JP2023146716A - Storage facility - Google Patents

Abstract

To achieve technology that can more effectively control the decline in operating efficiency of storage facilities in the event of an abnormality in one of the storage sections.SOLUTION: The controller performs the first control and the second control when an abnormality occurs in any of storage sections 91. The storage section 91 in which abnormality occurred is designated as an abnormality occurrence storage section 91A, a storage layer 90 in which the abnormality occurrence storage section 91A exists is designated as an abnormality occurrence storage layer 90A, the storage layer 90 adjacent to the upper side of abnormality occurrence storage layer 90A is designated as upper adjacent storage layer 90B, and the storage section 91 located directly above the abnormality occurrence storage section 91A in upper adjacent storage layer 90B is designated as an upper storage section 91B. The first control is to stop the running of both a first cart 11 and a second cart 12 in the abnormality occurrence storage layer 90A, and the second control is to prevent the entry of the first cart 11 into the upper storage section 91B.SELECTED DRAWING: Figure 4

Description

The present invention relates to a storage facility provided with a plurality of storage layers in the vertical direction.

An example of such a storage facility is disclosed in Japanese Unexamined Patent Publication No. 2020-152556 (Patent Document 1). Hereinafter, in the description of this background art, the reference numerals in Patent Document 1 will be cited in parentheses. The automatic warehouse system (1) of Patent Document 1 includes a plurality of storage stages (24) capable of storing cargo (2). Each of the multiple storage stages (24) has a storage row (26) in which the loads (2) can be lined up and stored in the X-axis direction (horizontal direction). Several are arranged side by side. A first trolley (6) that runs in the X-axis direction in the storage row (26) and a second trolley (8) that can be loaded with the first trolley (6) and that runs in the Y-axis direction. The load (2) is transported at each storage stage (24) by a transport mechanism including the transport mechanism.

The automated warehouse system (1) of Patent Document 1, when an abnormality occurs in any storage stage (24), controls the operation of the storage stage (24) where the abnormality has occurred and the operation of the designated storage stage (24). It is configured to stop the operation. As described in paragraph 0042 of Patent Document 1, in the storage stage (24) where the operation is stopped, the running of both the first truck (6) and the second truck (4) is stopped. Therefore, transport of the load (2) throughout the storage stage (24) is stopped at both the storage stage (24) where the abnormality has occurred and the designated storage stage (24). According to Patent Document 1, by performing such control, it is possible to suppress a decrease in the operating efficiency of the automated warehouse system (1) even when recovery work is being performed.

Japanese Patent Application Publication No. 2020-152556

Since the storage facility of Patent Document 1 is configured as described above, if an abnormality occurs in any storage section (storage line in Patent Document 1), the storage facility in which the abnormality occurred is located. Transport of the article in the entire storage layer is stopped in both the storage layer in which the abnormality has occurred, which is a storage layer (storage stage in Patent Document 1), and a designated storage layer different from the storage layer in which the abnormality has occurred. Therefore, compared to stopping the transport of goods in the entire storage facility, although it is possible to suppress a decline in the operating efficiency of the storage facility, even in a storage layer different from the storage layer where the abnormality occurred, the transport of goods in the entire storage layer Since the conveyance of articles is uniformly stopped, there is a possibility that the conveyance of articles is stopped over a wider range than necessary, and the effect of suppressing a decrease in operating efficiency may be limited.

Therefore, it is desired to realize a technology that can more effectively suppress a decrease in the operating efficiency of storage equipment when an abnormality occurs in any of the storage units.

The storage equipment according to the present disclosure includes a storage section in which a plurality of storage layers are provided in the vertical direction, and articles can be stored in each of the plurality of storage layers by arranging them in a first direction that is a specific direction along a horizontal plane. is a storage facility provided with a plurality of rows in a second direction, which is a direction intersecting the first direction when viewed from above, and travels along the first direction to transport the articles in the storage section. a first truck; a second truck capable of mounting the first truck; and a second truck that travels along the second direction outside the storage section; and controlling running of the first truck and the second truck. a control device, a first rail provided in each of the plurality of storage layers corresponding to each of the plurality of rows of the storage sections, on which the first trolley runs; and a first rail on which the second trolley runs. A second rail is provided, and the control device executes a first control and a second control when an abnormality occurs in any of the storage units, and controls the storage unit in which the abnormality has occurred. an occurrence storage section, the storage layer in which the anomaly occurrence storage section exists is an anomaly occurrence storage layer, the storage layer adjacent to the upper side with respect to the anomaly occurrence storage layer is an upper adjacent storage layer, and the upper adjacent storage layer. The first control stops the running of both the first cart and the second cart in the abnormality storage layer, with the storage section located directly above the abnormality storage section in the above storage layer. The second control is a control that prohibits the first cart from entering the storage section directly above the storage section.

According to this configuration, when an abnormality occurs in any storage unit, the first control is executed, and the first control is executed in the storage layer (abnormal storage layer) where the storage unit in which the abnormality has occurred (abnormal storage unit) exists. Traveling of both the first truck and the second truck is stopped. Therefore, the safety of the worker who moves the abnormality storage layer toward the abnormality storage section and performs the abnormality response work in the abnormality storage section can be appropriately ensured. According to this configuration, when an abnormality occurs in any storage section, the second control is executed in addition to the first control, and the storage layer adjacent to the upper side (upper adjacent The first cart is prohibited from entering the storage section (directly above storage section) located directly above the storage section in which the abnormality has occurred in the storage layer (storage layer). In this way, by prohibiting the first trolley from entering the storage section directly above the storage section, which is located relatively close to the storage section where the abnormality has occurred in the upper adjacent storage layer, it is possible to prevent workers who are performing abnormality response work in the storage section where the abnormality has occurred. By avoiding contact with the first cart present in the upper adjacent storage layer, it is possible to appropriately ensure the safety of the worker. On the other hand, by not prohibiting the first cart from entering the storage section in an area relatively distant from the storage section where the abnormality has occurred in the upper adjacent storage layer, the area where the conveyance of articles is stopped in the upper adjacent storage layer is prevented. is limited to a part of the upper adjacent storage layer, and it is possible to suppress a decrease in operating efficiency of the storage equipment due to execution of the second control.

As described above, according to this configuration, it is possible to more effectively suppress a decrease in the operating efficiency of the storage facility when an abnormality occurs in any of the storage units.

Further characteristics and advantages of the storage facility will become clear from the following description of an embodiment with reference to the drawings.

Floor plan of storage equipment Vertical front view of part of the storage facility Perspective view of part of storage facility Explanatory diagram of first control, second control, and third control Control block diagram control flow diagram

An embodiment of the storage facility will be described with reference to the drawings. As shown in FIGS. 1 and 2, the storage facility 100 is provided with a plurality of storage layers 90 in the vertical direction Z (vertical direction). FIG. 2 illustrates a storage facility 100 in which three storage layers 90 are provided in the vertical direction Z. In FIG. 2, the three stages L are, in order from the lower side Z2 in the vertical direction Z, a first stage L1, a second stage L2, and a third stage L3.

As shown in FIGS. 1 and 2, a specific direction along the horizontal plane is defined as the first direction X, and a direction intersecting the first direction Let it be the second direction Y. Here, the second direction Y is a horizontal direction orthogonal to the first direction X when viewed in the vertical direction Z. That is, the first direction X and the second direction Y are two horizontal directions orthogonal to each other.

One side in the first direction X is referred to as a first direction first side X1, and the other side in the first direction X is referred to as a first direction second side X2. Further, one side in the second direction Y is referred to as a second direction first side Y1, and the other side in the second direction Y is referred to as a second direction second side Y2. Here, the side in the first direction X that approaches the running route of the second truck 12, which will be described later, is defined as a first direction first side X1, and the opposite side is defined as a first direction second side X2. Therefore, between the regions on both sides of the first direction X with respect to the travel route of the second truck 12, the directions of the first side X1 in the first direction are opposite to each other. Further, here, the side in the second direction Y approaching the storage section 92 and the storage exit section 93, which will be described later, is referred to as a second direction first side Y1, and the opposite side is referred to as a second direction second side Y2.

As shown in FIG. 1, each of the multiple storage layers 90 is provided with a storage section 91 in which articles W can be stored side by side in the first direction X. The number of articles W that can be stored side by side in the first direction X in one storage section 91 may vary depending on the dimensions of the articles W in the first direction X. In the example shown in FIG. 1, a maximum of eight articles W can be stored in one storage section 91 in a row in the first direction X.

As shown in FIG. 1, a plurality of rows of storage sections 91 are provided in the second direction Y in each of the plurality of storage layers 90. In the example shown in FIG. 1, nine rows of storage units 91 are provided in the second direction Y. Further, in the example shown in FIG. 1, a plurality of rows (here, nine rows) of storage units 91 are provided in the second direction Y on both sides of the first direction There is.

As shown in FIGS. 1 to 3 and 5, the storage facility 100 includes a first truck 11, a second truck 12, a control device 40 that controls the running of the first truck 11 and the second truck 12, It is equipped with The control device 40 includes an arithmetic processing device such as a CPU (Central Processing Unit), and a storage device such as a RAM (Random Access Memory) or a ROM (Read Only Memory) that can be referenced by the arithmetic processing device. Each function of the control device 40 is realized through cooperation between hardware included in the control device 40 and a program executed on hardware such as an arithmetic processing unit. The control device 40 may be configured not by a single piece of hardware but by a collection of multiple pieces of hardware (a plurality of separate pieces of hardware) that can communicate with each other by wire or wirelessly.

The first cart 11 travels along the first direction X and transports the article W in the storage section 91 . For example, one or more first carts 11 (for example, one) are arranged in each of the multiple storage layers 90. The second truck 12 can be loaded with the first truck 11 and travels along the second direction Y outside the storage section 91 . For example, one second cart 12 is placed in each of the storage layers 90 in the plurality of stages. In this way, the storage facility 100 includes the article transport vehicle 10 (parent-child vehicle) including the first vehicle 11 as a child vehicle and the second vehicle 12 as a parent vehicle.

As shown in FIGS. 1 and 2, each of the plurality of storage layers 90 is provided with a first rail 20, which is provided corresponding to each of the plurality of rows of storage sections 91, on which the first trolley 11 runs, and a second rail 20, on which the first cart 11 runs. A second rail 30 on which the truck 12 runs is provided. The first rail 20 extends along the first direction X, and the second rail 30 extends along the second direction Y. The travel path of the first bogie 11 is formed by the first rails 20 (here, a pair of first rails 20 lined up in the second direction Y), and the second rails 30 (here, a pair of first rails 20 lined up in the first direction A travel path for the second truck 12 is formed by the second rails 30). In the example shown in FIG. 1, the first rails 20 are provided on both sides of the first direction X with respect to the second rails 30 (here, a pair of second rails 30). That is, the running route of the first bogie 11 is formed on both sides of the running route of the second bogie 12 in the first direction X.

The storage facility 100 includes a support column 1 extending along the vertical direction Z. In the example shown in FIG. 2, the support column 1 is erected on the floor so as to extend from the floor toward the upper side Z1 in the vertical direction Z. The first rail 20 and the second rail 30 are supported by the support column 1. Specifically, the first rail 20 is connected to a plurality of pillars 1 arranged in the first direction X, and is supported by these pillars 1. Further, the second rail 30 is connected to a plurality of columns 1 arranged in a line in the second direction Y, and is supported by the plurality of columns 1.

As shown in FIG. 2, the first truck 11 has first running wheels that roll on a first running surface 21 (see FIG. 3), which is the running surface of the first rail 20 (here, the surface facing the upper side Z1). 11a. The first running wheel 11a is rotationally driven by a drive device (not shown) such as an electric motor, so that the first cart 11 runs along the first rail 20. As shown in FIG. 3, the second truck 12 includes a second running wheel 12a that rolls on a second running surface 31, which is the running surface of the second rail 30 (here, the surface facing the upper side Z1). . The second running wheel 12a is rotationally driven by a drive device (not shown) such as an electric motor, so that the second cart 12 runs along the second rail 30.

The first truck 11 is movable in the second direction Y while being mounted on the second truck 12, and is movable in the first direction X while being separated from the second truck 12. As shown in FIG. 1, the second truck 12 is at a position in the second direction Y corresponding to the first rail 20 (here, a pair of first rails 20) forming the travel route of the first truck 11. The first truck 11 moves between the second truck 12 and the first rail 20.

Articles W to be stored in the storage section 91 are carried into the warehousing section 92 from outside the storage facility 100 , and articles W taken out from the storage section 91 are carried out from the outbound section 93 to the outside of the storage facility 100 . In the example shown in FIG. 1, the warehousing section 92 and the warehousing section 93 are provided at the end of the travel route of the second truck 12 on the first side Y1 in the second direction. The article transport vehicle 10 conveys articles W to be stored in the storage section 91 from the storage section 92 to the storage section 91, and conveys articles W to be taken out from the storage section 91 from the storage section 91 to the output section 93. In FIG. 2, a case is illustrated in which a pallet Wa on which a load Wb is placed is an article W.

In this embodiment, the storage section 91 is formed using the first rail 20. Specifically, as shown in FIG. 3, the first rail 20 includes, in addition to the above-described first running surface 21, a mounting surface 22 (here, (a surface facing the upper side Z1). The mounting surface 22 is formed to extend continuously in the first direction X. By arranging the plurality of articles W in the first direction X and placing them on the placement surface 22, the plurality of articles W are arranged in the first direction X and stored in the storage section 91.

As shown in FIG. 1, the article W is placed on both sides of the second direction Y on a pair of first rails 20 (specifically, a pair of first rails 20 that form a traveling route of the first trolley 11; the same applies hereinafter). is stored in the storage section 91 in a supported state. Specifically, the article W is stored in the storage unit 91 with both sides in the second direction Y placed on one placement surface 22 and the other placement surface 22 of the pair of first rails 20. be done. As shown in FIG. 3, the side facing the center of the second direction Y between the pair of first rails 20 is the inside side in the second direction Y, and the opposite side is the outside side in the second direction Y. The surface 22 is arranged on the outside in the second direction Y with respect to the first running surface 21 formed on the same first rail 20 as the mounting surface 22 . Therefore, between the pair of mounting surfaces 22 forming one storage section 91 in the second direction Y, the pair of first running surfaces 21 that form the running path of the first cart 11 in the storage section 91 are arranged. ing.

As shown in FIGS. 2 and 3, the first cart 11 includes a support surface 11b that supports the article W from the lower side Z2. The support surface 11b is configured to be movable up and down, and the first cart 11 moves the support surface 11b up and down using the driving force of a drive device (not shown) such as an electric motor. As shown in FIG. 3, the second truck 12 includes a conveyor 12b that supports the article W from the lower side Z2 and conveys the article W in the first direction X. The second trolley 12 drives the conveyor 12b using the driving force of a drive device (not shown) such as an electric motor.

When storing the article W in the storage unit 91, the control device 40 operates the first cart 11 and the second cart 12 as follows, for example. The second cart 12 carrying the first cart 11 operates the transport conveyor 12b at the warehousing section 92 and receives the article W from the warehousing section 92 onto the transport conveyor 12b. After receiving the article W from the storage section 92, the second cart 12 travels along the second direction Y to a position corresponding to the storage section 91 where the article W is stored, and then stops. Then, the first cart 11 with the support surface 11b raised and supporting the article W on the support surface 11b separates from the second cart 12 and moves along the first direction X to the storage position where the article W is stored. The vehicle then runs and stops. Thereafter, the first cart 11 lowers the support surface 11b and places the article W supported on the support surface 11b on the mounting surface 22. Thereby, the article W is stored at the storage position in the storage section 91.

When taking out the article W from the storage section 91, the control device 40 operates the first cart 11 and the second cart 12 as follows, for example. The second cart 12 carrying the first cart 11 travels along the second direction Y to a position corresponding to the storage section 91 where the article W to be taken out is stored, and then stops. Then, the first cart 11 with the supporting surface 11b lowered is separated from the second cart 12, travels along the first direction X to the storage position where the article W to be taken out is stored, and stops. do. The first cart 11 raises the support surface 11b in the storage position, supports the article W placed on the placement surface 22 on the support surface 11b, and then moves to the position where it is loaded on the second cart 12. It travels along one direction X and stops. As a result, the article W stored at the storage position in the storage section 91 is taken out from the storage section 91. As the first cart 11 lowers the support surface 11b on the second cart 12, the article W taken out from the storage section 91 is supported by the conveyor 12b. After the second cart 12 travels along the second direction Y to a position corresponding to the delivery section 93 and stops, it operates the transport conveyor 12b and transfers the article W from the transport conveyor 12b to the delivery section 93.

As shown in FIG. 2, a worker passage 82 (walkway) through which a worker can move along the second direction Y is formed in each of the multiple storage layers 90. The worker passage 82 is formed at a position that overlaps the travel path of the second truck 12 when viewed in the vertical direction Z. In this embodiment, the worker passage 82 at each stage is formed such that the size in the vertical direction Z of the worker passage 82 is large enough for a worker (for example, a worker of average height) to walk. has been done.

In the example shown in FIG. 2, the worker passage 82 at the lowest stage is formed by the floor surface, and the worker passages 82 at the other stages L are formed by the passage forming member 80. The passage forming member 80 is provided at a height corresponding to the second rails 30 (here, a pair of second rails 30) of each stage except the lowest stage. The passage forming member 80 is formed into a plate shape (including a plate shape in which a through hole is formed) on which a worker can ride, and the space on the upper side Z1 with respect to the passage forming member 80 is the worker passage 82. It becomes. The worker enters the worker passage 82 formed by the passage forming member 80 by transferring from the scaffold 81 (see FIG. 1) to the passage forming member 80.

When an abnormality occurs in any of the storage units 91, the operator must move to the abnormality storage unit 91A (see FIG. 4) to perform abnormality response work in the storage unit 91 where the abnormality has occurred, which is the abnormality storage unit 91A (see FIG. 4). It is possible to move to the abnormality storage section 91A through a worker passage 82 formed on the same level L as 91A. Examples of abnormalities that may occur in the storage section 91 include a failure of the first cart 11 in the storage section 91 and storage of the article W in an inappropriate state (for example, posture) in the storage section 91. The abnormality handling work is, for example, work for resolving the abnormality, such as work on the broken first cart 11 or work on the article W stored in an inappropriate condition. In this embodiment, the storage section 91 is not provided with a plate-like member such as the passage forming member 80 on which an operator can ride. The worker moves in the storage section 91 along the first direction X, for example, riding on a work trolley that runs on the first rails 20 (here, a pair of first rails 20).

Next, the control executed by the control device 40 when an abnormality occurs in any of the storage units 91 will be described. Note that various technical features of the control device 40 described below include a method of controlling the first truck 11 and the second truck 12 (for example, a method including the steps shown in FIG. 6), a method of controlling the first truck 11 and the second truck 12, and a method including the steps shown in FIG. The program can also be applied to a program for controlling the two-carriage 12, and includes such methods, methods, and programs, as well as recording media on which such programs are recorded (computer-readable recording such as optical disks and flash memories). media) are also disclosed herein. The program for controlling the first trolley 11 and the second trolley 12 is provided, for example, by a recording medium recording the program or via a communication network, and the provided program is transmitted to the control device 40 ( The information is stored in a storage device that can be referenced by the computer.

For example, the control device 40 controls whether any of the storage units is activated based on detection information from a sensor (such as an image sensor) provided in the storage unit 91 or based on a signal transmitted from the first truck 11 or the second truck 12. In step 91, it is determined whether an abnormality has occurred. For example, when the first trolley 11 existing in the storage section 91 detects a failure in a device (for example, a drive device such as an electric motor) installed on the first trolley 11, an abnormality occurs in the storage section 91. The first truck 11 transmits a signal indicating that the operation has been performed to the control device 40. For example, if it is detected that the loading/unloading of articles W to/from a certain storage section 91 is not completed within the scheduled cycle, a signal indicating that an abnormality has occurred in the storage section 91 may be sent to the first trolley 11 or The second truck 12 sends the information to the control device 40 . As shown in FIG. 5, in this embodiment, the control device 40 and the first truck 11 are configured to communicate (here, wireless communication) via the second truck 12. Unlike such a configuration, a configuration in which the control device 40 and the first truck 11 communicate directly (that is, without going through the second truck 12) can also be used.

The control device 40 executes the first control and the second control when an abnormality occurs in any of the storage units 91. Here, as shown in FIG. 4, the storage section 91 in which the abnormality has occurred is referred to as the abnormality occurrence storage section 91A, the storage layer 90 in which the abnormality occurrence storage section 91A exists is referred to as the abnormality occurrence storage layer 90A, and the abnormality occurrence storage layer 90A is On the other hand, the storage layer 90 adjacent to the upper Z1 is referred to as an upper adjacent storage layer 90B, and the storage section 91 located directly above the abnormality occurrence storage section 91A in the upper adjacent storage layer 90B is referred to as an immediately above storage section 91B. In addition, the storage layer 90 adjacent to the lower side Z2 with respect to the abnormality storage layer 90A is referred to as the lower adjacent storage layer 90C, and the storage section 91 located directly below the abnormality storage section 91A in the lower adjacent storage layer 90C is referred to as the storage layer 90 directly below the abnormality storage section 91A. It is referred to as a storage section 91C. In addition, in FIG. 4, the storage layer 90 is shown in a simplified manner, such as by omitting the article W. Further, in FIG. 4, allowed movements of the first cart 11 and second cart 12 are indicated by "○", and prohibited movements of the first cart 11 and second cart 12 are shown by "x". .

The first control is a control to stop both the first cart 11 and the second cart 12 from running in the abnormality storage layer 90A, and the second control is to stop the first cart 11 from entering the storage section 91B directly above the storage layer 90A. This is a prohibition control. Along with the prohibition of the first cart 11 from entering the storage section 91 (here, the storage section 91B directly above), the first cart 11 is basically prohibited from traveling in the storage section 91. When an abnormality occurs in any of the storage sections 91, the control device 40 executes such first control and second control. is stopped, and in the upper adjacent storage layer 90B, loading and unloading of articles W to and from the directly upper storage section 91B is stopped (see FIG. 4).

The control device 40 allows the second cart 12 to travel in the upper adjacent storage layer 90B and the first cart 11 to enter the storage section 91 that is not subject to the second control in the upper adjacent storage layer 90B, while Execute second control. The control device 40 allows the first cart 11 to enter the storage section 91 by allowing the first cart 11 to travel in the storage section 91 that is not subject to the second control. Therefore, even if an abnormality occurs in any of the storage sections 91, in the upper adjacent storage layer 90B, the loading and unloading of articles W to and from the storage sections 91 that are not subject to the second control will be controlled by the first cart 11 and the first cart 91. This can be done using two carts 12. In this embodiment, the above-mentioned passage forming member 80 is disposed between the worker passage 82 and the travel path of the second cart 12 formed on the upper side Z1 with respect to the worker passage 82. (See Figure 2). Therefore, even if the second cart 12 is allowed to travel in the upper adjacent storage layer 90B, it is easy to appropriately ensure the safety of workers moving through the worker passage 82 formed in the abnormality storage layer 90A.

In the second control, the first cart 11 is prohibited from entering at least the directly above storage section 91B of the plurality of storage sections 91 provided in the upper adjacent storage layer 90B. In the second control, when the first cart 11 is prohibited from entering only the directly upper storage section 91B among the plurality of storage sections 91 provided in the upper adjacent storage layer 90B, the second control is performed. The storage section 91 is only the storage section 91B directly above. On the other hand, in the second control, when the first cart 11 is also prohibited from entering a storage section 91 other than the directly above storage section 91B among the plurality of storage sections 91 provided in the upper adjacent storage layer 90B, The storage units 91 that are subject to the 2-control are a plurality of storage units 91 including the storage unit 91B directly above. For example, in the second control, the control device 40 also prohibits the first cart 11 from entering the storage sections 91 adjacent to both sides of the storage section 91B in the second direction Y in the upper adjacent storage layer 90B. It can be done. In this case, the storage units 91 subject to the second control include a total of three storage units 91, including the storage unit 91B directly above the storage unit 91B and the storage units 91 adjacent to the storage unit 91B on both sides of the storage unit 91B in the second direction Y. becomes.

Note that when an abnormality occurs in one of the storage units 91, if the first trolley 11 is present in the storage unit 91 that is subject to the second control, the control device 40 causes the first trolley 11 to The second control may be started after the user leaves the storage unit 91 that is the subject of the second control. This configuration is suitable, for example, when one first cart 11 is arranged in each of the multiple storage layers 90.

In this embodiment, the control device 40 also executes the third control when an abnormality occurs in any of the storage units 91. The third control is a control that prohibits the first cart 11 from entering the storage section 91C directly below. If an abnormality occurs in any of the storage sections 91, the control device 40 executes such third control, so that in the lower adjacent storage layer 90C, loading and unloading of articles W to and from the storage section 91C directly below is stopped. (See Figure 4).

The control device 40 allows the second cart 12 to travel in the lower adjacent storage layer 90C and the first cart 11 to enter the storage section 91 that is not subject to the third control in the lower adjacent storage layer 90C. At the same time, the third control is executed. The control device 40 allows the first cart 11 to enter the storage section 91 by allowing the first cart 11 to travel in the storage section 91 that is not subject to the third control. Therefore, even if an abnormality occurs in any of the storage sections 91, in the lower adjacent storage layer 90C, the first trolley 11 and This can be done using the second cart 12.

In the third control, the first cart 11 is prohibited from entering at least the directly lower storage section 91C among the plurality of storage sections 91 provided in the lower adjacent storage layer 90C. In the third control, when the first cart 11 is prohibited from entering only the storage section 91C directly below out of the plurality of storage sections 91 provided in the lower adjacent storage layer 90C, the third control is performed. The storage section 91 is only the storage section 91C directly below. On the other hand, in the third control, when the first cart 11 is also prohibited from entering into storage sections 91 other than the storage section 91C directly below among the plurality of storage sections 91 provided in the lower adjacent storage layer 90C, The storage units 91 that are subject to the 3 control are a plurality of storage units 91 including the storage unit 91C directly below. For example, in the third control, the control device 40 also prohibits the first cart 11 from entering the storage sections 91 adjacent on both sides in the second direction Y with respect to the storage section 91C directly below the lower adjacent storage layer 90C. It can be done. In this case, the storage units 91 subject to the third control are three storage units 91 in total, including the directly below storage unit 91C and the storage units 91 adjacent to the directly below storage unit 91C on both sides in the second direction Y. .

Note that when an abnormality occurs in one of the storage units 91, if the first trolley 11 is present in the storage unit 91 that is subject to the third control, the control device 40 causes the first trolley 11 to be It is also possible to adopt a configuration in which the third control is started after the user leaves the storage unit 91 that is the target of the third control. This configuration is suitable, for example, when one first cart 11 is arranged in each of the multiple storage layers 90.

In the present embodiment, the control device 40 starts the first control when an abnormality occurs in any storage section 91, and then detects the movement of the operator to enter the abnormality storage layer 90A. In this case, the second control (in this embodiment, the second control and the third control) is started. Specifically, as shown in FIG. 6, when an abnormality occurs in one of the storage units 91 (Step #01: Yes), the control device 40 starts the first control (Step #02). Thereafter, when the operator's movement to enter the abnormality storage layer 90A is detected (step #03: Yes), the control device 40 controls the second control (in this embodiment, the second control and the third control). control) (step #04).

In the present embodiment, as shown in FIG. 5, a detection device 41 that detects the movement of a worker to enter the storage layer 90 (for example, entry from the scaffolding 81 shown in FIG. 1) Each of the layers 90 is provided with one. The control device 40 determines whether or not the operator has performed an action to enter the abnormality storage layer 90A based on the detection information of the detection device 41 provided in the abnormality storage layer 90A. The operator's movement to enter the storage layer 90 is a concept that includes both the operator's movement movement to the storage layer 90 and the worker's preliminary movement performed before the movement movement. The preliminary operation is, for example, an operator's operation for opening a door provided at the entrance to the storage layer 90 (a door opening operation, an operation for operating a switch for opening the door, etc.).

As described above, in the present embodiment, the control device 40 executes the first control, the second control, and the third control when an abnormality occurs in any of the storage units 91; When an abnormality occurs in the section 91, the control device 40 may be configured to execute controls other than these (for example, at least one of the fourth control and the fifth control described below). The fourth control is a control that prohibits the first cart 11 from entering the storage section 91 located directly above the upper storage section 91B in the storage layer 90 adjacent to the upper side Z1 with respect to the upper adjacent storage layer 90B. It is. Further, the fifth control prohibits the first cart 11 from entering the storage section 91 located directly below the lower storage section 91C in the storage layer 90 adjacent to the lower side Z2 with respect to the lower adjacent storage layer 90C. control.

[Other embodiments]
(1) In the above embodiment, the control device 40 starts the first control when an abnormality occurs in any of the storage sections 91, and then the operator The configuration has been described as an example in which the second control (in the above embodiment, the second control and the third control) is started when a motion is detected. However, the present disclosure is not limited to such a configuration, and for example, the control device 40 starts the first control and then performs the second control (or the second control and the third control, hereinafter the same) after a set time has elapsed. ), or the control device 40 may start the second control at the same time as the first control. Further, the control device 40 starts the first control when an operator's movement to enter the abnormality occurrence storage layer 90A is detected after an abnormality occurs in one of the storage units 91, and The second control may be started at that time or after a set time has elapsed.

(2) In the above embodiment, the control device 40 takes as an example a configuration in which, in addition to the first control and the second control, the third control is also executed when an abnormality occurs in any of the storage units 91. explained. However, the present disclosure is not limited to such a configuration, and may include a configuration in which the control device 40 does not execute the third control when an abnormality occurs in any of the storage units 91 (for example, the first control and the second control). It is also possible to have a configuration that only executes

(3) In the above embodiment, the configuration in which the placement surface 22 on which the article W is placed in the storage section 91 is formed on the first rail 20 has been described as an example. However, the present disclosure is not limited to such a configuration, and may include a configuration in which the mounting surface 22 is formed on another member (for example, a member dedicated to forming the mounting surface 22) supported by the support column 1. It is also possible to do this.

(4) Note that the configurations disclosed in each of the embodiments described above may be applied in combination with configurations disclosed in other embodiments unless there is a conflict. combinations) are also possible. Regarding other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of the present disclosure.

[Summary of the above embodiment]
An overview of the storage facility described above will be explained below.

A plurality of storage layers are provided in the vertical direction, and in each of the plurality of storage layers, a storage section capable of storing articles in line in a first direction, which is a specific direction along a horizontal plane, is provided. The storage equipment is provided with a plurality of rows in a second direction, which is a direction intersecting one direction, and includes a first trolley that travels along the first direction and transports the articles in the storage section; a second truck capable of mounting a truck and traveling along the second direction outside the storage unit; and a control device that controls traveling of the first truck and the second truck; Each of the storage layers of the stage is provided with a first rail, which is provided corresponding to each of the plurality of rows of storage sections, and on which the first truck runs, and a second rail, on which the second truck runs. When an abnormality occurs in any of the storage units, the control device executes the first control and the second control, sets the storage unit in which the abnormality has occurred as the abnormality storage unit, and controls the storage unit in which the abnormality has occurred. The storage layer in which the storage section exists is defined as an abnormality occurrence storage layer, the storage layer adjacent to the upper side with respect to the abnormality occurrence storage layer is defined as an upper adjacent storage layer, and the truth of the abnormality occurrence storage section in the upper adjacent storage layer is determined. The first control is a control for stopping the running of both the first cart and the second cart in the storage layer in which the abnormality has occurred, with the storage section located above being the directly above storage section, and the second control is a control that prohibits the first cart from entering the storage section directly above the storage section.

According to this configuration, when an abnormality occurs in any storage unit, the first control is executed, and the first control is executed in the storage layer (abnormal storage layer) where the storage unit in which the abnormality has occurred (abnormal storage unit) exists. Traveling of both the first truck and the second truck is stopped. Therefore, the safety of the worker who moves the abnormality storage layer toward the abnormality storage section and performs the abnormality response work in the abnormality storage section can be appropriately ensured. According to this configuration, when an abnormality occurs in any storage section, the second control is executed in addition to the first control, and the storage layer adjacent to the upper side (upper adjacent The first cart is prohibited from entering the storage section (directly above storage section) located directly above the storage section in which the abnormality has occurred in the storage layer (storage layer). In this way, by prohibiting the first trolley from entering the storage section directly above the storage section, which is located relatively close to the storage section where the abnormality has occurred in the upper adjacent storage layer, it is possible to prevent workers who are performing abnormality response work in the storage section where the abnormality has occurred. By avoiding contact with the first cart present in the upper adjacent storage layer, it is possible to appropriately ensure the safety of the worker. On the other hand, by not prohibiting the first cart from entering the storage section in an area relatively distant from the storage section where the abnormality has occurred in the upper adjacent storage layer, the area where the conveyance of articles is stopped in the upper adjacent storage layer is prevented. is limited to a part of the upper adjacent storage layer, and it is possible to suppress a decrease in operating efficiency of the storage equipment due to execution of the second control.

As described above, according to this configuration, it is possible to more effectively suppress a decrease in the operating efficiency of the storage facility when an abnormality occurs in any of the storage units.

Here, in the second control, it is preferable that the first cart is also prohibited from entering the storage sections adjacent to both sides of the storage section in the second direction with respect to the storage section directly above the upper adjacent storage layer.

According to this configuration, even if the storage sections adjacent on both sides in the second direction with respect to the storage section directly above the upper adjacent storage layer are arranged at positions relatively close to the storage section where the abnormality has occurred, The safety of the workers can be appropriately ensured by avoiding contact between the worker who performs the abnormality response work in the occurrence storage section and the first cart located in the upper adjacent storage layer.

The control device also allows the second cart to travel in the upper adjacent storage layer and to allow the first cart to enter the storage section that is not subject to the second control in the upper adjacent storage layer. It is preferable to execute the second control while doing so.

According to this configuration, even when the second control is being executed, the first cart and the second cart are used to transport articles into and out of the storage section in the upper adjacent storage layer that is not subject to the second control. be able to. Therefore, the second control can be executed while suppressing a decrease in the operating efficiency of the storage facility.

Further, when an abnormality occurs in any of the storage units, the control device further executes a third control, and stores the storage layer adjacent to the lower side with respect to the storage layer in which the abnormality has occurred into lower adjacent storage. layer, and the storage section located directly below the abnormality occurring storage section in the lower adjacent storage layer is set as the directly below storage section, and the third control prohibits the first cart from entering the directly below storage section. Preferably, it is a control.

According to this configuration, when an abnormality occurs in any storage section, the third control is executed in addition to the first control and the second control, and the storage layer adjacent to the lower side with respect to the storage layer where the abnormality has occurred is executed. The first cart is prohibited from entering the storage section (directly below storage section) located directly below the storage section where the abnormality has occurred in the (lower adjacent storage layer). In this way, by prohibiting the first cart from entering the storage section directly below the storage section, which is located relatively close to the storage section where the abnormality has occurred in the lower adjacent storage layer, it is possible to Even if some object (for example, a tool, etc.) falls from the storage layer to the lower adjacent storage layer, the object can be recovered without contacting the object with the first cart located in the lower adjacent storage layer. This makes it easier to avoid abnormalities occurring in the lower adjacent storage layer. On the other hand, by not prohibiting the first cart from entering the storage section in an area relatively distant from the storage section where the abnormality has occurred in the lower adjacent storage layer, the conveyance of articles in the lower adjacent storage layer is stopped. By limiting the area where the third control is performed to a part of the lower adjacent storage layer, it is possible to suppress a decrease in the operating efficiency of the storage equipment due to execution of the third control.

As described above, in the configuration in which the control device further executes the third control when an abnormality occurs in any of the storage units, in the third control, Preferably, the first cart is also prohibited from entering the storage section adjacent to both sides of the storage section in the second direction.

According to this configuration, even if the storage sections adjacent on both sides in the second direction with respect to the storage section directly below in the lower adjacent storage layer are arranged at positions relatively close to the storage section where the abnormality has occurred, It becomes easier to avoid abnormalities occurring in the side adjacent storage layer.

In the storage equipment having each of the above configurations, the control device starts the first control when an abnormality occurs in any of the storage sections, and then controls the operator to enter the storage layer where the abnormality has occurred. Preferably, the second control is started when the motion of the controller is detected.

According to this configuration, even if an abnormality occurs in any storage section, the start of the second control can be delayed until the operator's movement to enter the storage layer where the abnormality has occurred is detected. I can do it. Therefore, until the above-mentioned movement of the worker is detected, normal transportation of articles, including loading and unloading of articles to and from the storage section directly above, can be continued in the upper adjacent storage layer. Then, by starting the second control when the above-mentioned movement of the worker is detected, the first cart is prohibited from entering the storage section directly above, and the abnormality response work is performed in the storage section where the abnormality has occurred. The safety of workers can be appropriately ensured.

The storage facility according to the present disclosure only needs to be able to achieve at least one of the above-mentioned effects.

11: First trolley 12: Second trolley 20: First rail 30: Second rail 40: Control device 90: Storage layer 90A: Abnormality occurrence storage layer 90B: Upper adjacent storage layer 90C: Lower adjacent storage layer 91: Storage Section 91A: Abnormality storage section 91B: Directly above storage section 91C: Directly below storage section 100: Storage equipment W: Article X: First direction Y: Second direction Z: Vertical direction Z1: Upper side Z2: Lower side

Claims (6)

A plurality of storage layers are provided in the vertical direction, and in each of the plurality of storage layers, a storage section capable of storing articles in line in a first direction, which is a specific direction along a horizontal plane, is provided. A storage facility provided with a plurality of rows in a second direction that intersects one direction,
a first trolley that travels along the first direction and transports the article in the storage section;
a second truck capable of mounting the first truck and traveling along the second direction outside the storage unit;
A control device that controls running of the first truck and the second truck,
Each of the plurality of storage layers includes a first rail provided corresponding to each of the plurality of rows of storage sections, on which the first trolley runs, and a second rail, on which the second trolley runs. established,
The control device executes first control and second control when an abnormality occurs in any of the storage units,
The storage section in which the abnormality has occurred is referred to as an abnormality storage section, the storage layer in which the abnormality storage section exists is referred to as an abnormality storage layer, and the storage layer that is adjacent to the upper side of the abnormality storage layer is referred to as an upper adjacent storage layer. a storage layer, and the storage section located directly above the abnormality occurrence storage section in the upper adjacent storage layer is set as a directly above storage section;
The first control is a control for stopping the running of both the first truck and the second truck in the abnormality occurrence storage layer,
The second control is a storage facility that prohibits the first cart from entering the storage section directly above the storage facility. The second control also prohibits the first cart from entering the storage section adjacent to both sides of the storage section in the second direction with respect to the storage section directly above the upper adjacent storage layer. Storage equipment. The control device allows the second cart to travel in the upper adjacent storage layer and the first cart to enter the storage section that is not subject to the second control in the upper adjacent storage layer. The storage facility according to claim 1 or 2, wherein the storage facility executes the second control. The control device further executes a third control when an abnormality occurs in any of the storage units,
The storage layer adjacent to the lower side of the abnormality occurrence storage layer is referred to as a lower adjacent storage layer, and the storage section located directly below the abnormality occurrence storage section in the lower adjacent storage layer is referred to as a directly lower storage section,
The storage facility according to any one of claims 1 to 3, wherein the third control is a control that prohibits the first truck from entering the storage section directly below. 5. The third control also prohibits the first cart from entering the storage section adjacent to both sides of the storage section in the second direction with respect to the storage section directly below in the lower adjacent storage layer. Storage equipment. The control device starts the first control when an abnormality occurs in any of the storage units, and then starts the first control when an operator's movement to enter the storage layer where the abnormality has occurred is detected. Storage equipment according to any one of claims 1 to 5, which initiates the second control.

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