JP6921149B2 - 保管および取り出しシステムのケースユニット検出 - Google Patents
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Claims (22)
- 物品ケース保管室の物品のケースの搬送および保管用の倉庫自動保管および取り出しシステムであって、前記倉庫自動保管および取り出しシステムは、
設置面を有する少なくとも1つの保管棚上に配置された保管場所のアレイを有する保管構造であって、前記設置面が、前記少なくとも1つの保管棚上の前記設置面の全体を通して自由に物品ケースユニットを支持するように構成される、保管構造と、
制御装置であって、各物品ケースユニットが、前記少なくとも1つの保管棚上に前記物品ケースユニットが設置される、所定の保管位置を有し、前記所定の保管位置を判定するように構成される制御装置と、
障害復元システムと
を備え、
前記障害復元システムが、
前記少なくとも1つの保管棚上に設けられる少なくとも1つの障害検出センサと、
前記少なくとも1つの障害検出センサと通信し、障害を識別し、異なる障害の種類から、障害を生じさせる障害の種類を判定するように構成される障害制御モジュールと
を含み、
前記障害復元システムは、前記障害復元システムが、前記異なる障害の種類に基づいて異なるケースマッピング復元命令を生成し、前記異なるケースマッピング復元命令から、判定された障害の種類に対応するケースマッピング復元命令を用いて自動案内車両を初期化するように、構成される、
倉庫自動保管および取り出しシステム。 - 前記自動案内車両は、前記少なくとも1つの保管棚に対して前記保管構造を横切って、前記保管構造内の少なくとも1つの物品ケースユニットの設置位置を識別し、
前記障害制御モジュールはさらに、前記自動案内車両で判定された、前記少なくとも1つの物品ケースユニットの識別された設置位置と、前記少なくとも1つの物品ケースユニットの所定の位置とを比較し、前記少なくとも1つの物品ケースユニットの識別された設置位置と、前記少なくとも1つの物品ケースユニットの所定の位置との間の変化を識別するように構成される、請求項1記載の倉庫自動保管および取り出しシステム。 - 前記障害制御モジュールはさらに、変化の種類に基づいて物品ケースユニットの位置補正用の情報を有する命令を生成するように構成される、請求項2記載の倉庫自動保管および取り出しシステム。
- 前記物品ケースユニットは、密集した間隔で前記少なくとも1つの保管棚に配置される、請求項1記載の倉庫自動保管および取り出しシステム。
- 前記制御装置は、各物品ケースユニットをそれぞれの所定の動的に割り当てられた保管位置に動的に割り当てるように構成される、請求項1記載の倉庫自動保管および取り出しシステム。
- 前記制御装置はさらに、前記少なくとも1つの物品ケースユニットの所定の動的に割り当てられた保管位置を各物品ケースユニットのそれぞれの識別された設置位置を用いて動的に更新することによって、前記少なくとも1つの物品ケースユニットの位置の補正をもたらすように構成される、請求項5記載の倉庫自動保管および取り出しシステム。
- 前記制御装置はさらに、前記少なくとも1つの物品ケースユニットをそれぞれの動的に割り当てられた保管位置で取り出しおよび再配置するように、または前記少なくとも1つの物品ケースユニットをそれぞれ異なる動的に割り当てられた保管位置へ移動させるように、前記自動案内車両に命令することによって、前記少なくとも1つの物品ケースユニットの位置の補正をもたらすように構成される、請求項5記載の倉庫自動保管および取り出しシステム。
- 前記自動案内車両は、前記少なくとも1つの保管棚に対して前記保管構造を横切って、前記保管構造内の少なくとも1つの物品ケースユニットの設置位置を識別し、
前記障害制御モジュールはさらに、前記自動案内車両で判定された、前記少なくとも1つの物品ケースユニットの識別された設置位置と、前記少なくとも1つの物品ケースユニットの所定の動的に割り当てられた保管位置とを比較し、前記少なくとも1つの物品ケースユニットの識別された設置位置と、前記少なくとも1つの物品ケースユニットの所定の動的に割り当てられた保管位置との間の変化を識別するように構成される、請求項5記載の倉庫自動保管および取り出しシステム。 - 前記自動案内車両が、前記保管構造内の保管場所で物品ケースユニットを取り出しおよび配置するように構成される、請求項1記載の倉庫自動保管および取り出しシステム。
- 前記制御装置はさらに、前記少なくとも1つの物品ケースユニットの手動の除去または再配置のために、前記倉庫自動保管および取り出しシステムのオペレータに、前記少なくとも1つの物品ケースユニットの場所を提供することによって、前記少なくとも1つの物品ケースユニットの位置の補正をもたらすように構成される、請求項1記載の倉庫自動保管および取り出しシステム。
- 前記自動案内車両は、前記保管構造を横切って、別の物品ケースユニットを別の保管場所で取り出しおよび/または配置するために、前記少なくとも1つの保管棚に対して前記保管構造を前記自動案内車両が横切るのと一致して、前記少なくとも1つの物品ケースユニットの設置位置を識別する、請求項1記載の倉庫自動保管および取り出しシステム。
- 倉庫自動保管および取り出しシステムを用いて物品ケース保管室の物品のケースを搬送および保管するための方法であって、前記方法は、
物品ケースユニットを支持するように構成された設置面を有する少なくとも1つの保管棚上に配置された保管場所のアレイを有する保管構造であって、各物品ケースユニットの位置が、前記少なくとも1つの保管棚上の各保管場所に対して未確定的である、保管構造を提供することと、
制御装置を用いて、前記少なくとも1つの保管棚上の前記設置面の全体を通して自由に、各物品ケースユニットの所定の保管位置を判定することと、
障害復元システムの障害制御モジュールを用いて、障害を識別し、異なる障害の種類から、障害を生じさせる障害の種類を判定することと、
前記少なくとも1つの保管棚上に配置される少なくとも1つの障害検出センサであって、前記障害制御モジュールが前記少なくとも1つの障害検出センサと通信する、少なくとも1つの障害検出センサを提供することと、
前記異なる障害の種類に基づいて異なるケースマッピング復元命令を生成し、前記異なるケースマッピング復元命令から、判定された種類の障害に対応するケースマッピング復元命令を用いて自動案内車両を初期化することと
を含む、方法。 - 前記少なくとも1つの保管棚に対して前記保管構造を横切る自動案内車両を用いて、前記保管構造内の少なくとも1つの物品ケースユニットの設置位置を識別することと、
前記障害制御モジュールを用いて、前記自動案内車両で判定された、前記少なくとも1つの物品ケースユニットの識別された設置位置と、前記少なくとも1つの物品ケースユニットの所定の位置とを比較し、前記少なくとも1つの物品ケースユニットの識別された設置位置と、前記少なくとも1つの物品ケースユニットの所定の位置との間の変化を識別することと
をさらに含む、請求項12記載の方法。 - 前記障害制御モジュールを用いて、変化の種類に基づいて物品ケースユニットの位置補正用の情報を有する命令を生成することをさらに含む、請求項13記載の方法。
- 前記物品ケースユニットは、密集した間隔で前記少なくとも1つの保管棚に配置される、請求項12記載の方法。
- 前記制御装置を用いて、各物品ケースユニットをそれぞれの所定の動的に割り当てられた保管位置に動的に割り当てることをさらに含む、請求項12記載の方法。
- 前記制御装置を用いて、前記少なくとも1つの物品ケースユニットの所定の動的に割り当てられた保管位置を各物品ケースユニットのそれぞれの識別された設置位置を用いて動的に更新することによって、前記少なくとも1つの物品ケースユニットの位置の補正をもたらすことをさらに含む、請求項16記載の方法。
- 前記制御装置を用いて、前記少なくとも1つの物品ケースユニットをそれぞれの動的に割り当てられた保管位置で取り出しおよび再配置するように、または前記少なくとも1つの物品ケースユニットをそれぞれ異なる動的に割り当てられた保管位置へ移動させるように、前記自動案内車両に命令することによって、前記少なくとも1つの物品ケースユニットの位置の補正をもたらすことをさらに含む、請求項16記載の方法。
- 前記少なくとも1つの保管棚に対して前記保管構造を横切る前記自動案内車両を用いて、前記保管構造内の少なくとも1つの物品ケースユニットの設置位置を識別することと、
前記障害制御モジュールを用いて、前記自動案内車両で判定された、前記少なくとも1つの物品ケースユニットの識別された設置位置と、前記少なくとも1つの物品ケースユニットの所定の動的に割り当てられた保管位置とを比較し、前記少なくとも1つの物品ケースユニットの識別された設置位置と、前記少なくとも1つの物品ケースユニットの所定の動的に割り当てられた保管位置との間の変化を識別することと
をさらに含む、請求項16記載の方法。 - 前記自動案内車両が、前記保管構造内の保管場所で物品ケースユニットを取り出しおよび配置するように構成される、請求項12記載の方法。
- 前記制御装置を用いて、前記少なくとも1つの物品ケースユニットの手動の除去または再配置のために、前記倉庫自動保管および取り出しシステムのオペレータに前記少なくとも1つの物品ケースユニットの場所を提供することによって、前記少なくとも1つの物品ケースユニットの位置の補正をもたらすことをさらに含む、請求項12記載の方法。
- 前記自動案内車両は、前記保管構造を横切って、別の物品ケースユニットを別の保管場所で取り出しおよび/または配置するために、前記少なくとも1つの保管棚に対して前記保管構造を前記自動案内車両が横切るのと一致して、前記少なくとも1つの物品ケースユニットの設置位置を識別する、請求項12記載の方法。
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