JP6693299B2 - Picking system and method for controlling picking system - Google Patents

Description

  The present invention relates to a picking system and a control method thereof, and more particularly to a picking system including a rack having a plurality of shelves on which articles are placed and a control method thereof.

  For example, at a distribution center, a picking system for picking, palletizing, and shipping parcels that are temporarily stored is used. The picking system has an automatic warehouse that supplies pallets loaded with loads (see, for example, Patent Document 1).

JP-A-5-39103

The picking system shown in Patent Document 1 has an automatic warehouse and a picking device. The picking device is provided near the exit station of the automated warehouse. Then, the parcel with a high request frequency is placed at the shipping station, and the parcel is supplied from the shipping station to the picking device in response to the request. As a result, the cycle time is kept short.
However, in the above-described picking system, when the collection (picking) from the shipment (the luggage placed on the pallet) is completed, the next collection work cannot be performed without waiting for the replacement of the pallet. Therefore, the picking efficiency is not sufficient.

  An object of the present invention is to increase picking efficiency in a picking system.

  Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as needed.

A picking system according to one aspect of the present invention includes a traveling transfer device, a rack, and a picking area.
The traveling type transfer device can travel along a route.
The rack has a plurality of shelves arranged along the path.
The picking area is an area in which a luggage placement member on which luggage can be placed is transferred by the traveling transfer device and picking is performed by an operator. In the picking area, the first placement portion for the luggage placement member on which the luggage collected by the worker is placed, and on both sides of the first placement portion, the luggage collected by the worker is placed. And a pair of second loading portions for the luggage loading member.
In this picking system, the traveling transfer device is used when an operator collects a load from the load-carrying member on one of the second loading units to the load-carrying member on the first loading unit. However, preparation for the next product collection operation (for example, replacement of the luggage mounting member) can be performed on the other second mounting portion. Therefore, the worker does not have to stop the collecting operation during the time for exchanging the luggage mounting member. As a result, picking efficiency is improved.
Further, all the transportation of the luggage is performed by the traveling type transfer device. Therefore, the work of the worker is reduced.

The rack may have an empty luggage placement member dedicated shelf and a temporary placement shelf. The empty luggage placing member dedicated shelf is provided in the same row as the first placing portion, and the empty luggage placing member may be stored. The temporary storage shelf may be provided in the same series as the first mounting portion, and the luggage mounting member for which the collection has been completed may be temporarily stored.
In this automatic warehouse, the empty luggage placement member dedicated shelf and the temporary placement shelf are provided in the same series as the first placement section. Therefore, the luggage mounting member can be collected and supplied only by the transfer operation and the lifting operation of the traveling transfer apparatus. That is, the traveling operation is not performed.

The empty luggage placement member dedicated shelf may be at a position higher than the first placement portion.
The temporary storage shelf may be provided at the same height as the first mounting portion on the side opposite to the picking area with respect to the route.
In this picking system, the baggage mounting member whose collection has been completed can be temporarily placed only by the transfer operation of the traveling transfer device. That is, the traveling operation and the lifting operation are not performed.
The picking system may further include at least one sensor that is provided on each of the first placement unit and the pair of second placement units and that detects a falling object.
In this picking system, by providing a sensor on each mounting portion, when a luggage or an operator falls onto the mounting portion, it can be detected early and thereby an emergency stop of the device becomes possible.

The picking system may further include a fall prevention member provided on each of the first mounting portion and the pair of second mounting portions.
In this picking system, the fall prevention member is provided on the mounting portion, so that the luggage and the worker can be prevented from falling.
The picking area may be provided on the back side of the rack. The picking system may further include a room that surrounds the picking area and is formed by providing a partition with the rack. The "back side of the rack" is the side opposite to the internal passage of the rack. The "room" is a space defined by walls and can be shielded from the outside.
The traveling transfer device may have a stroke that allows the load to be transferred directly.
In this automatic warehouse, by using the transfer device having a long stroke, it is possible to transfer the luggage directly to the room provided on the back side of the rack. Therefore, the rack and the picking work environment can be isolated. As a result, the picking work environment can be maintained in a comfortable state.

The first placement section and the pair of second placement sections may be separated from each other by one shelf space in the path extension direction.
In this picking system, since the first placing section and the second placing section are separated from each other by only one shelf space, the worker can access the luggage placing member in the first placing section from three sides. .. As a result, the burden on the operator is reduced.

A method for controlling a picking system according to another aspect of the present invention is a traveling type transfer device capable of traveling along a route, a rack having a plurality of shelves arranged along the route, and a first placement unit. Method for controlling a picking system having a picking area having a pair of second mounting portions on both sides and a terminal device having an input unit for displaying picking work contents and for accepting completion of collection Is.
This control method comprises the following steps.
◎ A step of transferring an empty luggage placing member from the rack to the first placing section by the traveling type transfer apparatus ◎ A pair of the luggage placing members on which the pieces of luggage are placed by the traveling type transfer apparatus from the rack 2 Step of transferring to one of the placing sections ◎ Step of transferring the luggage placing member on which the luggage is placed from the rack to the other of the pair of second placing sections by the traveling type transfer apparatus ◎ Pair by the terminal device When the completion of collection from one of the second loading portions of the second loading portion is input, it is determined whether or not the luggage loading member needs to be replaced with another luggage loading member. Step ◎ If it is necessary to replace the luggage loading member, the step of exchanging the luggage loading member with another luggage loading member by the traveling transfer device. When the completion of collection from the other luggage placement member is input, Steps for determining whether or not it is necessary to replace the article placing member with another luggage placing member ◎ When the luggage placing member needs to be exchanged, the traveling type transfer device is used to place the luggage placing member. Step of exchanging member with other luggage placing member ◎ Step of judging exchange of one luggage placing member of the pair of second placing portions and the other luggage placing member of the pair of second placing portions And the step of exchanging the baggage loading member with another luggage loading member are repeated, and when the completion of the collection of the luggage loading member placed on the first loading portion is input by the terminal device, the traveling transfer device is operated. , A step of transferring the luggage placing member on the first placing portion to the rack In this control method, the operator moves the luggage placing member placed on the pair of second placing portions to the first placing portion. Collect the luggage on the luggage placement member placed in. When the collection of goods from one luggage placement member is completed, the worker inputs the completion using the terminal device. Then, the traveling type transfer device replaces the luggage mounting member as needed. Further, when the collection of the luggage placing member placed on the first placing section is completed, the worker inputs the completion using the terminal device. Then, the traveling transfer device transfers the completed luggage mounting member in the first mounting portion to the rack.
According to this control method, the load carrying members of the second loading unit are exchanged alternately, and during the replacement, the worker loads the load from the load carrying members on the second loading unit that have not been replaced. Can be collected on the first mounting portion. Therefore, the worker does not have to stop the collection operation during the time for exchanging the luggage mounting member. As a result, picking efficiency is improved.

  In the picking system and the control method thereof according to the present invention, picking efficiency is increased.

The schematic plan view of a picking system. Schematic front view of an automated warehouse. A schematic side view of an automated warehouse. The schematic perspective view of a stacker crane. The schematic sectional drawing of a drive trolley. FIG. 3 is a schematic sectional view of an automated warehouse and a room for picking work. The block diagram which shows the control structure of a picking system. The flowchart which shows one picking control operation. 6 is a flowchart showing a shutter opening / closing control operation. The schematic perspective view which shows the structure in a room, and also shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The schematic perspective view which shows one state of a picking control operation. The figure which shows the structure of the picking station in 2nd Embodiment.

1. 1st Embodiment (1) Picking system The picking system 1 is demonstrated using FIG. FIG. 1 is a schematic plan view of a picking system.
The picking system 1 is a system capable of picking (sorting) in a warehouse. Note that in the present embodiment, the picking means that an operator moves a load W from another pallet P to a picking pallet P (an example of a load carrying member), so that all of the requested load W is obtained. Is loaded on the pallet P for picking. Further, terms such as “collection” and “packing” used in the present embodiment are synonymous with “picking”.
The picking system 1 mainly has an automatic warehouse 3. The picking system 1 can be applied to a parts warehouse of a factory, a general distribution warehouse, and the like. In particular, for example, mail order sales for general consumers in which the number of orderers and the number and types of products are large. Most suitable for goods warehouse.

(2) Automatic Warehouse The automatic warehouse 3 will be described with reference to FIGS. 2 and 3. FIG. 2 is a schematic front view of the automated warehouse. FIG. 3 is a schematic side view of the automated warehouse.

(2-1) Rack The automatic warehouse 3 has a plurality of racks 5. The racks 5 extend in the X direction, which is the first horizontal direction in FIG. 1, and are arranged side by side in the Y direction (orthogonal to the X direction) that is the second horizontal direction.
The rack 5 has a plurality of shelves 5a on which loads can be placed. The plurality of shelves 5a constitutes a plurality of stations along the first horizontal direction, and a plurality of stages in the vertical direction. The "run" is one unit of the shelf 5a in the first horizontal direction, and the "column" is one unit of the shelf 5a in the vertical direction.

(2-2) Ceiling Rail The automatic warehouse 3 has a ceiling rail 13 provided along the rack 5. As shown in FIG. 2, the ceiling rail 13 is provided at a position higher than the rack 5, that is, a position higher than the highest shelf 5a.
As shown in FIG. 2, the ceiling rail 13 is arranged above the internal passage 5b between the racks 5. As shown in FIG. 1, the ceiling rail 13 has a plurality of circular tracks arranged around the rack 5, respectively.

(2-3) Stacker Crane The automatic warehouse 3 has a plurality of stacker cranes 21 (an example of a traveling transfer device). The stacker crane 21 can travel on the ceiling rails 13 and can transport the luggage between the plurality of shelves 5a and the station 15 (FIG. 1).
The stacker crane 21 travels along the ceiling rail 13. The stacker crane 21 is a suspension type stacker crane, and travels in a state of being suspended from the ceiling rail 13. The stacker crane 21 uses the ceiling rail 13 to drive and branch.

As shown in FIG. 4, the stacker crane 21 has a plurality of drive carriages 31 arranged in the traveling direction (indicated by white arrows). In this embodiment, eight drive carriages 31 are provided. FIG. 4 is a schematic perspective view of the stacker crane.
The drive carriage 31 will be described with reference to FIG. FIG. 5 is a schematic sectional view of the drive carriage. The drive carriage 31 has a linear motor 37 composed of a coil facing a permanent magnet 35 provided on the ceiling side. Specifically, the permanent magnet 35 is fixed to the support member 39 and fixed to the lower surface of the plate 41 extending in the traveling direction. The drive carriage 31 has a power receiving coil 45 provided on the ceiling rail 13 and at a position facing the non-contact power supply line 43. Further, the drive carriage 31 has traveling wheels 47. The traveling wheels 47 are placed on the traveling wall 13 a of the ceiling rail 13.

The stacker crane 21 has a transfer device 33 as shown in FIGS. 2, 4, and 6. FIG. 6 is a schematic sectional view of an automated warehouse and a room for picking work. The transfer device 33 is a device for transferring the pallet P. In this embodiment, the transfer device 33 is a conventional slide fork type and has a slide fork 33a. The slide forks 33a can project to both sides in the Y direction. The slide fork 33a has a stroke that allows the luggage W to be directly transferred to the room 69, and the stroke corresponds to the distance of two shelf spaces. However, the slide fork 33a may have a stroke that extends by the distance or more.
The stacker crane 21 has a lifting device 51, as shown in FIG. The elevating device 51 is a device for elevating the transfer device 33 in a state of being suspended from the plurality of drive carriages 31 so as to be able to elevate. The elevating device 51 includes an elevating table 55 movably supported in the vertical direction with respect to the mast 53, and an elevating section 57 for elevating the elevating table 55. The elevating part 57 is a known device including a motor, a belt, a guide roller, and the like.

(3) Overview of Picking Station The picking system 1 has a picking station 67 as shown in FIGS. 1, 6 and 10. The picking station 67 is a place where the luggage W unloaded from the automated warehouse 3 to the outside is picked. FIG. 10 is a schematic perspective view showing one state of the picking control operation.
The picking station 67 has a room 69, and the inside of the room 69 is a picking area 71. The picking area 71 is an area in which one worker S performs a picking operation (collects parcels on a pallet P for delivery). The room 69 has a partition 73 between the rack 5 and the back side of the rack 5. The partition 73 is a wall. The “back side of the rack 5” means the side opposite to the internal passage 5 b of the rack 5 and the outside of the rack 5. The “room 69” is a space defined by a wall and can be shielded from the outside. The partition 73 constitutes the wall and ceiling of the room 69.
In this embodiment, the room 69 is provided with a door (not shown).

  As shown in FIG. 6, the transfer device 33 has a stroke capable of directly transferring the luggage W to the room 69. Specifically, the transfer device 33 has the slide fork 33a as described above, and thus the load W can be directly transferred to the room 69 provided on the back side of the rack 5. Therefore, the rack 5 and the picking work environment can be separated from each other, whereby a comfortable picking work environment can be secured. For example, the air conditioning of the room 69 is controlled by the air conditioner 72 (FIG. 11).

  The picking system 1 has first to third shutters 74A to 74C capable of opening and blocking between the rack 5 and the room 69. Specifically, the first to third shutters 74A to 74C are devices that open and close the first to third openings 75A to 75C, respectively. The first to third shutters 74A to 74C are fireproof shutters. Note that, for the sake of simplicity of description, the “shutter” is used as a term that includes both the lid member and the mechanism that drives the lid member. The first shutter 74A and the first opening 75A correspond to the second mounting portion 79A, the second shutter 74B and the second opening 75B correspond to the first mounting portion 77, and the third shutter 74C and the third shutter 74C. The three openings 75C correspond to the second mounting portion 79B. In this way, the room 69 can be isolated from the rack 5 by the first to third shutters 74A to 74C. Therefore, the picking work environment can be maintained in a comfortable state. In particular, the first to third shutters 74A to 74C are always closed, and are opened only when the stacker crane 21 transfers a load.

(4) Details of Picking Station As described above, the picking area 71 is an area in which the luggage W is transferred by the stacker crane 21 and picking is performed by the worker S.
As shown in FIGS. 1 and 10, the picking area 71 is located on both sides of the first placing portion 77 for the pallet P on which the loads W collected by the worker S are placed, and on both sides of the first placing portion 77. The stacker crane 21 has a pair of second placement parts 79A and 79B for the pallet P on which the load W is placed. In addition, the 1st mounting part 77 and a pair of 2nd mounting parts 79A and 79B are located in a line with the 1st horizontal direction (X direction).
As described above, the pallet P on which the luggage W is collected from the second placing parts 79A and 79B is placed on the first placing part 77. That is, immediately after the pallet P is placed on the first placing portion 77, the luggage W is not placed. The pallet P placed on the first placing section 77 may be in a work-in-progress state in which picking is once performed and interrupted.
In addition, the pallet P on which the cargo W to be collected for the first placing portion 77 is placed is placed on the second placing portions 79A and 79B. That is, the load W taken out by the operator S is already placed on the pallet P placed on the second placement portions 79A and 79B.

In the picking system 1, when the worker S collects a load from the one of the second placing parts 79A and 79B on the first placing part 77, the stacker crane 21 causes the second placing part 79A, On the other side of 79B, preparation for the next collection operation (replacement of the pallet P after the load W is taken out) can be performed. Therefore, it is not necessary for the worker S to stop the collecting operation during the above-mentioned pallet P replacement time. As a result, picking efficiency is improved.
Further, the transportation of the cargo W and the pallet P is all performed by the stacker crane 21. Therefore, the work of the worker S is reduced. Conventionally, pallet transportation during worker picking and pallet re-stocking processing after picking were performed.
Further, since the worker only has to move between the first placing portion 77 and the second placing portion 79A and between the first placing portion 77 and the second placing portion 79B, the movement distance is It gets shorter. In the past, workers had to move between shelves with picking instructions or carry completed pallets to the shipping site, so the movement distance was long.

  The first placement portion 77 and the pair of second placement portions 79A and 79B are separated from each other by a space of one shelf 5a in the first horizontal direction (an example of the path extension direction). Specifically, the first mounting portion 77 corresponds to one continuous shelf 5a in the first horizontal direction. 79 A of 2nd mounting parts respond | correspond to the shelf 5a 1 space | interval from the shelf 5a corresponding to the 1st mounting part 77 in a 1st horizontal direction. The term "corresponding" as used herein means having substantially the same width at substantially the same position in the first horizontal direction. The second mounting portion 79B corresponds to the shelf 5a which is vacant by one station on the side opposite to the second mounting portion 79A from the shelf 5a corresponding to the first mounting portion 77 in the first horizontal direction. With the above configuration, the worker S can pick the pallet P on the first placing portion 77 from three sides. As a result, the burden on the worker S is reduced.

The first placing portion 77 and the pair of second placing portions 79A and 79B are provided with a pedestal on which the pallet P is placed and a gantry opening for the slide fork 33a of the transfer device 33 to pass through. ..
As shown in FIG. 10, the first placement portion 77 and the pair of second placement portions 79A and 79B are provided with ingress prevention fences 80A to 80C. The height of the entrance prevention fences 80A to 80C is about 20 cm.

As shown in FIG. 10, entry prevention warning areas 82A to 82C are provided around the first placement portion 77 and the pair of second placement portions 79A and 79B. The entry prevention warning areas 82A to 82C have sensors capable of detecting the state in which the worker S has stepped on. Therefore, if the worker is near the first placing portion 77 and the pair of second placing portions 79A and 79B while the stacker crane 21 is transferring the load at the picking station 67, the stacker crane 21 is stopped urgently.
The picking area 71 includes first to third fall prevention members 83A, 83B, and 83C (FIGS. 14 and 15) provided in the gantry openings of the first mounting portion 77 and the pair of second mounting portions 79A and 79B, respectively. 21, FIG. 33, and FIG. 34). The fall prevention body is, for example, a net. This can prevent the luggage W and the worker S from falling. However, the fall prevention body is not limited to the net.

  As shown in FIG. 7, the picking area 71 has a first drop sensor 81A, a second drop sensor 81B, and a third drop sensor 81C. These are provided under the frame openings of the first placement unit 77 and the pair of second placement units 79A and 79B, for example, below the above-mentioned fall prevention body, and detect a falling object. Specifically, when a falling object moves the fall prevention body downward, it is detected. Accordingly, when the luggage W and the worker S fall on the mounting portion, it can be detected early, and thus the device can be stopped urgently. The drop sensor is, for example, a transmissive photoelectric sensor. However, the type of drop sensor is not limited.

(5) Detailed Structure of Rack The rack 5 has a shelf 5c for empty pallets. As shown in FIG. 6 (also FIGS. 27 to 29), the empty pallet-only shelf 5c is provided in the same row as the first placing section 77 and stores the empty pallet P. Therefore, the pallet P can be collected and supplied only by the transfer operation and the lifting operation of the stacker crane 21.
As shown in FIG. 6, the empty pallet-only shelf 5c is located higher than the first placing section 77. In the present embodiment, the empty pallet-only shelf 5c is formed on all sides of the internal passage 5b of the same series as the first mounting portion 77, but may be provided only on a part of them. ..
The rack 5 has a temporary storage shelf 5d. As shown in FIG. 6 (also FIG. 23 to FIG. 26), the temporary storage shelf 5 d is provided in the same row as the first mounting portion 77, and is a shelf on which the pallet P whose collection has been completed is temporarily stored. is there. The temporary storage shelf 5d is provided at the same height as the first mounting portion 77 (that is, at the bottom) in the rack 5 on the side opposite to the picking area 71 with respect to the internal passage 5b (an example of a path). In the rack 5 on the side closer to the picking area 71, a space 61 between the temporary storage shelf 5d and the first mounting portion 77 is an obstacle-free space 61.
With the above configuration, the pallet P for which collection has been completed can be temporarily placed only by the operation of the transfer device 33 of the stacker crane 21. That is, the drive cart 31 and the lifting device 51 do not need to operate.

(6) Control Configuration The control configuration of the picking system will be described with reference to FIG. 7. FIG. 7 is a block diagram showing the control configuration of the picking system.
The stacker crane 21 has a crane controller 103. The crane controller 103 controls the operation of each drive carriage 31 of the stacker crane 21. The linear motor 37 of each drive carriage 31 is connected to the controller 103. Further, the transfer device 33 and the elevating device 51 are connected to the controller 103, and the controller 103 controls their operations.

  A sensor for detecting information about the traveling state is provided in each drive cart 31. From the above, the crane controller 103 can control appropriate timing / capacity based on the individual position of each drive carriage 31, such as traveling drive and branch switching.

The picking station 67 has a picking controller 105. First to third shutters 74A to 74C are connected to the picking controller 105.
Further, the controller 105 is connected to the first terminal device 89A and the second terminal device 89B. The first terminal device 89A is for work of the second placement portion 79A, and is provided between the first placement portion 77 and the second placement portion 79A in the partition 73. The second terminal device 89B is for the second placement portion 79B, and is provided between the first placement portion 77 and the second placement portion 79B in the partition 73. The first terminal device 89A and the second terminal device 89B have a function of a display unit and an information input unit, and display the picking work content (for example, the number of packages to be collected) as a display unit and input information. The department accepts the completion setting from the worker S. From the above, the worker S confirms the picking quantity with the first terminal device 89A and the second terminal device 89B before the collecting work, and completes with the first terminal device 89A and the second terminal device 89B after the collecting work. Make settings. The first terminal device 89A and the second terminal device 89B are touch panel devices in the present embodiment. In addition, the completion setting is that the collection from one of the pair of second placement units 79A and 79B is completed and that the collection to the first placement unit 77 is completed (all collection is completed. A complete pallet was obtained).
Further, the controller 105 is connected with first to third drop sensors 81A to 81C.

The crane controller 103 and the picking controller 105 can communicate with the host controller 101. The host controller 101 controls the automatic warehouse 3 and the picking station 67, and particularly controls transfer and transportation of the cargo W by the stacker crane 21. The host controller 101 manages the stacker cranes 21 and has an allocation function of allocating a travel command or a transport command to them. The "conveyance command" includes a traveling command and a transfer command including the load gripping position and the load unloading position.
The controller has a processor (eg, CPU), a storage device (eg, ROM, RAM, HDD, SSD, etc.), and various interfaces (eg, A / D converter, D / A converter, communication interface, etc.). It is a computer system. The above controller executes various control operations by executing a program stored in a storage unit (corresponding to a part or all of the storage area of the storage device).

The above controller may be composed of a single processor, but may be composed of a plurality of processors independent for each control.
Some or all of the functions of each element of the controller may be realized as a program executable by a computer system that constitutes the controller. In addition, a part of the function of each element of the controller may be configured by a custom IC.

(7) Basic Control Operation of Picking System The control operation of the picking system 1 will be described with reference to FIGS. 8 and 10 to 34. FIG. 8 is a flowchart showing one picking control operation. 10 to 34 are schematic perspective views showing one state of the picking control operation.
The control flowchart described below is an example, and each step can be omitted or replaced as necessary. Further, a plurality of steps may be executed at the same time, or some or all of them may be overlapped and executed.

In step S1, the empty pallet P is carried into the first loading section 77. Specifically, the crane controller 103 drives the drive carriage 31, the lifting device 51, and the transfer device 33 to transfer the empty pallet P to the first mounting portion 77 (traveling transfer device). The step of transferring an empty pallet from the rack to the first placing part). The above operation is shown in FIGS. 27 to 32 (described later).
In step S2, the pallet P loaded with the cargo W is carried into the pair of second mounting portions 79A and 79B. Specifically, the crane controller 103 drives the drive carriage 31, the lifting device 51, and the transfer device 33 to transfer the pallet P on which the load W is loaded to the pair of second loading parts 79A and 79B. Place (an example of the step of transferring the pallet on which the load is placed from the rack to one and the other of the pair of second placement units by the traveling type transfer device). Steps S1 and S2 may be performed in reverse order or simultaneously. The worker S may use the first terminal device 89A or the second terminal device 89B to perform the shipping setting (setting to carry out the luggage W to the pair of mounting portions 79A and 79B).

With the above control operation, for example, the state as shown in FIG. 10 is obtained. In this example, the worker S first loads the cargo W loaded on the pallet P of the second loading section 79B into the pallet P of the first loading section 77.
In step S3, it is determined whether or not the picking of the second mounting portion 79B is completed. Specifically, it waits for the picking controller 105 to receive the completion signal from the second terminal device 89B.
By the above control operation, for example, the state shown in FIG. In this example, the worker S uses the second terminal device 89B to perform completion setting (sends a completion signal to the picking controller 105).
When the above picking is completed, the process moves to step S4.

In step S4, it is determined whether or not all picking has been completed (whether or not all the planned packages W have been stacked on the pallet P in the first loading section 77). Specifically, the picking controller 105 determines whether or not all picking has been completed. For example, in FIG. 18, the worker S operates the second terminal device 89B to transmit a completion signal. If not completed, the process proceeds to step S5, and if completed, the process proceeds to step S11.
In step S5, it is determined whether or not the pallet P of the second loading portion 79B needs to be replaced (when the completion of collection from one pallet is input by the terminal device, the pallet is replaced with another pallet P). An example of a step of determining whether or not the pallet needs to be replaced). Specifically, the picking controller 105 makes the above determination. If necessary, the process proceeds to step S6, and if not necessary, the process skips step S6 and proceeds to step S7.

In step S6, the pallet exchange on the second mounting portion 79B is started. Specifically, the crane controller 103 drives the drive carriage 31, the lifting device 51, and the transfer device 33 to carry out the pallet P on the second mounting portion 79B to the rack 5, and then to load The pallet P on which W is loaded is carried into the second placement portion 79B. When the pallet P to be carried out is a picking residual pallet, the pallet P is carried to the normal shelf 5a, and when the pallet P to be carried out is an empty pallet, the pallet P is carried to the empty pallet dedicated shelf 5c. .. For example, in FIGS. 10 to 13, the pallet P on the second loading portion 79B is unloaded into the automatic warehouse 3, and in FIGS. 14 to 16, the pallet P on which the luggage W is loaded is the second loading. It has been carried into the section 79B.
In step S7, it is determined whether or not the picking of the second mounting portion 79A serving as the other second mounting portion is completed. Specifically, it waits for the picking controller 105 to receive the completion signal from the first terminal device 89A. At this time, for example, as shown in FIGS. 12 to 14, the worker S collects the luggage W loaded on the pallet P of the second placement portion 79A on the pallet P of the first placement portion 77. Then, for example, the state of FIG. 15 is obtained. In this case, the worker S uses the first terminal device 89A to perform completion setting (sends a completion signal to the picking controller 105).
When the above picking is completed, the process proceeds to step S8.

In step S8, it is determined whether or not all picking has been completed. Specifically, the picking controller 105 determines whether or not all picking has been completed.
In step S9, it is determined whether or not it is necessary to replace the pallet P on the second placement portion 79A (when the completion of the collection from one pallet is input by the terminal device, the pallet is replaced with another one. Example of the step of determining whether or not the pallet needs to be replaced). If necessary, the process proceeds to step S10, and if not necessary, the process skips step S10 and returns to step S3.

In step S10, the pallet exchange is started in the second mounting portion 79A (an example of the step of exchanging the pallet with another pallet by the traveling transfer device when the pallet needs to be exchanged). Specifically, the crane controller 103 drives the driving carriage 31, the lifting device 51, and the transfer device 33 to carry out the pallet P on the second mounting portion 79A to the rack 5 ( When the completion of collection from one pallet is input, the traveling type transfer device transfers the pallet to the rack), and then the pallet P on which the load W is mounted is placed on the second mounting portion 79A. Carry in. After that, the process returns to step S3.
In step S11, the completed pallet P on the first placing section 77 is carried out (when the completion of the collection of the pallets placed on the first placing section is input by the terminal device, the traveling type transfer apparatus operates. , An example of the step of transferring the pallet in the first mounting portion to the rack). Specifically, the crane controller 103 drives the drive carriage 31, the elevating device 51, and the transfer device 33 to carry out the completed pallet P from the first mounting portion 77 to the automated warehouse 3. For example, such an operation is shown in FIGS.

  In the control method described above, the worker S collects the luggage W from the pallet P placed on the pair of second placing portions 79A and 79B on the pallet P placed on the first placing portion 77. When the worker S completes the collection from one pallet P, the worker S inputs the completion information using the first and second terminal devices 89A and 89B. Then, the stacker crane 21 replaces the pallet P on which the load W has been taken in the previous work, if necessary. Further, when the collection of the pallets P placed on the first placing section 77 is completed, the stacker crane 21 transfers the completed pallets P from the first placing section 77 to the rack 5.

According to this method, when the worker S collects the luggage W from the one of the pair of second placing portions 79A and 79B on the first placing portion 77, the stacker crane 21 moves the pair of second placing portions 79A and 79B. The other of the parts 79A and 79B can prepare for the next collection operation (specifically, the pallet P is replaced). Therefore, the worker S does not need to stop the collection work or the work stop time is shortened during the replacement time of the pallet P whose packages have been taken out. As a result, picking efficiency is improved.
In other words, if necessary, the pallet P and the cargo W are alternately loaded into the pair of second mounting portions 79A and 79B, and the worker S can use the one second mounting portion 79A and 79B. While the collection work is being performed on the second loading section 79A, 79B, the loading operation of the new load W and the new pallet P is being performed. Therefore, when the collecting operation from one of the second mounting portions 79A and 79B is completed, the worker S does not wait or after a short time, the collecting operation from the other second mounting portion 79A and 79B. Can start.

(8) Shutter opening / closing control operation The shutter opening / closing control will be described with reference to FIG. FIG. 9 is a flowchart showing the shutter opening / closing control operation. In the following description, the operation of the first shutter 74A will be described. In the initial state, the first shutter 74A is closed and the pallet P is placed on the second placement portion 79A.

In step S21, the first terminal device 89A is operated to wait for completion setting. Specifically, the picking controller 105 waits for the transmission of the completion signal.
In step S22, it is determined whether or not the pallet P needs to be replaced. Specifically, the picking controller 105 makes the above determination. This corresponds to steps S5 and S9 in FIG.

In step S23, the first shutter 74A is opened. Specifically, the picking controller 105 opens the first shutter 74A.
In step S24, the transfer device 33 of the stacker crane 21 waits for the pallet P to be carried out. Specifically, the picking controller 105 waits for reception of a signal from a sensor (not shown) indicating that the pallet P has been carried into the rack 5.

In step S25, the first shutter 74A is closed. Specifically, the picking controller 105 closes the first shutter 74A.
In step S26, the transfer device 33 of the stacker crane 21 waits for the next pallet P and cargo W to be carried. Specifically, the picking controller 105 waits for a signal from a sensor (not shown) to notify that the pallet P and the cargo W have arrived at the position corresponding to the second mounting portion 79A in the rack 5.

In step S27, the first shutter 74A is opened. Specifically, the picking controller 105 opens the first shutter 74A.
In step S28, the transfer device 33 of the stacker crane 21 waits for the pallet P and the cargo W to be loaded. Specifically, the picking controller 105 receives, from a sensor (not shown), a signal indicating that the pallet P and the load W are transferred to the second mounting portion 79A and the slide fork 33a has left the room 69. Wait for
In step S29, the first shutter 74A is closed. Specifically, the picking controller 105 closes the first shutter 74A.

  As described above, the first shutter 74A is opened when the pallet P moves between the rack 5 and the room 69, but is closed otherwise. Therefore, the environment inside the rack 5 is unlikely to affect the environment inside the room 69. The above effects are the same for other shutters.

(9) Temporary Placement Control Operation of Completed Palette The temporary placement control operation of the completed pallet will be described with reference to FIGS. The following operations are operations of the stacker crane 21. Specifically, the crane controller 103 causes the transfer device 33 to perform the following operation.

As shown in FIG. 22, the slide fork 33 a of the transfer device 33 draws the completed pallet P into the rack 5. The completed pallet P passes through the space 61.
As shown in FIGS. 23 and 24, the slide fork 33a of the transfer device 33 moves the completed pallet P to the opposite side in the second horizontal direction (back side of the rack 5) through the space 61.
As shown in FIGS. 25 and 26, the slide fork 33a of the transfer device 33 transfers the completed pallet P to the temporary storage shelf 5d.

  As is clear from the above description, the operation of transferring the completed pallet P from the first placing part 77 to the temporary placing shelf 5d is executed only by the transferring device 33. That is, the drive carriage 31 and the lifting device 51 do not operate.

(10) Supply Control Operation of Empty Pallet The supply control operation of the empty pallet P will be described with reference to FIGS. The following operations are operations of the stacker crane 21. Specifically, the crane controller 103 causes the lifting device 51 and the transfer device 33 to perform the following operations.
As shown in FIGS. 27 and 28, the elevating device 51 raises the elevating table 55 and arranges it near the empty pallet dedicated shelf 5c, and then the transfer device 33 elevates the empty pallet P from the empty pallet dedicated shelf 5c. Transfer to platform 55.
As shown in FIG. 29, the lifting / lowering device 51 lowers the lifting / lowering base 55 and arranges it near the first mounting portion 77.

As shown in FIG. 30, the transfer device 33 transfers the empty pallet P to the first mounting portion 77 through the space 61. At this time, the second shutter 74B is opened, that is, the second opening 75B is opened.
As a result, as shown in FIG. 31, the empty pallet P is placed on the first placing section 77.
Next, as shown in FIG. 32, the second shutter 74B is closed.

As is clear from the above description, the operation of transferring the empty pallet P from the empty pallet dedicated shelf 5c to the first mounting portion 77 is executed only by the lifting device 51 and the transfer device 33. That is, the drive cart 31 does not operate.
As described above, the stacker crane 21 realizes from the collection of the completed pallet P to the replenishment of the empty pallet P only by the lifting operation and the transfer operation. Since the stacker crane 21 does not perform the traveling operation in this way, the series of operations described above is performed in a short time.
Further, after the collection of the finished pallet P and the replenishment of the empty pallet P are performed, the stacker crane 21 conveys the temporarily placed finished pallet P to another shelf 5a.

2. Second Embodiment In the first embodiment, the picking station 67 was provided with a first placing part 77 and a pair of second placing parts 79A and 79B as placing parts. However, as long as the above-mentioned minimum combination is realized, another mounting portion may be provided in the structure of the first embodiment.
Hereinafter, such an embodiment will be described with reference to FIG. FIG. 35 is a diagram showing a configuration of a picking station in the second embodiment.

  The picking area 71 further includes a first placing part 77A and a second placing part 79C in addition to the first placing part 77 and the pair of second placing parts 79A and 79B. 77 A of 1st mounting parts are arrange | positioned at the 1st horizontal direction one side (right side of drawing) of 79 A of 2nd mounting parts, and 79 C of 2nd mounting parts are the 1st horizontal direction one side of 77 A of 1st mounting parts ( It is located on the right side of the figure).

To summarize the above, a pair of second mounting portions 79A and 79B are arranged on both sides of the first mounting portion 77 in the first horizontal direction, and further, both sides of the first mounting portion 77A in the first horizontal direction. A pair of second mounting portions 79A and 79C are arranged in the. The second mounting portion 79A can be used in combination with both the first mounting portion 77 and the first mounting portion 77A. However, a dedicated, that is, a pair of second mounting portions may be provided between the first mounting portion 77 and the first mounting portion 77A.
The picking system 1 has fourth to fifth shutters 74D to 74E in addition to the first to third shutters 74A to 74C.

The second placement portion 79C and the first placement portion 77A are provided with ingress prevention fences 80D to 80E, respectively.
Ingress prevention warning areas 82D to 82E are provided around the second placement portion 80D and the first placement portion 77.

Furthermore, in addition to the first terminal device 89A and the second terminal device 89B, a third terminal 89C and a fourth terminal 89D are provided. The third terminal device 89C is for work of the second placement portion 79C, and is provided in the partition 73 between the first placement portion 77A and the second placement portion 79C. The fourth terminal device 89D is for the second placing part 79A when used for collecting articles to the first placing part 77A, and the second placing part 79A and the first placing part 77A in the partition 73. It is provided between and.
In addition, in the second embodiment, the number of the first placement parts is two, but three or more may be provided. In that case, the 2nd mounting part shared by the 1st mounting parts on both sides may be provided, and may not be provided.

3. Other Embodiments A plurality of embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments, and various modifications can be made without departing from the gist of the invention. In particular, the plurality of embodiments and modifications described in the present specification can be arbitrarily combined as needed.
In the above-described embodiment, the track is the ceiling rail on which the transport vehicle is suspended from the ceiling, but it may be a ground rail on which the transport vehicle travels.
In the above embodiment, the picking is the movement of the luggage W between the pallets P, but the source and destination of the luggage are not limited to the pallet P. For example, the container on which the bucket is placed may be the source or destination.

  The present invention can be widely applied to a picking system including a rack having a plurality of shelves on which articles are placed.

1: Picking system 3: Automatic warehouse 5: Rack 5a: Shelf 5b: Internal passage 5c: Empty pallet dedicated shelf 5d: Temporary shelf 13: Ceiling rail 13a: Traveling wall 15: Station 21: Stacker crane 31: Drive cart 33: Transfer device 33a: Slide fork 35: Permanent magnet 37: Linear motor 39: Support member 41: Plate 43: Non-contact power supply line 45: Power receiving coil 47: Traveling wheel 51: Lifting device 53: Mast 55: Lifting platform 57: Lifting Part 61: Space 67: Picking station 69: Room 71: Picking area 73: Partition 74A: First shutter 74B: Second shutter 74C: Third shutter 75A: First opening 75B: Second opening 75C: Third opening 77: 1st mounting part 79A: 2nd mounting part 79B: 2nd mounting part 81A: 1st fall Sensor 81B: Second drop sensor 81C: Third drop sensor 83A: First fall prevention body 83B: Second fall prevention body 83C: Third fall prevention body 89A: First terminal device 89B: Second terminal device 101: Upper controller 103: Crane controller 105: Picking controller P: Pallet S: Worker W: Luggage

Claims (8)

A traveling type transfer device capable of traveling along a route,
A rack having a plurality of shelves arranged along the path,
A luggage placing member, which is an area where a luggage placing member on which luggage can be placed is transferred by the traveling type transfer device and picking is performed by an operator, and on which the luggage collected by the operator is placed And a pair of second placing parts for a luggage placing member on which a luggage to be collected by an operator is placed, on both sides of the first placing part. Area and
A picking system comprising: The rack is
A shelf dedicated to the empty luggage placing member, which is provided in the same series as the first placing unit and stores the empty luggage placing member;
The picking system according to claim 1, further comprising: a temporary storage shelf that is provided in the same series as the first mounting portion and that temporarily stores the luggage mounting member whose collection has been completed. The empty luggage placement member dedicated shelf is at a position higher than the first placement portion,
The picking system according to claim 2, wherein the temporary storage shelf is provided at the same height as the first mounting portion on the side opposite to the picking area with respect to the path.   The picking according to any one of claims 1 to 3, further comprising at least one sensor that is provided on each of the first placement portion and the pair of second placement portions and that detects a falling object. system.   The picking system according to any one of claims 1 to 4, further comprising a fall prevention body provided on each of the first mounting portion and the pair of second mounting portions. The picking area is provided on the back side of the rack,
A room is formed by surrounding the picking area and providing a partition between the rack and the rack,
The picking system according to any one of claims 1 to 5, wherein the traveling transfer device has a stroke capable of directly transferring luggage to the room.   The picking system according to any one of claims 1 to 6, wherein the first placing portion and the second placing portion are separated from each other by one shelf space in the path extension direction. A traveling type transfer device capable of traveling along a route,
A rack having a plurality of shelves arranged along the path,
A picking area having a first placing part and a pair of second placing parts on both sides of the first placing part;
A control method of a picking system, comprising: a device for displaying picking work contents; a terminal device having an input unit for accepting completion of collection.
Transferring the empty luggage mounting member from the rack to the first mounting portion by the traveling transfer device;
A step of transferring, by the traveling type transfer device, a load carrying member on which a load is placed from a rack to the pair of second loading parts;
Transferring the luggage mounting member on which the luggage is placed from the rack to the other of the pair of second placing parts by the traveling type transfer device;
When the terminal device inputs the completion of the collection from one of the pair of second loading units, the luggage loading member needs to be exchanged with another luggage loading member. Determining whether or not,
Replacing the luggage placing member with another luggage placing member by the traveling type transfer device when the luggage placing member needs to be replaced,
When the terminal device inputs the completion of collection from the other luggage placing member of the pair of second placing portions, the luggage placing member needs to be exchanged with another luggage placing member. Determining whether or not,
Replacing the luggage placing member with another luggage placing member by the traveling type transfer device when the luggage placing member needs to be replaced,
From the step of determining the replacement of one of the pair of second loading parts to the other of the pair of second loading parts, the step of replacing the other of the pair of second loading parts of the other loading part By repeating the above, when the completion of the collection for the luggage placing member placed on the first placing portion is input by the terminal device, the traveling type transfer device causes the first placing portion to move to the first placing portion. Transferring the luggage mounting member to the rack,
A method for controlling a picking system, comprising:

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