JP4414193B2 - Inbound and outbound management method in automatic warehouse - Google Patents

Description

  The present invention is based on a command from a control device, and is used for loading and unloading in an automatic warehouse that loads and unloads loads to or from the loading rack by a transfer device that travels in a direction crossing the front of a plurality of loading racks from a loading and unloading station. It relates to the management method.

  In an automatic warehouse that loads and unloads cargo to and from the loading rack using a transfer device, when loading the cargo into the loading rack partitioned by two struts, the load that has various widths sequentially from one strut Since the empty space of the last remaining cargo rack varies from one rack to another and it is not determined how much of the load width size can be received, the conventional load width Items of almost the same size are grouped into several groups, and the load of the same group is placed on the load shelf so as to eliminate the empty space of the load shelf, thereby effectively using the storage space (Patent Document 1). reference).

JP 2002-120993 A (paragraph 0040, FIG. 5)

  However, because the loading method described above has different loading shelves depending on the load width size, for example, when a large number of loads in a specific group must be received due to circumstances, Only the shelves of the predetermined area to be placed are used, and the other shelves are loaded with a small amount of loads other than that specific group, so a lot of free space remains, and the effective use of the storage space is necessarily achieved It was not always there.

  For this reason, the applicant manages the empty space, so that the storage space can be placed in order from one column to the next without regard to the load width size. We developed a method for receiving goods in an automated warehouse that aims to make effective use of. However, even if this improved warehousing method is adopted, when the number of warehousing increases to some extent, it is inevitable that each shelf will have an empty space between the cargo due to warehousing and the utilization rate of the original storage space will be reduced.

  The present invention has been made in view of such a situation, and it is possible to improve storage management in an automatic warehouse that can improve the utilization rate of storage space even if the number of outgoings increases and empty spaces are generated due to outgoings on each shelf. It is intended to provide a method.

In order to solve the above-described problem, the storage management method in the automatic warehouse according to claim 1 of the present invention travels in a direction crossing the front of a plurality of loading shelves from the storage station based on a command from the control device. A loading / unloading management method in an automatic warehouse for loading / unloading a load to / from a load shelf by a transfer device, wherein each load shelf is partitioned between a plurality of support columns set up in a traveling direction of the transfer device. A plurality of loads placed on the load shelf in response to an warehousing instruction from the control device are pre-packed from one strut, and are placed sequentially with a predetermined interval between the struts and the load. , if the free space by issuing the goods issue command occurs, a load so as to pack the air-out space by the re-mounting置指age with re-re-placed in front stuffed the control device, the plurality of load shelf load Width direction of the empty space formed between the other strut Comparing dimensions, characterized in that to make room Nitana by transferring the load placed on the large load shelf load widthwise dimension of the free space in a small luggage shelves loading width dimension of the free space It is said.
According to this feature, the space formed between the load and the load can be eliminated by re-loading the load as if it were packed, and the space that can be filled with large objects can be reconstructed. Can do. In addition, since empty load shelves can be made efficiently, it is easy to receive any load of any size when the next storage.

The storage management method in the automatic warehouse according to claim 2 of the present invention is the storage management method in the automatic warehouse according to claim 1, wherein each time a load is stored / removed and remounted in the control device. In addition, the size of the empty space formed between the load and the other support column in the load width direction and the size of the empty space in the load width direction of the empty space are updated and stored as sequential data.
According to this feature, a place where there is a vacant space is selected as a re-placement place, and an optimum warehousing place for subsequent loads can be selected based on the vacant dimension data after the re-placement.

The storage and retrieval management method in the automatic warehouse according to claim 3 of the present invention is the storage and management method in the automatic warehouse according to claim 2, wherein the dimension data in the load width direction of the empty space is the distance between struts The calculation processing is performed based on the load width dimension and the amount of movement from one support column of the transfer device.
According to this feature, accurate empty dimension data can be calculated by taking into account the amount of movement of the transfer device.

According to a fourth aspect of the present invention, there is provided an incoming / outgoing management method for an automatic warehouse according to any one of the first to third aspects, wherein the predetermined interval is determined by a transfer device. It has the width | variety in which the holding arm provided in the transfer apparatus which hold | grips and mounts or carries out to a load shelf can enter / exit.
According to this feature, loading and unloading of the load is easy because the predetermined intervals between the column and the load and the load and the load have a width that allows the holding arm provided in the transfer device to enter and exit. In addition, it is possible to efficiently load the cargo rack without leaving an excessive gap.

  Examples of the present invention will be described below.

  An embodiment of the present invention will be described with reference to the drawings. First, FIG. 1 is a side view of an automatic warehouse to which the storage and retrieval management method according to the first embodiment of the present invention is applied, and FIG. 2 is a storage and management method according to the first embodiment. Fig. 3 is a partial perspective view of an automatic warehouse in which loading and unloading is performed by a stacker crane via a loading / unloading station, and Fig. 4 is placed on the stacker crane and a cargo rack. FIG. 5 is a detailed explanatory diagram of the stacker crane, and FIG. 6 is a system configuration diagram from receiving the received load to receiving it into the automatic warehouse, FIG. 7 (a) is a table in which position data corresponding to registered code numbers or data such as load width dimensions of various loads accommodated in a load rack of an automatic warehouse is described, and (b) is a table corresponding to prop numbers. In the width direction of the empty space It is a dimension and empty dimension data table. FIG. 8 is an explanatory diagram of the work based on the re-loading instruction, and FIG. 9 is a flowchart according to the first embodiment for receiving the load in the automatic warehouse.

  First, FIG. 1 shows an automatic three-dimensional warehouse 1 as an embodiment of the present invention, and this automatic three-dimensional warehouse (hereinafter referred to as “automatic warehouse 1”) has a plurality of loads as four transfer devices in the same configuration. The stacker cranes 2a, 2b, 2c, and 2d automatically store and store freely, and the automatic warehouse 1 has four stacker cranes 2a, 2b, 2c, and 2d sandwiched between them. A plurality of cargo racks 4a, 4b and 5a, 5b to 6a, 6b and 7a, 7b are arranged facing each other, and these cargo racks 4a, 4b and 5a, 5b to 6a, 6b and 7a, 7b facing each other are Each of them is constituted by a block unit, and each is called a storage shelf block 4, 5, 6, 7 and is constructed as a high-rise structure extending in the front-rear direction.

  At one end entrance side of these storage shelf blocks 4, 5, 6 and 7, loading / unloading stations for loading and unloading are provided respectively. In these loading / unloading stations, as shown in FIG. System controllers SC1, SC2, and SC3 that operate based on MC commands are provided. In addition, branch transfer devices 8a, 8b, and 8c branched from the transfer device 8 for carrying in / out the load C to be entered and shipped are arranged in the loading / unloading station up to a nearby position.

  On the other hand, the four stacker cranes 2a, 2b, 2c, and 2d are arranged so that the front surfaces of the cargo racks 4a and 4b, 5a and 5b, 6a and 6b, and 7a and 7b are opposed to each other according to instructions from the system controllers SC1, SC2, and SC3. Travel in the crossing direction, automatically travel in the shortest distance in the front-rear and up-down directions, stop positioning, and then load and unload.

  Next, the stacker crane 2a will be described in detail with reference to FIGS. This stacker crane 2a is used exclusively for the cargo racks 4a and 4b of the storage rack block 4, and is controlled to move based on a command from the system controller SC1, and faces the cargo racks 4a and 4b facing each other. A traveling carriage 14 that automatically travels on one rail R installed on the floor surface by a driving device (not shown) such as an inverter motor, and a pair of masts 15a and 15b that are erected before and after the traveling carriage 14, The moving table 10 is configured as a transfer device that stops moving up and down with respect to the masts 15a and 15b and loads and unloads the cargo shelves 4a and 4b.

  As shown in FIG. 5, the movable table 10 includes support bodies 16a and 16b that are guided and supported by a drive device such as an inverter motor so as to be movable up and down, and a support frame 18 that is horizontally supported between the support bodies 16a and 16b. A pair of frame bodies 20a and 20b that are arranged side by side on the upper surface of the support frame 18 and are erected and held so as to be capable of moving forward and backward simultaneously toward the center of the support frame 18, and supported by the frame bodies 20a and 20b. It is composed of plate-like sandwiching moving bodies 22a and 22b that serve as sandwiching arms that are perpendicular to the moving direction of the stacker crane 2a and simultaneously move forward and backward toward the opposite loading shelves 4a and 4b.

  Further, the stacker crane 2a is provided with, for example, an encoder as detection means for detecting the vertical movement distance of the moving base 10 and the front-back movement distance of the traveling carriage 14, and the distance data detected by these encoders is the system controller. Feedback is made to SC1.

  Similarly, the amount of movement that moves forward and backward toward the center of the pair of frame bodies 20a and 20b is also detected by the encoder, and the load width dimension is determined by holding the load between the frame bodies 20a and 20b. At the same time, and has the function of detecting the original positions of the sandwiching moving bodies 22a and 22b and the front and rear moving ends.

  On both sides of the movable table 10 facing the cargo racks 4a and 4b, optical sensors (columns and pillars) that detect the positions of the columns that partition the cargo racks 4a and 4b and the loads on the cargo racks 4a and 4b. It may be a device that only detects whether or not there is a load).

  On the other hand, as shown in FIG. 4, the cargo racks 4 a and 4 b to be loaded and unloaded by the stacker crane 2 a are arranged on both sides in the traveling direction of the stacker crane 2 a. The loading rack 4a is arranged on the left side with respect to the movement of the stacker crane 2a in the front-rear direction, the loading rack 4b is arranged on the right side, and the left loading rack 4a has columns PL2, PL3 in order from the column PL1 on the loading / unloading station side. In addition, the columns PR2 and PR3 are arranged in order from the column PR1 on the loading / unloading station side to the right loading shelf 4b, and the loading racks 4a-1, 4a-2, 4b-1, 4b-2,. Is divided between the columns.

  Loads 4a-1 store loads CR1, CR2, and CR3 having various load width dimensions with a predetermined interval n from one of the reference pillars PL1 in a front-packed state, and the last load CR3 It is calculated in the host computer MC whether the load CR4 to be stored in the empty space formed with the other column PL2 is larger or smaller than the width of the empty space (hereinafter referred to as empty dimension). When processed and stowable, the load CR4 is transferred from the stacker crane 2a by the moving table 10.

  In addition, the load width dimension as used in this invention is the load width of the direction along the front-back direction (movement direction of the traveling trolley | bogie 14) of a stacker crane, ie, the length of the load of the direction between pillars. Other dimensions of the load are also stored in the database of the host computer MC. For example, the calculation is performed to determine whether a tall load fits between the shelves, and the load is placed.

  As shown in FIG. 4, the total load width including the predetermined interval n of the loads CR5 and CR6 stored in the load shelf between the next support column PL2 and the other support column PL3 in the load shelf 4a-2 is calculated as the two support columns PL2, PL2. Even if the remaining empty space subtracted from the dimension between PL3 is larger than the load width of the new load CR4, it is possible to incorporate into the loading rack 4a-1 by incorporating a program that gives priority to the empty space in the loading rack near the loading / unloading station. The load CR4 can be placed, and the travel distance of the stacker crane 2a can be shortened to efficiently enter and exit.

  Next, the host computer MC and the system controllers SC1, SC2, SC3 constituting the control device of the present invention will be described.

  The host computer MC shown in FIG. 6 has a CPU for executing various calculations and controls, and a ROM (read only memory) in which a control program is stored. As various data, for example, FIG. The type of loaded goods shown in (CR is a part, for example), dimensional data such as width dimensions, the number of storage rack blocks (4, 5, 6, 7), the number of stages, and from which column Further, data such as the order of the front-filling position is accumulated for each shipment code (for example, 00001, 00002, 00003... 0000N). For example, it is understood that the load code 00001 is a CR1 part having a load width dimension of 500 mm, and is currently stored first from the column PL1 in the fourth stage of the fourth storage shelf block.

  The predetermined interval n formed between the loads is set as a necessary width dimension formed on both sides of the load so as to load and unload the load into the load shelf 4b by the sandwiching moving bodies 22a and 22b. And the load stored in each load shelf is the last loaded load that is sequentially placed in a front-packed manner while forming a predetermined interval n with reference to each one of the columns (for example, the PL1 side in FIG. 4). The vacant dimension P formed between the end and the other strut is calculated by subtracting the total dimension M of the load width and the total N of the predetermined interval from the inner dimension S between the struts, and is continuously updated to the host computer MC. Registered and saved.

  The cargo stored in each loading rack in the automatic warehouse of the present invention is managed to be stored so that it is sequentially placed in a front-packed manner with reference to one of the columns (for example, the loading / unloading station side). The loads to be loaded are sequentially stored in an empty space formed between the end of the last load that is sequentially placed in the pre-packing and the other end strut. Thereafter, empty spaces are created in the cargo racks in which several loads are delivered and arranged in a front-packed state.

  In the present invention, the cargo rack in which the empty space is generated by the delivery instruction is detected as described above and rearranged again in the front-packed state. For this purpose, a dimension in the load width direction of the empty space corresponding to the column number shown in FIG. 7B (hereinafter simply referred to as an empty space dimension) and an empty dimension data table are created. This table is a table showing a part of the arrangement state of the load in FIG. 8. For example, the table is partitioned by the columns PL1 and PL2 of the sixth storage shelf block (abbreviated as PL1-2 for short). The load code of 00011,00013 is stored in the first shelf from the bottom, indicating that the empty space dimension (L1) is 500 mm and the empty dimension is 200 mm.

  And the empty space dimension and the empty dimension are zero (except for the predetermined interval n) in the third shelf from the bottom divided by the columns PL1 and PL2, and four loads are pre-packed in this shelf. You can see that they are stored together. In addition, the first shelf from the bottom divided by the pillars PL2 and PL3 contains only one cargo number 0,030, which is 1500 mm when combined with an empty space dimension (L3) of 900 mm and an empty dimension of 600 mm. It can be seen from this table. A large storage space is secured on the right side when the load on the shelf is packed to the left and rearranged. When there is loading / unloading in units of these partitioned shelves, the vacant space dimensions and vacant dimensions change, and are updated and registered in the host computer MC each time and managed.

  On the other hand, the system controllers SC1, SC2, and SC3 are terminal control devices that control the storage shelf blocks 4, 5, 6, and 7 based on instructions issued from the host computer MC.

  Therefore, for example, based on FIG. 4 and FIG. 6, the system controller SC1 that has received an instruction from the host computer MC to load the load CR4 into the load shelf 4a-1 confirms the load CR4 transported to the loading / unloading station. And a conveyance instruction is given to the empty space position of the cargo rack 4a-1 designated to the controller of the stacker crane 2a. The stacker crane 2a that has received the instruction moves at the shortest distance toward the column that serves as a reference for the load shelf. Next, the stacker crane 2a is horizontally moved forward from the reference column (PL1 in FIG. 4) and stopped at the front of the empty space position to be stored, and the sandwiching moving bodies 22a and 22b are moved forward to move. The load CR4 on the table 10 is stored in the corresponding empty space. After the load CR4 is stored, the moving platform 10 returns to the loading / unloading station, and the moving history including the moving path is stored in the host computer MC via the system controller SC1.

  Conversely, when the system controller SC1 receives a command from the host computer MC to issue the load CR2 to the load shelf 4a-1, the stacker crane 2a moves toward the reference column of the load shelf, and the front surface of the load CR2 Then, the load is moved from the load shelf 4a-1 to the loading table 10, and returned to the loading / unloading station. The movement history including the movement route is stored in the host computer MC via the system controller SC1. At this time, an empty space is formed where the load CR2 is present.

  Next, the rearrangement work will be described based on FIG. For example, when the host computer MC designates relocation to the storage shelf block 6, the system controller SC3 instructs the controller of the stacker crane 2c to perform the relocation operation, and the stacker crane 2c The work is sequentially moved up to this point, and the preparation work is performed so that there is no free space.

  Specifically, the first shelf from the bottom partitioned by the columns PL1 and PL2 of the sixth storage shelf block 6 has an empty space dimension (L1) of 500 mm, and the total empty dimension can be obtained by front-packing. Becomes 700 mm. The second shelf from the bottom has a vacant space dimension (L2) of 600 mm, and the total vacant dimension becomes 1500 mm by pre-packing, so that a large storage space can be created on the right side. Moreover, the empty space dimension is zero on the third shelf from the bottom, and no pre-packing operation is performed.

  The result of the load movement by the pre-packing operation is stored in the host computer MC via the system controller SC3. The re-mounting designation from the host computer MC may be issued for each storage shelf block or all storage shelf blocks at once.

  Next, a normal warehousing method for warehousing goods in an automatic warehouse will be described in detail based on the flowchart of FIG.

  First, in step ST1, the barcode (ID) of the load C received from the outside is read by the reader 12 to check the type (for example, parts or food), and at the same time, various data are taken into the host computer MC. In step ST2, important data such as a load width dimension in the process of transporting the load C shown in FIG. 6 is measured by a measuring device (not shown) and recorded in the host computer MC in association with the load code.

  Next, in step ST3, it is determined whether or not there is a load shelf having an empty space (space that can be pre-packed) in which the received load C can be stored. If there is no load shelf, the load is waited until an empty space is formed, If there is a load shelf having the corresponding empty space, the corresponding load shelf position is instructed by a command from the host computer MC in step ST4.

  In step ST5, it is determined whether or not the load C transported to the loading / unloading station matches the barcode of the load to be stored in the empty space in the loading rack of the corresponding storage rack block.

  Next, in step ST6, in response to a command from the system controller, the traveling carriage 14 of the stacker crane is moved in the front-rear direction, and at the same time, the movable stage 10 is moved in the up-down direction to the shortest distance toward the corresponding empty space on the cargo rack. Move with.

  When moving the stacker crane toward the empty space, in step ST7, after moving to the support column serving as a reference for the corresponding load rack, the load is stored by the traveling carriage 14 on the moving table 10 holding the load from the support column. Move in the horizontal direction by the power. The horizontal movement distance to the empty space at the center of the moving table 10 is the distance from the reference column to the end of the last empty space on the side of the empty space, a predetermined interval n and a dimension that is 1/2 of the load width of the load to be stored. It becomes the distance which added.

  In step ST8, when the load from the stacker crane 2a is stored in the corresponding empty space of the load shelf, the position and the load code are fed back to the host computer MC, the database is rewritten, and the empty dimensions are recalculated. Saved.

  Thus, according to the storage method in the automatic warehouse as the present embodiment, the empty space information of the load rack is sequentially updated and stored as empty dimension information formed between the load and the other support column. If the size is smaller than this empty size, the load can be sequentially prepended and the storage space can be used effectively.

  Further, if the vacant dimension data is calculated based on the distance between the struts, the load width dimension, and the amount of movement of the stacker crane 2a from the strut whose one reference is the reference, the actual movement amount of the stacker crane 2a is obtained. Feedback is reflected on the host computer MC, and accurate vacancy size data can be calculated.

  Furthermore, by detecting the side edge of one of the columns and the side edge of the load with a detection device provided on the moving platform 10 of the stacker crane 2a, the load can be sequentially loaded so that an accurate predetermined interval n is formed. .

  When the load is stored in the load shelf, a predetermined interval is formed on both sides of the load. The predetermined interval is determined by the sandwiching moving bodies 22a and 22b for holding the load and placing it on the load shelf. It is possible to enter and exit, and the load can be easily and efficiently stored in the load shelf.

  In addition, a plurality of loads placed on the load shelf are controlled so as to be sequentially loaded from the load shelf close to the loading / unloading station, so that the travel distance of the stacker crane 2a can be shortened and efficiently loaded. be able to.

  Next, description will be given based on the flowchart of FIG. First, in step ST11, it is searched whether there is an empty space on the shelf, and if there is a load shelf with an empty space, the stacker crane is caused to perform a pre-packing operation via the system controller in step ST12. Next, in step ST13, a pre-packing operation is instructed until there is no more free space in the load shelf. If there is no free space, the empty dimensions of the shelf are recalculated in step ST14 and updated and stored in the control device.

  As described above, according to the storage / retrieval management method in the automatic warehouse of the first embodiment, when an empty space is generated due to a storage command from the host computer MC, this empty space is generated by a re-loading command from the host computer MC. By re-loading the load so as to close the space, it is possible to eliminate the useless space formed between the loads.

  Next, the storage / managing method of the present invention according to the second embodiment will be described with reference to FIGS. 11 and 12. FIG. 11A is an explanatory diagram of a state in which the empty dimensions of the loading shelves at different levels are compared, and FIG. 11B is a diagram illustrating the load placed on the loading rack with the larger empty dimensions of the other stages with the smaller empty dimensions. FIG. 12 is a flow chart according to the second embodiment.

  First, in FIG. 11A, the empty dimensions of the loading shelves at different levels are compared, and each empty dimension S2 of the second loading rack is the largest, and the first, third, and fifth levels in order. When the comparison calculation is performed on the host computer MC, the second-stage load C9 becomes the fifth-stage empty dimension S5. The load C8 is loaded on the stacker cranes 2a to 2d and the load C8 is placed on the load shelf of the fourth-stage empty dimension S4, and the first-stage load C10 is placed on the load shelf of the third-stage empty dimension S3. Is output.

  Accordingly, the corresponding loads C10, C8, and C9 are remounted on the stacks of 3 to 5 stages by the stacker cranes 2a to 2d, respectively, as shown in FIG. A wide space is formed in the first stage shelf, and a useless space formed between loads can be eliminated.

  Next, when the above state is shown in a flow chart, after a processing of step ST14 in the flow chart shown in FIG. The empty dimensions of the shelves are compared, and in step ST22, it is determined whether or not the load of the load rack having a large empty dimension can be stored in the load rack having a small empty dimension. It is formed between the side edge of the load at the rear end and the other strut that are pre-packed each time it is placed on a load shelf having a small empty size by instructing the movement of the loaded load, and remounted at step ST24. Vacant dimension data is updated and registered in the host computer MC.

  Thus, according to the storage management method in the automatic warehouse of the second embodiment, the empty dimensions of a plurality of load shelves are compared, and the load placed on the load rack having a large empty dimension is replaced with a load rack having a small empty dimension. Since an empty load shelf can be made efficiently by transferring to, it is easy to receive any load of any load size at the next storage.

  As described above, the first and second embodiments of the present invention have been described with reference to the drawings. However, the specific configuration is not limited to these embodiments. For example, when loading a load into a load rack, a stacker crane is used in the embodiment. Although the vehicle has traveled to the reference column and moved horizontally from there, it may travel directly to an empty space in response to an instruction from the host computer. In addition, the movement result detected by the encoder of the stacker crane is fed back to the host computer to recalculate the empty dimension value, but it is also possible to process only with the dimension obtained from the load width dimension and the predetermined interval n. It is. Moreover, you may use other well-known conveying apparatuses other than a stacker crane as a load transfer means.

It is a side view of the automatic warehouse where the storage / exit management method in Example 1 of this invention is applied. It is a top view of the automatic warehouse where the receipt / extraction management method in Example 1 is similarly applied. It is a fragmentary perspective view of the automatic warehouse where loading / unloading is performed by a stacker crane via a loading / unloading station. It is a fragmentary top view which shows the relationship between a stacker crane and the load from which the width dimension mounted in the load shelf differs. It is a detailed explanatory view of a stacker crane. It is a system block diagram from receipt of the received load to receipt in an automatic warehouse. (A) is a table in which position data corresponding to registered code numbers or data such as load width dimensions of various loads accommodated in a load rack of an automatic warehouse is described, and (b) is a vacant space corresponding to a pillar number. It is a space dimension and empty dimension data table. It is explanatory drawing of the operation | work based on a repositioning command. It is a flowchart which concerns on Example 1 which loads goods in an automatic warehouse. It is a flowchart which concerns on Example 1 which unloads goods from an automatic warehouse. (A) is explanatory drawing of the state which compares the empty dimension of the load shelf of a different stage, (b) is the load placed in the load shelf with a large empty dimension to the load shelf of another stage with a small empty dimension. It is explanatory drawing which shows the state to transfer. 6 is a flowchart according to Embodiment 2. FIG.

Explanation of symbols

1 Automatic warehouse (automatic three-dimensional warehouse)
2a-2d Stacker cranes 4-7 Storage rack blocks 4a, 4b Cargo racks 4a-1, 4a-2 Cargo racks 4b-1, 4b-2 Cargo racks 5a, 5b Cargo racks 6a, 6b Cargo racks 7a, 7b Cargo shelf 8 Transport device 8a, 8b, 8c Branch transport device 10 Moving table (transfer device)
12 Reader 14 Traveling carts 15a, 15b Masts 16a, 16b Support body 18 Support frames 20a, 20b Frame bodies 22a, 22b Clamping moving body C, CR load CR1-CR6 Load C1-C10 Load ID Barcode L1-L4 Empty space size n Predetermined spacing MC Host computer P Empty dimensions PL1 to PL3 Left column PR1 to PR3 Right column R Rail S Inside dimension S1 to S5 between columns Empty dimension SC1 to SC3 System controller

Claims (4)

This is a storage management method in an automatic warehouse that loads and unloads loads to or from the loading rack using a transfer device that runs in the direction across the front of multiple loading racks from the loading / unloading station based on commands from the controller. The load shelves are partitioned between a plurality of support columns standing in the traveling direction of the transfer device, and a plurality of loads placed on the load shelves in response to a warehousing command from the control device If the empty space is generated due to the stuffing, the space between the support and the load and the load and the load is sequentially placed with a predetermined interval, and the evacuation command causes the vacant space to be generated. In addition to re-loading the load as if it were packed , the load in the empty space was compared by comparing the dimensions of the empty space formed between the loads on the multiple shelves and the other column. Unload a load placed on a load rack with a large width dimension. Goods Movement management method in an automated warehouse, characterized in that to make room Nitana was transferred to a small load shelves load widthwise dimension of the scan.   2. The control device according to claim 1, wherein each time a load is loaded / unloaded and reloaded, the dimension of the empty space in the load width direction and the dimension of the empty space in the load width direction are sequentially updated and stored as data. Entry / exit management method in automated warehouse.   3. The storage / managing method in an automatic warehouse according to claim 2, wherein the dimension data in the load width direction of the empty space is calculated based on a distance between struts, a load width dimension, and a moving amount of the transfer device. Wherein the predetermined interval is in any one of claims 1 and has a out width capable of holding arms provided on the transfer device is placed or transported on cargo rack grips the load from the transfer device 3 Entry / exit management method in automatic warehouse described

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