JP5626565B2 - Goods storage equipment - Google Patents

Description

  The present invention includes an article storage shelf provided with a plurality of storage units for storing articles, an article transport device for carrying articles into and out of the storage unit, and an article transport device that is transferred to the storage unit by the article transport device. The present invention relates to an article storage facility provided with storage part cleaning means for cleaning the storage part, and control means for controlling the operation of the article conveying device.

  In the article storage facility as described above, for example, the article transport device includes a traveling body that can reciprocate in the horizontal direction, a lifting platform that can be moved up and down along a lifting mast erected from the traveling body, and the lifting platform. It is comprised with the stacker crane provided with the fork type transfer device with which it was attached to. In the article storage shelf, for example, a plurality of pairs of front and rear columns are erected at intervals in the width direction of the shelf, and an article placement body is provided on each of the pair of front and rear columns. The storage unit of the article storage shelf is configured to store the articles in a form in which the articles are placed and supported by a pair of left and right article placement bodies.

  In such an article storage facility, dust generated as the article is carried in and out is accumulated in the storage unit. In particular, in the case where the article placement body is provided in the storage section and the article is placed and supported by the article placement body, dust easily collects in the article placement body of the storage section. Therefore, it is necessary to clean the storage portion in order to prevent dust from accumulating on the article placement body. Therefore, even in the conventional article storage facility, the control means is switched to the cleaning operation state using the idle time during which the article carrying apparatus does not carry in and out the article, and the storage section cleaning means is stored by the article carrying apparatus. The storage portion is cleaned by the storage portion cleaning means.

  In the conventional article storage facility, the control means starts cleaning from a specific storage section of the article storage shelf in the cleaning operation state, and in order to clean the storage section in a certain order along the arrangement direction of the storage sections, The storage unit cleaning means is transferred by the article transport device (see, for example, Patent Document 1 (paragraph “0011”)). In the article transport facility described in Patent Document 1, cleaning is started from a storage section located at the left end or right end of the uppermost stage of the article storage shelf, and then the empty storage is horizontally stored in the adjacent storage section. When the cleaning of the stage is completed, the storage part one level below is cleaned in the horizontal direction in the opposite direction, and this is repeated until the lowest level of the article storage shelf. ing.

Japanese Utility Model Publication No. 6-61814

  In the case of the above-mentioned conventional article transport equipment, every time the control means is switched to the cleaning operation state, cleaning is started from a specific storage section of the article storage shelf, and the storage sections are arranged in a certain order along the arrangement direction of the storage sections. Is cleaned. Therefore, if sufficient free time cannot be secured, that is, if the operation time in the cleaning operation state is shorter than the time that can be used to clean all storage parts in the article storage shelf, all storage in the article storage shelf Before the cleaning of the part is completed, the operation in the cleaning operation state is interrupted, and a part of the storage part remains uncleaned. Then, in the next operation in the cleaning operation state, as in the previous operation in the cleaning operation state, the cleaning is started from a specific storage unit of the article storage shelf, and in a certain order along the arrangement direction of the storage units. The storage is cleaned. Therefore, if the operation time in the cleaning operation state is shorter than the time that can clean all the storage units in the article storage shelf continuously, the specific storage unit and the storage unit close thereto are cleaned each time, The storage part far from the storage part is not cleaned. As described above, the conventional article storage facility has a disadvantage that all the storage units in the article storage shelf cannot be cleaned evenly unless a sufficient free time can be secured.

  The present invention has been made in view of the above circumstances, and its purpose is to evenly clean all the storage units in the article storage shelf even if the cleaning of the plurality of storage units in the article storage shelf is interrupted halfway. It is in the point which provides the article storage equipment which can do.

In order to achieve this object, a first characteristic configuration of an article storage facility according to the present invention includes an article storage shelf including a plurality of storage units for storing articles, and an article transport for carrying articles into and out of the storage unit. In an article storage facility comprising: an apparatus; a storage unit cleaning unit that is transferred to the storage unit by the article transporting device and cleaning the storage unit as a transfer destination; and a control unit that controls the operation of the article transporting device. ,
A cleaning history holding unit that holds cleaning history information that associates the storage unit and the time when the storage unit was cleaned is provided, and the article storage shelf is configured by arranging a plurality of the storage units in the vertical direction. A plurality of bays arranged side by side in the left-right direction, and the control means controls the operation of the article transport device to carry in and out articles from the storage section, and to the storage section. wherein is the configured freely switched between the cleaning operation condition for controlling the operation of the article transport device to transport the cleaning unit Te, wherein, before Symbol cleaning operation state, the cleaning of the cleaning history holding means for holding Based on the history information, the storage unit satisfying the preset cleaning target extraction condition is extracted as the storage unit to be cleaned so that the storage unit with the older cleaning time is preferentially extracted. The controls operation of the article transport device in order to transfer the housing part cleaning means with respect to housing portion of the cleaned, when switched to the cleaning operation condition, out of the cleaning object storage portion, the uppermost The storage unit cleaning unit is first transferred to the storage unit that is to be cleaned, and thereafter, the storage unit cleaning unit is transferred in preference to the storage unit that is to be cleaned. When there is another storage target storage part in the bay where the cleaning target storage part where the storage part cleaning means is located and the operation of the article conveying device is located , Even if there is a storage unit to be cleaned that exists in another bay different from the bay above the storage unit to be cleaned, the storage is performed in a form that has priority over the storage unit to be cleaned that exists in the other bay. The cleaning means Wherein lies in controlling the operation of the article transport device so as to.

According to this characteristic configuration, the control means for controlling the operation of the article conveying device controls the operation of the article conveying device so as to carry the article into and out of the accommodating portion, and cleaning the accommodating portion. Since it is configured to be switchable to a cleaning operation state for controlling the operation of the article conveying device to transfer the means, when the article should be carried into and out of the storage section, the control means is switched to the normal operation state, When the storage unit is to be cleaned, the control means is switched to the cleaning operation state, so that necessary operations can be performed by properly using the loading / unloading of articles with respect to the storage unit and the cleaning of the storage unit.
In the cleaning operation state, by extracting the storage unit that satisfies the cleaning target extraction condition, it is possible to preferentially extract the storage unit having the older cleaning time as the storage unit to be cleaned. When the storage unit extracted as the cleaning target is cleaned, the cleaning history information of the cleaned storage unit is updated in the cleaning history holding unit. Therefore, if the operation time in the cleaning operation state is shorter than the time that can clean all the storage parts in the article storage shelf, such as when sufficient free time cannot be secured, all storage in the article storage shelf Before the cleaning of the part is completed, the operation in the cleaning operation state is interrupted and the storage part that has not been cleaned remains, but the cleaning history information on the storage part that was cleaned during the operation time in the current cleaning operation state The storage unit that was not cleaned during the operation time in the current cleaning operation state was cleaned during the operation time in the current cleaning operation state in the next cleaning operation state. It is extracted as a cleaning target in preference to the storage unit.
As a result, even if a storage portion that has not been cleaned during the operation time in a certain cleaning operation state occurs, it is extracted and cleaned as a storage target portion to be cleaned in the subsequent operation in the cleaning operation state. Will be.
Thus, even if the cleaning of the plurality of storage units in the article storage shelf is interrupted in the middle, all the storage units in the article storage shelf can be uniformly cleaned by repeating the operation in the cleaning operation state.
Moreover, according to this characteristic structure, in the cleaning operation state which transfers a cleaning means with respect to a storage part, a storage part is cleaned in order from the downward direction from the upper part. Therefore, even when dust falls downward due to cleaning of the upper storage part, this can be set as a cleaning target in the cleaning of the lower storage part later. Thereby, a storage part can be cleaned in order with a higher cleaning effect.
Furthermore, according to this characteristic configuration, the article storage shelf is cleaned in units of bays configured by a plurality of storage units arranged in the vertical direction. That is, cleaning is started from the uppermost cleaning target storage unit in the cleaning target storage unit included in the bay, and thereafter, if there is a lower cleaning target storage unit in the bay, Clean the storage section sequentially. Then, when the cleaning of all the storage units to be cleaned included in the bay is completed, the cleaning in units of the bays is completed, and the cleaning in units of bays including the storage units to be cleaned next is given priority. Migrate to
As described above, in the cleaning operation state in which the upper storage portion is preferentially cleaned, the article transporting device mainly moves the storage portion cleaning means in one direction from the upper side to the lower side by cleaning the bay as a unit. What is necessary is just to complete the transfer in the left-right direction between bays, when the cleaning which made the object bay as a unit finishes, and to transfer to the next bay.
Thereby, transfer between bays can be suppressed as much as possible, and a storage part can be cleaned efficiently.
In order to achieve this object, the second feature configuration of the article storage facility according to the present invention is an article storage shelf including a plurality of storage units for storing articles, and carries in and out articles from the storage unit. Article storage device comprising: an article conveyance device; a storage unit cleaning unit that is transferred to the storage unit by the article conveyance device and cleaning the storage unit as a transfer destination; and a control unit that controls the operation of the article conveyance device. In equipment,
A cleaning history holding unit that holds cleaning history information that associates the storage unit with a time when the storage unit was cleaned is provided, and the control unit is configured to carry the article into and out of the storage unit. The cleaning operation is configured to be switchable between a normal operation state for controlling the operation of the conveying device and a cleaning operation state for controlling the operation of the article conveying device to transfer the cleaning means to the storage unit. In the state, based on the cleaning history information held by the cleaning history holding means, the storage unit that satisfies the cleaning target extraction condition set in advance so that the storage unit with the older cleaning time is preferentially extracted. The storage unit is extracted as a storage unit to be cleaned, the operation of the article conveying device is controlled to transfer the storage unit cleaning means to the storage unit to be cleaned, and the cleaning unit is stored. When the article is stored in the storage unit, the article storage device transports the storage unit cleaning means to the storage unit after unloading the article stored in the storage unit by the article transfer device. The point is to control the operation.
According to this characteristic configuration, the control means for controlling the operation of the article conveying device controls the operation of the article conveying device so as to carry the article into and out of the accommodating portion, and cleaning the accommodating portion. Since it is configured to be switchable to a cleaning operation state for controlling the operation of the article conveying device to transfer the means, when the article should be carried into and out of the storage section, the control means is switched to the normal operation state, When the storage unit is to be cleaned, the control means is switched to the cleaning operation state, so that necessary operations can be performed by properly using the loading / unloading of articles with respect to the storage unit and the cleaning of the storage unit.
In the cleaning operation state, by extracting the storage unit that satisfies the cleaning target extraction condition, it is possible to preferentially extract the storage unit having the older cleaning time as the storage unit to be cleaned. When the storage unit extracted as the cleaning target is cleaned, the cleaning history information of the cleaned storage unit is updated in the cleaning history holding unit. Therefore, if the operation time in the cleaning operation state is shorter than the time that can clean all the storage parts in the article storage shelf, such as when sufficient free time cannot be secured, all storage in the article storage shelf Before the cleaning of the part is completed, the operation in the cleaning operation state is interrupted and the storage part that has not been cleaned remains, but the cleaning history information on the storage part that was cleaned during the operation time in the current cleaning operation state The storage unit that was not cleaned during the operation time in the current cleaning operation state was cleaned during the operation time in the current cleaning operation state in the next cleaning operation state. It is extracted as a cleaning target in preference to the storage unit.
As a result, even if a storage portion that has not been cleaned during the operation time in a certain cleaning operation state occurs, it is extracted and cleaned as a storage target portion to be cleaned in the subsequent operation in the cleaning operation state. Will be.
Thus, even if the cleaning of the plurality of storage units in the article storage shelf is interrupted in the middle, all the storage units in the article storage shelf can be uniformly cleaned by repeating the operation in the cleaning operation state.
Further, according to the present feature configuration, in the cleaning operation state, the article is stored in the storage unit extracted as the cleaning target, and the storage unit is stored in the storage unit even when the storage unit cannot be cleaned. Cleaning can be performed by transporting the storage section cleaning means to the storage section after unloading the goods.

According to a third characteristic configuration of the article storage facility according to the present invention, in the normal operation state, the control unit cleans the storage part among the storage parts in which no article is stored based on the cleaning history information. The operation of the article transporting device is controlled so that the article is carried in preferentially to the storage section having the latest time.

  According to this characteristic configuration, when an article is carried into the storage unit in a normal operation state, among the empty storage units in which the article is not stored, the cleaning time is given priority over the newest storage unit. Since the articles are carried in, the storage section that has been cleaned is left as an empty storage section. That is, it is possible to leave a storage unit having a high need for cleaning and an old cleaning period as an empty state that is easy to clean. Thereby, when it switches to the cleaning driving | running state, the storage part with the high need for cleaning and the old time of cleaning can be cleaned efficiently.

According to a fourth characteristic configuration of the article storage facility according to the present invention, the storage unit cleaning means is configured by a sweeper that can be attached to and detached from the article transporter, and the sweeper is operated by the operation of the article transporter. It is in the point which cleans the said accommodating part by moving.

  According to this characteristic configuration, the storage portion cleaning means can be realized with a relatively simple configuration such as a mop. Further, since the storage unit cleaning means is a sweeping tool that can be attached to and detached from the article transport device, the carry-in / out operation by the article transport device can be used for the sweep-out operation that is a cleaning operation.

It is a perspective view of the article storage equipment concerning a 1st embodiment. It is a perspective view of the goods conveyance apparatus equipped with the sweeping tool which is a storage part and storage part cleaning means concerning a 1st embodiment. It is a control block diagram of the article storage facility according to the first embodiment. It is a data structure figure of carrying in / out history information which concerns on 1st Embodiment. It is a data structure figure of the cleaning history information concerning a 1st embodiment. It is explanatory drawing which shows the priority of carrying in to the article | item storage equipment which concerns on 1st Embodiment. It is a control flow figure in the cleaning driving state of the article storage equipment concerning a 1st embodiment. It is explanatory drawing which shows the priority of cleaning in the case of giving priority to the storage part located above in the article storage facility according to the first embodiment. It is explanatory drawing which shows the priority of the cleaning in the case of giving priority to the upper part and the same bay in the article storage facility according to the second embodiment. It is explanatory drawing which shows the priority of cleaning in the case of giving priority to the cleaning date in the article storage facility according to another embodiment.

[First Embodiment]
A first embodiment of an article storage facility according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, the article storage facility according to the present invention includes two article storage shelves 1 that are installed at an interval so that the front surfaces for putting in and out the article B face each other, and the two article storage shelves 1. A stacker crane 3 is provided as an article conveying device that automatically travels in a traveling passage 2 formed therebetween.

  In each article storage shelf 1, a plurality of pairs of front and rear columns 4 are erected with an interval in the width direction of the shelf (horizontal direction), and an article B is placed on each of the plurality of columns 4 spaced in the width direction of the shelf. The article placing body 5 to be placed and supported is connected in a state where the pair of front and rear columns 4 extends.

  A plurality of storage units 6 in the article storage shelf 1 are provided so as to be arranged in the vertical direction and the horizontal direction of the shelf. And each of the some accommodating part 6 is comprised so that the articles | goods B may be accommodated in the form which mounts and supports the articles | goods B with the left-right paired article mounting body 5 between the support | pillars 4 adjacent to a shelf width direction. ing.

In the travel path 2, a travel rail 7 is installed on the floor side along the longitudinal direction of the travel path 2, and a guide rail 8 is installed on the ceiling side along the longitudinal direction of the travel path 2.
On one end side of the traveling rail 7, a ground-side controller 9 as a control unit that manages the operation of the stacker crane 3 and a pair of loading platforms 10 are provided with the traveling rail 7 interposed therebetween.

The stacker crane 3 is mounted on a traveling carriage 11 that can travel along the traveling rail 7, an elevator base 13 that can be moved up and down along a lifting mast 12 that is erected on the traveling carriage 11, and the lifting platform 13. And a fork-type article transfer device 14.
The stacker crane 3 stores and takes out the article B from the plurality of storage units 6 and the loading table 10 by the traveling operation of the traveling carriage 11, the lifting operation of the lifting platform 13, and the transfer operation of the article transfer device 14. The article B is configured to be conveyed.

  A pair of front and rear masts 12 are provided on each of the front end portion and the rear end portion of the traveling carriage 11. An upper frame 15 that connects the upper ends of the pair of front and rear lifting masts 12 is provided at the upper end of the lifting mast 12 so as to be guided by the guide rail 8.

The lifting platform 13 is guided and supported by a pair of front and rear lifting masts 12 erected on the traveling carriage 11 so as to be movable up and down, and is supported by being suspended by lifting wires connected to the left and right sides thereof. Yes.
The elevating wire is wound around a guide pulley provided on the upper frame 15 and a guide pulley provided on one elevating mast 12, and is connected to a take-up drum provided at one end of the traveling carriage 11. The take-up drum 13 is driven to rotate in the forward and reverse directions by the inverter-type lifting electric motor 20 so that the lifting platform 13 is moved up and down by the lifting wire winding operation and the winding operation.

  The lift 13 is provided with a lift rotary encoder 21 that detects the lift position of the lift 13 in the vertical direction. A rotating shaft of the lifting rotary encoder 21 is provided with a sprocket that meshes with a chain provided along the longitudinal direction of the lifting mast 12. Then, the lift rotary encoder 21 detects the lift position of the lift 13 in the vertical direction from the lift distance of the lift 13.

In addition, the traveling carriage 11 is provided with two traveling wheels, front and rear, which can travel on the traveling rail 7. Of the two traveling wheels, the traveling wheel on one end side of the traveling carriage 11 is configured as a driving traveling wheel driven by an inverter-type traveling electric motor 23. Moreover, the traveling wheel on the other end side of the traveling carriage 11 is configured as a freely driven traveling wheel.
The traveling carriage 11 is configured to reciprocate along the traveling rail 7 by rotating the driving traveling wheel by the operation of the traveling electric motor 23.

  The traveling carriage 11 is provided with a traveling rotary encoder 24 that detects the traveling position of the traveling carriage 11 in the horizontal direction. Although illustration is omitted, a sprocket that meshes with a chain provided along the longitudinal direction of the traveling rail 7 is provided on the rotating shaft of the traveling rotary encoder 24. The traveling rotary encoder 24 detects the traveling position of the traveling carriage 11 in the horizontal direction from the traveling distance of the traveling carriage 11.

  As shown in FIG. 2, the storage section cleaning means of the present embodiment includes a sweeper 26 that can be attached to and detached from the article transfer device 14. The sweeping tool 26 is used by being attached to the article transfer device 14 in a state of being fixed to the fork 14a by a fixing tool 28 which is a sweeping tool attaching / detaching means. As will be described later, the sweeper 26 attached to the article transfer device 14 is transferred to the storage unit 6 to be cleaned by the article transfer device 14, and the fork 14a in the article transfer device 14 is repeatedly moved back and forth. Thus, the pair of left and right article placement bodies 5 constituting the storage unit 6 at the transfer destination are cleaned, and the storage unit 6 at the transfer destination is thereby cleaned.

  As shown in FIG. 3, the stacker crane 3 is provided with a crane control device 25 that controls the operation of the stacker crane 3 based on a command from the ground-side controller 9. The crane control device 25 is configured to receive detection information of the lifting rotary encoder 21 and detection information of the traveling rotary encoder 24.

  The ground-side controller 9 and the crane control device 25 are configured to be able to communicate various types of information by wireless communication, infrared communication, or the like. The crane control device 25 is based on commands from the ground-side controller 9. 3 is controlled.

  The ground-side controller 9 also carries in / out as a loading / unloading information holding means for holding loading / unloading information, which is information related to loading and unloading of the article B into / from each of the plurality of storage units 6 provided in the article storage shelf 1. The history database 36 and a cleaning history database 37 serving as a cleaning history holding unit that holds cleaning history information that associates the storage unit 6 with the cleaning date and time information that is the time when the storage unit 6 was cleaned are provided to be communicable. The carry-in / out information and the cleaning history information relating to each of the plurality of storage units 6 provided in the article storage shelf 1 can be referred to and updated.

[Transportation information storage means]
As shown in FIG. 4, the carry-in / out history database 36 includes storage unit specifying information that is information for specifying a specific storage unit 6 among the plurality of storage units 6 provided in the article storage shelf 1, and It is configured to include carry-in / out information which is information relating to carry-in and carry-out to the storage unit 6.

  In the carry-in / out history database 36, a bank that is position information for specifying the article storage shelf 1 provided with the storage unit 6, a bay that is position information for specifying the position of the storage unit 6 in the traveling rail 7 direction, Storage unit position information for specifying the storage unit 6 is stored as storage unit specifying information, which is composed of levels that are position information for specifying the vertical vertical position of the storage unit 6 with respect to the traveling rail 7. The carry-in / out information is held including the carry-in date and time when the article B is carried into the storage unit 6 and the carry-out date and time when the article B is carried out from the storage unit 6.

[Cleaning history retention means]
As shown in FIG. 5, the cleaning history database 37 includes storage unit specifying information that is information for specifying a specific storage unit 6 among a plurality of storage units 6 provided in the article storage shelf 1, and the storage It includes cleaning time information which is information indicating the time when the unit 6 is cleaned.

  In the cleaning history database 37, a bank that is position information for specifying the article storage shelf 1 provided with the storage unit 6, a bay that is position information for specifying the position of the storage unit 6 in the direction of the traveling rail 7, and storage The storage unit position information for specifying the storage unit 6 is stored as storage unit specifying information, which is composed of levels that are position information for specifying the vertical vertical position of the traveling rail 7 of the unit 6. The cleaning time information is held as a cleaning date and time that is the date and time when the storage unit 6 was recently cleaned.

[Crane control device]
The crane control device 25 positions the lifting platform 13 at a target position for article transfer or a target position for cleaning the storage section based on detection information of the traveling rotary encoder 24 and detection information of the lifting rotary encoder 21. Therefore, the article B is placed between the storage unit 6 and the loading table 10 in a state where the operation of the traveling electric motor 23 and the lifting electric motor 20 are controlled and the lifting table 13 is stopped at the target position. It is configured to control the operation of the article transfer device 14 to transfer or to clean the storage unit 6.

  The target position for article transfer is determined corresponding to each of the plurality of storage units 6 and each of the loading table 10, and there are a target position for scooping and a target position for wholesale. The target position for scooping is a target position for carrying out the article B from the storage unit 6 or the loading table 10, and the target position for wholesale is a target for carrying the article B into the storage unit 6 or the loading table 10. Position. The target position for scooping and the target position for wholesale are determined such that the target position for wholesale is located above the target position for scooping in the vertical direction and the same position in the horizontal direction.

  Similarly, the target position for cleaning the storage section is determined corresponding to each of the plurality of storage sections 6. The target position for cleaning the storage section is a target position for cleaning the pair of left and right article placement bodies 5 constituting the storage section 6 with the sweeper 26 that is a storage section cleaning means. The target position for cleaning the storage section is determined to be located above the scooping target position in the vertical direction and to be the same position in the horizontal direction. The target position for cleaning the storage section is determined so that the lower surface of the sweeper 26 attached to the article transfer device 14 is slightly above the upper surface of the article placement body 5 constituting the storage section 6. .

And the crane control apparatus 25 is provided with the traveling control part 25a, the raising / lowering control part 25b, and the transfer control part 25c.
Based on the detection information of the travel rotary encoder 24, the travel control unit 25a is configured to drive the travel electric motor 11 so that the travel carriage 11 is moved so that the elevator 13 is positioned at the commanded target position among the plurality of target positions. 23 is controlled.
Based on detection information of the lift rotary encoder 21, the lift control unit 25b lifts and lowers the lift 13 so that the lift 13 is positioned at the commanded target position among a plurality of target positions. 20 operations are controlled.
The transfer control unit 25 c controls the operation of the article transfer device 14 to transfer the article B between the storage unit 6 and the loading table 10.

[Operation of article transport device]
As an operation of the stacker crane 3, when the article B of the loading platform 10 is carried into any of the plurality of storage units 6 and the article B stored in any of the plurality of storage units 6 in the normal operation state. There is a case where one of the plurality of storage units 6 is cleaned by the sweeper 26 in the case of carrying out to the loading table 10 and in the cleaning operation state.

[Normal operation state]
An article transport request such as a carry-in request or a carry-out request is input to the ground-side controller 9 when the ground-side controller 9 is in a normal operation state by an input from an operator or a command from a host controller. When the article transport request is input, the crane control device 25 is instructed to carry in or carry out, and the stacker crane 3 transports the article B.

  In the normal operation state, the ground-side controller 9 instructs the crane control device 25 to carry in a carry-in command or a carry-out command, so that the article B of the loading table 10 is carried into any of the plurality of storage units 6, or The article B is conveyed so that the article B stored in any of the plurality of storage units 6 can be carried out to the loading table 10.

[Delivery of goods]
The carrying-in of the article | item B in a normal driving | running state is demonstrated.
In the normal operation state, when a carry-in request is input to the ground-side controller 9, the ground-side controller 9 determines the carry-in storage unit 6 into which the article B is carried in, and the loading table 10 is set to the crane control device 25. Is instructed to carry the article B into the storage unit 6 as the carry-in destination.

The ground-side controller 9 is configured to determine the storage unit 6 into which the article B is loaded based on the carry-in / out information of the storage unit 6 and the cleaning history information.
That is, the ground-side controller 9 refers to the carry-in date and time and the carry-out date and time in the carry-in / out history database 36, and first extracts the empty storage unit 6 in which articles are not stored. Then, referring to the cleaning date and time of the cleaning history database 37, the storage unit 6 with the newest cleaning date and time among the extracted empty storage units 6 is set as the storage unit 6 as the destination, and the article is preferentially transferred. To control.

A specific example of determining the delivery destination will be described with reference to FIG.
6 is an explanatory view schematically showing the article storage shelf 1 of the bank = 1 having the carry-in / out history of FIG. 4 and the cleaning history of FIG. Nine storage portions 6 are configured with levels of 1 to 3.

  The date and time described in each of the storage units 6 represents the cleaning date and time when each storage unit was cleaned. For example, the date and time of “Kei 5/28 11:33” described in the storage unit 6 of (bay, level) = (1, 3) is the storage unit 6 of (bay, level) = (1, 3). It indicates that it was cleaned at “11:33 on May 28”.

  An article B illustrated in the storage unit 6 represents an article carried into the storage unit 6. In FIG. 6A, among the nine storage units 6, (bay, level) = (1, 1, ), (1, 3), (2, 2), (3, 2), (3, 3), the article B is stored in the five storage portions 6.

When the carry-in request is input, the ground-side controller 9 refers to the carry-in date and time in the carry-in / out history database 36 and extracts the empty storage unit 6 in which no articles are stored. That is, the ground-side controller 9 extracts the storage unit 6 whose carry-in date is “empty” in the carry-in / out history database 36 shown in FIG. 4.
Referring to the carry-in / out history database 36 of FIG. 4, in the article storage shelf of bank = 1, (bay, level) = (1,2) (2,1) (2,3) (3,1) It is extracted that the storage unit 6 is empty.

Subsequently, the ground-side controller 9 refers to the cleaning date and time of the cleaning history database 37 for the extracted empty storage unit 6 and stores the newest storage date and time among the extracted empty storage units 6. The unit 6 is determined as the storage unit 6 to which the article B is loaded.
Referring to the cleaning history database 37 in FIG. 5, the cleaning date and time of the four storage units 6 extracted as the fall state for the article storage shelf of bank = 1 is “5” for (bay, level) = (1, 2), respectively. / 28 11:36 ”, (2,1)“ 4/04 11:39 ”, (2,3)“ 3/10 22:05 ”, (3,1)“ 3/22 11:47 ” It is. In this case, the storage unit 6 with the newest cleaning date and time (bay, level) = (1, 2) is determined as the storage unit 6 to which the article B is transferred.

  In this way, by controlling the storage unit 6 with the newest cleaning date as the storage unit 6 as the carry-in destination and preferentially carrying in the article B, the empty storage unit 6 has a cleaning time. The old storage 6 will remain. That is, it is possible to leave the storage unit 6 having a high need for cleaning and having an old cleaning period as an empty storage unit 6 that is easy to clean. Thereby, when it switches to the cleaning driving | running state, the storage part 6 with the high need for cleaning and the old time of cleaning can be cleaned efficiently.

  When carrying a plurality of articles B, the determination of the carry-in destination storage unit 6 is performed every time the articles B are carried. For example, when a plurality of articles B are carried into the article storage shelf 1 having the cleaning history shown in FIG. 6A, the priority order of carrying into the empty storage unit 6 is the cleaning date and time in FIG. As indicated by the numbers below, the order is (bay, level) = (1,2) (2,1) (3,1) (2,3). Therefore, when the receiving unit 6 is determined in accordance with the above and two articles B are carried into the article storage shelf 1 having the cleaning history of FIG. 6A, as shown in FIG. , Level) = (1, 2) (2, 1), the article B is carried into the storage unit 6.

  After determining the carry-in storage unit 6, the ground-side controller 9, in accordance with a carry-in command, places a target position for scooping corresponding to the loading table 10 for taking out the article B, and the carry-in storage unit that carries the article B in. A target position for wholesale corresponding to 6 is commanded. The crane control device 25 executes a transfer process for picking up the article B from the instructed loading table 10 based on the carry-in instruction, and then transfers the article B to the instructed storage unit 6 for wholesale. It is configured to perform processing.

The transfer process for scooping will be described.
First, the travel control unit 25a controls the operation of the travel electric motor 23 and the lift control unit 25b controls the operation of the lift electric motor 20 to respond to the commanded loading table 10 or the storage unit 6. The lifting platform 13 is positioned at the target position. When the lifting platform 13 is stopped at the scooping target position, the transfer control unit 25c controls the operation of the article transfer device 14 so that the fork 14a of the article transfer device 14 protrudes. Thereafter, the lifting control unit 25b controls the operation of the lifting electric motor 20 to raise the lifting platform 13 by a set distance, and the article B is placed and supported on the fork 14a from the commanded loading platform 10 or the storage unit 6. Let And the transfer control part 25c controls the action | operation of the article transfer apparatus 14, and picks up the article B from the loading platform 10 or the accommodating part 6 instruct | indicated by retracting the fork 14a.

Next, the wholesale transfer process will be described.
First, the traveling control unit 25a controls the operation of the traveling electric motor 23 and the elevating control unit 25b controls the operation of the elevating electric motor 20, and the wholesale corresponding to the commanded loading table 10 or the storage unit 6 is performed. The lifting platform 13 is positioned at the target position. When the lifting platform 13 is stopped at the wholesale target position, the transfer control unit 25c controls the operation of the article transfer device 14 to cause the fork 14a of the article transfer device 14 to protrude. Thereafter, the lifting control unit 25b controls the operation of the lifting electric motor 20 to lower the lifting platform 13 by a set distance, so that the article B supported by the fork 14a is instructed. 6 is placed and supported. And the transfer control part 25c controls the action | operation of the article transfer apparatus 14, and retreats the fork 14a, wholesales the article B to the loading platform 10 or the storage part 6.

  When the transfer process for wholesale of the article B to the storage unit 6 specified by the carry-in command is completed, the crane control device 25 notifies the ground-side controller 9 of the completion of the carry-in. The ground-side controller 9 that has received the carry-in completion notification from the crane control device 25 reflects the carry-in / out information for the storage unit 6 in the carry-in / out database 37 so as to reflect the completion of the carry-in for the commanded storage unit 6. Update. In other words, the carry-in date and time are updated with the carry-in completion date and time notified from the crane control device 25 for the loaded storage unit 6.

[Unloading goods]
The carry-out of the article B in the normal operation state will be described.
In a normal operation state, when a carry-out request is input to the ground-side controller 9, the ground-side controller 9 conveys the article B in the carry-out storage unit 6 to the carry-on loading table 10 with respect to the crane control device 25. To carry out a carry-out command.

  In the carry-out command, a scooping target position corresponding to the storage unit 6 that is the carry-out source and a wholesale target position corresponding to the loading table 10 that is the carry-out destination are commanded. The crane control device 25 executes the transfer process for scooping the article B from the commanded storage unit 6 based on the carry-out command, and then wholesales the article B on the commanded loading table 10. The transfer process is executed.

  When the transfer process for the wholesale of the article B to the loading table 10 is completed, the crane control device 25 notifies the ground controller 9 of the completion of the carry-out. The ground-side controller 9 that has received the carry-out completion notification from the crane control device 25 updates the carry-in / out information in the carry-in / out database 37 so as to reflect the completion of the carry-out for the commanded storage unit 6. That is, the carry-out date and time are updated with the carry-out completion date and time notified from the crane control device 25 for the unloaded storage unit 6.

[Cleaning operation state: Cleaning the storage section]
As described above, the ground-side controller 9 can carry articles by the stacker crane 3 in the normal operation state, but the article storage rack 1 accumulates dust or the like on the article placement body 5 of the storage unit 6. Operation mode selector switch not shown by the operator during times when normal operation is not performed, such as during lunch breaks or after the end of a day's work. Is pressed to shift to the cleaning operation state, and the article placement body 5 in the storage section 6 can be cleaned. Hereinafter, cleaning of the storage unit 6 in the article storage facility 1 will be described.

Cleaning of the storage unit 6 is performed in steps S100 to S150 as shown in FIG.
When shifting to the cleaning operation state (step S100), the ground-side controller 9 refers to the carry-in / out history database 36 and the cleaning history database 37 to store the storage unit 6 that satisfies the preset cleaning target extraction condition as the target of cleaning. The storage unit 6 is extracted (step S110).
The cleaning target extraction condition is an extraction condition given in association with the carry-in / out information in the carry-in / out history database 36 and the cleaning history information in the cleaning history database 37. As the cleaning target extraction condition, a predetermined condition may be set in advance, or the operator may be set from the ground-side controller 9 or the host controller.

After extracting the cleaning target storage unit 6 that satisfies the cleaning target extraction condition, the ground-side controller 9 determines the cleaning destination storage unit 6 to be actually cleaned from the extracted cleaning target storage unit 6 (step S120). ).
In the present embodiment, among the storage units 6 to be cleaned, the uppermost storage unit 6 is set as the first cleaning unit storage unit 6, and thereafter, the upper storage unit 6 is given priority to the cleaning destination. The storage unit 6 to be cleaned is determined so as to move to the lower storage unit 6 while using the storage unit 6.
By cleaning the storage unit 6 to be cleaned in this order, even when dust falls downward due to the cleaning of the upper storage unit 6, this is the cleaning target in cleaning the lower storage unit 6. Therefore, the storage unit 6 can be cleaned in order of higher cleaning effect.

  A specific example of the extraction of the cleaning target (step S110) and the determination of the cleaning destination (step S120) described above will be described with reference to FIG. FIG. 8 is an explanatory view schematically showing the article storage shelf 1 of bank = 1 having the carry-in / out history of FIG. 4 and the cleaning history of FIG.

  In this specific example, the cleaning date is “June 10”, and the cleaning target extraction condition is “a storage unit that has not been cleaned for more than one month among the storage units included in the article storage shelf of bank = 1. It is assumed that the condition “clean the empty storage part” is given.

The ground-side controller 9 refers to the cleaning date and time in the cleaning history database 37 from the cleaning target extraction condition, and extracts the storage unit 6 that has not been cleaned for one month or more. That is, the controller 9 on the ground side has the cleaning date and time in the cleaning history database 37 shown in FIG. 5 before “May 10”, which is “one month or more” before the current cleaning date “June 10”. The storage unit 6 is extracted.
Referring to the cleaning history database 37 in FIG. 5, in the article storage shelf of bank = 1, (bay, level) = (2, 1) (2, 2) (2, 3) (3, 1) (3, 2 5) is extracted as “a storage portion that has not been cleaned for more than one month”.

Then, referring to the carry-in date in the carry-in / out history database 36, the “vacant storage unit” is extracted from the five storage units 6 extracted above. That is, the ground-side controller 9 extracts a storage unit whose “carry-in date” is “empty” from the five storage units extracted above in the carry-in / out history database 36 shown in FIG. 4.
Referring to the carry-in / out history database 37 of FIG. 4, among the storage units extracted above, three storage units (bay, level) = (2, 1) (2, 3) (3, 1) are “ It is extracted as “a storage section that has not been cleaned for more than a month”.

  As described above, in the extraction of the cleaning target of this specific example (step S110), the cleaning target extraction condition “bank = 1” is referred to by referring to the loading / unloading information in the loading / unloading history database 36 and the cleaning timing information in the cleaning history database 37. (Bay, level) = (2, 1) as storage units that are not cleaned for one month or more and that satisfy the empty storage unit. ) (2, 3) (3, 1), the three storage units 6 are extracted.

Subsequently, the ground-side controller 9 determines a storage unit 6 to be cleaned from the extracted storage units to be cleaned (step S120).
In the present embodiment, since the storage unit 6 located at the uppermost position among the storage units to be cleaned is the first cleaning destination, the storage unit to be cleaned (bay, level) = (2, 1) (2, 3) Among the three storage units 6 of (3, 1), the storage unit 6 at the uppermost position (bay, level) = (2, 3) is determined as the storage unit 6 of the first cleaning destination. The

  As described above, the article storage shelf 1 in FIG. 8A is a storage unit that is not cleaned for one month or more among the storage units included in the article storage shelf of bank = 1, and is stored in an empty state. In the case of cleaning on “June 10” based on the cleaning target extraction condition of “clean the part”, as indicated by the numbers below the cleaning date and time in FIG. ) = (2, 3) storage 6 is first cleaned. Then, for example, the cleaning is performed in the order of (bay, level) = (2, 1) (3, 1).

  The ground controller 9 prepares for cleaning after determining the storage unit 6 to be cleaned (step S130). In the preparation for cleaning, for example, when the article B is stored in the storage unit 6 of the cleaning destination, the article B is unloaded from the cleaning destination storage unit 6 (unloading for the purpose of cleaning) or is cleaned to the fork 14a. The fitting 26 is attached.

[Transmission for cleaning purposes]
Carrying out the article B from the storage unit 6 to be cleaned as carrying out for the purpose of cleaning is almost the same as carrying out the article B in the normal operation state. That is, the ground-side controller 9 similarly to the carry-out command, the scooping target position corresponding to the storage unit 6 to be cleaned in which the article B is stored and the wholesale target corresponding to the carry-in destination of the article B. The target position is commanded to the crane control device 25.

  For example, another storage unit 6 or an article placement table 10 can be considered as a destination for the article B that has been transported out of the storage unit 6 to be cleaned. When the other storage unit 6 is carried out as a delivery destination, the cleaning history database 37 is referred to, the storage unit 6 having the newest cleaning time is preferentially determined as the delivery destination, and the storage unit 6 stores the article B. If the stacker crane 3 is controlled so as to be carried out, it is possible to leave the storage unit 6 having a high need for cleaning and having an old cleaned time as an empty state that is easy to clean. Moreover, since the storage unit 6 of the carry-out destination determined as described above is the latest cleaning time, it is considered that the storage unit 6 that needs to be cleaned next is a relatively slow storage unit 6, and for the purpose of cleaning. There is a low possibility of being required to carry out, and it is considered an efficient destination.

When the cleaning preparation is completed, the ground-side controller 9 issues a cleaning command to the crane control device 25 to start cleaning (step S140). In the cleaning command, a cleaning target position corresponding to the storage unit 6 to be cleaned is commanded. The crane control device 25 is configured to execute a cleaning process for cleaning the commanded storage unit 6 based on a cleaning command.
That is, the ground-side controller 9 moves the sweeper 26 to the cleaning target storage unit 6 by the stacker crane 3, and instructs the crane control device 25 to clean the cleaning target storage unit 6 with the sweeper 26. Command.

The cleaning process will be described.
First, the traveling control unit 25a controls the operation of the traveling electric motor 23 and the elevating control unit 25b controls the operation of the elevating electric motor 20, so that the cleaning target position corresponding to the commanded storage unit 6 is reached. The elevator 13 is positioned. When the lifting platform 13 is stopped at the cleaning target position, the transfer control unit 25c controls the operation of the article transfer device 14 to cause the fork 14a of the article transfer device 14 to protrude. Thereafter, the lifting control unit 25 b controls the operation of the lifting electric motor 20 to lower the lifting platform 13 by a set distance, so that the lower surface of the sweeper 26 attached to the fork 14 a is the upper surface of the article mounting body 5. It will be in the state which contacts. And the transfer control part 25c controls the action | operation of the articles | goods transfer apparatus 14 with the lower surface of the sweeping tool 26 contact | abutted to the upper surface of the articles | goods mounting body 5, and makes the fork 14a move back and forth repeatedly. . Thereby, the dust on the article mounting body 5 constituting the storage section 6 is swept out of the article mounting body 5 by the sweeper 26 and the storage section 6 is cleaned.

  When the commanded cleaning of the storage unit 6 is completed, the crane control device 25 notifies the ground controller 9 of the completion of cleaning. The ground-side controller 9 that has received the cleaning completion notification from the crane control device 25 updates the cleaning history information in the cleaning history database 37 to reflect the completion of the cleaning for the commanded storage unit 6 (step S150). That is, the cleaning date and time are updated with the cleaning completion date and time notified from the crane control device 25 for the cleaned storage unit 6.

If the cleaning operation state is continuing after the cleaning history information is updated, the ground controller 9 returns to the determination of the cleaning destination and continues the cleaning work (step S160: Yes → step S120).
In the cleaning operation state, when the cleaning of all the storage units 6 to be cleaned is completed, or when the operator depresses the operation mode switch, a command to switch to the normal operation state is commanded, and the normal operation state Can be switched to.

  When the ground-side controller 9 receives a command to switch to the normal operation state, the ground-side controller 9 performs a cleaning end process for shifting to the normal operation state (step S160: No → S170). The cleaning end process includes, for example, moving the stacker crane 3 to the home position in order to detach the sweeper 26 from the fork 14a.

  When the cleaning end process is completed, the cleaning operation state is shifted to the normal operation state, and the cleaning of the storage unit 6 is ended (step S200).

  FIG. 8C shows the cleaning operation state when cleaning is started in accordance with “extraction of cleaning target” (step S110) and “determination of cleaning destination” (step S120) described in FIGS. 8A and 8B. It is explanatory drawing which shows the mode of the articles | goods storage shelf 1 at the time of interrupting cleaning since there was a switching instruction | indication to a normal driving state from the operator in the middle.

  In the embodiment of FIG. 8C, since only the two storage portions 6 of (bay, level) = (2, 3) (2, 1) could be cleaned, the cleaning date and time are updated for these two. There is only one storage part. However, since the cleaning date and time of the cleaned storage unit 6 is updated, for example, in the article storage shelf 1 of FIG. 8C, “June 11” of the next day of FIG. (B) The same cleaning target extraction condition as “cleaning a storage unit that has not been cleaned for one month or more out of the storage units included in the article storage shelf of bank = 1 and is cleaned” Is extracted, the two storage units 6 of (bay, level) = (2, 3) (2, 1) are not extracted as objects to be cleaned and are not cleaned the previous day (bay, level) = (3 Only the storage part 1) is extracted as a cleaning target.

  Thus, if it is set as the structure which extracts the storage part 6 to be cleaned with reference to the cleaning history information and cleans the storage part 6 to be cleaned as in this embodiment, in the operation in a certain cleaning operation state. Even if the storage unit 6 that could not be cleaned is generated, it is extracted and cleaned preferentially as the storage unit 6 to be cleaned by the operation in the subsequent cleaning operation state. Thereby, even if the cleaning of the plurality of storage units 6 in the article storage shelf 1 is interrupted, all the storage units 6 in the article storage shelf 1 can be cleaned evenly.

[Second Embodiment]
In the second embodiment, not only the cleaning target storage unit 6 positioned above is cleaned preferentially, but also the cleaning target storage unit 6 provided in the same bay is stored in another bay cleaning target storage unit. Prioritize 6 and clean. That is, when the article storage shelf 1 is configured by arranging a plurality of bays configured by arranging a plurality of storage units 6 in the vertical direction in the left-right direction, the object storage shelf 1 is the object to be cleaned in which the storage unit cleaning means is located. In the case where another storage target storage unit 6 exists in the bay where the storage unit 6 exists, the storage unit cleaning means has a priority over the cleaning target storage unit 6 present in another bay different from the bay. The other cleaning target storage unit 6 existing in the same bay as the cleaning target storage unit 6 in which is located is defined as a cleaning destination storage unit. When the article B is stored in the storage unit 6 to be cleaned, the storage unit 6 is cleaned after the article B stored in the storage unit 6 is unloaded by the article transport device.
Although the second embodiment and the first embodiment are different in the method of determining the cleaning destination (step S120), the equipment configuration, the control of the stacker crane 3 during loading / unloading of articles B and cleaning, and the update of history information The control flow in the control and the cleaning operation state is the same. Therefore, hereinafter, a cleaning destination determination method (step S120) and cleaning preparation (step S130) different from the first embodiment will be mainly described.

  FIG. 9A is an explanatory diagram schematically showing the article storage shelf 1 of bank = 1 having the carry-in / out history of FIG. 4 and the cleaning history of FIG. 5, similarly to FIG. 8A. . In this embodiment, with respect to the article storage shelf 1 of FIG. 9A, the cleaning date is “June 15” and the cleaning target extraction condition is “the storage unit 6 included in the article storage shelf 1 with bank = 1”. It is assumed that the condition of “cleaning the storage unit 6 that has not been cleaned for one month or longer” is given.

  The ground-side controller 9 refers to the cleaning history database 37 as the “storage unit that has not been cleaned for one month or more” from the cleaning date “June 15” based on the cleaning target extraction condition, thereby storing the storage unit to be cleaned. 6, the storage date is “May 15” or before (bay, level) = (2, 1) (2, 2) (2, 3) (3, 1) (3, 2) Part 6 is extracted (step S110). Then, the storage unit 6 located at the uppermost position (bay, level) = (2, 3) is determined as the first cleaning destination (step S120).

  Moreover, in this embodiment, when the cleaning of the storage unit 6 to be cleaned provided in the same bay is performed with priority over the storage unit 6 to be cleaned of other bays, the ground controller 9 In the same bay (bay = 2) as the storage unit 6 of (bay, level) = (2, 3) as the cleaning destination, the storage unit 6 (bay, level) = (2, 2) (2, 1) Determine that there is. Therefore, these storage units 6 are controlled to be cleaned in preference to the other storage units 6 to be cleaned. That is, as a priority order of cleaning, after the storage unit 6 of (bay, level) = (2, 3) which is the first cleaning destination, the cleaning target existing in the same bay (bay = 2) as the storage unit 6 For the storage unit 6, the operation of the stacker crane 3 is controlled so that the storage unit 6 positioned above is given priority and cleaning is performed in the order of (bay, level) = (2, 2) (2, 1).

  Further, in the present embodiment, when the article B is stored in the storage unit 6 to be cleaned, the storage unit 6 is cleaned after the article B is unloaded from the storage unit 6. Refers to the delivery date of the carry-in / out history database 36, and among the storage units 6 extracted as the storage unit 6 to be cleaned, two storages of (bay, level) = (2, 2) (3, 2) are stored. For part 6, it is determined that article B is stored. Therefore, these storage units 6 are unloaded for cleaning purposes before cleaning.

  That is, in the above embodiment, the ground-side controller 9 determines the first cleaning destination of the storage unit 6 of (bay, level) = (2, 3) (step S120), and then prepares (bay, level) as a cleaning preparation. ) = (2, 3) It is determined that another cleaning target storage unit 6 (bay, level) = (2, 2) (2, 1) exists in the same bay. , (Bay, level) = (2, 2), it is determined that the article B is stored. Then, as a cleaning preparation of the first storage destination storage unit 6 (bay, level) = (2, 3), the cleaning target storage unit 6 provided in the same bay, and the article B is stored ( The storage unit 6 of (bay, level) = (2, 2) is carried out for the purpose of cleaning (step S130). Then, cleaning is started after all the storage units 6 to be cleaned provided in the bay are in an empty state (step S140).

  Thus, when cleaning a plurality of storage units 6 to be cleaned provided in the same bay, before cleaning the storage unit 6 of the first cleaning destination of the bay, the cleaning target unit provided in the bay is to be cleaned. By making all the storage units 6 empty, dust that has been swept away by cleaning the storage unit 6 to be cleaned falls down to the storage unit 6 below the same bay, and the storage unit 6 to be cleaned. It is possible to avoid the inconvenience of falling on the article B stored in the container.

  In the above, the determination of the cleaning destination and the preparation for cleaning of the storage unit 6 of bay = 2 has been mainly described, but the same applies to other bays. That is, after cleaning the storage unit 6 (bay, level) = (2, 1), the storage unit 6 (bay, level) = (3, 1) (3, 2) to be cleaned that has not been cleaned. Among them, the storage unit 6 located at the uppermost position (bay, level) = (3, 2) is determined as the storage unit 6 of the next cleaning destination (step S120).

  After that, as a cleaning preparation, another storage target 6 (bay, level) = (3, 1) existing in the same bay = 3 is determined, and (bay, level) = (3, 2). When the article B is stored in the bay, before the cleaning of the storage unit 6 (bay, level) = (3, 2), which is the first cleaning destination of the bay, is started (bay, level). = The storage unit 6 (3, 2) is carried out for the purpose of cleaning (step S130).

  Then, after all the storage units 6 to be cleaned existing in bay = 3 are made empty, cleaning of the storage unit 6 of (bay, level) = (3, 2) is started (step S140).

  As described above, in the second embodiment, the cleaning date is “June 15” and the cleaning target extraction condition is “cleaned for one month or more in the storage unit 6 included in the article storage shelf 1 with bank = 1. 9 (A), the article storage rack 1 shown in FIG. 9A is changed to (bay, level) = (2, 2) (3, 2). (Bay, level) = (2,3) (2,2) (2,1) (3,2) (3,1) Clean.

  FIG. 9C is an explanatory diagram of an example in which the article storage shelf 1 of FIG. 9A is cleaned according to the second embodiment under the above-described conditions for a predetermined time limit. The priority of cleaning of the storage unit 6 is as shown in FIG. 9B, but in this embodiment, due to the time limit, only the three cleaning target storage units 6 with bay = 2 are cleaned. . The article B of (bay, level) = (2, 2) has been unloaded and cleaned, and from the cleaning history, it has been preferentially cleaned from the storage unit 6 located above. Recognize.

  [Other Embodiments] Another embodiment of the present invention will be described below.

(1) In the above embodiment, for the determination of the cleaning destination, among the storage units to be cleaned, the storage unit positioned above is given priority, and the storage unit to be cleaned in the same bay is given priority. In order to preferentially clean storage units that have not been cleaned for a long time, priority is given to old storage units that have been cleaned, or in order to preferentially clean storage units that will be loaded soon, In the loading / unloading history database, in order to preferentially clean the storage unit that is scheduled to be carried in, giving priority to the storage unit close to the planned import date, or is preempted and the storage unit considered to be likely to collect dust, You may make it perform cleaning preferentially for a storage part with an old carry-out date.
FIG. 10 shows an example in which the storage unit with the old cleaning time is prioritized. In the empty storage unit 6 of the article storage shelf 1 in FIG. 10A, when the cleaning destination is determined with priority given to the storage unit having the oldest cleaning time, priority is given in the order of FIG.

(2) In the above-described embodiment, the storage unit 6 is configured by the pair of article placement bodies 5. However, the present invention is applicable if the storage unit includes a support body that accumulates dust. For example, the storage unit 6 may be composed of a single mounting plate.

(3) In the above embodiment, when the article is stored in the storage unit to be cleaned, as an example of carrying out for cleaning purposes, the article is taken out and then cleaned, but the storage unit It is good also as a structure which returns the carried-out article | item to the accommodating part of carrying out after cleaning. If comprised in this way, since the articles | goods can be accommodated in the newest accommodating part at the time when it was cleaned, while cleaning from the next time can be performed efficiently, it becomes easy to clean the accommodating part uniformly.

(4) In the above embodiment, the sweeper 26 that can be attached to and detached from the article transporting device 14 is illustrated as the storage unit cleaning unit. However, the specific configuration of the storage unit cleaning unit can be changed as appropriate.
For example, a suction tool that sucks dust or an suction tool that sucks dust by adhesive force may be used. Further, it may be a blower unit that removes dust by blowing air, or a cleaning unit that is housed in the housing unit by the article conveying device and cleans the housed housing unit.

(5) In the above embodiment, as the article conveying device, a traveling carriage 11 that can travel along the traveling rail 7, and a lifting platform 13 that can be moved up and down along a lifting mast 12 that is erected on the traveling carriage 11, Although the stacker crane 3 provided with the fork-type article transfer device 14 mounted on the lift 13 has been illustrated, other various article conveyance devices can be applied.
For example, an article conveying apparatus including a traveling rail that can move up and down along a pair of lifting posts erected on a floor surface, and a traveling body that can travel along the traveling rail and includes an article transfer device. Can be applied.

(6) In the above embodiment, the control means (ground controller 9), the carry-in / out history information holding means (carry-in / out history database 36), and the cleaning history information holding means (cleaning history database 37) are illustrated as examples. However, the control means, the carry-in / out history information holding means, and the cleaning history information holding means may be provided integrally.

(7) In the above embodiment, the configuration in which the operation is different between the wholesale transfer process and the cleaning process is illustrated, but the wholesale transfer process and the cleaning process may be configured by the same operation. That is, for example, the target position of the lift 13 and the operations of the article transfer device 14 and the fork 14a may be configured by the same operation in the wholesale transfer process and the cleaning process.

(8) In the above-described embodiment, the configuration in which the operator switches between the normal operation state and the cleaning operation state by depressing the operation mode changeover switch is exemplified. It may be configured to automatically switch when a proper cleaning operation start time comes.

DESCRIPTION OF SYMBOLS 1 Goods storage shelf 3 Goods conveying apparatus 6 Storage part 9 Control means 26 Storage part cleaning means 37 Cleaning history holding means

Claims (4)

An article storage shelf comprising a plurality of storage units for storing articles;
An article transporting device for carrying in and out articles from the storage unit;
A storage unit cleaning means which is transferred to the storage unit by the article conveying device and cleans the storage unit of the transfer destination;
An article storage facility provided with a control means for controlling the operation of the article conveying device,
Cleaning history holding means for holding cleaning history information associating the storage portion and the time when the storage portion was cleaned;
The article storage shelf is configured by arranging a plurality of bays arranged in the left-right direction by arranging a plurality of the storage units in the vertical direction,
A normal operation state in which the control means controls the operation of the article conveying apparatus to carry articles into and out of the storage section; and the control means of the article conveying apparatus to transfer the cleaning means to the storage section. It is configured to be switchable to the cleaning operation state that controls the operation,
Wherein, before Symbol cleaning operation state, based on the cleaning history information the cleaning history holding means for holding, which is preset to the time that has been cleaned is extracted with priority the older storage unit cleaning Extracting the storage unit that satisfies the target extraction condition as a storage unit to be cleaned, and controlling the operation of the article conveying device to transfer the storage unit cleaning means to the storage unit to be cleaned;
When switching to the cleaning operation state, the storage unit cleaning means is first transferred to the cleaning target storage unit located at the uppermost position among the cleaning target storage units, and thereafter, the cleaning unit is positioned upward. The storage unit to be cleaned has priority, the operation of the article conveying device is controlled so as to transfer the storage unit cleaning unit, and there is a storage unit to be cleaned in which the storage unit cleaning unit is located. If there are other cleaning target storage units in the bay , even if there is a cleaning target storage unit in another bay different from the bay above the other cleaning target storage unit in the bay. in priority mode than the housing portion of the cleaning object existing in the other bays, the article storage facility for controlling operation of the article transport device so as to transfer the housing part cleaning means. An article storage shelf comprising a plurality of storage units for storing articles;
An article transporting device for carrying in and out articles from the storage unit;
A storage unit cleaning means which is transferred to the storage unit by the article conveying device and cleans the storage unit of the transfer destination;
An article storage facility provided with a control means for controlling the operation of the article conveying device,
Cleaning history holding means for holding cleaning history information associating the storage portion and the time when the storage portion was cleaned;
A normal operation state in which the control means controls the operation of the article conveying apparatus to carry articles into and out of the storage section; and the control means of the article conveying apparatus to transfer the cleaning means to the storage section. It is configured to be switchable to a cleaning operation state for controlling the operation, and
In the cleaning operation state, based on the cleaning history information held by the cleaning history holding unit, the cleaning target extraction condition set in advance is set such that the older storage unit is preferentially extracted based on the cleaning time. The storage unit is extracted as a storage unit to be cleaned, the operation of the article transport device is controlled to transfer the storage unit cleaning means to the storage unit to be cleaned, and the article is stored in the storage unit to be cleaned. Is stored in the storage unit by the article transfer device, and the operation of the article transfer device is controlled so that the storage unit cleaning means is transferred to the storage unit. Goods storage equipment. Based on the cleaning history information, the control means prioritizes the storage unit in which the storage unit is cleaned out of the storage units in which the article is not stored based on the cleaning history information. The article storage facility according to claim 1, wherein the operation of the article conveying device is controlled so as to carry in the article. The said storage part cleaning means is comprised with the sweeping tool which can be attached or detached with respect to the said article conveyance apparatus, The said sweeping tool is moved by the action | operation of the said article conveyance apparatus, The said storage part is cleaned . 4. The article storage facility according to any one of items 3 .

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