JP2022034921A - Automatic warehouse system - Google Patents

Abstract

To provide an automatic warehouse system that can be efficiently operated, with a simple structure.SOLUTION: An automatic warehouse system 10 is equipped with a stacker crane 100, a rack 50 that extends in a depth direction crossing an extending direction of a passage 30 of the stacker crane 100, a shuttle 70 that carries and transports a cargo 20 in the rack 50, and a controller 300 that controls the stacker crane 100 and the shuttle 70. The rack 50 has multiple-stage placing shelves 51 aligned in a vertical direction, each of which can place a plurality of cargos 20 aligned in the depth direction, and can moves the shuttle 70 in the depth direction. The shuttle 70 has a first communication instrument 81 performing radio communication, and the stacker crane 100 has a second communication instrument 82 that performs radio communication with the first communication instrument 81 to relay communication between the controller 300 and the first communication instrument 81.SELECTED DRAWING: Figure 7

Description

The present invention relates to an automated warehouse system including a rack and a stacker crane.

For example, Patent Document 1 discloses an automated warehouse system including a rack having a large number of article storage shelves on the top, bottom, left, and right, and a stacker crane. In this automated warehouse system, the goods storage rack of the rack has a pair of left and right goods storage rails and a guide rail for a self-propelled vehicle below the rails. The self-propelled vehicle can move from the lift of the stacker crane to the guide rail of the article storage shelf and travel along the guide rail. The self-propelled vehicle has an elevating table, and by raising and lowering the elevating table, the article can be placed on the pair of left and right article mounting rails and the article can be received.

Jikkenhei 1-176606 Gazette

In the conventional automated warehouse system, for example, by providing a self-propelled vehicle for transporting articles in a rack, it is possible to efficiently store and retrieve articles in a short time. Such a self-propelled vehicle (shuttle) moves on one mounting shelf of the rack, and moves between a plurality of mounting shelves by a stacker crane. Therefore, information is exchanged by wireless communication with the controller located above the shuttle in the chain of command. Therefore, it is conceivable to arrange a plurality of access points that relay the communication between the controller and the shuttle around the rack so as to cover the arrangement range of the shuttle in the rack. That is, by making the communication path between the controller and the shuttle wireless at least between the shuttle and the access point, the shuttle can move without being hindered by the communication cable.

However, for example, when a large number of cargoes are placed on a rack, the plurality of cargoes may become obstacles to radio waves, and as a result, the shuttle may not be able to communicate. When the shuttle becomes incommunicable, not only the shuttle cannot perform new transportation work, but also further problems such as running out of battery occur, and as a result, the work efficiency of the entire automated warehouse system is reduced. In order to solve this problem, it is conceivable to place a large number of access points in the rack, but in this case, the number of access points that need to be managed increases. Therefore, measures that simply increase the number of access points are not preferable because they increase the human and economic burden of introducing and maintaining access points.

It is an object of the present invention to provide an automated warehouse system that can be efficiently operated with a simple configuration in consideration of the above-mentioned conventional problems.

The automated warehouse system according to one aspect of the present invention is an automated warehouse system including a stacker crane and a rack extending in the depth direction intersecting the extending direction of the passage of the stacker crane, and is said by the stacker crane. The rack is provided with a shuttle arranged in the rack and for transporting and transferring luggage in the rack, a stacker crane, and a controller for controlling the shuttle, and the rack has a plurality of stages arranged in the vertical direction. It is a mounting shelf, each of which has a plurality of loading shelves on which a plurality of loads can be placed side by side in the depth direction and the shuttle can move in the depth direction. The stacker crane has a first communication device that performs wireless communication, and the stacker crane relays communication between the controller and the first communication device by performing the wireless communication with the first communication device. Has a second communication device.

According to this configuration, since it is possible to load a plurality of loads in the depth direction on each of the multiple rack loading shelves, it is possible to carry out the loading / unloading process of a large number of loads using the rack. .. In addition, since the stacker crane and the shuttle can directly perform wireless communication, for example, a plurality of cargoes stored in the rack become obstacles, and wireless communication between the controller and the shuttle becomes difficult. In this case, the controller and the shuttle can perform wireless communication via a second communication device arranged in a stacker crane that can move to a position close to the shuttle. That is, with a simple configuration in which one communication device (second communication device) is placed on the stacker crane, the possibility that the shuttle cannot communicate is suppressed, or the period during which the shuttle cannot communicate is shortened. can do. As described above, according to the automated warehouse system according to this aspect, it can be efficiently operated with a simple configuration.

Further, in the automated warehouse system according to one aspect of the present invention, the stacker crane is provided with an elevating table that moves in the vertical direction with the shuttle or the luggage placed on the stacker crane, and the second communication device is the elevating table. It may be located in.

According to this configuration, the second communication device can be raised and lowered together with the elevating table, so that the height position of the second communication device is adjusted so that the height position of the second communication device matches the height position of the shuttle. Can be adjusted. As a result, the quality of wireless communication between the second communication device and the first communication device of the shuttle is improved, so that the occurrence of work delay due to a communication error is suppressed. This contributes to the efficiency of the operation of the automated warehouse system.

Further, in the automated warehouse system according to one aspect of the present invention, the shuttle is described above after transferring the luggage at the position indicated by the transport instruction on the previously described shelf according to the transport instruction from the controller. It may be stopped at a predetermined position near the aisle in the depth direction of the storage shelf.

According to this configuration, the shuttle moves to a position close to the aisle and stops after placing the luggage on the loading rack or receiving it from the loading rack according to the transport instruction. Therefore, at least after the work indicated in the transport instruction is completed, wireless communication with the second communication device arranged in the stacker crane is possible. Therefore, the possibility that the shuttle will be out of communication is reduced, which allows the automated warehouse system to operate efficiently.

Further, in the automated warehouse system according to one aspect of the present invention, the controller controls the stacker crane when it is determined that wireless communication with the shuttle cannot be performed via a third communication device whose position with respect to the rack is fixed. As a result, the stacker crane may be moved to a position corresponding to the previously described shelf on which the shuttle is mounted.

According to this configuration, when the controller determines that the shuttle cannot communicate due to, for example, no response from the shuttle called via the third communication device, the controller moves the stacker crane to a position close to the shuttle. be able to. This allows the controller to communicate with the shuttle via a second communicator located on the stacker crane. In other words, the period during which the shuttle is out of communication is shortened, which allows the automated warehouse system to operate efficiently.

Further, in the automated warehouse system according to one aspect of the present invention, when the controller determines that the battery included in the shuttle needs to be charged, the stacker crane is controlled by controlling the stacker crane to transfer the stacker crane to the shuttle. It may be moved to the position corresponding to the previously described shelf in which the crane is placed.

According to this configuration, the controller can determine whether or not the shuttle battery needs to be charged, for example, from the elapsed time from the last charge of the shuttle, the amount of work instructed to the shuttle, and the like. In addition, the stacker crane can be moved closer to the shuttle before the shuttle runs out of battery. As a result, even if the shuttle cannot communicate and the charge request cannot be transmitted, the controller gives a charge instruction to the shuttle via the second communication device arranged in the stacker crane. Alternatively, a charge request can be received from the shuttle. That is, it is possible to suppress the occurrence of a situation in which the shuttle, whose battery storage capacity is low, is left uncommunication.

According to the present invention, it is possible to provide an automated warehouse system that can be efficiently operated with a simple configuration.

FIG. 1 is a plan view showing an outline of the configuration of the automated warehouse system according to the embodiment. FIG. 2 is a front view showing a part of the rack of the embodiment. FIG. 3 is a perspective view showing the structural relationship between the mounting shelf and the shuttle according to the embodiment. FIG. 4 is a perspective view showing an outline of the configuration of the stacker crane according to the embodiment. FIG. 5 is a diagram showing an example of the operation of the automated warehouse system according to the embodiment. FIG. 6 is a schematic diagram showing a first communication path between the controller and the shuttle according to the embodiment. FIG. 7 is a schematic diagram showing a second communication path between the controller and the shuttle according to the embodiment. FIG. 8 is a first perspective view showing an operation example of the stacker crane when the shuttle according to the embodiment becomes incommunicable. FIG. 9 is a second perspective view showing an operation example of the stacker crane when the shuttle according to the embodiment becomes incommunicable. FIG. 10 is a diagram showing another example of the arrangement position of the second communication device in the stacker crane.

Hereinafter, the automated warehouse system according to the embodiment will be described with reference to the drawings. The embodiments described below show a specific example of the present invention. Therefore, the numerical values, shapes, materials, components, arrangement positions and connection forms of the components, contents and order of information processing, etc. shown in the following embodiments are examples and are not intended to limit the present invention. ..

In addition, each figure is a schematic diagram in which emphasis, omission, or ratio is adjusted as appropriate to show the present invention, and may differ from the actual shape, positional relationship, and ratio. Further, in each figure, the same reference numerals may be given to substantially the same configurations, and duplicate explanations may be omitted or simplified. Further, in the following description, for example, the X-axis plus direction indicates the arrow direction of the X-axis, and the X-axis minus direction indicates the direction opposite to the X-axis plus direction. The same applies to the Y-axis direction and the Z-axis direction. Further, in the following description, expressions indicating relative directions or postures such as parallel and orthogonal may be used, but these expressions also include cases where they are not strictly the directions or postures. For example, the fact that two directions are parallel not only means that the two directions are completely parallel, but also that they are substantially parallel, that is, that they include a difference of, for example, about several percent. Also means.

(Embodiment)
[1. Overview of automated warehouse system configuration]
First, the configuration outline of the automated warehouse system 10 according to the embodiment will be described with reference to FIG. FIG. 1 is a plan view showing an outline of the configuration of the automated warehouse system 10 according to the embodiment.

The automated warehouse system 10 according to the present embodiment includes a stacker crane 100 and a rack 50. The rack 50 extends in the depth direction intersecting the extending direction of the passage 30 of the stacker crane 100. In the present embodiment, the passage 30 extends parallel to the X-axis direction, and the stacker crane 100 travels in the X-axis direction along the track 31 laid in the passage 30. The stacker crane 100 can deliver the cargo 20 to the rack 50 and the shuttle 70 to the rack 50. The stacker crane 100 has an elevating platform 120 and a transfer device 130 for carrying out these delivery. The shuttle 70 can transport and transfer the cargo 20 in the rack 50. The luggage 20 is, for example, a pallet on which a plurality of cardboard boxes are loaded.

The rack 50 has a mounting shelf 51 on which a plurality of luggage 20 can be placed in the depth direction (Y-axis direction in the present embodiment). The shuttle 70 can move the mounting shelf 51 in the depth direction thereof. The mounting shelf 51 has a position (loading point) on which seven luggage 20s can be loaded, as shown by numbers (1) to (7) in FIG. 1, for example. Each of the plurality of mounting points is, in substance, a spatial area in the mounting shelf 51 that is separated from each other in the depth direction. The shuttle 70 can detect, for example, which mounting point it is currently at by optically or magnetically detecting marks distributed in the longitudinal direction of the rail member 54, and the detection result thereof. Can be notified to the controller 300.

Of these plurality of mounting points, the two points near the aisle 30 are the home point 52 and the standby point 53. The home point 52 is a placement position of the shuttle 70 and the cargo 20 when the stacker crane 100 transfers the shuttle 70 and the cargo 20 to and from the rack 50. The standby point 53 is a position where the shuttle 70 waits in order to avoid interference between the stacker crane 100 on which the luggage 20 is placed on the home point 52 and the shuttle 70. For example, when the stacker crane 100 picks up the shuttle 70, the shuttle 70 moves from the standby point 53 to the home point 52 and stops. The stacker crane 100 can pick up the shuttle 70 stopped at the home point 52 by the transfer device 130.

In the present embodiment, a plurality of mounting shelves 51 are arranged side by side in the vertical direction (Z-axis direction) in the rack 50. In the plan view shown in FIG. 1, for example, the layout of the lowermost mounting shelf 51 is shown, and in the rack 50, 1 is placed above each of the mounting shelves 51 laid out in this way (on the front side of the paper surface). The above mounting shelves 51 are arranged side by side. When the set of a plurality of mounting shelves 51 arranged in the vertical direction is a single mounting shelf 51, as can be seen from FIG. 1, the plurality of mounting shelves 51 extend the passage 30 of the stacker crane 100. They are arranged in the X-axis direction, which is the current direction. Further, a plurality of mounting shelves 51 arranged in the X-axis direction are arranged on both sides of the aisle 30. In the present embodiment, the symbols A to T are attached to the plurality of mounting shelves 51, and the mounting shelves 51 of each series are identified by this symbol. In the following, for example, a series of mounting shelves 51 with the symbol A will be referred to as a series of mounting shelves 51A.

In the present embodiment, such a set of a plurality of mounting shelves 51 is referred to as a "rack 50", but for example, a single mounting shelf 51 may be referred to as a "rack". In this case, it can be expressed that the automated warehouse system 10 according to the present embodiment includes a plurality of racks.

Each of the stacker crane 100 and the plurality of shuttles 70 is controlled by a controller 300 located above them in the chain of command. The controller 300, the stacker crane 100, and the shuttle 70 are connected to each other by, for example, a wireless LAN (Local Area Network) defined in the IEEE 802.11. Specifically, as shown in FIG. 1, a plurality of access points 83 are arranged so as to surround the rack 50, and each of the plurality of shuttles 70 communicates wirelessly with any one of the plurality of access points 83. By doing so, information can be exchanged (communication) with the controller 300.

Specifically, the shuttle 70 has a first communication device 81 that performs wireless communication with the access point 83, receives various instructions from the controller 300 by the first communication device 81, and has a first communication device 81. Various information is transmitted to the controller 300. That is, as the main communication path between the shuttle 70 and the controller 300, a communication path (first communication path) via the access point 83 is used. In the automated warehouse system 10 according to the present embodiment, a means for providing an auxiliary communication path (second communication path) in case the first communication path cannot be established, that is, when the shuttle 70 cannot communicate. have. Specifically, the stacker crane 100 is provided with a second communication device 82 capable of wireless communication with the first communication device 81 of the shuttle 70. In the present embodiment, the second communication device 82 is a communication device that functions as a repeater or an access point connected to the controller 300. That is, the second communication device 82 has a relay function of relaying communication between the controller 300 and the first communication device 81 of the shuttle 70. For example, when the shuttle 70 cannot communicate due to the interruption of radio waves by the luggage 20, the controller 300 can communicate with the shuttle 70 via the second communication device 82. The communication path between the controller 300 and the shuttle 70 will be described later with reference to FIGS. 6 to 9.

Various information processing executed by the controller 300 is realized by executing a predetermined program, for example, by a computer equipped with a CPU (Central Processing Unit), a storage device such as a memory, an interface for inputting / outputting information, and the like. Will be done.

In the present embodiment, as shown in FIG. 1, a safety fence 170 is arranged so as to surround the rack 50 so that no one can enter the area where the stacker crane 100 and the shuttle 70 operate. The safety fence 170 is provided with an entrance 171a so that a worker can enter the inside of the safety fence 170 for maintenance or the like. The entrance 171a is normally closed by the door 171. When the worker performs maintenance on the rack 50 or the shuttle 70, the door 171 is unlocked by a predetermined operation, and the safety fence 170 is opened from the entrance 171a. You can go inside. The automated warehouse system 10 further includes an entry / exit port for entry / exit of the luggage 20 and the shuttle 70, an entry / exit conveyor, and the like, but the illustration and description thereof are omitted.

The shuttle 70 is provided with an elevating table 71, and the luggage 20 can be lifted by moving to the space below the luggage 20 and raising the elevating table 71. The shuttle 70 travels with the luggage 20 lifted, and lowers the elevating table 71 at a position instructed by the controller 300. As a result, the luggage 20 is placed on the loading shelf 51. The shuttle 70 transports and transfers the cargo 20 in the rack 50 by such an operation.

The shuttle 70 has a built-in battery that supplies electric power for transporting and transferring the cargo 20. When the amount of electricity stored in the battery becomes less than or equal to a predetermined value, the shuttle 70 requests the controller 300 to be charged, and then, under the control of the controller 300, the charging point 200 provided on the entrance 171a side of the rack 50. Move to. A charging device (not shown) is connected to the shuttle 70 that has moved to the charging point 200, whereby the battery is charged.

Next, the respective configurations of the rack 50, the shuttle 70, and the stacker crane 100 according to the embodiment will be described with reference to FIGS. 2 to 4.

[2. Rack and shuttle configuration]
FIG. 2 is a front view showing a part of the rack 50 of the embodiment. FIG. 2 shows a case where the A-series mounting shelves 51A and the B-series mounting shelves 51B in the rack 50 are viewed from the passage 30 side, and the third and fourth stages from the bottom. The illustration of the mounting shelf 51 is omitted. FIG. 3 is a perspective view showing the structural relationship between the mounting shelf 51 and the shuttle 70 according to the embodiment. In FIG. 3, only one mounting shelf 51 is shown, and the rack pillar 55 supporting the mounting shelf 51 and the other mounting shelves 51 are not shown.

As shown in FIGS. 2 and 3, in the rack 50, the mounting shelf 51 has a pair of left and right rail members 54. In the present embodiment, the pair of rail members 54 support the left and right ends of the luggage 20 and the shuttle 70 (the left and right when viewed from the traveling direction (Y-axis direction), the same applies hereinafter) from below. It has been adopted. Each of the pair of rail members 54 is fixed to the rack column 55 corresponding to the rail member 54 by the fixing member 56.

The rail member 54 has a mounting surface portion 54b forming a mounting surface on which the luggage 20 is mounted, and a traveling surface portion 54a forming a traveling surface of the shuttle 70. The mounting surface portion 54b and the traveling surface portion 54a extend along the longitudinal direction of the rail member 54, and the mounting surface portion 54b is above and outside the traveling surface portion 54a (on the rack pillar 55 side to which the rail member 54 is fixed). Is located in.

As shown in FIGS. 2 and 3, the shuttle 70 includes a flat plate-shaped shuttle main body 70a, an elevating table 71 provided at the center of the shuttle main body 70a, and a plurality of rollers rolling on the traveling surface portion 54a. It is equipped with 72. In the present embodiment, a total of four rollers 72 are provided on the left and right sides of the shuttle main body 70a, and these four rollers 72 are rotationally driven by a traveling motor (not shown). As a result, the shuttle 70 travels along the pair of rail members 54.

When the shuttle body 70a is supported by the pair of rail members 54, the position of the upper surface of the shuttle body 70a in the height direction (Z-axis direction) is lower than the mounting surface portion 54b of the pair of rail members 54. Located in. Therefore, the shuttle 70 can slip under the luggage 20 placed on the mounting surface portion 54b, and can lift the luggage 20 from the loading surface portion 54b by raising the elevating table 71 directly under the luggage 20. can. Further, the luggage 20 lifted by the elevating table 71 can be placed on the mounting surface portion 54b by lowering the elevating table 71. That is, the shuttle 70 receives the luggage 20 from the mounting shelf 51 by raising and lowering the elevating table 71 on the mounting shelf 51 (a pair of rail members 54), and hands the luggage 20 to the mounting shelf 51. That is, the luggage 20 can be transferred to and from the mounting shelf 51.

Inside the shuttle main body 70a, various devices such as a shuttle control unit 75 composed of a CPU and the like, a battery 76, and a first communication device 81 are housed. Various electric devices such as a traveling motor, an elevating motor (not shown) for driving the elevating of the elevating table 71, a shuttle control unit 75, and a first communication device 81 are operated by electric power supplied from the battery 76. .. A main power switch 73 for turning on and off the power supply from the battery 76 is provided on the side surface of the shuttle main body 70a in the moving direction (Y-axis direction). Although not shown in FIG. 3, the main power switch 73 is also arranged on the side surface of the shuttle 70 in the plus direction of the Y axis.

The first communication device 81 is a device that performs wireless communication with any of the plurality of access points 83 (see FIG. 1). The first communication device 81 can further perform wireless communication with the second communication device 82 arranged in the stacker crane 100. The first communication device 81 can communicate with the controller 300 and the stacker crane 100 via the access point 83 and the second communication device 82, respectively. For example, the first communication device 81 of the shuttle 70 accesses from the controller 300 an instruction (transport instruction) for placing the cargo 20 placed at the home point 52 at the loading point (4) (see FIG. 1). Receive via point 83. The shuttle control unit 75 controls the rotation of the four rollers 72 and the elevating control of the elevating table 71 according to the transfer instruction. As a result, the shuttle 70 can carry the luggage 20 placed at the home point 52 to the loading point (4) and transfer it to the loading point (4). When the series of operations in accordance with the transport instruction is completed, the shuttle 70 notifies the controller 300 of the completion of the transport instruction via the access point 83.

In the present embodiment, the mounting shelves 51 composed of the pair of rail members 54 are arranged in a plurality of stages (five stages in the present embodiment) in the vertical direction (Z-axis direction) as shown in FIG. In order to identify each of the rails, a symbol for identifying the series and a code including the number of stages are assigned. For example, the lowermost (first stage) mounting shelf 51 in the A-series mounting shelf 51A is the mounting shelf 51A1, and the second-stage mounting shelf 51 in the A-series mounting shelf 51A is mounted. It is a shelf 51A2. Similarly, the uppermost (fifth) mounting shelf 51 in the A-series mounting shelf 51A is the mounting shelf 51A5. As for the B-series mounting shelves 51B, as shown in FIG. 2, the mounting shelves 51 are coded from the bottom, such as the mounting shelves 51B1, the mounting shelves 51B2, ..., The mounting shelves 51B5. Is given.

[3. Stacker crane configuration]
FIG. 4 is a perspective view showing an outline of the configuration of the stacker crane 100 according to the embodiment. Note that FIG. 4 simply illustrates the basic configuration of the stacker crane 100, and illustrates a wire and a motor for raising and lowering the elevating table 120, a control device for controlling the operation of the elevating table 120, and the like. Is omitted.

The stacker crane 100 according to the present embodiment includes an upper bogie 101, a pair of masts 110 extending downward from the upper bogie 101, a lower bogie 107 connected to the lower ends of the pair of masts 110, and a pair of masts. It is provided with an elevating platform 120 that moves up and down along the 110.

The lower bogie 107 is a bogie that drives the movement of the stacker crane 100. Specifically, the lower bogie 107 has one or more rollers (not shown) that abut on the track 31 laid on the floor surface, and the one or more rollers are rotationally driven to the track 31. Move (run) along. The upper trolley 101 is connected to the lower trolley 107 via a pair of masts 110, and moves with the movement of the lower trolley 107. Specifically, the upper bogie 101 moves while being guided by the upper rail 35 arranged above the track 31. The elevating table 120 is arranged in a state of being suspended from the upper bogie 101 by, for example, a plurality of wires (not shown), and the elevating table 120 moves up and down along the pair of masts 110 by winding and feeding these wires.

The lift 120 has a transfer device 130 for transferring the luggage 20 and the shuttle 70. In the present embodiment, the transfer device 130 has a slide fork 131 that moves forward and backward in both the left and right directions when the stacker crane 100 is moved forward. The transfer device 130 extends the slide fork 131 at a position facing the mounting shelf 51 according to an instruction from the controller 300, and the lift 120 is raised in that state, so that the luggage placed at the home point 52 is loaded. You can scoop up 20. The transfer device 130 can further pull the scooped up luggage 20 into the lift 120 by retracting the slide fork 131. Further, the transfer device 130 extends the slide fork 131 at a position facing the mounting shelf 51, and the elevating table 120 descends in that state to remove the luggage 20 held on the slide fork 131. It can be placed on the home point 52 of the mounting shelf 51.

In the present embodiment, as described above, the second communication device 82 is arranged on the stacker crane 100. Specifically, the second communication device 82 is fixed to the elevating table 120 by a predetermined means such as screwing. The arrangement position of the second communication device 82 shown in FIG. 4 is an example, and any of the lifts 120 can be used as long as it does not interfere with the operation of the stacker crane 100 such as the transfer of the luggage 20 by the transfer device 130. It may be fixed in position. Another example of the arrangement position of the second communication device 82 will be described later with reference to FIG.

For example, a communication cable (not shown) is connected to the second communication device 82, and is connected to the controller 300 via the communication cable. More specifically, for example, the controller 300 and the ground control box of the stacker crane 100 (control panel for the stacker crane 100 installed at the origin of the stacker crane 100 (not shown)) are connected by a wired LAN. ing. Further, the ground control box and the main body of the stacker crane 100 (for example, the lower carriage 107) are connected by an optical transmission device (for example, Ethernet (registered trademark)). Further, the lower carriage 107 and the second communication device 82 of the elevator 120 are connected by an optical transmission device (for example, Ethernet (registered trademark)). The second communication device 82 functions as a repeater or an access point for relaying communication between the first communication device 81 and the controller 300 existing within a predetermined range. Therefore, for example, the shuttle 70 arranged on the mounting shelf 51 at a position facing the stacker crane 100 is not a first communication path via the access point 83, but a second communication path via the second communication device 82. It is possible to communicate with the controller 300 via the above.

[4. Operation example of automated warehouse system]
Next, an example of the operation of the automated warehouse system 10 according to the present embodiment will be described with reference to FIG. FIG. 5 is a diagram showing an example of the operation of the automated warehouse system 10 according to the embodiment. FIG. 5 shows the operation of the automated warehouse system 10 when the cargo 20 carried by the stacker crane 100 to the rack 50 is placed on the loading point (4) of the loading shelf 51B1. Specifically, as shown in FIG. 5A, the stacker crane 100 moves to the front of the mounting shelf 51B1 with the luggage 20 mounted on the slide fork 131. At this time, the shuttle 70 is stopped at the waiting point 53 of the mounting shelf 51B1. The stacker crane 100 stops in front of the loading shelf 51B1 and transfers the luggage 20 on the slide fork 131 to the home point 52 of the loading shelf 51B1. After that, as shown in FIG. 5B, the shuttle 70 moves below the luggage 20 placed at the home point 52, raises the lifting table 71, and lifts the luggage 20 from the home point 52. Next, as shown in FIG. 5 (c), the shuttle 70 travels toward the loading point (4) with the luggage 20 lifted, and stops at the loading point (4). Further, the shuttle 70 transfers the luggage 20 on the elevating table 71 to the loading point (4) by lowering the elevating table 71. In this way, when the transfer of the luggage 20 to the loading point (4) is completed, the shuttle 70 returns to the waiting point 53 and stops as shown in FIG. 5 (d).

The series of operations of the shuttle 70 is executed by a transfer instruction from the controller 300. Specifically, the controller 300 periodically communicates with, for example, the plurality of shuttles 70, and by communicating for some instruction or response, the respective states and current positions of the plurality of shuttles 70. Can be detected. As described above, the controller 300 specifies the shuttle 70 arranged on the mounting shelf 51B1 when the luggage 20 is transferred to the mounting point (4) of the mounting shelf 51B1. Alternatively, if there is no shuttle 70 arranged on the mounting shelf 51B1, the controller 300 identifies the shuttle 70 to which work is not assigned at that time, and controls the stacker crane 100 to control the identified shuttle 70. , Placed on the mounting shelf 51B1. The controller 300 transmits an instruction (transport instruction) for placing the cargo 20 placed at the home point 52 at the loading point (4) to the shuttle 70 arranged at the loading shelf 51B1. This transport instruction includes an instruction to return to the standby point 53 after the luggage 20 is placed on the loading point (4). The shuttle 70 stopped at the standby point 53 of the mounting shelf 51B1 receives the transport instruction via the access point 83 and executes the transfer instruction. As a result, as shown in FIG. 5, the shuttle 70 transports the cargo 20 placed at the home point 52 of the loading shelf 51B1 to the loading point (4) and places it at the loading point (4). The transport instruction transmitted by the controller 300 to the shuttle 70 may not include an instruction to return to the standby point 53. For example, the shuttle 70 may be preset so as to always return to the waiting point 53 when the transportation and transfer of the cargo 20 are completed according to the transportation instruction.

When the stacker crane 100 mounts the shuttle 70 on the mounting shelf 51B1, the same operation as that shown in FIG. 5 is executed. That is, the stacker crane 100 moves to the front of the mounting shelf 51B1 with the shuttle 70 mounted on the slide fork 131. The stacker crane 100 stops in front of the mounting shelf 51B1 and transfers the shuttle 70 on the slide fork 131 to the home point 52 of the mounting shelf 51B1. Specifically, the slide fork 131 on which the shuttle 70 is mounted is advanced into the space above the home point 52 of the mounting shelf 51B1 to lower the elevating platform 120. As a result, the slide fork 131 passes between the pair of rail members 41 constituting the mounting shelf 51B1, and the shuttle 70 is mounted on the mounting surface portion 54b of the pair of rail members 41. That is, the shuttle 70 is mounted on the home point 52 of the loading shelf 51B1. After that, the shuttle 70 moves to the standby point 53 of the mounting shelf 51B1 and stops according to the instruction from the controller 300, for example.

Further, when the stacker crane 100 receives the shuttle 70 from the loading shelf 51B1, the stacker crane 100 performs the same operation as when receiving the luggage 20. That is, the stacker crane 100 moves to a position facing the mounting shelf 51B1 and stops under the control of the controller 300. At this time, the shuttle 70 is stopped at the home point 52. The stacker crane 100 of the mounting shelf 51B1 further advances the slide fork 131 into the space below the shuttle 70 mounted on the home point 52 of the mounting shelf 51B1 to raise the lift 120. As a result, the slide fork 131 passes between the pair of rail members 41 constituting the mounting shelf 51B1 and scoops up the shuttle 70 mounted on the mounting surface portion 54b of the pair of rail members 41. That is, the shuttle 70 is mounted on the slide fork 131. After that, the slide fork 131 is retracted onto the elevating table 120. In this way, the shuttle 70 arranged on the mounting shelf 51B1 is transferred to the stacker crane 100.

Since the shuttle 70 has a self-propelled function, a method of moving between the stacker crane 100 and the rack 50 by traveling the shuttle 70 is also conceivable. However, in this case, for example, a movable mechanism that prevents the shuttle 70 from falling and allows the shuttle 70 to move as needed is provided at the frontage (end of the aisle 30 side) of each of the plurality of mounting shelves 51. You will need it. As a result, for example, the structure of the rack 50 becomes complicated, and the manufacturing cost and the maintenance cost increase.

Further, after the stacker crane 100 arranges the shuttle 70 on the loading shelf 51, the stacker crane 100 is placed at a position facing the loading shelf 51 until the shuttle 70 completes the transport work and gets on the stacker crane 100 again. It is possible to keep it waiting. As a result, the shuttle 70 is prevented from falling from the mounting shelf 51. However, in this case, the stacker crane 100 and the shuttle 70 are operated in a one-to-one correspondence, and the work efficiency for storing and transporting the cargo 20 is significantly reduced.

Regarding these viewpoints, in the automated warehouse system 10 according to the present embodiment, the transfer device 130 (slide fork 131) of the stacker crane 100 is used to transfer the shuttle 70 between the stacker crane 100 and the rack 50. There is. As a result, for example, the shuttle 70 is only stopped at the home point 52 of the mounting shelf 51 and is taken over by the stacker crane 100, so that the possibility that the shuttle 70 will fall from the mounting shelf 51 is low. Further, the frontage of each mounting shelf 51 may have a simple stopper for preventing the shuttle 70 from falling, and a complicated movable mechanism is not required. Further, the stacker crane 100 can move to, for example, another mounting shelf 51 immediately after arranging the shuttle 70 on one mounting shelf 51, and execute work such as receiving the luggage 20. That is, since the stacker crane 100 does not need to be stopped until the shuttle 70 gets on after the shuttle 70 is placed on the loading shelf 51, the work of transporting the luggage 20 in which each of the plurality of shuttles 70 is involved is performed in parallel. Can be executed.

[5. Communication route between controller and shuttle]
Next, in the automated warehouse system 10 configured as described above, the communication path between the controller 300 and the shuttle 70 and the switching control of the communication path will be described with reference to FIGS. 6 to 9.

FIG. 6 is a schematic diagram showing a first communication path between the controller 300 and the shuttle 70 according to the embodiment. FIG. 7 is a schematic diagram showing a second communication path between the controller 300 and the shuttle 70 according to the embodiment. In FIGS. 6 and 7, different reference numerals (83a, 83b, and 83c) are attached to each of the plurality of access points 83 in order to identify the plurality of access points 83. FIG. 8 is a first perspective view showing an operation example of the stacker crane 100 when the shuttle 70 according to the embodiment becomes incommunicable. FIG. 9 is a second perspective view showing an operation example of the stacker crane 100 when the shuttle 70 according to the embodiment becomes incommunicable. In addition, in FIGS. 8 and 9, only the A-series mounting shelves 51A and the E-series mounting shelves 51E of the rack 50 are shown in order to clearly show the movement of the stacker crane 100, and other mountings are shown. The illustration of the shelf 51 is omitted. Further, the illustration of the upper ends of the A-series mounting shelves 51A, the E-series mounting shelves 51E, and the stacker crane 100 is also omitted.

In the present embodiment, the shuttle 70 has, in principle, the number and arrangement layout of the plurality of access points 83 so as to be able to communicate with any of the plurality of access points 83 at any position in the rack 50. It has been decided. More specifically, for example, the minimum number of access points 83 that can cover almost the entire space in the rack 50 within the radio wave reach of the plurality of access points 83 are arranged around the rack 50. In this case, for example, as shown in FIG. 6, the first communication device 81 of the shuttle 70 arranged on one mounting shelf 51 can perform wireless communication with the access point 83c. As a result, the shuttle 70 can communicate with the controller 300 via the access point 83c.

However, by design, even if the shuttle 70 is located within the communicable range of the access point 83c, there are a plurality of luggage 20 between the access point 83c and the shuttle 70, as shown in FIG. 7, for example. In this case, these luggage 20 may become an obstacle to the radio wave, and as a result, the shuttle 70 may not be able to communicate. That is, the first communication path via the access point 83 may be cut off. In this case, in the present embodiment, as shown in FIG. 7, the shuttle 70 may communicate with the controller 300 via the second communication path via the second communication device 82 arranged in the stacker crane 100. can.

For example, as shown in FIG. 8, the shuttle 70 arranged on the fourth stage (mounting shelf 51E4) of the E-series mounting shelf 51E cannot communicate with the access point 83, so that communication is disabled. Imagine a case. In this case, the controller 300 can determine that the shuttle 70 is incommunicable. As a method for determining that the shuttle 70 cannot communicate, it is exemplified to detect a periodic interruption of communication between the controller 300 and the shuttle 70 (no response from the shuttle 70). Further, the controller 300 determines that the shuttle 70 cannot communicate if there is no completion report of the work indicated in the transport instruction from the shuttle 70 within a predetermined period after the shuttle 70 receives the transport instruction. You can also.

When the controller 300 determines that the shuttle 70 cannot communicate, the stacker crane 100 faces the E-series mounting rack 51E by controlling the stacker crane 100, for example, as shown in FIGS. 8 and 9. Move toward the position where you want to. Further, in the present embodiment, since the second communication device 82 is arranged on the elevating table 120 of the stacker crane 100, the controller 300 controls the stacker crane 100 to mount the elevating table 120 on the mounting shelf 51E4. Move toward the position facing the crane. As a result, as shown in FIG. 9, the elevating table 120 of the stacker crane 100 stops at a position facing the mounting shelf 51E4. As a result, the distance between the first communication device 81 of the shuttle 70 and the second communication device 82 arranged on the stacker crane 100 is shortened, and there are almost no obstacles. That is, good wireless communication can be performed between the first communication device 81 and the second communication device 82. As a result, the communication between the controller 300 and the shuttle 70 is restored, and the shuttle 70 can report to the controller 300, for example, the completion of the work indicated by the transport instruction received from the controller 300.

Further, the shuttle 70 and the stacker crane 100 execute control (interlock control) for preventing mutual interference at the home point 52 by communicating with the first communication device 81 and the second communication device 82. Can be done. For example, if the transfer device 130 of the stacker crane 100 advances the slide fork 131 to the home point 52 for the exchange of luggage 20, the shuttle 70 needs to be located at or behind the standby point 53. .. Therefore, the shuttle 70 and the stacker crane 100 communicate with each other to perform the above-mentioned interlock control in cooperation with each other.

For example, it is assumed that the luggage 20 mounted on the elevating platform 120 of the stacker crane 100 is transferred to the home point 52 (see FIG. 1) of the mounting shelf 51E4. In this case, the stacker crane 100 confirms that there is no shuttle 70 at the home point 52 of the mounting shelf 51E4 by wireless communication between the second communication device 82 and the first communication device 81, and then the luggage 20 at the home point 52. Is reprinted. Specifically, for example, the shuttle 70 starts traveling after being placed on the home point 52, and at the timing of passing the standby point 53, information (release signal) for canceling the advance restriction of the slide fork 131 is provided. It is transmitted to the stacker crane 100. As a result, the stacker crane 100 can confirm that the shuttle 70 is not present at the home point 52, and then the luggage 20 can be placed at the home point 52.

Further, before the shuttle 70 subsequently enters the home point 52, the shuttle 70 transmits information (limit signal) for restricting the advance of the slide fork 131 to the stacker crane 100. As a result, the stacker crane 100 prohibits the slide fork 131 from advancing until it receives a release signal thereafter. As a result, for example, in order to transport the luggage 20 placed on the home point 52, the slide fork 131 may accidentally advance below the luggage 20 while the shuttle 70 has moved to the lower part of the luggage 20. Be prevented.

Further, it is assumed that the slide fork 131 has advanced to the home point 52 at the time when the shuttle 70 transmits the approach request to the home point 52 to the stacker crane 100. In this case, the stacker crane 100 responds to the shuttle 70 indicating that it cannot enter. When the shuttle 70 receives a response indicating that it cannot enter, it waits at the standby point 53 for a certain period of time, and then sends an approach request to the stacker crane 100 again. After that, the transmission of the approach request is repeated until the response indicating the entry permission is received from the stacker crane 100.

In the above-mentioned various interlock controls, the stacker crane 100 and the shuttle 70 communicate with each other via the first communication path in a state where the first communication path via any of the plurality of access points 83 is established. It is possible to execute with. However, since the stacker crane 100 is provided with the second communication device 82 capable of direct wireless communication with the first communication device 81, the interlock control is executed more reliably. More specifically, the interlock control is a control performed when the stacker crane 100 and the shuttle 70 are located relatively close to each other, and thus the first communication device 81 and the second communication device 82. Interlock control is performed while the crane continues good wireless communication. Therefore, in the middle of the interlock control, for example, an unexpected situation in which communication is interrupted due to the influence of the luggage 20 placed on the other loading shelf 51 is unlikely to occur, and there is a possibility that the interlock control will be completely executed. It can be said that it is expensive. This contributes to the efficiency of operation of the automated warehouse system 10.

As described above, the automated warehouse system 10 according to the present embodiment extends in the depth direction (Y-axis direction) intersecting the extension direction (X-axis direction) of the stacker crane 100 and the passage 30 of the stacker crane 100. It is provided with an existing rack 50. The automated warehouse system 10 further includes a shuttle 70 that is arranged in the rack 50 by the stacker crane 100 and that transports and transfers the cargo 20 in the rack 50, and a controller 300 that controls the stacker crane 100 and the shuttle 70. .. The rack 50 is a plurality of storage shelves 51 arranged in the vertical direction, each of which can place a plurality of luggage 20 side by side in the depth direction, and the shuttle 70 can be moved in the depth direction. It has a plurality of mounting shelves 51. The shuttle 70 has a first communication device 81 that performs wireless communication, and the stacker crane 100 performs wireless communication with the first communication device 81 so that the controller 300 and the first communication device 81 can communicate with each other. It has a second communication device 82 that relays communication.

According to this configuration, since a plurality of cargo 20s can be loaded in each of the plurality of loading shelves 51 of the rack 50 using the depth direction, a large number of cargoes 20 can be loaded and unloaded using the rack 50. Processing is possible. Further, the stacker crane 100 and the shuttle 70 can directly perform wireless communication. Therefore, for example, when a plurality of luggage 20 accommodated in the rack 50 becomes an obstacle and wireless communication between the controller 300 and the shuttle 70 becomes difficult, the stacker crane 100 that can move to a position close to the shuttle 70 The controller 300 and the shuttle 70 can perform wireless communication via the second communication device 82 arranged in. That is, with a simple configuration in which one communication device (second communication device 82) is arranged on the stacker crane 100, the possibility that the shuttle 70 cannot communicate is suppressed, or the shuttle 70 cannot communicate. The period of time can be shortened. Further, interlock control for avoiding unnecessary interference between the shuttle 70 and the stacker crane 100 can be executed under direct communication between the shuttle 70 and the stacker crane 100. Therefore, the interlock control is executed more reliably. As described above, according to the automated warehouse system 10 according to this aspect, it can be efficiently operated with a simple configuration.

Further, in the automated warehouse system 10 according to the present embodiment, the stacker crane 100 includes an elevating platform 120 that moves in the vertical direction with the shuttle 70 or the luggage 20 mounted on the stacker crane 100, and the second communication device 82 is an elevating platform. It is arranged at 120.

According to this configuration, the second communication device 82 can be raised and lowered together with the elevating table 120. Therefore, for example, the second communication so that the height position of the second communication device 82 matches the height position of the shuttle 70. The height position of the machine 82 can be adjusted (see FIG. 9). As a result, the quality of wireless communication between the second communication device 82 and the first communication device 81 of the shuttle 70 is improved, so that the occurrence of work delay due to a communication error is suppressed. This contributes to the efficiency of operation of the automated warehouse system 10.

Further, in the automated warehouse system 10 according to the present embodiment, the shuttle 70 is loaded after transferring the luggage 20 at the position indicated by the transport instruction on the loading shelf 51 according to the transport instruction from the controller 300. It stops at a predetermined position near the aisle 30 in the depth direction of the storage shelf 51. For example, the transport instruction transmitted from the controller 300 includes an instruction to return to the standby point 53, and the shuttle 70 returns to the standby point 53 and stops after the cargo 20 is transferred according to the instruction. Alternatively, the shuttle 70 returns to the standby point 53 and stops after the transfer of the luggage 20 according to the setting information or the program stored in advance and without being instructed by the controller 300.

According to this configuration, the shuttle 70 is placed at a position close to the aisle 30 (in the present embodiment, a standby point) after the cargo 20 is placed on the loading shelf 51 or received from the loading shelf 51 according to the transport instruction. Move to 53) and stop. Therefore, after the work indicated in the transport instruction is completed, at least wireless communication with the second communication device 82 arranged in the stacker crane 100 is possible. Therefore, the possibility that the shuttle 70 cannot communicate is reduced, whereby the automated warehouse system 10 is operated efficiently.

The "predetermined position near the aisle 30" is, for example, a position of the mounting shelf 51 closer to the aisle 30 than the center in the depth direction, and more preferably from the aisle 30 to the depth direction of the mounting shelf 51. It is a position up to a distance of 1/4 of the total length. Further, the "predetermined position near the aisle 30" is an absolute distance from the end of the mounting shelf 51 on the aisle 30 side (for example, within 1 m or within twice the width of the shuttle 70 in the depth direction). May be specified in.

Further, in the automated warehouse system 10 according to the present embodiment, when the controller 300 determines that the shuttle 70 cannot be wirelessly communicated with the shuttle 70 via the access point 83, which is a third communication device whose position with respect to the rack 50 is fixed, the stacker 300 is used. By controlling the crane 100, the stacker crane 100 is moved to a position corresponding to the loading shelf 51 on which the shuttle 70 is mounted.

Specifically, the controller 300 detects a periodic interruption of communication with the shuttle 70, or reports the completion from the shuttle 70 within a predetermined period after the shuttle 70 receives the transport instruction. It is determined that the shuttle 70 cannot communicate due to the absence of the shuttle 70 or the like. In this case, the controller 300 controls the stacker crane 100 to move the stacker crane 100 to a position close to the shuttle 70. In this embodiment, as shown in FIGS. 8 and 9, the stacker crane 100 is moved to a position facing the mounting shelf 51 on which the shuttle 70 is arranged. As a result, the controller 300 can communicate with the shuttle 70 via the second communication device 82 arranged in the stacker crane 100. That is, the period during which the shuttle 70 cannot communicate is shortened, whereby the automated warehouse system 10 is operated efficiently.

As described above, in the present embodiment, the first communication path via the access point 83 is prepared as the main communication path for controlling the shuttle 70, and when the first communication path is cut off, the first communication path is prepared. It is configured to provide a second communication path via the second communication device 82. However, the second communication device 82 may be capable of communicating with the shuttle 70 at all times, like the plurality of access points 83. That is, the second communication device 82 arranged in the stacker crane 100 can act as an access point that can be connected and moves at any timing, so that the probability that each of the plurality of shuttles 70 cannot communicate is high. Reduce. However, it is conceivable that the direct communication partner of one shuttle 70 may frequently switch between the access point 83 and the second communication device 82 due to the movement of the stacker crane 100. Therefore, the communication between the second communication device 82 and the shuttle 70 may be permitted only when the controller 300 determines that it is necessary.

Further, the controller 300 uses the state of the battery 76 of the shuttle 70 as a material for determining whether or not to execute the control of moving the stacker crane 100 to the position corresponding to the mounting shelf 51 on which the shuttle 70 is mounted. You can also do it. Specifically, when the amount of electricity stored in the battery 76 of the shuttle 70 becomes equal to or less than a predetermined value, the shuttle 70 can send a charge request to the controller 300. However, if the shuttle 70 is unable to communicate when attempting to send a charge request, the charge request will not reach the controller 300. As a result, the amount of electricity stored in the battery 76 may be reduced to the extent that the shuttle 70 cannot operate, that is, the battery 76 may run out. Therefore, when the controller 300 determines that the battery 76 included in the shuttle 70 needs to be charged, the controller 300 controls the stacker crane 100 to correspond the stacker crane 100 to the mounting shelf 51 on which the shuttle 70 is arranged. You may move it to a position.

Specifically, the controller 300 determines whether or not the battery 76 of the shuttle 70 needs to be charged based on the elapsed time from the last charging of the battery 76 of the shuttle 70, the cumulative value of the amount of work instructed to the shuttle 70, and the like. Can be judged. That is, it is considered that the longer the elapsed time or the larger the cumulative value of the work amount, the smaller the stored amount (remaining amount) of the battery 76. Therefore, the controller 300 can determine whether or not the battery 76 needs to be charged by comparing the elapsed time and the like with a predetermined threshold value. As a result of this necessity determination, when it is determined that the battery 76 needs to be charged, the controller 300 moves the stacker crane 100 to a position corresponding to the mounting shelf 51 in which the shuttle 70 is arranged. As a result, the stacker crane 100 can be moved to a position close to the shuttle 70 before the battery 76 runs out. As a result, even if a charging request cannot be transmitted because the shuttle 70 cannot communicate, the controller 300 charges the shuttle 70 via the second communication device 82 arranged in the stacker crane 100. You can give instructions or receive a charge request from the shuttle 70. That is, it is possible to suppress the occurrence of a situation in which the shuttle 70, in which the amount of electricity stored in the battery 76 is reduced, is left in a state where communication is not possible.

(Other embodiments)
The automated warehouse system 10 according to the present invention has been described above based on the embodiments. However, the present invention is not limited to the above embodiment. As long as it does not deviate from the gist of the present invention, a form obtained by applying various modifications conceived by those skilled in the art to the present embodiment, or a form constructed by combining a plurality of the above-described components is also within the scope of the present invention. include.

For example, the second communication device 82 may be arranged at a position other than the elevating table 120 in the stacker crane 100. FIG. 10 is a diagram showing another example of the arrangement position of the second communication device 82 in the stacker crane 100.

For example, as shown in FIG. 10, the second communication device 82 may be fixed to the lower carriage 107 of the stacker crane 100. Specifically, in the rack 50, it is assumed that the luggage 20 is mainly placed on the loading shelf 51 from the lower stage to the middle stage (for example, the third stage from the bottom). In this case, the shuttle 70 for transporting the luggage 20 in the rack 50 is likely to be arranged below the middle stage of the rack 50. In such a case, since the second communication device 82 is fixed to the lower carriage 107 located at the lower part of the stacker crane 100, for example, the maintenance of the second communication device 82 becomes easy and the second communication device 82 and the second communication device 82 are fixed. , The reliability of wireless communication with the first communication device 81 of the shuttle 70 is ensured.

Further, for example, as shown in FIG. 10, the second communication device 82 may be fixed to the mast 110 of the stacker crane 100. Specifically, the second communication device is located on the mast 110 at a position corresponding to the height position of the middle stage of the rack 50 and at a position that does not hinder the operation of the stacker crane 100 such as raising and lowering the elevating table 120. 82 is fixed. As a result, a relatively wide range from the upper part to the lower part of the rack 50 can be accommodated within the communicable range of the second communication device 82. Further, since the second communication device 82 does not move in the vertical direction, it is unlikely that the second communication device 82 will have a problem caused by vibration during the vertical movement, for example.

Further, for example, it is assumed that the luggage 20 is mainly placed on the mounting shelves 51 in the middle to upper stages (for example, the third to fifth stages) of the rack 50. In this case, the second communication device 82 may be arranged on the upper part of the stacker crane 100, such as the upper carriage 101 of the stacker crane 100 or the upper end portion of the mast 110.

Further, the number of the second communication devices 82 arranged in the stacker crane 100 is not limited to 1, and a plurality of second communication devices 82 may be arranged in the stacker crane 100. For example, the second communication device 82 may be arranged at each of the Y-axis positive end and the Y-axis negative end of the lift 120. That is, the second communication device 82 for the shuttle 70 arranged on the Y-axis plus direction side of the passage 30 and the second communication device 82 for the shuttle 70 arranged on the Y-axis minus direction side of the passage 30 are respectively. It may be placed at another position on the stacker crane 100.

Further, for example, the cargo 20 to be stored and transported in the automated warehouse system 10 does not have to be a pallet on which a plurality of cardboard boxes are loaded. The luggage 20 may be, for example, one box body (wooden box, cardboard box, folding container, etc.) containing a plurality of products. That is, if each of the stacker crane 100 and the shuttle 70 can be transported and the object has a size, size, and packaging that can be accommodated in the rack 50, the cargo to be stored and transported in the automated warehouse system 10 It can be treated as 20.

Further, the transfer device 130 included in the stacker crane 100 is said to transfer the luggage 20 and the shuttle 70 by moving the slide fork 131 in and out. However, the method for transferring the luggage 20 or the like by the transfer device 130 is not limited to this, and for example, the luggage 20 or the like may be transferred using an arm for pushing out and pulling in the luggage 20 or the like.

Further, the transfer device included in the shuttle 70 is not limited to the elevating table 71. For example, a fork projecting from the shuttle main body in a direction orthogonal to the moving direction of the shuttle is provided, and by raising and lowering the fork, the luggage 20 is placed between the fork and the cantilever support provided on the rack. Etc. may be reprinted.

The layout of the automated warehouse system 10 shown in FIG. 1 is an example. For example, the number, size, shape, and layout of the mounting shelves 51 in the rack 50, the number of shuttles 70, and the like are required for the area and shape of the area where the automated warehouse system 10 is installed, or the automated warehouse system 10. It may be appropriately determined according to the processing capacity and the like. Further, for example, two tracks 31 may be arranged side by side in the Y-axis direction (see FIG. 1) in the passage 30 so that two stacker cranes 100 can work in parallel. As a result, the warehousing / delivery work for the plurality of loading shelves 51 on the Y-axis plus direction side of the aisle 30 and the warehousing / delivery work for the plurality of loading shelves 51 on the Y-axis minus direction side of the aisle 30 are performed in parallel. And it can be done asynchronously.

Further, it is not essential that the rack 50 includes a plurality of mounting shelves 51. For example, it is assumed that the rack 50 has only the A-series mounting shelves 51A. Even in this case, there is a possibility that one or more luggages 20 placed on the loading rack 51A of the A series may cause a failure in the first communication path via the access point 83. Therefore, in this case, by arranging the second communication device 82 on the stacker crane 100, it is possible to provide the shuttle 70 with a second communication path via the second communication device 82.

Further, it is not essential that the controller 300 is realized by a computer located at a position away from the rack 50. For example, the controller 300 may be realized by a computer arranged in the stacker crane 100. That is, the stacker crane 100 includes the controller 300, and the controller 300 may move with the movement of the stacker crane 100.

According to the automated warehouse system of the present invention, it can be operated efficiently with a simple configuration. Therefore, it is useful as an automated warehouse system or the like for storing and transporting cargo in a distribution warehouse, a factory, or the like.

10 Automated warehouse system 20 Luggage 30 Aisle 31 Track 41 Rail member 50 Rack 51, 51A1, 51A2, 51A5, 51B1, 51B2, 51B5, 51E4 Mounting shelf 51A A-series mounting shelf,
51B B-series mounting shelves 51E E-series mounting shelves 52 Home point 53 Standby point 54 Rail member 54a Running surface part 54b Mounting surface part 55 Rack pillar 56 Fixing member 70 Shuttle 70a Shuttle body 71 Lifting table 72 Roller 73 Main power supply Switch 75 Shuttle control unit 76 Battery 81 First communication device 82 Second communication device 83, 83a, 83b, 83c Access point 100 Stacker crane 101 Upper trolley 107 Lower trolley 110 Mast 120 Elevating table 130 Transfer device 131 Slide fork 170 Safety fence 171 Door 171a Entrance 200 Charging Point 300 Controller

Claims (5)

An automated warehouse system including a stacker crane and a rack extending in the depth direction intersecting the extending direction of the passage of the stacker crane.
A shuttle that is placed in the rack by the stacker crane and that transports and transfers cargo in the rack.
The stacker crane and the controller for controlling the shuttle are provided.
The rack is a plurality of storage shelves arranged in the vertical direction, each of which can place a plurality of luggage side by side in the depth direction, and the shuttle can move in the depth direction. It has multiple shelves and has multiple shelves.
The shuttle has a first communication device that performs wireless communication.
The stacker crane has a second communication device that relays communication between the controller and the first communication device by performing the wireless communication with the first communication device.
Automated warehouse system. The stacker crane includes an elevating platform that moves up and down with the shuttle or the luggage placed on it.
The second communication device is arranged on the elevator.
The automated warehouse system according to claim 1. The shuttle transfers the luggage at the position indicated by the transport instruction of the previously described shelf according to the transport instruction from the controller, and then performs the predetermined position of the previously described shelf near the aisle in the depth direction. Stop at,
The automated warehouse system according to claim 1 or 2. The controller
When it is determined that wireless communication with the shuttle cannot be performed via a third communication device whose position with respect to the rack is fixed, the stacker crane is controlled to place the stacker crane on the previously described shelf on which the shuttle is mounted. Move to the position corresponding to
The automated warehouse system according to any one of claims 1 to 3. The controller
When it is determined that the battery included in the shuttle needs to be charged, the stacker crane is controlled to move the stacker crane to a position corresponding to the above-mentioned storage rack in which the shuttle is arranged.
The automated warehouse system according to any one of claims 1 to 4.

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