and the placement portion 14c is stored. It is preferable that the target load 12 (A) is placed on the placement portion 14 c in a positional relationship in which the target loads 12 (A) are substantially matched, and the target load 12 (A) is stored. Since the target load 12 (A) and the other load 12 (B) are spaced apart from each other, interference between the target load 12 (A) and the other load 12 (B) hardly occurs during storage. Therefore, it is better to have a positional relationship in which the center is substantially positioned and to suppress the collapse of the load during storage.

  As described in the second and third embodiments, the preferred positional relationship between the target load 12 (A) and the placement portion 14c differs depending on the situation, both when collecting and storing the load. Therefore, a plurality of types of positional relationships (for example, a positional relationship in which the centers of FIG. 17A substantially match and a positional relationship in which the ends of FIG. 17B substantially match) are stored in the control unit (ROM) in advance. Alternatively, one positional relationship may be determined according to the situation from among the plurality of positional relationships, and the positional relationship at the time of collection and storage may be set.

  For example, as described in the second and third embodiments, it is conceivable that an appropriate distance between loads varies depending on the size of the load 12 in the first direction. For this reason, the predetermined relative positional relationship between the target load 12 (A) and another load 12 (B) may be determined by the control unit (CPU) according to the size of the load 12 in the first direction.

  When the number of loads 12 to be stored is large, it is desirable to store them at a high density by reducing the distance between the loads. When the number of loads 12 to be stored is small, it is desirable to increase the moving speed of the transport carriage 14 by increasing the distance between the loads. Therefore, the predetermined relative positional relationship between the target load 12 (A) and another load 12 (B) is determined by the control unit (CPU) according to the number of loads 12 stored in the storage shelf 20. May be.

  When the length of the storage shelf 20 is long, it is desirable to increase the moving speed of the transport carriage 14 by increasing the distance between the loads. When the length of the storage shelf 20 is short, it is desirable that the distance between the loads is reduced and stored at a high density. For this reason, the control unit (CPU) may determine a predetermined relative positional relationship between the target load 12 (A) and another load 12 (B) according to the length of the storage shelf 20.

  Predetermined relative positional relationship between the placing portion 14c and the target load 12 and a predetermined relative positional relationship between the load 12 (A) to be stored and another load 12 (B) that has already been stored (hereinafter, these relative positions) The relationship) may be constant or different in the warehouse. This is because the storage space in the warehouse may have a non-cubic shape. These relative positional relationships may be determined for each area in the warehouse, for each storage shelf section 20, for each storage section row 22, or for another storage unit.

  These relative positional relationships may be stored in a storage unit (ROM), and the control unit 18 may acquire these relative positional relationships from the storage unit. The control unit 18 may acquire the relative positional relationship from information presenting means such as a barcode or a tag provided for each area, each storage shelf 20, each storage unit row 22, or another storage unit. Good. The control unit 18 may acquire the relative positional relationship based on the imaging result of an imaging unit such as a camera.

  These relative positional relationships are not determined by the control unit (CPU), but may be determined according to user input. This is because the user may want to narrow or widen the interval between loads depending on the number of loads 12 stored, the type of loads 12, and the like. When it is desired to store a large number of loads with a small interval between the loads, the user sets the positional relationship between the load and the loading portion to a positional relationship (second relative positional relationship) in which the respective end portions substantially coincide with each other. . On the contrary, when it is desired to suppress the interference of the load with an interval, the user sets the positional relationship between the load and the placement portion to a positional relationship in which the respective centers substantially coincide. In addition, when the load is larger in the first direction than the placement portion and the problem of interference does not occur in the first place, the center of the load and the placement portion substantially coincides with each other in order to suppress the collapse of the load. It may be set automatically. In this case, when the size of the load is smaller in the first direction than the placement unit, the relative positional relationship is determined by the user.

  In the above description, it is described that the user himself / herself sets the relative positional relationship. However, the designer may set the relative positional relationship in advance according to the user's desire when designing the automatic warehouse system.

  The relative position control between the loading portion 14c and the target load 12 and the relative position control between the load 12 (A) to be stored and another load 12 (B) that has been stored should be performed by various known control devices. Can do. As an example, the relative position control is performed by a control means (not shown) provided in the transport carriage 14, a control means (not shown) provided in the automatic warehouse system 10, or a control means (not shown) separately installed via a communication network. ). These control means can also exchange information with each other and perform relative position control in cooperation with each other.

  Next, the outline | summary and characteristic of the automatic warehouse system 10 which concern on the 1st Embodiment of this invention comprised in this way are demonstrated.

  The automatic warehouse system 10 according to the embodiment is an automatic warehouse system capable of storing loads 12, and includes a transport carriage 14 that can travel in a first direction with the loads 12, a target load 12 and a transport carriage 14 A position sensor 24 that detects the relative positional relationship between the two and the control unit 18 that controls the operation of the transport carriage 14. The position sensor 24 is attached to one end side in the first direction of the transport carriage 14, and is an object to be measured. A first distance measuring device 24b that measures the distance to the measurement object, and a second distance measuring device 24c that is provided on the other end side in the first direction of the transport carriage 14 and measures the distance to the measurement object. . According to this configuration, the distance to the load 12 placed on the transport carriage 14 and the distance to the obstacle in the traveling direction can be acquired by the first distance measuring device 24b and the second distance measuring device 24c. By controlling the operation of the transport carriage 14 according to the acquired distance, the transport carriage 14 can be moved to a preferred position. Moreover, by controlling in this way, the distance with another adjacent load 12 can be adjusted to a preferable range.

  The first distance measuring device 24b is provided so as to be able to measure the distance to one end portion of the load 12 placed on the transport carriage 14 in the first direction, and the second distance measuring device 24c is placed on the transport carriage 14. The distance to the other end portion in the first direction of the load 12 is provided so that it can be measured. In this case, since the distance to the both ends of the loaded load 12 can be measured, the relative position of the load 12 can be acquired. The placement position of the load 12 can be adjusted according to the acquired relative position. Since the distance to the both ends of the load 12 can be measured, each of the loads 12 having different dimensions can be placed at a preferred position of the transport carriage 14. Since it is possible to detect that the placement position of the load 12 is shifted during conveyance, the load 12 can be reloaded to a preferred position.

  The first distance measuring device 24b is configured to be able to measure the distance to the measurement object at a position away from the transport carriage 14 in the first direction by changing the measurement direction. In this case, the distance to the loaded load 12 and the distance to the obstacle at a distant position can be acquired by the first distance measuring device 24b, so that a separate sensor is provided for each. As compared with the above, the number of sensors can be reduced, and the automatic warehouse system can be simply configured correspondingly.

  The control unit 18 stops the movement of the transport carriage 14 when the distance from the transport carriage 14 to the measurement object ahead in the traveling direction is equal to or less than a threshold value. In this case, the possibility that the transport carriage 14 collides with an obstacle or another load 12 can be reduced.

  The first distance measuring device 24b is a laser sensor that measures the distance to the measurement object with the laser beam 24e, and a passage 14h for allowing the laser beam 24e to pass through the mounting portion 14c on which the load 12 of the transport carriage 14 is placed. It may be provided. In this case, interference by the mounting portion 14c on the optical path of the laser light can be reduced, and the measurable range of the first distance measuring device 24b can be expanded. Moreover, when the measurable range is made constant, the placement portion 14c can be enlarged.

  The automatic warehouse system 10 according to the embodiment is an automatic warehouse system capable of storing the load 12, and includes a storage shelf unit 20 for storing the load 12, and a placement unit 14c on which the load 12 is placed, in the first direction. A transport carriage 14, a position sensor 24 that detects a relative positional relationship between the target load 12 and the transport carriage 14, and a control unit 18 that controls the operation of the transport carriage 14. The control unit 18 includes: The conveyance carriage 14 is stopped at a position where the relative positional relationship in the first direction between the target load 12 stored in the storage shelf 20 and the placement portion 14c becomes a predetermined relative positional relationship. The operation of the transport carriage 14 is controlled so as to collect the target load 12. According to this configuration, the target load 12 can be recovered at a position having a predetermined relative positional relationship, so that the target load 12 can be recovered at a preferred position of the placement portion 14c.

  The predetermined relative positional relationship may be a positional relationship in which the center of the target load 12 in the first direction and the center of the placement portion 14c in the first direction substantially coincide with each other. In this case, since the target load 12 can be collected at the center of the placement portion 14c, the possibility of collapse of the load during traveling can be reduced.

  The position sensor 24 is attached to one end side in the first direction of the transport carriage 14, and is provided on the other end side in the first direction of the transport carriage 14 and a first distance measuring device that measures the distance to the target load 12. A second distance measuring device that measures a distance to the target load 12, and when the control unit 18 collects the target load 12, (i) the first distance measuring device detects the target load 12. When the second distance measuring device detects the target load 12 after the first distance measuring device detects the target load 12, the transfer carriage 14 is further decelerated. (Iii) When the distance to the target load 12 measured by the first and second distance measuring devices after the second distance measuring device detects the target load 12, the transport carriage 14 is stopped. In addition, the operation of the transport carriage 14 may be controlled. In this case, the conveyance carriage 14 can be stopped at a more appropriate position as compared with the configuration in which the conveyance carriage 14 is not decelerated.

  The controller 18 may control the operation of the transport carriage 14 so as to return the transport carriage 14 in a state where the target load 12 is placed on the placement section 14 c after the target load 12 is collected. The control unit 18 returns the target load when the distance between the center of the recovered target load 12 and the center of the placement portion 14c in the first direction is equal to or larger than the threshold value when the transport carriage 14 is returned. In the state where the load 12 is unloaded and the target load 12 is unloaded, the transport carriage 14 is moved to a position in the first direction where the center of the target load 12 and the center of the mounting portion 14c substantially coincide with each other. Thus, the operation of the transport carriage 14 may be controlled so as to collect the target load 12 again. In this case, when the position of the target load 12 is deviated excessively, the target load 12 is once lowered and collected again at a preferred position of the placement portion 14c, thereby further reducing the possibility of collapse of the load. Can do.

  The predetermined relative positional relationship may be a positional relationship in which the end portion 12e in the first direction of the target load 12 (A) and the end portion 14n in the first direction of the placement portion 14c substantially coincide with each other. In this case, compared with the configuration in which the end portion 14n protrudes from the target load 12 (A), the end portion 14n of the placement portion 14c is different from the other load 12 (B) adjacent to the target load 12 (A). The possibility of interference can be suppressed. For this reason, as described with reference to FIG. 18, it becomes easy to pick up the target load 12 (A). Moreover, in this case, the distance between the target load 12 (A) and another adjacent load 12 (B) is reduced, and more loads 12 are stored in the storage rack portion 20 of the same size. Can do.

  The automatic warehouse system 10 according to the embodiment is an automatic warehouse system capable of storing the load 12, and includes a storage shelf unit 20 for storing the load 12, and a placement unit 14c on which the load 12 is placed, in the first direction. Next to the position where the target load 12 is stored in the storage shelf 20 part, and the target load 12 (A) A position sensor 24 that detects a relative positional relationship with another load 12 (B) stored before A), and a control unit 18 that controls the operation of the transport carriage 14. The transport carriage 14 is stopped at a position where the positional relationship between the target load 12 (A) and another load 12 (B) is a predetermined relative positional relationship. The operation of the transport carriage 14 is controlled so as to store the load 12. According to this configuration, the target load 12 (A) can be stored so that the positional relationship between the target load 12 (A) and another load 12 (B) is a suitable relationship.

  In the predetermined relative positional relationship, the end of the target load 12 (A) on the one end side in the first direction and the end of the other load 12 (B) on the other end side in the first direction substantially coincide. It may be a positional relationship. In this case, the distance between the target load 12 (A) and another load 12 (B) can be reduced, and a large number of loads 12 can be stored in the storage shelf 20 having the same length.

  The predetermined relative positional relationship is such that the end of one end of the target load 12 (A) in the first direction and the end of the other end of the other load 12 (B) in the first direction are a predetermined distance. The positional relationship may be separated. In this case, the distance between the target load 12 (A) and another load 12 (B) can be increased, and the possibility that these loads come into contact with each other can be reduced.

  The automatic warehouse system 10 according to the embodiment is an automatic warehouse system capable of storing the load 12, and includes a storage shelf unit 20 for storing the load 12, and a placement unit 14c on which the load 12 is placed, in the first direction. A transport carriage 14, a position sensor 24 that detects a relative positional relationship between the target load 12 (A) and the transport carriage 14, and a control unit 18 that controls the operation of the transport carriage 14. The unit 18 mounts the target load 12 (A) on the mounting unit 14 c at a position where the relative positional relationship between the target load 12 (A) and the mounting unit 14 c in the first direction is a predetermined relative positional relationship. After the placement, the transport carriage 14 is moved, and the operation of the transport carriage 14 is controlled so that the target load 12 is stored in the storage shelf 20. According to this configuration, the target load 12 (A) can be placed on the placement portion 14c according to a desired positional relationship.

  The predetermined relative positional relationship may be a positional relationship in which the center of the target load 12 (A) in the first direction and the center of the placement portion 14c in the first direction substantially coincide with each other. In this case, the load 12 (A) having a large size in the first direction can be stored at a position close to another load 12 (B) that has already been stored. The possibility of collapse of the load 12 (A) having a large size can be reduced.

  The predetermined relative positional relationship may be a positional relationship in which an end portion of the target load 12 in the first direction and an end portion of the placement portion 14c in the first direction substantially coincide with each other. In this case, the load 12 (A) having a small size in the first direction can be stored at a position close to another load 12 (B) that has already been stored.

  You may further provide the determination means which determines predetermined | prescribed relative positional relationship from several relative positional relationship. In this case, a desired positional relationship can be determined by the determining means. For example, the determination unit may be provided in the control unit 18.

  The determining means determines a predetermined relative positional relationship according to any of the size of the load 12 in the first direction, the number of loads 12 stored in the storage shelf 20, and the length of the storage shelf 20. It may be configured as follows. In this case, the load 12 can be stored with an appropriate distance defined by any of the size of the load 12, the number of loads 12 to be stored, and the length of the storage shelf 20. When the number of loads 12 to be stored is large, the distance between the loads 12 is reduced and stored at a high density. When the number of loads 12 is small, the distance between the loads 12 is set. The moving speed of the transport carriage 14 can be increased by increasing the speed. Moreover, when the length of the storage shelf 20 is long, the distance between the respective loads 12 is increased to increase the moving speed of the transport carriage 14, and when the length of the storage shelf 20 is short, The distance between the loads 12 can be reduced and stored at a high density.

  The determination unit described above may be configured to determine a predetermined relative positional relationship in accordance with a user input. In this case, each load 12 can be stored at an appropriate distance defined by the user's judgment. For this reason, the relative positional relationship can be changed according to the operation status of the automatic warehouse system 10.

  In the above, it demonstrated based on some embodiment of this invention. It is to be understood by those skilled in the art that each of these embodiments is illustrative, and that various modifications and changes are possible within the scope of the claims of the present invention, and that such modifications and changes are also within the scope of the claims of the present invention. It is understood. Accordingly, the description and drawings herein are to be regarded as illustrative rather than restrictive.

  Hereinafter, modified examples will be described. In the drawings and description of the modified examples, the same reference numerals are given to the same or equivalent components and members as those of the embodiments. The description which overlaps with each embodiment is abbreviate | omitted suitably, and demonstrates the structure different from each embodiment mainly.

(First modification)
In the description of the automatic warehouse system 10 of the first embodiment, the example in which the control unit 18 stops the transport carriage 14 at the positions where the distances L1 and L2 are equal in steps S65 to S67 in the positioning mode has been described. Not limited to. The stop position of the transport carriage 14 may be determined by another algorithm according to the distances L1 and L2. For example, the center position in the first direction of the load 12 (A) is acquired based on the distances L1 and L2, and the transport carriage 14 is set so that the acquired center position substantially matches the center position in the first direction of the placement portion 14c. The stop position may be determined.

(Second modification)
In description of the automatic warehouse system 10 of 1st Embodiment, although the control part 18 demonstrated the stop position of the conveyance trolley | bogie 14 according to distance L1, L2 in step S65-S67 in positioning mode, It is not limited to this. For example, the control unit 18 may determine the stop position of the transport carriage 14 according to the irradiation angle of each laser beam 24e when detecting the end 12e on the one end side and the end 12f on the other end side. . For example, the control unit 18 may perform control so that the conveyance carriage 14 stops at a position where the irradiation angle of each laser beam 24e satisfies a predetermined condition. This predetermined condition is that each laser when detecting the end 12e on one end side and the end 12f on the other end side when the target load 12 (A) is in a desired relative position with respect to the transport carriage 14. The irradiation angle of the light 24e may be set.

(Third Modification)
In the description of the automatic warehouse system 10 of the first embodiment, the example in which the intermediate carriage 16 does not include the lifting mechanism has been described, but the present invention is not limited to this. For example, the intermediate carriage may be a stacker crane having a lifting mechanism. In this case, the load 12 can be transported in the row direction and lifted up and down. By providing the stacker crane, the load 12 can be transported between the storage unit 31 at an arbitrary stage of the storage rack 30 and the storage unit 21 at another stage of the storage rack 20.

(Fourth modification)
In the description of the automatic warehouse system 10 of the first embodiment, the example in which the load 12 is loaded and unloaded from the intermediate carriage 16 by moving the conveyance carriage 14 loaded with the load 12 into and out of the intermediate carriage 16 has been described. It is not limited to. The intermediate carriage may be provided with a known transfer mechanism such as a movable arm, and loads may be taken in and out of the transport carriage 14 by this transfer mechanism.

(5th modification)
In the description of the automatic warehouse system 10 of the first embodiment, the example in which the load 12 includes the pallet 12p has been described, but the present invention is not limited to this. It is not essential that the load includes a pallet, and the automated warehouse system may handle a load that does not include the pallet.

(Sixth Modification)
In the description of the automatic warehouse system 10 of the first embodiment, the example in which the load on the storage shelf is loaded and unloaded using the forklift 50 has been described, but the present invention is not limited to this. For example, you may make it load / unload a storage shelf part with another types of transfer apparatuses, such as a transfer apparatus provided with the crane.

(Seventh Modification)
In the description of the automatic warehouse system 10 of the first embodiment, an example in which the intermediate carriage 16 moves only in the row direction and does not move in the vertical direction is described, but the present invention is not limited to this. For example, an elevating device that moves the intermediate carriage 16 up and down may be provided so that the intermediate carriage 16 can be moved between the stages.

(Eighth modification)
In the description of the automatic warehouse system 10 of the first embodiment, the example in which the transport carriage 14 is driven by the power of the mounted battery is described, but the present invention is not limited to this. For example, power may be supplied to the transport carriage 14 from a power supply mechanism such as a power supply line provided on the shelf side. In this case, since the transport carriage 14 is driven by the supplied electric power, a battery may or may not be mounted.

(Ninth Modification)
In the description of the automatic warehouse system 10 of the first embodiment, an example in which the transport carriage 14 is provided in each row of each stage has been described, but the present invention is not limited to this. It is not essential that the transport carriage 14 be provided in each row of each stage, and it is not necessarily required to be provided in each stage.

(10th modification)
In the description of the automatic warehouse system 10 of the first embodiment, an example in which the number of stages of the storage shelf 30 and the number of stages of the storage shelf 20 are the same has been described, but the present invention is not limited to this. It is not essential that the number of stages of the storage shelf 30 matches the number of stages of the storage shelf 20. For example, the storage shelf 30 can be configured with a number of stages different from the number of stages of the storage shelf 20 by providing a lifting device that moves the intermediate carriage 16 up and down.

(Eleventh modification)
In the description of the automatic warehouse system 10 according to the first embodiment, an example in which the transport carriage 14 includes a traveling mechanism such as a wheel and is configured to be self-propelled is described, but the present invention is not limited to this. For example, a transport mechanism using a belt or a chain may be provided on the shelf side, and the transport carriage may be transported in the first direction by the transport mechanism. In this case, the transport cart may or may not include a travel mechanism.

  Each of these modified examples has the same configuration as that of the automatic warehouse system 10 according to the first embodiment, and thus has the same effect as that of the automatic warehouse system 10 described above.

  In the drawings used for the description, in order to clarify the relationship between members, the cross sections of some members are hatched. However, the hatching does not limit the materials and materials of these members.

  10 .... Automatic warehouse system, 12 .... Load, 14 .... Transport cart, 16 .... Intermediate cart, 18 .... Control unit, 20 .... Storage shelf, 22 .... Storage column, 24 ... Position sensor, 30 ···············································································.

Claims (19)

An automatic warehouse system capable of storing loads,
A transport carriage that can load and travel in the first direction;
A position sensor for detecting a relative positional relationship between the target load and the transport carriage;
A control unit for controlling the operation of the carriage,
With
The position sensor is attached to one end side in the first direction of the transport carriage, and is provided on the other end side in the first direction of the transport carriage and a first distance measuring device that measures the distance to the measurement object, An automatic warehouse system comprising: a second distance measuring device that measures a distance to a measurement object. The first distance measuring device is provided so as to be able to measure a distance to one end portion in a first direction of a load placed on the transport carriage,
2. The automatic warehouse system according to claim 1, wherein the second distance measuring device is provided so as to be able to measure a distance to the other end portion in the first direction of the load placed on the transport carriage.   The said 1st distance measuring device is comprised so that measurement of the distance to the measurement object in the position away from the said conveyance trolley in the 1st direction by changing a measurement direction is possible. Automatic warehouse system.   4. The automatic warehouse system according to claim 3, wherein the control unit stops the progress of the transport cart when a distance from the transport cart to the measurement target ahead in the traveling direction is equal to or less than a threshold value. The first distance measuring instrument is a laser sensor that measures a distance to a measurement object with a laser beam,
The automatic warehouse system according to any one of claims 1 to 4, wherein a passage for allowing the laser beam to pass through is provided in a mounting portion on which the load of the transport carriage is placed. An automatic warehouse system capable of storing loads,
A storage shelf for storing the load,
A transporting carriage having a placing portion for placing a load and capable of traveling in the first direction;
A position sensor for detecting a relative positional relationship between the target load and the transport carriage;
A control unit for controlling the operation of the carriage,
With
The control unit stops the transport carriage at a position where a relative positional relationship between the target load stored in the storage shelf and the placement unit in the first direction is a predetermined relative positional relationship, An automatic warehouse system, wherein the operation of the transport carriage is controlled so as to collect the object load by the transport carriage.   The predetermined relative positional relationship is a positional relationship in which a center of the target load in the first direction and a center of the placement portion in the first direction substantially coincide with each other. Automatic warehouse system described in. The position sensor is attached to one end side in the first direction of the transport carriage, and is provided on the other end side in the first direction of the transport carriage and a first distance measuring device that measures a distance to the target load. A second distance measuring device for measuring a distance to the target load,
When the control unit collects the target load, (i) when the first distance measuring device detects the target load, the control unit decelerates the transport carriage, and (ii) the first distance measuring device When the second distance measuring device detects the target load after detecting the target load, the transport carriage is further decelerated, and (iii) after the second distance measuring device detects the target load The operation of the transport carriage is controlled so that the transport carriage is stopped when the distances to the target loads measured by the first and second distance measuring devices are substantially equal. Item 8. The automatic warehouse system according to Item 7. The control unit controls the operation of the transport carriage so as to return the transport carriage in a state where the target load is placed on the placement section after collecting the target load.
When returning the transport carriage, when the distance between the center of the collected object load and the center of the placement unit in the first direction is equal to or greater than a threshold, the object load is unloaded,
With the target load unloaded, the transport carriage is moved to a position in the first direction where the center of the target load and the center of the placement section substantially coincide with each other. 8. The automatic warehouse system according to claim 7, wherein the operation of the transport carriage is controlled so as to collect the load again.   The predetermined relative positional relationship is a positional relationship in which an end portion of the target load in the first direction and an end portion of the placement portion in the first direction substantially coincide with each other. Item 7. The automatic warehouse system according to item 6. An automatic warehouse system capable of storing loads,
A storage shelf for storing the load,
A transporting carriage having a placing portion for placing a load and capable of traveling in the first direction;
Relative position between the target load placed on the placement unit and another load stored before the target load, adjacent to the position where the target load is stored in the storage shelf. A position sensor for detecting the relationship;
A control unit for controlling the operation of the carriage,
With
The control unit stops the transport carriage at a position where a positional relationship between the target load and the another load is a predetermined relative positional relationship, and the target load is placed on the storage shelf by the transport cart. An automatic warehouse system for controlling the operation of the transport carriage so as to store the container.   The predetermined relative positional relationship is a positional relationship in which an end portion on one end side in the first direction of the target load and an end portion on the other end side in the first direction of the other load substantially coincide. The automatic warehouse system according to claim 11, wherein there is an automatic warehouse system.   The predetermined relative positional relationship is such that an end on one end side in the first direction of the target load and an end on the other end side in the first direction of the other load are separated by a predetermined distance. The automatic warehouse system according to claim 12, wherein the positional relationship is inconsistent. An automatic warehouse system capable of storing loads,
A storage shelf for storing the load,
A transporting carriage having a placing portion for placing a load and capable of traveling in the first direction;
A position sensor for detecting a relative positional relationship between the target load and the transport carriage;
A control unit for controlling the operation of the carriage,
With
The control unit mounts the target load on the mounting unit at a position where a relative positional relationship between the target load and the mounting unit in the first direction is a predetermined relative positional relationship. An automatic warehouse system characterized by controlling the operation of the transport cart so that the transport cart is moved later and the target load is stored in the storage shelf.   The predetermined relative positional relationship is a positional relationship in which a center of the target load in the first direction and a center of the placement portion in the first direction substantially coincide with each other. Automatic warehouse system described in.   The predetermined relative positional relationship is a positional relationship in which an end portion of the target load in the first direction and an end portion of the placement portion in the first direction substantially coincide with each other. Item 15. The automatic warehouse system according to Item 14.   The automatic warehouse system according to any one of claims 6, 11, and 14, further comprising a determining unit that determines the predetermined relative positional relationship from among a plurality of relative positional relationships.   The determining means determines the predetermined relative positional relationship according to any of the size of the load in the first direction, the number of loads stored in the storage shelf, and the length of the storage shelf. The automatic warehouse system according to claim 17, wherein the system is an automatic warehouse system.   18. The automatic warehouse system according to claim 17, wherein the determining unit determines the predetermined relative positional relationship in accordance with a user input.

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