JP3890873B2 - Warehousing control device and automatic warehouse having the warehousing control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a loading / unloading method for loading / unloading a package with a stacker crane capable of simultaneously transporting a plurality of packages in an automatic warehouse.
[0002]
[Prior art]
In recent years, in distribution systems, storage and sorting have become more efficient due to the increasing variety of products and the frequency of store delivery, and automatic warehouses are used to store and sort packaged items in case units. .
[0003]
In the automatic warehouse, the sent luggage is transported to the warehousing port by the warehousing aisle conveyor. The transported luggage is transferred to the stacker crane, and the stacker crane stores the luggage in a predetermined position of the storage shelf. Also, the goods to be delivered are transported to the exit by a stacker crane. Then, it is transferred to a shipping aisle conveyor and sent to a shipping place.
[0004]
Here, when this work is to be performed efficiently, it is necessary to consider the state of the cargo to be loaded and unloaded (number of transported items) and the operation route of the stacker crane. Japanese Patent Application Laid-Open No. 64-75307 discloses a method of finding a possible route pattern, calculating work time, and determining a route that minimizes this as a transport route when transporting one piece at a time for both loading and unloading. Is described.
[0005]
[Problems to be solved by the invention]
When the stacker crane can carry a plurality of packages at the same time, one or a plurality of packages are stored in one or a plurality of positions (hereinafter referred to as warehousing work) or carried to a shipping outlet (hereinafter referred to as warehousing work). can do. Here, the larger the number of warehousing candidates and the number of warehousing orders (shipping request), the more the transportation route patterns of the stacker crane. Therefore, if the work time is calculated for all the patterns, the optimum minimum time can be determined, but the calculation time also increases. In particular, when trying to control a plurality of stacker cranes in an automatic warehouse at the same time, the amount of calculation becomes enormous and it becomes inefficient. Also, a high-capacity computer just for that purpose is required.
[0006]
Therefore, the present invention seeks to obtain a cargo loading / unloading method or the like that determines a transport route pattern with a short loading / unloading work time efficiently in a short time.
[0007]
[Means for Solving the Problems]
  The entry / exit control device according to the present application is an entry / exit control device that controls entry / exit in an automatic warehouse including at least a storage shelf including a plurality of storage units and a stacker crane capable of simultaneously transporting a plurality of loads. , Goods receipt requestas well asWhen there are multiple exit requests among the exit requests, the travel time of the stacker crane from the candidate storage units that can deliver the packages that satisfy each exit request to the exit through the storage unit that can be delivered from the entrance. As the storage unit for shipping luggageFirstBased on the location of the storage unit that decides and issues the decided luggage,A stacker crane from the entrance to the exit including the operation time related to entry / exit, through the storage unit for delivering the package, from among the candidates for the storage unit that can receive the package to be stored. Determine the storage part to store the luggage so that the travel time ofWere determinedEntry / exitBased on the location of the storage,By stacker crane from the entrance to the exitThe route of luggageFinallydecide.
  In the present invention, the storage unit that issues the package is determined first, the provisional route is determined, and the selection range of the storage unit that can store the package is reduced to reduce the calculation amount, and then the package is received. A storage unit is determined, and a transportation route of the luggage is determined based on the determined storage unit.
[0008]
The means for solving the problems include the following inventions.
In a storage control device of an automatic warehouse equipped with a storage shelf composed of a plurality of storage units and a stacker crane capable of transporting a plurality of packages simultaneously, when at least one of a storage request or a storage request is plural, any storage The stacker crane route is tentatively determined by determining the delivery position indicating whether the cargo is to be delivered from the part, and the provisionally determined route or an empty storage part around the route is determined as the cargo entry position. Warehousing control device for automatic warehouse.
[0009]
The storage control device according to the present application prioritizes a storage unit that can output a plurality of packages at the same time among storage units that satisfy the output request when there are a plurality of output requests. Determine as.
In the present invention, when determining a storage unit for unloading a load, in order to reduce the number of times the stacker crane is stopped, the storage unit capable of simultaneously unloading a plurality of loads is preferentially determined.
[0010]
  In addition, the entry / exit control device according to the present application determines the storage unit to receive the luggage,
(1) Means for searching the storage unit facing the storage unit that issues the package
(2) Means for searching for a storage unit on a stacker crane route or a peripheral region of the route that is provisionally determined based on the position of the storage unit to be discharged and the storage port and the output port of the stacker crane
(3) Means for searching for a storage unit in the peripheral area of the storage unit that issues the package
One or more means are included, and a storage unit for storing the package is determined based on the search result.
[0011]
In the present invention, when determining a storage unit for storing a package, a means for searching a storage unit facing the storage unit for storing the package, a storage unit on the tentatively determined route or in a peripheral region of the route is provided. Of the means for searching or the means for searching the storage area in the peripheral area of the storage part for delivering the package, one or more means are used to search for the storage part at an efficient location, and based on the result , Determine the storage unit to store the luggage.
[0012]
Moreover, the automatic warehouse which concerns on this application has said entrance / exit control apparatus.
[0013]
In the present invention, efficient loading / unloading control can be performed in an automatic warehouse.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
FIG. 1 is a diagram showing an example of an automatic warehouse that realizes the luggage transport method according to the first embodiment of the present invention. FIG. 1A is a view of the automatic warehouse as viewed from above, and FIG. 1B is a view of the automatic warehouse as viewed from the side. In FIG. 1, 1 is a storage shelf. In the present embodiment, as shown in FIG. 1 (b), the storage shelf 1 is composed of storage units of l stages × k consecutive locations, and this is provided in m columns. 2 is a warehousing port. The goods to be received are brought here. 3 is a stacker crane. The stacker crane 3 moves based on a predetermined order, and performs an operation for loading or unloading the luggage from each shelf of the storage shelf 1. In the present embodiment, it is assumed that the stacker crane 3 can carry a maximum of two loads simultaneously. Each stacker crane performs this operation on two rows of storage shelves. 4 is a shipping exit. The goods to be shipped are transported here. Here, although the entrance 2 and the exit 4 are provided in different positions in FIG. 1, they may be provided in the same position.
[0015]
FIG. 2 is a configuration diagram of a system for controlling the load carrying method of the stacker crane 3. In FIG. 2, 11 is a stacker crane control device. The stacker crane control device 11 controls the plurality of stacker cranes 3. In addition, the status data of the stacker crane 3 (hereinafter referred to as status data), the data of the cargo requested for delivery (hereinafter referred to as delivery request data), the data of the cargo to be received (hereinafter referred to as receipt data), and the storage unit of the storage shelf 1 Is transmitted to the crane operation determination computer 12 as necessary (storage position, type of luggage, etc., hereinafter referred to as inventory data). Reference numeral 12 denotes a crane operation determination computer. The crane operation determination computer 12 further includes a data storage unit 13, a handling determination unit 14, an entry / exit position candidate selection unit 15, an entry / exit position determination unit 16, and a traveling order determination unit 17. The data storage unit 13 stores state data, warehousing request data, warehousing data, and inventory data. The handling determination unit 14 determines the number of loads that the stacker crane 3 next enters and leaves. The entry / exit position candidate selection unit 15 determines a candidate (hereinafter referred to as an entry candidate) of an entry position (a storage unit for entering the luggage) for the luggage to be received. In addition, for a package to be delivered, a candidate (hereinafter referred to as a delivery candidate) of a delivery position (a storage unit that delivers the package) is determined. The loading / unloading position determination unit 16 determines a loading position and a loading position based on each candidate selected by the loading / unloading position candidate selection unit 15. The traveling order determination unit 17 determines the transportation route and the order of circulation based on the determined delivery position and entry position.
[0016]
It takes a lot of time to calculate the minimum time based on all combinations of storage units that can be loaded and unloaded. Therefore, in the present embodiment, the handling determining unit 14 determines the number of packages to be stored / extracted next, and the storage unit candidates (entrance candidates and output candidates) that can be stored / extracted are determined by the storage / candidate candidate selecting unit 15. . The entry / exit position determination unit 16 determines an exit position based on the exit candidates and provisionally determines a route. Then, the warehousing position is determined based on the warehousing candidate, and the final transport route is determined based on the determined warehousing position and the warehousing position. When determining the warehousing position, in order to move the stacker crane 3 most efficiently, it is only necessary to reduce the number of places where the stacker crane stops in the transport route from the warehousing port 2 to the warehousing port 4. Therefore, it is first determined whether or not the storage unit such as the storage unit in the storage shelf 1 facing the output position can be stored at a position where the stacker crane need not be moved. If an appropriate warehousing position cannot be found, it is determined whether or not warehousing can be performed on a route that does not require changing the route that makes the warehousing operation as short as possible, or in the vicinity thereof. If an appropriate warehousing position cannot be found, it is further determined whether or not warehousing can be performed in the vicinity of the warehousing position. If you still cannot find it, find the warehousing position near the warehousing entrance. In this way, it is not necessary to examine all the warehousing candidates by determining the warehousing position after tentatively deciding the route in advance, and it is possible to determine an efficient transportation route and patrol order in a short time. it can. In particular, as the number of storage shelves and storage units increases, the calculation order varies. In addition, for example, if there are two cargoes to be loaded into the stacker crane, the loading baggage may not be loaded. Depending on the status of the shipment, there are restrictions on the warehousing candidates. The warehousing candidates will decrease more and more.
[0017]
Next, the load carrying operation by the control of the stacker crane 3 will be described. The handling determination unit 14 determines the number of packages that the stacker crane 3 will enter / exit on the basis of the status data, the output request data, and the input data (that is, which items are received and which requests are received). ). Here, in the present embodiment, it is assumed that the handling determining unit 14 has determined that two pieces of cargo are loaded / unloaded.
[0018]
The entry / exit position candidate selection unit 15 receives the determination of the handling determination unit 14 and selects a storage unit candidate to enter / exit based on the inventory data. About the storage part which performs warehousing, it will be selected from the vacant location. Here, in the case of selecting a candidate, for example, at the time of warehousing, there are cases where the storage unit to be selected is limited depending on the type of luggage to be warehousing. Further, for example, there may be a case where the storage units in the empty state are adjacent to each other so that the two storage units can be stored at a time. In some cases, two storage units can be issued at a time. The entry / exit position candidate selection unit 15 determines whether or not to perform simultaneous entry or exit based on the presence / absence of a storage unit that can be entered or exited at the same time, and information on the goods that are entered or exited. Or the candidate of the storage part to be delivered is selected. In the first embodiment, a case where neither simultaneous entry nor simultaneous delivery is performed will be described.
[0019]
FIG. 3 is a flowchart showing the determination procedure of the warehousing position determination unit 16 when neither simultaneous warehousing nor simultaneous warehousing is performed. Where O₁ And O₂ Represents a set of shipping candidates. S₁ And S₂ Represents a set of warehousing candidates.
[0020]
First, D, which is a value in units of time_1minA large value is set as the initial value of (STEP 1). And set O₁ And O₂ Select one storage unit for which the travel time is not calculated from among the shipping candidates that are elements of₁(STEP 2). And T from the entrance₁Travel time to the exit (through D₁) Is calculated (STEP 3). And D₁Value and D_1minAnd the value of D₁<D_1minIt is determined whether or not (STEP 4). D₁<D_1minIf so, D₁The value of the new D_1minSet as the value of. In addition, at that time candidate T₁T_1min(STEP 5). Set O₁ And O₂ It is determined whether or not the travel time has been calculated for all of the elements (STEP 6). If it is determined that the travel time has not been calculated for all elements, the process returns to STEP 2 and D₁D, which is the shortest travel time_1minAnd the candidate for delivery T at that time_1minContinue searching for.
[0021]
Travel time D for all elements₁As a preparation for determining the other delivery position,_2minIs set to a large value (STEP 7). And shipping candidate T_1minSelect one storage unit for which the travel time is not calculated for the elements (issue candidates) of the set that does not belong to₂(STEP 8).
[0022]
And T from the entrance_1min, T₂Calculate the travel time to reach the exit. In addition, T₂ , T_1minCalculate the travel time to reach the exit. Of the calculated travel times, the less travel time D₂(STEP 9). And D₂Value and D_2minAnd the value of D₂<D_2minIt is determined whether or not (STEP 10). D₂<D_2minIf so, D₂The value of the new D_2minSet as the value of. In addition, at that time candidate T₂T_2min(STEP 11). Then, it is determined whether or not the travel time has been calculated for all elements (STEP 12). If it is determined that the travel time has not been calculated for all elements, the process returns to STEP 8 and D₂D, which is the shortest travel time_2minAnd the candidate for delivery T at that time_2minFind out. At this time, as a temporary circulation order, T_O (1), T_O (2) (STEP 13).
[0023]
FIG. 4 is a diagram illustrating the route of the stacker crane 3, the peripheral region of the route, and the peripheral region of the storage unit to be delivered. When the route for delivery is determined, the entry position is next determined. First, T is the most convenient in terms of work efficiency._O (1) or T_O It is that it can be received at the position (2). Therefore, T of storage shelf facing_O (1) or T_O The storage unit located at (2) is the warehousing candidate S₁ Or S₂ (STEP 14).
[0024]
Although not specifically shown in the flowchart, what must be considered here is that the warehousing candidates are limited depending on the number of cargoes to be admitted and retrieved. For example, when two pieces of luggage are stacked on the stacker crane 3, there is a restriction that the luggage for delivery cannot be loaded. Therefore, T_O Input candidate S until (1)₁ Or S₂ One of them must be determined as an empty storage unit.
[0025]
FIG. 5 is a diagram illustrating a loading / unloading pattern when there is no simultaneous loading / unloading. FIG. 5A shows the set S.₁ The storage unit determined from among the T_O On the path of (1) and the set S₂ The storage unit determined from among T is_O (1) to T_O The case where it exists on the path | route of (2) is represented. FIG. 5B shows the set S.₂ The storage unit determined from among the T_O On the path of (1) and the set S₁ The storage unit determined from among T is_O (1) to T_O The case where it exists on the path | route of (2) is represented. FIG. 5C shows the set S.₁ And set S₂ The two storage units determined from among the T_O The case where it exists on the path | route of (1) is represented.
[0026]
In STEP14, if the two warehousing positions cannot be determined, then T_O (1), T_O The storage unit located on the route line segment from (2) to the exit port or in the peripheral area is the entry candidate S.₁ Or S₂ It is determined whether it is an element of (STEP 15). Here, the storage unit on the route line segment refers to a storage unit having the longest line segment in the k sets that can be obtained when the vertical (stage) direction is set as one set. Specifically, in each group, the storage unit having the closest distance between the line segment by the route and the center coordinate is a storage unit on the route line segment representing each group. Further, the peripheral area here means a storage section one above and below the storage section on the route line segment as shown in FIG. That is, for each series, the three storage units centered on the storage unit on the route line segment become the peripheral region portion including the storage unit on the route line segment. For example, T_O (1) to T_O When the route to (2) is vertical, the left and right storage units are set as the peripheral area. Here, the peripheral area is defined in this way, but this peripheral area can be freely changed by setting.
[0027]
In STEP15, if two warehousing positions cannot be determined, T_O (1), T_O Time required for the route from (2) to the exit, and T from the entrance_O (2), T_O The time required for the route from (1) to the exit port is compared to determine whether the time is the same (STEP 16). This is the case where the same time is reached, for example, when the entrance and the exit are at the same position. Moreover, even if it exists in a different position, it may be the same time. The reason for examining such a route is T_O (1), T_O This is because a package that could not be stored in the route from (2) to the exit port may be received by reversing the route. Therefore, if it is determined that it is the same time, T_O (2), T_O The storage unit located on the route line segment from (1) to the exit port or in the peripheral area is the entry candidate S.₁ Or S₂ It is determined whether it is an element of (STEP 17).
[0028]
In STEP17, if two warehousing positions cannot be determined, T_O (1) or T_O The storage unit located in the peripheral area of (2) is the warehousing candidate S₁ Or S₂ It is determined whether it is an element of (STEP 18). This peripheral region is T as shown in FIG._O (1) or T_O One of (2) means the upper, lower, left and right storage sections. That is, eight storage units are peripheral area portions for one delivery position. However, this can also be freely changed by setting as in the peripheral area described above. And also in STEP16, if two warehousing positions cannot be determined, the empty storage part close to the warehousing port is determined as the warehousing position (STEP19). The warehousing position found in this way is T_I (1), T_I It is determined as (2) (STEP 20).
[0029]
Delivery position T determined as described above_O (1) and T_O (2) and warehousing position T_I (1) and T_I Based on (2), the traveling order determination unit 17 determines the final transportation route (including the traveling order). Then, the determined transport route data is transmitted to the stacker crane control device 11. The stacker crane control device 11 controls the stacker crane 3 on the basis of the data of the transportation route, and allows loading and unloading of the luggage.
[0030]
As mentioned above, according to 1st Embodiment, the conveyance path | route for making the stacker crane control apparatus 11 perform the operation | movement of the stacker crane 3 efficiently to the warehousing candidate and warehousing candidate which were determined in the warehousing candidate selection part 15 Based on the warehousing candidates, the warehousing position determination unit 16 determines the warehousing position and tentatively determines the warehousing position based on the warehousing candidates. Since the order of patrol is determined, an efficient transport route can be calculated without checking the transport route pattern related to all entry / exit positions, and the amount of calculation can be reduced. Therefore, it is not necessary to perform the calculation for a long time, and it is not necessary to use a high-performance computer.
[0031]
Embodiment 2. FIG.
In the above-described first embodiment, the description has been made without considering simultaneous warehousing and simultaneous warehousing. In this embodiment, a case is considered in which there are warehousing candidates and warehousing candidates that can be simultaneously entered or delivered. The figure will be described with reference to FIGS. 1 and 2 as in the first embodiment.
[0032]
First, consider simultaneous shipping. The entry / exit candidate selection unit 15 determines storage units that can be delivered simultaneously when selecting an exit candidate. As described above, in order to move the stacker crane 3 most efficiently, it is necessary to reduce the number of places where the stacker crane stops in the transport route from the entrance 4 to the exit 4. This is because the transfer time and the movement time can be shortened. Therefore, when there is a position where the parcel can be delivered at the same time, it is more efficient to prioritize that position. Therefore, in the first embodiment, the set O₁ And O₂ The set of items that can be issued at the same time in the storage unit that is this element is defined as O._ThreeAnd And this O_ThreeThe movement time is calculated for each of the elements, and the element (storage unit) that minimizes the movement time is T as in the first embodiment._O And Where T_O Therefore, STEP1 to STEP13 of the first embodiment are not performed.
[0033]
This T_O Based on the above, the warehousing position is determined by the same processing as STEP14 to STEP20 of the first embodiment. However, in the case of simultaneous delivery, since two packages are transferred simultaneously at the delivery position, there is a restriction that the warehousing position must be determined from the warehousing candidates existing in the route from the warehousing port 2 to the delivery position. Imposed on the candidate.
[0034]
Next, consider simultaneous warehousing. In the case of simultaneous warehousing, if there is a position where the parcel can be admitted simultaneously, the position is prioritized. Therefore, the set S in the first embodiment₁ And S₂ The set of items that can be stored at the same time in the storage unit that is this element is S_ThreeAnd And this S_ThreeFor each element, the warehousing position T is processed by the same processing as STEP 14 to STEP 20 of the first embodiment._ITo decide. In this case, T_O The restriction that the warehousing position must be determined until (1) is imposed on the warehousing candidates.
[0035]
As described above, according to the second embodiment, the route is determined by calculating the travel time in preference to the other candidates that can be issued at the same time, and the entry position based on the entry candidate based on the route. Since the final transportation route and the traveling order thereof are determined in the traveling order determination unit 17, a more effective transportation route can be calculated without increasing the amount of calculation. In addition, since the warehousing candidates that can be simultaneously received are determined as the warehousing position with priority over others, an efficient transportation route can be obtained.
[0036]
Embodiment 3 FIG.
In the above-described first embodiment, the case where two pieces of luggage are loaded and unloaded has been described. In the second embodiment, simultaneous entry and exit are described. Next, the case where there is one shipping request will be described.
[0037]
If there is one exit request, the route may be determined by performing STEP 1 to STEP 6 in the flowchart of FIG. 3 described in the first embodiment, and STEP 7 to STEP 13 may not be performed. This is very similar to the simultaneous shipping in the second embodiment. The difference is that in the case of simultaneous delivery, the load placed on the stacker crane 3 must be 0 at the delivery position, but one may be placed. That is, when there are two packages to be stored, there is a restriction that at least one storage position must be determined in the route from the storage port 2 to the storage position. There is no such restriction when there is only one package to be stored. For this reason, restrictions are not heavier than simultaneous shipping. The entry / exit position determination unit 16 determines the entry position by the same processing as STEP 14 to STEP 20 of the first embodiment within this limit.
[0038]
Embodiment 4 FIG.
In the present embodiment, a case where there is one piece of luggage to be stored will be described. For example, when two packages are to be issued, the restriction imposed when there is only one package to be stored is T_O After (1) T_O This means that the warehousing position where the warehousing work is performed must be determined until (2) or at the warehousing position. In the case of simultaneous shipping, T_O The warehousing position must be determined up to or at the delivery position. The entry / exit position determination unit 16 determines the entry position by the same processing as STEP 14 to STEP 20 of the first embodiment within this limit.
[0039]
Embodiment 5 FIG.
In the present embodiment, a case will be described in which the number of packages to be received is 0 or the number of outgoing requests is 0. First, when the number of packages to be stored is zero, the output position is determined by the same processing as STEP1 to STEP13. However, since only the unloading work is performed here, the stacker crane 3 does not need to move from the current position to the loading position. For this reason, the same processing as STEP1 to STEP13 is performed on the assumption that the current position moves to the exit through two exit positions, and the two exit positions T_O (1), T_O (2) is determined. The traveling order determination unit 17 transmits the data to the stacker crane control device 11 with the determined route as the final transport route. The stacker crane control device 11 controls the stacker crane 3 to cause the cargo to be unloaded.
[0040]
On the other hand, if the exit request is 0, there is no exit position and the route of the stacker crane 3 itself, so the processing of STEP19 to STEP20 is performed to enter the entry position T._I (1), T_I Determine (2). Specifically, first, the storage unit that minimizes the travel time from the warehousing port is designated as the warehousing candidate S.₁ , S₂ Next, the storage part with the shortest travel time from the first warehousing position is selected from the warehousing candidate set to which the first warehousing position does not belong, and this is selected as the second warehousing position. And And the traveling order determination part 17 transmits the data to the stacker crane control apparatus 11 by making the determined path | route into a final conveyance path | route, controls the stacker crane 3, and makes goods warehousing.
[0041]
Embodiment 6 FIG.
In the first embodiment described above, after STEP 14, it is determined in STEP 15 to 17 whether it can be received on the route or in the vicinity thereof, and in STEP 18 it is determined whether it can be received in the vicinity of the exit position. . STEP 14 is preferably performed preferentially because the number of places where the stacker crane stops stops and the effect of shortening the time is great, but it is not particularly limited to be performed first. Moreover, about STEP15-17 and STEP18, since the effect of shortening changes with circumstances, such as use of a system, a structure, you may replace these order depending on the case.
[0042]
Embodiment 7 FIG.
The restrictions described in the above embodiments describe what is imposed when carrying the same luggage or the like. However, even if the size of the package is different and the restrictions based on the size are increased, the device described in the above-described embodiment can be applied although it becomes complicated.
[0043]
【The invention's effect】
As described above, in the loading / unloading control device according to the present invention, the storage unit for unloading the package is determined first, the storage unit for unloading the package is determined first, the provisional route is determined, and based on the determination. The storage unit for storing the baggage is determined, and the transportation route of the baggage is determined based on the determined storage unit, so the storage unit for shipping the baggage is determined first to secure a temporary route, It is possible to determine the storage unit to be stored after reducing the selection range of the storage unit that can store the package, and to reduce the amount of calculation. In particular, the greater the number of storage units, the more effective. This is particularly effective when it is necessary to determine a plurality of storage units for unloading packages and / or storage units for storing packages.
[0044]
Moreover, according to the storage control apparatus of this invention, since the storage part which unloads a load is determined for the storage part which satisfy | fills a delivery request | requirement in the shortest time, efficient control of a stacker crane can be performed.
[0045]
In addition, according to the storage / exit control device of the present invention, when determining the storage unit for unloading the luggage, the storage unit capable of simultaneously unloading a plurality of luggage is preferentially determined. It can be reduced, the work efficiency is good, and the warehouse operation time can be shortened.
[0046]
Further, according to the storage control device of the present invention, when determining the storage unit for storing the package, means for searching the storage unit facing the storage unit for storing the package, on the provisionally determined route or its route Use one or more of the means for searching the storage area in the peripheral area of the storage area or the search for the storage area in the peripheral area of the storage area for unloading the luggage, and receive the luggage based on the result Since the storage unit to be determined is determined, a storage unit with high work efficiency can be determined.
[0047]
Further, according to the storage control device of the present invention, when the storage unit for storing the package is determined in advance based on the output request, the storage unit for storing the package when determining the storage unit for storing the package Means for searching the storage section of the face, means for searching for a storage section on or around the provisionally determined route, or means for searching for a storage section in the peripheral area of the storage section for delivering the package Of these, one or more means are used to search for a storage unit at an efficient location, and based on the result, the storage unit to store the luggage is determined. Will be able to decide.
[0048]
Moreover, according to the storage control apparatus of this invention, even if it is a means for searching the storage part in an efficient position, when a storage part cannot be searched, it is finally close to a storage port. Since storage units that can be stored in order are searched and determined as storage units for storing packages, the storage unit that is more efficient than the prior art can be reliably determined, although the work efficiency is somewhat worse.
[0049]
Moreover, according to this invention, since the operation | work in an automatic warehouse was operated by said entrance / exit control apparatus, the automatic warehouse which can improve work efficiency can be obtained.
[Brief description of the drawings]
FIG. 1 is a diagram showing an example of an automatic warehouse that realizes a luggage transport method according to a first embodiment of the present invention.
FIG. 2 is a configuration diagram of a system that controls a load carrying method of the stacker crane 3. FIG.
FIG. 3 is a flowchart showing a determination procedure of the warehousing position determination unit 16 when neither simultaneous warehousing nor simultaneous warehousing is performed.
FIG. 4 is a diagram illustrating a route on the stacker crane 3, a peripheral region of the route, and a peripheral region of a storage unit to be delivered.
FIG. 5 is a diagram showing a loading / unloading pattern when there is no simultaneous loading and unloading.
[Explanation of symbols]
1 Storage shelf
2 Warehouse
3 Stacker crane
4 Exit
11 Stacker crane control device
12 Crane operation determination computer
13 Data storage
14 Handling decision section
15 Entry / exit position candidate selection part
16 Entry / exit position determination part
17 Traveling order decision section

Claims (4)

A storage shelf comprising a plurality of storage portions, a goods movements control device for controlling the entry and leaving a plurality of simultaneously transportable stacker crane cargo in an automated warehouse at least provided with, among Receipt request and outgoing request, at least If there are multiple issue requests,
Unload the storage unit from the storage unit candidates that can unload the package satisfying each unloading request from the storage port through the storage unit that can be unloaded to the unloading port. The storage unit that determines the storage unit to be stored first and stores the package out of the storage unit candidates that can store the package to be stored based on the position of the storage unit that stores the determined package. part on which via, as the movement time of the stacker crane from receipts opening operation time is also included in accordance with the entry and leaving until unloading port is the shortest, and determining the storage unit for warehousing luggage, determined input An entry / exit control device for finally determining a route for carrying a load by the stacker crane from the entry port to the exit port based on a position of a storage unit related to exit .   When there are a plurality of delivery requests, a storage unit that can deliver a plurality of packages at the same time among storage units that satisfy the delivery request is prioritized and determined as a storage unit that delivers the packages. Item entry / exit control device according to Item 1. In order to determine a storage unit for receiving the luggage,
(1) Means for retrieving a facing storage part of the storage part for delivering the cargo (2) The stacker crane tentatively determined based on the position of the storage part to be delivered and the entrance and exit of the stacker crane Means for searching for a storage unit on or around the route of the route (3) having one or more means for searching for a storage unit in the peripheral region of the storage unit for delivering the package; The storage control apparatus according to claim 1 or 2, wherein a storage unit for storing the package is determined based on a result. An automatic warehouse having the storage control device according to any one of claims 1 to 3 .

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