JP2020117377A - Automatic warehouse control device and delivery control method of crane in automatic warehouse - Google Patents

Abstract

To provide an automatic warehouse control device capable of improving delivery capacity, and a delivery control method of a crane in an automatic warehouse.SOLUTION: Delivery instructions for one batch are input to pallets stored in a plurality of shelves that are taken charge by one crane, and the input delivery instructions are re-sorted in order of a shorter distance from each shelf to a crane-side delivery conveyor, and the pallets are taken out from the shelves in the re-sorted order to transport to the crane-side delivery conveyor.SELECTED DRAWING: Figure 5

Description

The present disclosure relates to an automatic warehouse control device and a method for controlling the leaving of a crane in an automatic warehouse.

An automatic warehouse for loading and unloading a load generally has a structure including a shelf, a crane, a crane side loading/unloading conveyor, a loading/unloading conveyor, a loading/unloading conveyor, a picking conveyor, a carrier, and the like.

In the warehousing operation, loads are unloaded from a truck or the like, loaded on a pallet, and warehousing information is input from a warehousing terminal. Next, a load is loaded from the warehousing conveyor in units of pallets, moved to the shelves by the carrier, and stored in the target shelves by the crane.

In the shipping operation, a target pallet is taken out from the shelf by a crane in response to a shipping instruction, and then a picking conveyor or a shipping conveyor is brought out by a transporting vehicle to take out a load corresponding to the shipping instruction. At the picking conveyor, a worker manually picks a load corresponding to a shipping instruction from a pallet (picking shipping). At the delivery conveyor, each pallet is paid out by a forklift (unit delivery).

In the case of goods receipt, there are new goods receipt that newly receives pallets, and re-stock receipt that receives pallets after picking. In both cases, the crane cyclic logic is used. Crane cyclic means that multiple cranes are installed in order from the downstream side or in order from the upstream side and then loaded or reloaded.

JP 2001-163415 A JP, 2002-087547, A

By the way, focusing on the movement of the crane in the automatic warehouse, the movement at the time of loading and unloading of the crane can be minimized and efficiency can be improved by performing loading and unloading near the shelf to be loaded next time.
However, although the conventional crane control can maximize the number of cases of loading and unloading per unit time in an automated warehouse, it is not always efficient from the viewpoint of the number of shipping and unloading.

In view of the above problems, the present disclosure aims to provide an automatic warehouse control device and a crane outgoing control method for an automatic warehouse that can improve the shipping efficiency.

A first aspect for achieving the above object is to input a leaving instruction for one crane to a pallet stored in a plurality of shelves handled by one crane, Outgoing order rearranging means for rearranging the shelves and the crane-side outgoing conveyor in order of decreasing distance, and issuing to instruct the crane to take out the pallets from the shelves in the sorted order and convey them to the crane-side outgoing conveyor. An automatic warehouse control device including a processing means.

Moreover, the 2nd aspect inputs the leaving instruction for 1 crane with respect to the pallet stored in the plurality of shelves which one crane is in charge of, and inputs the leaving instruction into each shelf and the crane side delivery conveyor. Is sorted in ascending order of distance, and the pallets are taken out from the shelves and transported to the crane-side shipping conveyor in the sorted order, and the shipping control method for the crane in the automatic warehouse is provided.

According to the present disclosure, shipping efficiency can be improved.

It is explanatory drawing which shows the structural example of the automatic warehouse in embodiment. It is a block diagram showing composition of an automatic warehouse control device in an embodiment. It is explanatory drawing which shows the movement at the time of loading/unloading in the crane currently generally implemented. It is explanatory drawing which shows operation|movement of the crane in embodiment. It is a flow chart which shows a processing procedure of an automatic warehouse control device in an embodiment.

First, the configuration of the automated warehouse targeted by the present embodiment will be described with reference to FIG.

FIG. 1 is a plan view of the automated warehouse 1 seen from above. The automated warehouse 1 includes shelves 2, a crane 3, a carrier system 4, and a loading/unloading area system 5.

The shelf 2 stores the loaded goods, and in the embodiment, eight shelf rows T1 to T8 are arranged. Each of the shelf rows T1 to T8 has a plurality of storage shelves in a matrix shape in the depth direction and the vertical direction.

The crane 3 is, for example, a stacker crane, which reciprocates on the crane rail along the depth direction of the shelves, and moves up and down on the shelves by the elevating table to move the pallets into and out of the target shelves. To do.

In the embodiment, four cranes 3 are provided. The first crane 31 loads and unloads the shelves T1 and T2. The second crane 32 loads and unloads the rack rows T3 and T4. The third crane 33 loads and unloads the rack rows T5 and T6. The fourth crane 34 loads and unloads the rack rows T7 and T8.

The transport carriage system 4 is a system that transports the pallets received from the storage conveyor to the shelf 2 side (the crane 3 side) and the pallets output from the shelf 2 to a picking conveyor or a storage conveyor described later. The carriage system 4 includes a carriage rail 6 formed in a loop shape, and one or a plurality of carriages 7 traveling on the carriage rail 6 in a clockwise direction.

A warehousing conveyor 8, a warehousing conveyor 9, and a picking conveyor 10 are arranged on the warehousing/unloading area 5 side of the carrier system 4. Each of the conveyors 8 and 9 has a space capable of carrying three pallets. The picking conveyor 10 includes two sets of picking conveyors, and a set-out picking conveyor and a re-entry side picking conveyor are included in the set, and each has a space capable of carrying three pallets. In addition, a space for picking is provided at one position on the leading end of the delivery side picking conveyor. The "conveyor in use" means a state in which at least one pallet is placed on the conveyor.

The warehousing conveyor 8 conveys the load that is unloaded from the truck stopped on the truck berth 11 and loaded on the pallet. The truck berth 11 is also called a loading/unloading area, and is a space for loading and unloading a load between the loading/unloading area system 5 and the truck.

The delivery conveyor 9 delivers the pallets that have been delivered from the shelves 2 and carried by the transport carriage 7 to the truck berth 11 for delivery.

The picking conveyer 10 takes out a desired load from the pallet carried by the transport carriage 7 by a worker manually (picking work), and carries the pallet for storing again. The picking conveyor 10 includes a first picking conveyor 21 and a second picking conveyor 22, and either the first picking conveyor 21 or the second picking conveyor 22 which is free is selected. Further, the first picking conveyor 21 includes a delivery side picking conveyor 21A and a re-entry side picking conveyor 21B. The re-stocking-side picking conveyor refers to a conveyor for re-stocking a pallet on which a part of a load is picked. Similarly, the second picking conveyor 22 includes a delivery-side picking conveyor 22A and a re-entry side picking conveyor 22B.

A crane side conveyor 12 is installed in the carrier system 4. The crane-side conveyor 12 includes a crane-side exit conveyor C1 and a crane-side entrance conveyor C2 corresponding to the first crane 31. The crane-side conveyor 12 also includes a crane-side exit conveyor C3 and a crane-side entrance conveyor C4 corresponding to the second crane 32. Further, the crane-side conveyor 12 includes a crane-side exit conveyor C5 and a crane-side entrance conveyor C6 corresponding to the third crane 33. Further, the crane-side conveyor 12 includes a shelf crane-side shipping conveyor C7 and a crane-side loading conveyor C8 corresponding to the fourth crane 34. The crane side conveyor 12 also has a space capable of carrying three pallets. When three pallets are placed on the conveyor or in the middle of transportation for transportation, or when the pallets are allocated to the transportation carriage and are in the middle of transportation, the conveyor is in a state with no empty space.

Two home positions HP1 and HP2 are installed in the carrier system 4. The home position HP1 is the origin position of the transport carriage 7 at the time of leaving the warehouse, and outputs transport instructions for pallet picking and pallet lowering. The home position HP2 is the origin position of the transport carriage 7 at the time of storage, and outputs transport instructions for pallet picking and pallet lowering. A first position sensor 13 is installed near the home position HP1, and a second position sensor 14 is installed near the home position HP2.

As will be described later with reference to FIG. 2, the home position HP2 includes a control unit 16. That is, the first position sensor 14 detects the pallet loaded with the load via the storage conveyor 8 or the carrier truck 7 carrying the reloading pallet after a part of the load is picked by the picking conveyor 10. At the time of detection, the carriage 7 is temporarily stopped. After that, the home position HP2 determines whether or not the carriage 7 is to be departed from HP2 according to the preparation status of the warehousing conveyors C2, C4, C6, C8 of the crane side conveyor 12 and the congestion state. Control.

As will be described later with reference to FIG. 2, the home position HP1 includes a control unit 15. That is, the pallets unloaded from the exit conveyors C1, C3, C5, C7 of the crane-side conveyor 12 are mounted on the transport carriage 7. When the transport carriage 7 is detected by the second position sensor 13, the transport carriage 7 is temporarily stopped. After that, the home position HP1 controls the traveling of the transport carriage 7 such as whether or not the transport carriage 7 departs from the HP1 according to the preparation status of the delivery conveyor 9 or the picking conveyor 10, the congestion state, and the like.

As shown in FIG. 2, the automated warehouse 1 in the embodiment is integrally controlled by an automated warehouse control device 100 configured by a computer. A storage terminal 200, a conveyor controller 300, a carrier controller 400, a crane controller 500, and a crane-side conveyor controller 600 are connected to the automatic warehouse control device 100. Further, the automatic warehouse control device 100 is connected to a control unit 15 for the home position HP1 and a control unit 16 for the home position HP2.

The hardware configuration of the automatic warehouse control device 100 includes one or more processors, a main storage device such as a RAM (Random Access Memory) and a ROM (Read Only Memory), and an auxiliary storage device such as a hard disk device. Further, it is provided with an input device such as a keyboard, an output device such as a display, and a communication device which is a data transmitting/receiving device. Each function shown in FIG. 2 of the automatic warehouse control device 100 is realized by causing hardware such as a main storage device to read one or a plurality of predetermined computer programs. That is, it is realized by operating each hardware under the control of one or more processors by the read computer program and reading and writing data in the main storage device and the auxiliary storage device.

The control unit 15 at the home position HP1 executes the delivery control of the transport carriage 7 at the time of delivery. Further, the control unit 16 at the home position HP2 executes the warehousing control of the carrier vehicle 7 at the time of warehousing.

The warehousing terminal 200 outputs information on a pallet basis regarding a load unloaded on the truck berth 11 (type of load, number, pallet number, etc.) to the automatic warehouse control device 100 as warehousing information.

The conveyor controller 300 is composed of a programmable logic controller (hereinafter referred to as PLC). The conveyor controller 300 includes a storage conveyor controller 301 that controls the storage conveyor 8, a storage conveyor controller 302 that controls the storage conveyor 9, and a picking conveyor controller 303 that controls the picking conveyor 10. The conveyor controller 300 cooperates with the automatic warehouse control device 100 to execute drive control of each conveyor.

The transport carriage controller 400 receives a control command from the control unit 15 at the home position HP1 and the control unit 16 at the home position HP2, and executes traveling control of the transport carriage 7 traveling on the carriage rail 6. Further, the carrier vehicle controller 400 can also execute the traveling control of the carrier vehicle 7 in accordance with a control command from the automatic warehouse control device 100.

The crane controller 500 executes traveling control and lifting control of each crane 3. In this embodiment, a first crane controller 501 that controls the first crane 31 and a second crane controller 502 that controls the second crane 32 are provided. In addition, a third crane controller 503 that controls the third crane 33 and a fourth crane controller 504 that controls the fourth crane 34 are provided.

The crane-side conveyor controller 600 executes conveyance control of the crane-side conveyor 12 (C1 to C8). In the present embodiment, a first conveyor controller 601 that controls the crane-side conveyors C1 and C2 for loading and unloading by the first crane 31 is provided. In addition, a second conveyor controller 602 that controls the crane side conveyors C3 and C4 for loading and unloading by the second crane 32 is provided. Further, a third conveyor controller 603 for controlling the crane side conveyors C5, C6 for loading and unloading by the third crane 33 is provided. Further, it is provided with a fourth conveyor controller 604 which controls the crane side conveyors C7 and C8 for loading and unloading by the fourth crane 34.

The automatic warehouse control device 100 includes an input/output unit 101, a storage/delivery control unit 102, an inventory database unit 103, a storage history database unit 104, a storage history database unit 105, a storage/crane allocation unit 106, and a display unit. And 108.

The input/output unit 101 executes input/output of data and various commands with the control unit 15 of the home position HP1 and the control unit 16 of the home position HP2. Further, the input/output unit 101 executes input/output of data and various commands between the receiving terminal 200, the conveyor controller 300, the carrier controller 400, the crane controller 500, and the crane-side conveyor controller 600. Further, the input/output unit 101 is connected to the warehousing/leaving control unit 102, the inventory database unit 103, the warehousing history database unit 104, and the warehousing history database unit 105, and executes input/output of data and various commands.

The warehousing/leaving control unit 102 serves as a control center of the automatic warehouse control device 100. The warehousing/leaving control unit 102 executes input/output control for the warehousing history database unit 104 and the warehousing history database unit 105. Further, the warehousing/leaving control unit 102 executes control of the conveyor controller 300, the carrier controller 400, and the crane controller 500. Further, the warehousing/leaving control unit 102 also executes control of the crane-side conveyor controller 600 and display control of the display unit 108.

The inventory database unit 103 records and saves inventory data such as the type of cargo stored in the shelf 2 and the quantity thereof.

When the receiving history database unit 104 receives the receiving instruction from the receiving terminal 200, the re-entering instruction from the conveyor controller 300, and the crane receiving operation completion data from the crane controller 500, the receiving history database unit 104 records and stores the receiving history data.

The shipping history database unit 105 is data of the shipping instruction from the shipping and unloading control unit 102, the crane shipping operation completion from the crane controller 500, the shipping completion from the conveyor controller 300, and the crane restocking operation completion from the crane controller 500. When is received, it is recorded and stored as delivery history data.

The crane allocating unit 106 includes a shipping order rearranging unit. When there is an input of a batch shipping instruction for a pallet stored in a plurality of shelves handled by one crane, the shipping order rearranging means outputs the shipping instruction to each shelf and the crane side shipping conveyor. Sort in ascending order of distance. Specifically, the inventory database unit 103 is searched based on the issue instruction for one batch. As a result of the search, the transportation time of the crane from the shelf 2 in which the pallet of the relevant load is stored to the crane side delivery conveyor is calculated, and the shipping instructions are rearranged in the order of shorter transportation time.

The display unit 108 displays various screen data for the worker.

<Automatic warehouse entry/exit processing>
In the automated warehouse 1 described above, the warehousing/delivery is controlled by the following processing. Here, description will be given by taking the loading and unloading of the load A as an example.

When the operator loads X pieces of the load A on the pallet and inputs the receipt information to that effect from the receipt terminal 200, the receipt information is output to the automatic warehouse control device 100.

When the pallet loaded with the load A is placed on the transport vehicle 7 via the receiving conveyor 8, the transport vehicle controller 400 causes the transport vehicle 7 to receive the information indicating that the pallet is loaded on the transport vehicle 7, and the automatic warehouse control device 100. Check the match with the receipt information from. When the coincidence is confirmed, a start signal is output to this carrier 7. As a result, the carrier truck 7 on which the pallet is placed travels on the truck rail 6. In the embodiment, the transport carriage 7 travels clockwise.

When the second position sensor 14 detects that the empty carrier vehicle 7 has arrived at the home position HP2, it temporarily stops and waits for the next instruction. If the crane-side loading conveyors C2, C4, C6, C8 of the crane-side conveyor 12 are not congested and there is a loading pallet at the tip of the loading conveyor 8 and the tips of the reloading-side picking conveyors 21B and 22B, the home position HP2 is set. A traveling instruction is output from the control unit 16 to the transport carriage controller 400. As a result, the empty carrier vehicle 7 travels to the storage conveyor with the storage pallet and stops. After the stop, the storage pallet is taken in from the front end of the storage conveyor, travels to the corresponding storage conveyor that has a shelf row to be stored, and stops. Then, it is conveyed by one of the designated crane-side loading conveyors C2, C4, C6, C8, and is loaded into the desired shelf 2 by the corresponding crane 3.

On the other hand, at the time of warehousing, the reverse process to that at the time of warehousing is executed. When there is a delivery instruction, the pallet loaded with the load A is taken out from the target shelf 2 by the crane 3. The taken-out pallets are loaded on the carriage 7 via the crane-side delivery conveyors C1, C3, C5, C7 and run. When the transport carriage 7 is detected by the first position sensor 13, the vehicle temporarily stops before the home position HP1. The control unit 15 at the home position HP1 looks at the vacant state of the delivery conveyor 9 or the picking conveyor 10 and starts the transport vehicle 7 if there is no congestion.

In the shipping operation, in the case of a unit shipping in which the load A of the pallet is shipped as it is, it is shipped via the shipping conveyor 9. Further, in the case of picking and unloading a part of the load A of the pallet by picking, a small number of pallets waiting for the picking work are selected from the first picking conveyor 21 or the second picking conveyor 22 of the picking conveyor 10. Is selected. Then, a predetermined number of loads A are picked by the worker via the unloading side picking conveyor 21A of the first picking conveyor 21 or the unloading side picking conveyor 22A of the second picking conveyor 22 to be unloaded. The picked pallets are reloaded via the reloading-side picking conveyor 21B or 22B.

<Efficiency of unloading crane>
FIG. 3 is an explanatory diagram showing the movement of a commonly-used crane during loading and unloading.
In FIG. 3, (1) indicates movement for warehousing, (2) indicates movement to a delivery shelf, and (3) movement for unloading. The movement of (1) indicates the movement of the crane for warehousing when the warehousing instruction is issued from the home position HP1. The movement of (2) indicates the movement of the crane to the output shelf after the storage to the desired storage shelf is completed. In the movement of (3), a desired pallet is taken out from the delivery shelf and is moved to the crane side delivery conveyor for delivery.

If the movement distances shown in (1) to (3) above are the shortest, the crane can be efficiently loaded and unloaded. However, the movement of the crane is not efficient when focusing on unloading.

This will be specifically described with reference to FIG. As the movement of one crane in the automated warehouse, the movement of the fourth crane 34 will be focused here.

As shown in FIG. 4, it is assumed that the pallets are stored in the shelves 2 in the meshed portions. Attention is paid to the fourth crane 34 as one crane. The fourth crane 34 loads and unloads the rack row T7 and the rack row T8. As shown in FIG. 4, it is assumed that pallets P1, P2, P3, P4, and P5 are stored in the rack rows T7 and T8 in the order closer to the conveyor.

As described above, if the goods are delivered in the order of being closer to the conveyor, the movement of the crane is the shortest, and the goods can be delivered in the minimum time. However, if there is a shipping instruction for one batch, and if the shipping is performed in the order of the shipping instruction, the shipping will be random, which is not efficient. For example, if the unloading instruction is to unload the pallets P2, P5, P3, P1, P4 in this order, the movement of the fourth crane 34 will be inefficient. Further, when the leaving instruction and the receiving instruction for the fourth crane 34 are mixed, the leaving process and the receiving process are repeated, which is more inefficient.

In the present embodiment, when paying attention to one crane, here, the fourth crane 34, the shipping process is prioritized, and in the shipping process, shipping can be carried out in order from the pallet of the shelf 2 close to the crane-side shipping conveyor C7. By rearranging the instructions, we are trying to improve the efficiency of unloading the crane.

In the flowchart of FIG. 5, the crane allocating unit 106 first monitors whether there is a leaving instruction, and when there is a leaving instruction (step S1 YES), executes a process of changing the leaving order (step S2). In this replacement processing, the shipping order is switched so that the pallets stored in the shelf address near the crane-side shipping conveyor C7 can be shipped in order. Specifically, for example, when an instruction to issue a batch for one batch is input to a pallet stored in a plurality of shelves handled by one crane, the issue instruction is issued to each shelf 2 and the crane side. The items are rearranged in order of increasing distance from the delivery conveyor C7. Specifically, the inventory database unit 103 is searched based on the issue instruction for one batch. As a result of the search, the transportation time of the crane from the shelf 2 in which the pallet of the relevant load is stored to the crane side shipping conveyor C7 is calculated, and the shipping instructions are rearranged in the order of shorter transportation time.

When the shipping order is changed, the shipping process is executed in that order (step S3). In the shipping process, the fourth crane 34 takes out the pallet from the shelf 2 and conveys it to the crane-side shipping conveyor C7. As shown in FIG. 4, the crane-side delivery conveyor C7 has mounting spaces C71, C72, C73 on which three pallets are placed. When all of the loading spaces C71, C72, C73 are filled with pallets, there is a traffic jam in which the unloading process by the crane-side unloading conveyor C7 cannot be performed. Therefore, the controller of the crane-side exit conveyor C7 (the fourth conveyor controller 604) monitors whether or not the crane-side exit conveyor C7 is congested during the exit processing (step S4). If there is no traffic jam on the crane side shipping conveyor C7 and the shipping process is not completed (steps S4 and S5), the shipping process is continued (step S3).

When all the loading spaces C71, C72, C73 of the crane side shipping conveyor C7 are full and there is congestion, the shipping process is temporarily interrupted (steps S4 YES, S6). Next, it is determined whether or not there is a warehousing instruction (hereinafter, also referred to as a "warehousing instruction" including a re-warehousing instruction), and if there is a warehousing instruction, a warehousing process is executed (steps S7 YES, S8). If there is no storage instruction, the process waits for the congestion on the crane side delivery conveyor C7 to be cleared (steps S7 NO, S4). In addition, it is desirable that the pallet that is the object of the warehousing or re-housing process is warehousing or rehousing near the shelf 2 where the next warehousing is scheduled.

Even during the warehousing process, the fourth conveyor controller 604 monitors the presence or absence of traffic congestion on the crane-side warehousing conveyor C7, and if the traffic congestion continues, the warehousing process continues as it is (steps S9YES, S10, S8). ).

On the other hand, if the crane side shipping conveyor C7 is not congested during the shipping process (step S3) (step S4 NO), the shipping process is continued (step S9). Further, when the congestion of the crane side exit conveyor C7 is resolved during the warehousing process (step S9 NO), the warehousing process is temporarily suspended (step S11), and the suspended warehousing process is restarted.

If there is a warehousing instruction at the time when the warehousing process ends (step S5 YES), the warehousing process is executed (steps S5 YES, S12 NO, S8). If the warehousing instruction is not issued at the time when the warehousing process is completed (step S5 YES, S12), the warehousing process is completed.

As described above, according to the embodiment, the operating time of the fourth crane 34 is shortened, and the time required for leaving the warehouse can be shortened. Further, if there is a storage instruction when a traffic jam occurs during the delivery processing, the storage processing is executed, so that the fourth crane 34 does not wait and efficient crane control is possible.

Although the present disclosure has been described in detail above using the embodiments, the present disclosure is not limited to the embodiments described in the present specification. The scope of the present disclosure is determined by the description of the claims and the scope equivalent to the description of the claims.

1...Automatic warehouse, 2...shelf, 3...crane, 4...transportation trolley system, 5...entry/unload area system, 6...truck rail, 7...transportation trolley, 8...entry conveyor, 9...delivery conveyor, 10...picking conveyor , 11... Track berth, 12... Crane side conveyor, 13... First position sensor, 14... Second position sensor, 15... Home position HP1 control unit, 16... Home position HP2 control unit, 21... First picking conveyor , 22... second picking conveyor, 21A, 22A... exit side picking conveyor, 21B, 22B... re-entry side picking conveyor, 31... first crane, 32... second crane, 33... third crane, 34... fourth crane , 100... Automatic warehouse control device, 101... Input/output section, 102... Entry/exit control section, 103... Inventory database section, 104... Entry history database section, 105... Entry history database section, 106... Crane allocation section, 108... Display Part, 200... Warehousing terminal, 300... Conveyor controller, 301... Warehousing conveyor controller, 302... Outgoing conveyor controller, 303... Picking conveyor controller, 400... Conveyor vehicle controller, 500... Crane controller, 501... 1 crane controller, 502... 2nd crane controller, 503... 3rd crane controller, 504... 4th crane controller, 600... Crane side conveyor controller, 601... 1st conveyor controller, 602... 2nd conveyor Controller, 603... Third conveyor controller, 604... Fourth conveyor controller, C1, C3, C5, C7... Crane side exit conveyor, C2, C4, C6, C8... Crane side entrance conveyor, T1-T8... Shelf Row, HP1... 1st home position, HP2... 2nd home position.

Claims (6)

When there is an instruction to issue a batch of shipping for pallets stored in multiple shelves handled by one crane, the shipping instructions are issued in the order of increasing distance between each shelf and the crane-side shipping conveyor. A shipping order sorting means for sorting,
Outgoing processing means for instructing the crane to take out the pallets in the rearranged order from the shelves and convey them to the crane side outgoing conveyor,
Automatic warehouse control device equipped with. The shipping order rearranging means calculates the time for the crane to carry from the shelf to the crane side shipping conveyor, and sorts the shipping instructions in ascending order of carrying time,
The automatic warehouse control device according to claim 1. When there is an instruction to enter or re-enter the shelf in charge of the crane while the delivery by the delivery processing means is congested, the loading or re-entry processing by the crane until the delivery congestion is resolved. The automatic warehouse control device according to claim 1 or 2, which carries out. When the crane side delivery conveyor is full of pallets, it is determined that there is congestion in delivery.
The automatic warehouse control device according to claim 3. The pallet subject to the warehousing or re-housing process is warehousing or re-housing near the shelf where the next warehousing is scheduled,
The automatic warehouse control device according to claim 3 or 4. Enter the shipping instruction for one batch for pallets stored in multiple shelves handled by one crane,
The input shipping instructions are sorted in the order in which the distance between each shelf and the crane-side shipping conveyor is short,
The pallets are taken out from the shelves in the rearranged order and conveyed to the crane side delivery conveyor,
Control method of crane output in automated warehouse.

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