JP2021113130A - 保管システム及び方法 - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
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- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0485—Check-in, check-out devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
- B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/045—Storage devices mechanical in a circular arrangement, e.g. towers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
- B65G1/127—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like the circuit being confined in a vertical plane
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/56—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from inclined or vertical conveyor sections
- B65G47/57—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from inclined or vertical conveyor sections for articles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
Abstract
Description
[関連出願の相互参照]
本願は、米国仮特許出願第61/168,349号(出願日2009年4月10日)の利益を主張し、当該仮特許出願の開示内容は、その全体を参照することによって本明細書に含まれている。
本実施例は、全体としてマテリアルハンドリングシステムに関し、特に、自動化された保管及び取り出しシステムに関する。
なる。例えば、ケースユニットは、マルチレベル垂直コンベヤ150A(図1)に搬送されて(図37、ブロック371201)、ボット110によって所定の保管場所に搬送される(図37、ブロック371203)(図37、ブロック371204)。上述の態様と実質的に同様の態様にて、ボット110が、所定のケースユニットを所定の保管場所から取り出され(図37、ブロック371205)、取り出されたケースユニットがマルチレベル垂直コンベヤ150Bに搬送され(図37、ブロック371206)、次に、例えば、パレット化ステーション2820A、2820Bと一体になっているかまたは隣接していてもよい特定の注文構築作業ステーション351002に搬送され得る(図37、ブロック371208)。アイテム−レベル注文−達成センターにおいて、注文構築は、取り出し及びパッケージング(pick-and-pack)処理を含み、この処理において、特定数のケースユニットがケースユニットから取り出され、パレット、箱またはトート等の搬出配送コンテナ内に配される。取り出しが完了した後にケースユニット内に残っているケースユニットがある場合、ケースユニットは保管構造内の特定の場所に返還される(通常は元の場所であるが、必ずしもそうでなくともよい)。
自動化小売店の1つの実施例において、買い物端末は、本質的に、CPU、メモリ、無線ネットワークインタフェース(802.11b等)、バーコードスキャナ、及びユーザインタフェース(ユーザへの情報を表示するスクリーン、ボタン及び/またはユーザからのタッチ入力を許容する透明タッチスクリーンオーバーレイからなるもの)からなる携帯バッテリー駆動コンピュータである。スキャナ上のソフトウェアは、オペレーティングシステム(リナックス等)、ブラウザ(オペラ等)、及びデバイスドライバを含む。システムマスタコンピュータ上で実行されるアプリケーション−サーバソフトウェアは、スクリーンに表示されるべき情報を生成する。買い物端末上のブラウザは、端末とアプリケーション−サーバソフトウェアとの間の情報の相互交換を制御し、端末のスクリーンにサーバに提供された情報を表示する。アプリケーション−サーバソフトウェアに対して端末(従って買い物客)を特定するために使用される固有の識別子が、買い物端末の各々のメモリ内に保存されている。買い物端末として使用可能な現存する市場入手可能なハンドヘルドデバイスの2つの例は、SymbolTechnologies社のPPT2800及びPDT7200である。
買い物が完了すると、買い物客は、ロビーにある利用可能な精算ステーション361107に進む。銀行におけるATMに似て、精算ステーション361107は、それ自体が、CPU、メモリ、ネットワークインタフェース(無線または有線)、並びにクーポン獲得デバイス、現金両替機、磁気カードリーダ、プリンタ及びタッチセンサ式のスクリーン周辺機器のアレイを有するコンピュータである。精算ステーションの各々は、その前面に目立つように配されている識別バーコードを有しており、顧客は、買い物端末でこのバーコードをスキャンすることによって精算手続きを開始する。このことは、精算ステーションを稼働させ、買い物端末を停止させる。最後の数量変更の後、顧客は、注文の内容に責任を持ち、クーポン、現金及び/または電子決済で支払いを行う。大量の精算マシンを導入することで、小売店主は、精算において顧客が行列内で待つ必要を効果的に解消することが可能である。
一度支払いが完了すると、生産ステーション361107は、バーコードID番号を含む紙のレシートを印刷する。スクリーンは、店での買い物に対する顧客への感謝を述べ、買い物端末の返却を求め、注文品を受け取れるようになるまでのおおよその時間を顧客に報告するメッセージを表示する。その後、顧客は、買い物端末の置き場に端末を返却し、彼または彼女の車に行き、受け取りエリア361103に車で移動する。受け取りエリア36113において、顧客の注文が搬送システムによって配送される特定の受け取りベイ361110に顧客を誘導するサインが出される。レシート上のバーコードが確認のためにスキャンされ、その後、注文品が、顧客または店の従業員による顧客の車への積み込みのために放出される。
Claims (15)
- 保管設備へのまたはそこからの配送のためにケースユニットのパレット化された積荷とすべく配列される複数のケースユニットを取り扱う自動化ケースユニット保管システムであって、前記自動化ケースユニット保管システムが、
動的に割り当てられる複数の所定の保管エリアを有するマルチレベル保管ラックのアレイであって、複数のシェルフ上の前記複数の所定の保管エリアが保管レベルの各々において非決定的な搬送デッキによって接続されている通路に沿って配されており、前記非決定的な搬送デッキが通路の各々の両側において延在しているマルチレベル保管ラックのアレイと、
前記所定の保管エリアへまたはそこから前記ケースユニットを搬送する自立搬送ビークルと、を含み、
前記自立搬送ビークルが、
フレームと、
少なくとも1つのケースユニットを保持する支持シェルフであって、伸展位置と格納位置との間で移動自在なように前記フレームと移動自在に接続されている支持シェルフと、
前記フレームに設けられている駆動システムと、
前記フレームに設けられている案内デバイスと、を含み、
前記駆動デバイス及び前記案内デバイスは、前記自立搬送ビークルが前記非決定的な搬送デッキを移動して、前記非決定的な搬送デッキから通路の各々への自由な方向転換を行うように構成され、前記自立搬送ビークルは、通路の各々の両側において前記非決定的な搬送デッキから通路の各々への方向転換を行い、各々の通路の複数のシェルフに対する前記各々の通路内の自立搬送ビークルの位置を記録し、かつ前記支持シェルフを位置決めして前記自立搬送ビークルによる当該動的に割り当てられる複数の所定の保管エリア内への異なるサイズのケースユニットの動的な割当をなすことを特徴とする自動化ケースユニット保管システム。 - 請求項1に記載の自動化ケースユニット保管システムであって、前記ケースユニットの動的割り当ては、前記自立搬送ビークルが前記マルチレベル保管ラックのアレイの取り出し通路に沿った動的に判定された位置に停止して、前記支持シェルフの少なくとも一部を、前記マルチレベル保管ラックのアレイ内に配されているケースユニットまたは空スペースと並置されるようにアラインメントし、前記支持シェルフと前記ケースユニットまたは前記空スペースに対応する保管エリアとの間で少なくとも1つのケースユニットを搬送することを含むことを特徴とする自動化ケースユニット保管システム。
- 請求項1に記載の自動化ケースユニット保管システムであって、前記マルチレベル保管ラックのアレイは、トラック化された搬送エリア及びトラック化されていない搬送エリアを通して前記自立搬送ビークルを案内するために、トラック化された搬送エリアを有するフロアを含み、前記自立搬送ビークルは、前記トラック化された搬送エリア及び前記トラック化されていない搬送エリアとの間で遷移し、前記案内デバイスは、前記トラック化されていない搬送エリア内で前記自立搬送ビークルを非接触態様にて案内するために前記トラック化されていない搬送エリアの少なくとも1つの特徴を検出する少なくとも1つのセンサを含むことを特徴とする自動化ケースユニット保管システム。
- 請求項1に記載の自動化ケースユニット保管システムであって、前記所定の保管エリアが、開口チャンネルによって分離された持ち上がった支持面を有する薄板保管シェルフを含み、前記案内デバイスが前記マルチレベル保管ラック内で前記自立搬送ビークルを配置して前記所定の保管エリアにおける前記ケースユニットの動的割り当てを行うために前記持ち上がった支持面を検出するセンサを含むことを特徴とする自動化ケースユニット保管システム。
- 請求項4に記載の自動化ケースユニット保管システムであって、前記支持シェルフは、前記開口チャンネル内に進入して前記薄板保管シェルフ上からケースユニットを取り出しかつ前記薄板保管シェルフ上にケースユニットを配置する伸展可能フィンガを含むことを特徴とする自動化ケースユニット保管システム。
- 請求項5に記載の自動化ケースユニット保管システムであって、前記支持シェルフは移動自在なプッシャーバーを含み、前記伸展可能フィンガの各々が、前記プッシャーバーまたは前記フレームに選択的にラッチングされ、前記プッシャーバーにラッチングされた場合に、前記フィンガの各々が前記プッシャーバーによって伸展させられかつ格納させられることを特徴とする自動化ケースユニット保管システム。
- 請求項6に記載の自動化ケースユニット保管システムであって、前記支持シェルフが、前記支持シェルフ上でケースユニットを固定するために前記プッシャーバーと協働する移動自在フェンスをさらに含むことを特徴とする自動化ケースユニット保管システム。
- 請求項4に記載の自動化ケースユニット保管システムであって、前記自立搬送ビークルは、前記支持シェルフを上昇及び下降させて前記薄板保管シェルフへまたはそこからケースユニットを搬送するリフトデバイスを含むことを特徴とする自動化ケースユニット保管システム。
- 請求項1に記載の自動化ケースユニット保管システムであって、前記フレームは、第1の端部及び第2の端部を有し、前記自立搬送ビークルは、前記第1の端部に配されて前記駆動システムによって駆動される別個に動作可能な駆動ホイールのペア及び前記第2の端部に配されている遊動ホイールのペアをさらに含むことを特徴とする自動化ケースユニット保管システム。
- 請求項9に記載の自動化ケースユニット保管システムであって、前記自立搬送ビークルは、前記第2の端部に配されている少なくとも1つのキャスタをさらに含み、前記少なくとも1つのキャスタは伸展されかつ格納され、前記キャスタの伸展が、前記遊動ホイールをフロア表面から持ち上げて前記自立搬送ビークルが前記少なくとも1つのキャスタによって前記駆動ホール周りにピボットすることを可能にすることを特徴とする自動化ケースユニット保管システム。
- 請求項1に記載の自動化ケースユニット保管システムであって、ケースユニットを前記マルチレベル保管ラックのアレイの所定のレベルまで搬送する実質的に連続的なリフトをさらに含み、前記実質的に連続的なリフトが、その上でケースユニットを取り扱うのに適した薄板搬送シェルフを含み、前記自立搬送ビークルが、直接または間接的に、ケースユニットを前記実質的に連続的なリフトの前記搬送シェルフに配置するかまたは前記搬送シェルフから取り去ることを特徴とする自動化ケースユニット保管システム。
- 請求項1に記載の自動化ケースユニット保管システムであって、フレーム及び前記フレームに移動自在に結合されている支持シェルフを有する垂直コンベヤをさらに含み、支持シェルフの各々は、前記支持シェルフの所定のエリア内で1または複数の非収容ケースユニットを保持し、前記自立搬送ビークルが、搬送ビークルの実質的に1つの取り上げ動作において、支持シェルフの各々と前記保管エリアとの間で、前記ケースユニットを実質的に直接搬送することを特徴とする自動化ケースユニット保管システム。
- 請求項12に記載の自動化ケースユニット保管システムであって、前記支持シェルフは、第1の細長いフィンガを含み、前記自立搬送ビークルは、第2の細長いフィンガを含み、支持シェルフの各々と前記自立搬送ビークルとの間で非収容ケースユニットを移動するために、前記第1及び第2の細長いフィンガが互いの間を通過することを特徴とする自動化ケースユニット保管システム。
- 請求項1に記載の自動化ケースユニット保管システムであって、前記支持シェルフは、前記フレームと一体化されておりかつ前記フレームに従属しており、前記支持シェルフは、前記支持シェルフによって保持される前記少なくとも1つのケースユニットに接触するケースユニット座面を形成し、前記支持シェルフは、前記自立搬送ビークルと保管エリアの各々との間、及び前記自立搬送ビークルと少なくとも1つのマルチレベル垂直コンベヤとの間で前記少なくとも1つのケースユニットを搬送することを特徴とする自動化ケースユニット保管システム。
- 保管設備へのまたはそこからの配送のためにパレット化された積荷とすべく配列される複数のケースユニットを取り扱う方法であって、
動的に割り当てられる複数の所定の保管エリアを有するマルチレベル保管ラックのアレイを設けるステップであって、前記複数の所定の保管エリアが通路に沿ったシェルフ上に配され、前記通路が保管レベルの各々において非決定的な搬送デッキによって接続されており、前記非決定的な搬送デッキが通路の各々の両側において延在しているマルチレベル保管ラックのアレイと、
前記マルチレベル保管ラックのアレイの通路内で自立搬送ビークルを位置決めするステップであって、前記自立搬送ビークルの案内デバイス及び駆動システムは、前記自立搬送ビークルが前記非決定的な搬送デッキを移動しかつ前記非決定的な搬送デッキから通路への自由な方向転換を行うように構成され、前記自立搬送ビークルは通路の各々の両側において前記非決定的な搬送デッキから通路の各々への方向転換をし、各々の通路のシェルフに対する前記各々の通路内の前記自立搬送ビークルの位置を記録し、かつ前記自立搬送ビークルの支持シェルフを位置決めして、前記自立搬送ビークルによる当該動的に割り当てられた複数の所定の保管エリア内への異なるサイズのケースユニットの動的な割当をなすステップと、を含むことを特徴とする方法。
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