JP2024087338A - Automated Warehouse System - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automated warehouse system capable of conveying cargo to any position in a storage row.

SOLUTION: An automated warehouse system 100 has a storage row 53 comprising a plurality of storage parts 52, each capable of storing cargo, arranged in a first direction and a conveyance means 74 that travels on the storage row 53 in the first direction with the cargo mounted thereon. The storage row 53 has a plurality of marks 6 arranged at predetermined intervals in the first direction. The conveyance means 74 has a detection unit 31 that detects the plurality of marks 6 and a measurement unit 34 that measures a traveling distance of the conveyance means 74 separately from the detection unit 31. The automated warehouse system 100 identifies a position of the conveyance means 74 on the storage row 53 based on the number of marks 6 detected by the detection unit 31 and the measurement results of the measurement unit 34.

SELECTED DRAWING: Figure 2

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to an automated warehouse system.

Automated warehouse systems that can efficiently store and retrieve a large number of items in a small space are known. In Patent Document 1, the applicant discloses an automated warehouse system equipped with storage shelves that can store multiple items. This document discloses a technique for arranging multiple pallets at a predetermined pitch, and a technique for arranging the pallets with the same intervals between each other.

JP 2021-160932 A

The inventor has come to the following realization. In an automated warehouse system, when multiple loads are stored in a line in a storage row, it is conceivable to transport the loads on the storage row using a cart equipped with a sensor that detects the position of the load in front and behind. In this case, the cart can control the storage position of the loads starting from the back of the storage row, based on the distance between the loads in front and behind.

If it were possible to store items not only at the back but also at any position on the line with precision, a variety of storage methods would be possible, improving usability. For example, when the number of items to be stored is small, storing items near the entrance/exit of the line, leaving the back open, would shorten the travel distance of the cart and improve operating efficiency. However, in order to store items at any position, it is important to accurately detect the position of the cart transporting the items in the storage line. In the system described in Patent Document 1, it is not easy to accurately detect the position of the cart, and there is room for improvement in terms of transporting items to any position.

The present invention was made in consideration of these problems, and one of its objectives is to provide an automated warehouse system that can transport goods to any position in the storage row.

In order to solve the above problems, an automated warehouse system according to one aspect of the present invention includes a storage row in which multiple storage sections, each capable of storing an item, are arranged in a first direction, and a transport means for loading an item and transporting the item along the storage row in the first direction. The storage row has multiple marks arranged at predetermined intervals in the first direction. The transport means has a detection unit that detects the multiple marks, and a measurement unit that measures the travel distance of the transport means separately from the detection unit. The position of the transport means in the storage row is identified based on the number of marks detected by the detection unit and the measurement results of the measurement unit.

In addition, any combination of the above components, or mutual substitution of the components or expressions of the present invention between methods, systems, etc., are also valid aspects of the present invention.

The present invention provides an automated warehouse system that can transport goods to any position in a storage row.

1 is a plan view showing an automated warehouse system according to an embodiment of the present invention; FIG. 2 is an enlarged view showing an example of a storage row and a transport means of the automated warehouse system of the embodiment. 3A and 3B are schematic diagrams illustrating an example of a mark and a detection unit according to the embodiment. FIG. 2 is an explanatory diagram illustrating the loading operation of the automated warehouse system according to the embodiment. FIG. 10 is an explanatory diagram illustrating a parallel loading operation of the automated warehouse system according to the embodiment. FIG. 10 is an explanatory diagram illustrating a parallel carrying-out operation of the automated warehouse system according to the embodiment.

The present invention will be described below based on a preferred embodiment with reference to the drawings. In the embodiments and modified examples, identical or equivalent components and parts are given the same reference numerals, and duplicated explanations will be omitted as appropriate. Furthermore, the dimensions of the parts in each drawing are shown enlarged or reduced as appropriate to facilitate understanding. Furthermore, some of the parts that are not important for explaining the embodiment are omitted in each drawing.

In addition, terms including ordinal numbers such as first and second are used to describe various components, but these terms are used only for the purpose of distinguishing one component from another and do not limit the components.

[Embodiment]
Hereinafter, the configuration of an automated warehouse system 100 according to an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a plan view showing a schematic diagram of the automated warehouse system 100. Fig. 2 is an enlarged view showing an example of a storage row 53 and a transport means 74 of the automated warehouse system 100.

For ease of explanation, as shown in the figure, an XYZ Cartesian coordinate system is defined in which a certain horizontal direction is the X direction, a horizontal direction perpendicular to the X direction is the Y direction, and a direction perpendicular to both, i.e., the vertical direction, is the Z direction. The X direction is sometimes called the lateral direction, the Y direction the front-to-back direction, and the Z direction the up-down direction or row direction. The X direction is an example of the first direction, the Y direction is an example of the second direction, and the Z direction is an example of the up-down direction. These directional notations do not limit the configuration of the automated warehouse system 100, and the automated warehouse system 100 can be configured as desired depending on the application.

The automated warehouse system 100 has a shelf 5 including a plurality of storage sections 52 arranged along the X, Y and Z directions. In this example, the plurality of storage sections 52 arranged in the X and Y directions are referred to as storage stages. The shelf 5 has a plurality of storage stages (e.g., three stages) arranged in a row direction. FIG. 1 shows the first storage stage, but the other stages are similar. Each storage stage is provided with a storage row 53 in which a plurality of storage sections 52 capable of storing goods 12 are arranged in a first direction (X direction), a transfer means 74 that carries the goods 12 and transfers the storage row 53 in the first direction, and a transfer means 75 that carries the transfer means 74 and transports the goods 12 in a second direction (Y direction) that intersects the first direction. In this example, the second direction is perpendicular to the first direction, but the angle between the first and second directions is not limited to 90° and may be an angle different from 90°, such as 70° or 80°. A plurality of storage rows 53 are connected in the Y direction to form a storage stage. The storage section 52 is not limited to a fixed position on the storage row 53, but its position and size can be flexibly set according to the size of the load 12 to be stored. Each storage row 53 is provided on the upper surface of a first running path 71 (e.g., a first rail) that is composed of two extension members extending in the X direction.

In this specification, the following terms are used for loads. A "load" refers to a case such as a cardboard box that contains the contents. A load may contain multiple items. In the following explanation, when we say "load 12," it can refer to a single load 12 or a pallet with one or more loads 12 placed on it.

First, the overall configuration of the automated warehouse system 100 will be described. As shown in FIG. 1, the automated warehouse system 100 mainly includes a shelf 5, a conveying means 7, and a control unit 8. The conveying means 7 conveys the goods 12 to be stored in or removed from the shelf 5. The conveying means 7 includes a transfer means 74 (e.g., a first cart), a transport means 75 (e.g., a second cart), and a moving means 76 (e.g., a lifting device). The transfer means 74, the transport means 75, and the moving means 76 constitute a transfer means that moves the goods 12 in the X direction, the Y direction, and the Z direction. The transfer means 74 can move the goods 12 along the X direction. The transport means 75 can move the goods 12 along the Y direction. The moving means 76 can move the goods 12 in the Z direction.

For example, the transport means 7 can transport the load 12 out of the storage section 52 of the shelf 5. For example, the transport means 7 can transport the load 12 into the storage section 52 of the shelf 5. For example, the transport means 7 can transport the load 12 from one storage section 52 of the shelf 5 to another storage section 52 of the shelf 5.

The shelf 5 is a storage space capable of storing a large number of loads 12, and is sometimes referred to as a storage shelf. The configuration of the shelf 5 is not particularly limited as long as it can accommodate and store a plurality of loads 12. The shelf 5 is provided with a first runway 71 along which the transport means 74 runs. The first runway 71 extends in the X direction in the storage row 53, and the transport means 74 can run under each storage section 52. In this example, a second runway 73 (e.g., a second rail) extending in the Y direction is provided next to the shelf 5 so that the transport means 75 can run. In this example, the second runway 73, which is a passage for the transport means 75, is provided on each of the lateral sides of the storage row 53.

The transport means 74 drives wheels 79 by a motor 78 and travels on the first travel path 71 in the X direction with either an empty load or a load 12. The transport means 74 in this example has six wheels 79 arranged in a staggered pattern, and the wheels 79 are driven by the motor 78 via a transmission means (not shown) such as a gear mechanism or a chain mechanism. The transport means 74 has a detection unit and a measurement unit, which will be described later.

The transfer means 74 can get on and off the conveying means 75 and the moving means 76. The conveying means 75 drives the wheels by a motor (not shown) and travels in the Y direction on the second running path 73. The conveying means 75 transports the transfer means 74 when it is empty or when it is loaded with a load 12. The moving means 76 is provided adjacent to the second running path 73. The moving means 76 can raise and lower the transfer means 74 and the load 12 from any storage stage to another storage stage. In the example of FIG. 1, a single loading/unloading section 77 is provided for all stages, and the moving means 76 is connected to the loading/unloading section 77.

In this example, the goods 12 to be stored are brought into the loading/unloading section 77 by an external transport means (not shown) such as a forklift, and are then transported to the desired tier by the moving means 76. The goods 12 to be unloaded are raised or lowered from the tier on which they were stored to the tier of the loading/unloading section 77 by the moving means 76, are transported to the loading/unloading section 77, and are then removed from the loading/unloading section 77 by the external transport means.

The control unit 8 includes an MPU (Micro Processing Unit) and controls the movement of the goods 12 for storing, retrieving, carrying out, transporting, etc., based on the results of operations by the user. As an example, the control unit 8 controls the operation of the transfer means 74, the conveying means 75, and the moving means 76 so as to transport the goods 12 between a storing/retrieving area and a storage unit, or between multiple storage units.

The storage row 53 and the transport means 74 will be described. As shown in FIG. 2, in the automated warehouse system 100, the storage row 53 has a plurality of marks 6 arranged at a predetermined interval in the first direction, and the transport means 74 has a detection unit 31 that detects the plurality of marks 6 and a measurement unit 34 that measures the movement distance of the transport means 74 separately from the detection unit 31. The control unit 8 identifies the position of the transport means 74 in the storage row 53 based on the number of marks 6 detected by the detection unit 31 and the measurement results of the measurement unit 34.

The reason for the above-mentioned configuration of the automated warehouse system 100 will be explained. In order to store the load 12 at any position in the storage row 53, it is important to accurately detect the position of the transport means 74 that transports the load 12 in the storage row 53. In order to detect the position of the transport means 74, it is possible to count the number of marks provided at a predetermined interval in the storage row 53. In this case, the number of marks is limited, and this is considered to be disadvantageous in terms of resolution of position detection. In addition, in order to detect the position of the transport means, it is considered to measure the travel distance of the transport means. In this case, it is advantageous in that the resolution can be easily increased, but due to factors such as wheel slippage and wheel wear, it is considered to be disadvantageous in terms of accuracy when measuring long distances. Therefore, the automated warehouse system 100 identifies the position of the transport means in the storage row based on the number of marks detected by the detection unit and the measurement results of the measurement unit.

For example, the control unit determines the distance from each mark to the end portion, which is the entrance and exit of the storage line, by storing the positions of each of the multiple marks. The position between a mark and an adjacent mark is determined by measuring the travel distance of the transport means. The position of the transport means, which is the distance from the end portion, can be determined by adding the distance from the end portion to a mark and the measured travel distance from that mark. In this case, the desired accuracy and resolution can be achieved in the position determination results.

The detection unit 31 and the mark 6 will now be described. The detection unit 31 only needs to be capable of detecting predetermined physical information, and can be realized by various sensors based on known principles. Examples of this physical information include electromagnetic waves (including light), capacitance, sound, mechanical vibrations, etc. In other words, the detection unit 31 can employ sensors capable of detecting electromagnetic waves (including light), capacitance, sound, mechanical vibrations, etc.

The mark 6 includes a means for causing a change in the physical information detected by the detection unit 31. In other words, the mark 6 can employ a means for changing the electromagnetic waves (including light) detected by the detection unit 31, a means for changing the sound detected by the detection unit 31, a means for changing the mechanical vibration detected by the detection unit 31, etc.

An example of the mark 6 of the storage row 53 and the detection unit 31 will be described with reference to Figures 2 and 3. Figure 3 is a schematic diagram showing an example of the mark 6 of the storage row 53 and the detection unit 31. As an example, the mark 6 may be a detectable portion selected from a recess (including an opening), a protrusion, and a specific structure provided in the storage row 53, and the detection unit 31 may be capable of detecting the detectable portion. In the example of Figure 2, the mark 6 is an opening 62 provided in the light-shielding member 61, and the detection unit 31 is an optical sensor capable of detecting the opening 62. When the detection unit 31 faces the opening 62 of the light-shielding member 61, it determines that the opening 62 (mark 6) has been detected, and when it faces a portion other than the opening 62 of the light-shielding member 61, it determines that the opening 62 (mark 6) has not been detected.

In the example of FIG. 3, the mark 6 is a convex portion 64 such as a dog, and the detection unit 31 is a transmissive optical sensor capable of detecting the convex portion 64. The detection unit 31 is a photointerrupter composed of a light-projecting unit 32 that projects infrared light and a light-receiving unit 33 that receives the infrared light. As in FIG. 3(A), when the convex portion 64 blocks the infrared light, the detection unit 31 determines that it has detected the convex portion 64 (mark 6). As in FIG. 3(B), when the infrared light is not blocked, the detection unit 31 determines that it has not detected the convex portion 64 (mark 6).

The intervals between the multiple marks 6 may be equal or unequal. In the embodiment, the multiple marks 6 are arranged at unequal intervals to avoid interference with the shelf posts 51 that constitute the shelf 5.

The measurement unit 34 will now be described. The measurement unit 34 only needs to be capable of measuring the distance traveled by the transport means 74, and can be realized by various distance measurement means based on known principles. Examples of such distance measurement means include means for detecting the rotation of the wheels 79 (e.g., a rotary encoder), means for detecting acceleration and obtaining distance by mathematically processing the detection results (e.g., a gyro), means for detecting speed using the Doppler effect, etc.

In an embodiment, the measurement unit 34 includes a rotation detection means 35 that detects the output rotation of the motor 78 that drives the wheels 79 of the transport means 74. The rotation detection means 35 includes a rotary encoder that detects the rotation of the output shaft of the motor 78, the transmission means, or the wheels 79. In other words, the rotation detection means 35 includes not only one that directly detects the rotation of the motor 78, but also one that indirectly detects the rotation of the motor 78. The detection results of the detection unit 31 and the measurement unit 34 are provided to the control unit 8 by a predetermined communication means.

The control unit 8 may determine that the mark 6 has been detected when the detection signal of the detection unit 31 exceeds the threshold (positive edge), or may determine that the mark 6 has been detected when the detection signal of the detection unit 31 goes from a high state to below the threshold (negative edge).

An example of the loading operation of the automated warehouse system 100 of the embodiment will be described with reference to FIG. 4. FIG. 4 is an explanatory diagram for the loading operation, with the arrow indicating the loading path of the load 12. This operation is executed under the control of the control unit 8. This operation is an operation in which the load 12 to be loaded, which is placed in the loading/unloading unit 77, is transported to the storage unit 52 at the destination position in the storage row 53 set in advance for the load 12, and placed there. It is assumed that the destination position of the load 12 is input in advance and stored in the memory unit (not shown) of the control unit 8.

In the loading operation, the load 12 to be loaded is loaded onto the transfer means 74 at the loading/unloading section 77 and transported to the target storage stage by the moving means 76, which is a lifting device. At the target storage stage, the transport means 75 loads the transfer means 74 with the load 12 loaded on it and travels along the second travel path 73 to transport it to the target storage row 53. At the target storage row 53, the transfer means 74, which has dismounted from the transport means 75, travels along the first travel path 71 of the storage row 53 in the X direction from left to right in the figure with the load 12 loaded on it. At this time, the transfer means 74 transmits the detection results of the detection unit 31 and the measurement unit 34 to the control unit 8. The control unit 8 calculates the position of the transfer means 74 in the storage row 53 based on the detection results of the detection unit 31 and the measurement unit 34, and controls the operation of the transfer means 74 based on the result.

The control unit 8 calculates the brake start position for stopping the transport means 74 at the destination position in the storage line 53, and applies the brakes to the transport means 74 at the brake start position. When the transport means 74 stops at the destination position, it unloads the load 12 at that position, travels along the first travel path 71 toward the second travel path 73, and gets on the transport means 75. The transport means 75 travels along the second travel path 73 to the moving means 76 with the transport means 74 on board. The transport means 74 moves to the loading/unloading section 77 by the moving means 76 and prepares for the next cycle. This series of cyclic operations is repeated until there are no loads 12 to be brought in. This operation can be modified in various ways.

The goods 12 stored in the storage section 52 at the destination position of the storage row 53 may be removed by a transfer means 74 entering from one end 54A on the left side of the storage row 53, or may be removed by a transfer means 74 entering from the other end 54B on the right side of the storage row 53 in the figure. The transfer means 74 may enter from one end 54A of the storage row 53 and exit from the other end 54B, or may exit from one end 54A.

An example of the parallel loading operation of the automated warehouse system 100 of the embodiment will be described with reference to Figure 5. Figure 5 is an explanatory diagram for the parallel loading operation, with arrows indicating the loading paths of the loads 12A and 12B. In the explanations of Figures 5 and 6, there are multiple components, and they are distinguished by adding A and B to the end of the reference numerals indicating them. The parallel loading operation is an operation in which multiple loads 12A and 12B stored in the same storage row 53 are loaded in parallel from one end 54A and the other end 54B of the storage row 53.

In the automated warehouse system 100, the transport means 75 includes a first transport means 75A that transports the transfer means 74A to one end 54A of the storage row 53, and a second transport means 75B that transports the transfer means 74B to the other end 54B of the storage row 53. In addition, the automated warehouse system 100 has a control mode (hereinafter referred to as the "simultaneous movement mode") in which the two transfer means 74A and 74B move simultaneously within one storage row 53 in order to increase the operating efficiency of the warehouse. The simultaneous movement mode is used for parallel loading operations.

In a parallel loading operation, the load 12A to be loaded is loaded onto the transfer means 74A at the loading/unloading section 77A and is transported to the target storage stage by the moving means 76A. In parallel with this, the load 12B to be loaded is loaded onto the transfer means 74B at the loading/unloading section 77B and is transported to the target storage stage by the moving means 76B.

At the target storage stage, the transport means 75A loads the transfer means 74A carrying the load 12A and travels along the second travel path 73A to transport it to the target storage row 53. In parallel with this, the transport means 75B loads the transfer means 74B carrying the load 12B and travels along the second travel path 73B to transport it to the target storage row 53.

At the destination storage row 53, the transfer means 74A dismounts from the transport means 75A and travels in the X direction from left to right in the figure on the first running path 71A of the storage row 53 with the load 12A loaded. In parallel with this, the transfer means 74B dismounts from the transport means 75B and travels in the X direction from right to left in the figure on the first running path 71 of the storage row 53 with the load 12B loaded.

At this time, the transport means 74A, 74B transmit the detection results of the respective detection units 31 and measurement units 34 to the control unit 8. The control unit 8 calculates the positions of the transport means 74A, 74B in the storage row 53 based on the detection results of the detection units 31 and measurement units 34, and controls the operation of the transport means 74A, 74B based on the results.

The control unit 8 calculates the brake start position for stopping the transport means 74A at the destination position A of the storage line 53, and brakes the transport means 74A at the brake start position. In parallel with this, the control unit 8 calculates the brake start position for stopping the transport means 74B at the destination position B of the storage line 53, and brakes the transport means 74B at the brake start position. Note that the destination positions A, B, the brake timing, and the brake start position are different for the transport means 74A, 74B.

When the transfer means 74A stops at the destination position A, it drops off the load 12A at that position, travels along the first travel path 71 toward the second travel path 73A, and gets on to the transport means 75A. In parallel with this, when the transfer means 74B stops at the destination position B, it drops off the load 12B at that position, travels along the first travel path 71 toward the second travel path 73B, and gets on to the transport means 75B.

The transport means 75A travels along the second travel path 73A to the moving means 76A with the transfer means 74A on board. Next, the transfer means 74A is moved by the moving means 76A to the loading/unloading section 77A to prepare for the next cycle. In parallel with this, the transport means 75B travels along the second travel path 73B to the moving means 76B with the transfer means 74B on board. Next, the transfer means 74B is moved by the moving means 76B to the loading/unloading section 77B to prepare for the next cycle. This series of cyclic operations is repeated until all the loads 12A, 12B to be brought in are gone. This operation can be modified in various ways. Processes described as being carried out in parallel do not necessarily have to proceed simultaneously in parallel.

An example of a parallel unloading operation of the automated warehouse system 100 of the embodiment will be described with reference to FIG. 6. FIG. 6 is an explanatory diagram for explaining the parallel unloading operation, and the arrows indicate the unloading paths of the loads 12A and 12B.

First, in the parallel unloading operation, the empty transfer means 74A, 74B move to destination positions A and B in the storage row 53 in a process similar to that of the parallel loading operation. At this time, the transfer means 74A, 74B transmit the detection results of their respective detection units 31 and measurement units 34 to the control unit 8. The control unit 8 calculates the positions of the transfer means 74A, 74B in the storage row 53 based on the detection results of the detection units 31 and measurement units 34, and controls the operation of the transfer means 74 based on the results.

When the transfer means 74A and 74B move to the destination positions A and B in the storage row 53, they load the loads 12A and 12B to be removed, respectively. The transfer means 74A carrying the load 12A travels along the first travel path 71 toward the second travel path 73A and gets on to the transport means 75A. In parallel with this, the transfer means 74B carrying the load 12B travels along the first travel path 71 toward the second travel path 73B and gets on to the transport means 75B.

Next, the transport means 75A travels on the second travel path 73A to the moving means 76A with the transfer means 74A on board. Next, the transfer means 74A moves to the loading/unloading section 77A by the moving means 76A, where the load 12A is unloaded. In parallel with this, the transport means 75B travels on the second travel path 73B to the moving means 76B with the transfer means 74B on board. Next, the transfer means 74B moves to the loading/unloading section 77B by the moving means 76B, where the load 12B is unloaded.

Next, the now empty transport means 74A, 74B move to the next destination position in the storage row 53 to prepare for the next cycle. This series of cyclic operations is repeated until there are no more loads 12A, 12B to be removed. This operation can be modified in various ways. Processes described as being performed in parallel do not necessarily have to proceed simultaneously in parallel.

The automated warehouse system 100 has a simultaneous movement mode, which allows for parallel loading and unloading operations, allowing multiple loads 12 to be loaded and unloaded in a short period of time.

The features of the automated warehouse system 100 of the embodiment will be described. The automated warehouse system 100 includes a storage row 53 in which a plurality of storage sections 52 capable of storing goods 12 are arranged in a first direction, and a transport means 74 that transports the goods 12 along the storage row 53 in the first direction. The storage row 53 has a plurality of marks 6 arranged at a predetermined interval in the first direction, and the transport means 74 has a detection unit 31 that detects the plurality of marks 6 and a measurement unit 34 that measures the travel distance of the transport means 74 separately from the detection unit 31, and the automated warehouse system 100 identifies the position of the transport means 74 in the storage row 53 based on the number of marks 6 detected by the detection unit 31 and the measurement results of the measurement unit 34.

With this configuration, the automated warehouse system 100 can determine the position of the transport means 74 based on the accuracy of the mark 6 and the resolution of the measuring unit 34. As a result, the load 12 can be transported to any position in the storage row 53, and that position can be shared by multiple transport means 74.

As an example, the detection unit 31 can detect predetermined physical information, and the mark 6 includes a means for causing a change in the physical information detected by the detection unit 31. In this case, the mark 6 can be detected by a variety of methods.

As an example, the mark 6 includes a detectable portion selected from a recess, a protrusion, and a specific structure provided in the storage row 53, and the detection unit 31 is capable of detecting the detectable portion. In this case, the mark 6 can be configured with a simple structure, and the detection unit 31 can be configured with a simple structure.

As an example, the measurement unit 34 includes a rotation detection means 35 that detects the output rotation of the motor that drives the wheels 79 of the transport means 74. In this case, the measurement unit 34 can be configured with a relatively small device such as a rotary encoder, which is advantageous for miniaturization.

As an example, the automated warehouse system 100 is equipped with a transport means 75 that is mounted with the transport means 74 and transports the transport means 74 in a second direction intersecting the first direction. In this case, the transport means 74 can be transported to multiple storage rows 53, and the load 12 can be transported efficiently between the storage section 52 and the loading/unloading section 77.

As an example, the transport means 75 includes a first transport means 75A that transports the transfer means 74 to one end of the storage row 53, and a second transport means 75B that transports the transfer means 74 to the other end of the storage row 53. In this case, the goods 12 can be transported between the destination storage section 52 and the loading/unloading section 77 via a flexible route to the left and right. Therefore, the first-in, first-out of the goods 12 can be achieved with fewer processes, since the first-loaded goods 12 can be unloaded from the opposite side to the last-loaded goods 12.

As an example, aisles (second running paths 73A, 73B) for the transport means 75 are provided on both sides of the storage row 53. In this case, the loads 12 can be transported along flexible routes using multiple aisles on the left and right.

As an example, the automated warehouse system 100 has a control mode in which two transport means 74A, 74B move simultaneously within one storage row 53. In this case, the cargo transport process can be executed simultaneously in parallel for one storage row 53.

Above, examples of the embodiments of the present invention have been described in detail. The above-mentioned embodiments merely show specific examples of implementing the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes such as changes, additions, and deletions of components are possible within the scope of the idea of the invention defined in the claims. In the above-mentioned embodiments, the contents for which such design changes are possible are described with notations such as "in the embodiment" and "in the embodiment", but design changes are also permitted for contents without such notations. In addition, hatching in the drawings does not limit the material of the hatched object. In addition, it is understood by those skilled in the art that the various devices and mechanisms constituting the embodiments are not limited to those described in the embodiments, and various devices and mechanisms based on known principles can be used.

(Modification)
The following describes the modified examples. In the drawings and description of the modified examples, the same or equivalent components and members as those in the embodiment are given the same reference numerals. Explanations that overlap with the embodiment will be omitted as appropriate, and the description will focus on configurations that differ from the embodiment. In the drawings of the modified examples, descriptions of members that are not important for the explanation will be omitted.

In the description of the embodiment, an example in which the multiple functions of the control unit 8 are centralized and installed beside the shelf 5 has been shown, but this is not limiting. For example, some or all of the multiple functions of the control unit 8 may be distributed. The control unit 8 may be configured to achieve the object of the invention regardless of whether the functions are centralized or distributed. For example, some of the functions of the control unit 8 may be provided in a higher-level server (not shown), or some of the functions of the control unit 8 may be provided in the transport means 74 and/or the conveying means 75. As an example, the higher-level server may have, among the functions of the control unit 8, a function of providing information regarding the destination position to the transport means 74. In addition, the transport means 74 may have, among the functions of the control unit 8, a function of calculating the position of the transport means 74 based on the information provided by the higher-level server and the detection results of the detection unit 31 and the measurement unit 34, and controlling the operation of the transport means 74 based on the result. In addition, the transport means 74 may have, among the functions of the control unit 8, a function of calculating a brake start position and applying the brakes to the transport means 74 at the brake start position.

In the description of the embodiment, an example has been shown in which two transport means 74A, 74B are used to transport and store the same type of load 12 in one storage row 53, but this is not limited to the example. The two transport means 74A, 74B may transport and store loads 12 of different types or sizes in one storage row 53.

In the description of the embodiment, an example has been shown in which the transport means 74 does not include a means for detecting the distance to the load 12 in front or the load 12 in the rear, but this is not limiting. The transport means 74 may include a means for detecting the distance to the load 12 in front or the load 12 in the rear.

In the description of the embodiment, an example has been shown in which the transfer means 74 and the transport means 75 are provided at each storage stage, but this is not limited to this, and the transfer means 74 or the transport means 75 may not be provided at any stage.

In the description of the embodiment, an example has been given in which the mark 6 is an opening provided in the storage row 53, but this is not limiting. The mark 6 may be a specific structure of the shelf 5. As an example, the mark 6 may be a shelf post 51 that constitutes the shelf 5. In this case, the detection unit 31 may be a proximity sensor that can detect the shelf post 51.

In the description of the embodiment, the transport means 7 includes the transfer means 74, the transport means 75, and the moving means 76, and an example has been shown in which the transport means 75 and the moving means 76 are provided separately, but this is not limited to this. Instead of the transport means 75 and the moving means 76, a moving means (e.g., a stacker crane) capable of moving the load 12 in the up-down and back-and-forth directions may be used. In this case, the stacker crane may be one that cannot mount the transfer means 74, or one that can mount the transfer means 74 together with the load 12.

In the description of the embodiment, an example was shown in which a common loading/unloading section 77 is provided for all tiers and a moving means 76 is connected to the loading/unloading section 77, but this is not limited to the above. Each tier may be provided with a loading/unloading section, and goods to be loaded and unloaded may be loaded and unloaded from the loading/unloading section of each tier by a forklift. The loading/unloading section may also be divided into an loading section and an unloading section.

In the description of the embodiment, an example was given in which the load 12 includes a pallet, but this is not limited thereto, and the load 12 may not have a pallet.

Each of these modified examples provides the same effects and advantages as the embodiment.

Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. A new embodiment resulting from the combination has the combined effects of each of the combined embodiments and modifications.

5 shelf, 6 mark, 7 transport means, 8 control unit, 12 load, 31 detection unit, 34 measurement unit, 35 rotation detection means, 52 storage unit, 53 storage row, 71 first running path, 73 second running path, 74 transfer means, 75 transport means, 76 moving means, 77 loading/unloading unit, 78 motor, 79 wheels, 100 automated warehouse system.

Claims (8)

a storage row including a plurality of storage sections arranged in a first direction, each of which is capable of storing an object;
a transport means for transporting the storage row in the first direction while carrying a load;
Equipped with
The storage row has a plurality of marks arranged at predetermined intervals in the first direction,
the transport means has a detection unit that detects the plurality of marks and a measurement unit that measures a moving distance of the transport means separately from the detection unit,
An automated warehouse system that identifies the position of the transport means in the storage row based on the number of marks detected by the detection unit and the measurement results of the measurement unit. The detection unit is capable of detecting predetermined physical information,
The automated warehouse system according to claim 1 , wherein the mark includes a means for causing a change in the physical information detected by the detection unit. The mark includes a detectable portion selected from a recess, a protrusion, and a specific structure provided in the storage row,
The automated warehouse system according to claim 1 , wherein the detection unit is capable of detecting the detection target portion. The automated warehouse system according to claim 1, wherein the measuring unit includes a rotation detection means for detecting the output rotation of a motor that drives the wheels of the transport means. The automated warehouse system according to claim 1, further comprising a transport means that is equipped with the transport means and transports the goods in a second direction that intersects with the first direction. The automated warehouse system according to claim 5, wherein the transport means includes a first transport means for transporting the transfer means to one end of the storage row, and a second transport means for transporting the transfer means to the other end of the storage row. The automated warehouse system according to claim 6, wherein an aisle for the transport means is provided on both sides of the storage row. The automated warehouse system according to claim 1, having a control mode in which two of the transport means move simultaneously within one of the storage rows.

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