JP7182670B2 - Warehouse management system and management equipment - Google Patents

Description

The present invention relates to a warehouse management system and a management device.

Patent Literature 1 listed below discloses an automated warehouse transfer system capable of suppressing collapse of storage racks when a stacker crane travels. This automated warehouse is an automated warehouse capable of accommodating storage racks having a multi-layer structure in a plurality of storage racks arranged along the travel route of a stacker crane, wherein the storage racks store a plurality of trays containing eggs from one direction. The stacker crane has an open surface for loading, and is surrounded by fall prevention walls on three side surfaces other than the open surface, and transfers the storage rack to and from the storage rack, Side walls are provided on the front and rear sides in the traveling direction, and the stacker crane transports the storage rack in a state in which one of the side walls of the stacker crane faces the open surface of the storage rack.

JP 2018-150101 A

However, the above-described prior art discloses only the transportation of storage racks within the range of the automated warehouse and the transportation equipment connected to the automated warehouse, and does not consider the transportation of storage racks outside the range of the transportation equipment. not Therefore, if the storage rack is transported out of the range of the transportation equipment, the shelf surface of the storage rack may not face the picking station, delaying the work of receiving and shipping articles.

SUMMARY OF THE INVENTION An object of the present invention is to improve the efficiency of goods receiving and shipping work.

A warehouse management system, which is a first aspect of the invention disclosed in the present application, includes a transport rack, an automated warehouse for loading and unloading the transport rack, a mobile unit capable of loading the transport rack, and a mobile unit capable of communicating with the mobile unit. and a management device, wherein the transport shelf includes a plurality of shelf surfaces capable of storing articles, and an identifier capable of specifying a direction in which a specific shelf surface among the plurality of shelf surfaces faces. and a code, wherein the moving body has an imaging unit capable of imaging the identification code, and the management device stores an article to be stored on the transportation rack and the article to be stored on the transportation rack. When the transport shelf storing the target article is taken out from the automated warehouse, the management device refers to the inventory information to access the inventory information associated with the shelf surface. A storage destination shelf surface where articles are stored on the transport shelf is specified, and the storage is performed based on the direction in which the specific shelf surface specified by the identification code imaged by the imaging unit of the moving body faces. The orientation of the front shelf surface is specified, and when the mobile body on which the transport rack is loaded arrives at the picking station, the orientation of the storage front shelf surface is in the direction from the mobile body to the picking station. and controlling the moving body.
A warehouse management system, which is a second aspect of the invention disclosed in the present application, comprises a transport rack, an automated warehouse for loading and unloading the transport rack, a mobile unit capable of loading the transport rack, and a mobile unit capable of communicating with the mobile unit. and a management device, wherein the transport shelf has a plurality of shelf surfaces capable of storing articles, and the direction in which a specific shelf surface among the plurality of shelf surfaces is facing can be specified. and the management device determines whether or not another moving body exists around the moving body when the transport shelf storing the target article is taken out from the automated warehouse. and a storage destination shelf surface on which the target article is stored on the transport shelf when the moving body carrying the transport shelf arrives at a picking station when the other moving body does not exist around the moving body. is oriented in the direction from the moving body to the picking station, the moving body is controlled to rotate in a transport area in which the moving body moves.

A management device, which is a third aspect of the invention disclosed in the present application, is a management device capable of communicating with a mobile body capable of loading a transport shelf taken out from an automated warehouse, wherein the transport shelf is capable of storing articles. a plurality of shelf surfaces , and an identification code capable of identifying a direction in which a specific shelf surface among the plurality of shelf surfaces faces, and the moving body has an imaging unit capable of imaging the identification code. The management device is capable of accessing inventory information that associates an item stored on the transport shelf with a shelf surface on which the item is stored on the transport shelf, and the management device is configured to: When the stored transport shelf is taken out of the automated warehouse, the inventory information is referred to specify a storage destination shelf surface where the target article is stored in the transport shelf, and the imaging of the moving object is performed. The direction of the storage destination shelf surface is specified based on the direction in which the specific shelf surface specified by the identification code imaged by the unit is directed, and the moving body on which the transport shelf is loaded arrives at the picking station. The moving body is controlled so that the direction of the storage destination shelf surface is in the direction from the moving body to the picking station .

According to the representative embodiment of the present invention, it is possible to improve the efficiency of the work of receiving and shipping goods. Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

FIG. 1 is an explanatory diagram showing a configuration example of a warehouse management system. FIG. 2 is a front view of a rack that constitutes an automated warehouse. FIG. 3 is a perspective view of the transport shelf. FIG. 4 is an explanatory diagram showing a transport rack. FIG. 5 is an enlarged view of the carrier. FIG. 6 is an explanatory diagram showing a system configuration example of a warehouse management system. FIG. 7 is a block diagram showing a hardware configuration example of a computer. FIG. 8 is a block diagram showing an example of the hardware configuration of the carrier. FIG. 9 is an explanatory diagram showing an example of the map information DB. FIG. 10 is an explanatory diagram showing an example of the carrier information DB. FIG. 11 is an explanatory diagram showing an example of an inventory information DB. FIG. 12 is an explanatory diagram of an example of the transport rack DB. 13A and 13B are explanatory diagrams illustrating an example of rotation control of the transport shelf by the transport vehicle. FIG. 14 is a sequence diagram showing an example of a sequence when shipping goods. FIG. 15 is a sequence diagram showing a sequence example when goods are received. FIG. 16 is a sequence diagram showing an example of a sequence of warehousing of the transport shelf.

<Configuration example of warehouse management system>
FIG. 1 is an explanatory diagram showing a configuration example of a warehouse management system. A warehouse management system 100 has an automated warehouse 101 , a transport facility 102 , and a transport area 103 . The automated warehouse 101 is equipment for automatically loading and unloading the transport racks 113 . The transport facility 102 is a facility that moves the transport shelf 113 unloaded from the automated warehouse 101 to the transport area 103, and moves the transport shelf 113 from the transport area 103 to the automated warehouse 101 for storage in the automated warehouse 101. .

In the transport area 103, an unmanned transport vehicle (hereinafter simply referred to as a transport vehicle) 113 that transports a transport shelf 113 by autonomous movement moves, and goods are received in the transport shelf 113 or shipped (picked) from the transport shelf 113. ) in which the picking stations PS1 and PS2 are located. When picking stations PS1 and PS2 are not distinguished, they are simply referred to as picking station PS. Also, although there are two picking stations PS in FIG. 1, the number may be one or three or more.

The automated warehouse 101 has racks 111 - 1 and 111 - 2 and a stacker crane 112 . When the racks 111-1 and 111-2 are not distinguished, they are simply referred to as the rack 111. FIG. Also, although there are two racks 111 in FIG. 1, the number may be one or three or more.

The racks 111 are arranged in the Y-axis direction. The rack 111 has a matrix storage area that stores the transport shelves 113 on the XZ plane. The stacker crane 112 is a moving mechanism that is arranged between the racks 111-1 and 111-2, is movable in the X-axis direction, and can be raised and lowered in the Z-axis direction. The stacker crane 112 is capable of holding the transport shelf 113, takes out the transport shelf 113 from the storage area of the rack 111 and delivers it to the transport equipment 102, or receives the transport shelf 113 from the transport equipment 102 and moves the storage area of the rack 111. Stock up on empty blocks.

The transport equipment 102 is provided between the automated warehouse 101 and the transport area 103 and transfers the transport shelf 113 between the automated warehouse 101 and the transport area 103 . The transport facility 102 has conveyors 121-1 and 121-2 capable of transporting the transport shelf 113. As shown in FIG. When the conveyors 121-1 and 121-2 are not distinguished, they are simply referred to as conveyor 121. Also, although there are two conveyors 121 in FIG. 1, the number may be one or three or more.

Conveyor 121 is arranged in the Y-axis direction together with rack 111 . The conveying direction of the conveyor 121 is the X-axis direction. One end of the conveyor 121 corresponds to the travel range of the stacker crane 112 . At one end of the conveyor 121 , the stacker crane 112 loads and unloads the transport shelf 113 . The other end of the conveyor 121 corresponds to the transport area 103 . At the other end of the conveyor 121 , the carrier rack 113 is placed on the carrier 104 or the carrier shelf 113 placed on the carrier 104 is placed on the conveyor 121 .

Specifically, for example, when the transport shelf 113 is transported to the transport area 103, when the transport vehicle 104 moves below the other end of the conveyor 121, the transport vehicle 104 raises a rotating plate, which will be described later, in the Z-axis direction. Thus, the transport shelf 113 transported to the other end of the conveyor 121 is lifted and separated from the conveyor 121 . The transport vehicle 104 moves from the conveyor 121 to the transport area 103, and then lowers the rotating plate on which the transport shelf 113 is placed in the Z-axis direction.

Further, when the transport shelf 113 is moved from the transport area 103 to the transport equipment 102, when the transport vehicle 104 on which the transport shelf 113 is placed approaches below the other end of the conveyor 121, the transport vehicle 104 moves the transport shelf 113 thereon. The placed rotating plate is raised in the Z-axis direction, and in this state is moved below the other end of the conveyor 121 . The transport vehicle 104 then lowers the rotating plate on which the transport shelf 113 is placed in the Z-axis direction, thereby transferring the transport shelf 113 to the other end of the conveyor 121 .

The transport area 103 is adjacent to the transport facility 102 . A plurality of transport vehicles 104 run in the transport area 103 . The transport vehicle 104 is a mobile body that transports the transport shelf 113 between the transport facility 102 and the picking station PS. The transport vehicle 104 receives the transport shelf 113 from the transport equipment 102 and transports it to the picking station PS, or receives the transport shelf 113 from the pick station PS and transports it to the transport equipment 102 .

Further, relay points B1 to B3 may exist in the transport area 103. FIG. In this case, the transport vehicle 104 places the transport racks 113 at the relay points B1 to B3, or receives and transports the transport racks 113 placed at the relay points B1 to B3. The relay points B1 to B3 adjust the timing of transporting the goods to the destination of the transport vehicle 104 when the transport shelf 113 in which the articles are stored is taken out from the automated warehouse 101 and the transport vehicle 104 loads the transport shelf 113. Therefore, it becomes a buffer area in which the transport shelf 113 is temporarily arranged.

The picking station PS is a place for taking out (shipping) articles stored on the transport shelf 113 and for storing (receiving) articles transported from the outside on the transport shelf 113 . Receiving and shipping work is performed by workers or work robots.

<Rack 111>
FIG. 2 is a front view of a rack 111 that constitutes the automated warehouse 101. As shown in FIG. The rack 111 has a plurality of blocks r(i, j) as the housing area 200 (i is an integer satisfying 1≤i≤m and j is an integer satisfying 1≤j≤n. m and n is an integer greater than or equal to 1). In FIG. 2, a block r(i, j) in which no transport shelf 113 is accommodated is an empty block.

<Transport shelf 113>
FIG. 3 is a perspective view of the transport shelf 113. As shown in FIG. FIG. 3 shows three types of transport racks 113a to 113c. When the transport racks 113a to 113c are not distinguished, they are simply referred to as the transport rack 113. FIG. The transport shelf 113a is configured such that the rear surfaces of the two shelves face each other (back to back). The surface from which the shelf can be seen, that is, the front surface of the shelf is referred to as the shelf surface. One shelf surface is called the A side, and the other shelf surface is called the B side. The A-side and the B-side are different in the direction facing 180 degrees. The number of shelves in the conveying shelf 113a is three in the Z-axis direction, but may be two or four or more. The transport rack 113b is a single rack. Further, by arranging the shelf plates parallel to the XZ plane in the Y-axis direction, a plurality of frontages may be formed on the shelf steps so that the articles can be complemented.

The transport shelf 113c is configured such that the shelf surfaces (sides A to D) of the four shelves face outward. As with the transport racks 113a and 113b, the A and B surfaces are oriented 180 degrees in different directions, and the C and D surfaces are oriented 180 degrees in different directions. The A-plane and B-plane and the C-plane and D-plane are oriented in different directions at 90 degrees.

A pallet 301 is provided below the transport shelf 113 . The pallet 301 is provided with an insertion hole 310 into which a fork (not shown) of the stacker crane 112 is inserted. This enables the stacker crane 112 to transport the transport rack 113 . Note that there is also a pallet 301 without the insertion hole 310 . In this case, the stacker crane 112 lifts the transport shelf 113 from the bottom surface of the pallet 301. FIG.

FIG. 4 is an explanatory diagram showing the transport shelf 113. As shown in FIG. (A) is a bottom view of the transport shelf 113. FIG. An identification code 400 is provided at a predetermined position (for example, the center) on the bottom surface of the transport shelf 113, that is, the bottom surface 301a of the pallet 301. As shown in FIG. That is, the bottom surface 301a serves as a display surface on which the identification code 400 is provided.

Specifically, for example, a sheet on which the identification code 400 is printed may be attached to the bottom surface 301a, or the identification code 400 may be applied to the bottom surface 301a. Also, the identification code 400 may be displayed as an image on a display provided on the bottom surface 301a. In FIG. 4, a two-dimensional code is given as an example of the identification code 400. FIG. Position detection patterns 401 to 403 are provided at three of the four corners of the two-dimensional code. The position detection patterns 401 to 403 are patterns for recognizing the position of the two-dimensional code by the imaging unit 504, which will be described later.

The position detection patterns 401 and 402 are arranged on the A side, and the position detection pattern 403 is arranged on the B side. The position detection patterns 401 and 403 are arranged in the arrangement direction of the A plane and the B plane. By detecting the arrangement state of the position detection patterns 401 to 403, it is possible to identify the direction in which the shelf surface of the transport shelf 113 faces.

(B) is an enlarged sectional view of the pallet 301 of the transport rack 113. FIG. The identification code 400 is attached to the bottom surface 301a of the pallet 301, but as shown in (B), the identification code 400 may be attached to a recess 404 formed in the bottom surface 301a. Accordingly, when the transport shelf 113 is placed on the conveyor 121 , the bottom surface 301 a contacts the conveyor 121 but the identification code 400 does not contact the conveyor 121 . Therefore, peeling of the identification code 400 due to friction between the bottom surface 301a and the conveyor 121 is reduced.

<Carrier 104>
FIG. 5 is an enlarged view of the carrier 104. As shown in FIG. (A) shows a perspective view of the carrier 104 . Vehicle 104 has a front face 501 . The direction in which the front face 501 faces is the traveling direction d of the transport vehicle 104 . A rotating plate 503 and an imaging unit 504 are provided on an upper surface 502 of the carrier 104 . The imaging unit 504 is provided at the center position of the rotating plate 503 . Further, the transport shelf 113 is placed on the rotating plate 503 . The rotary plate 503 is rotatable in the arrow R direction around the imaging unit 504 in a state where the transport shelf 113 is placed. The image capturing unit 504 captures an image of the identification code 400 on the bottom surface 301 a of the pallet 301 when the transport rack 113 is placed on the rotating plate 503 .

(B) is a plan view showing a transporting state of the transport shelf 113 by the transport vehicle 104. FIG. (B1) The transport vehicle 104 moves in the traveling direction d with the transport shelf 113 placed thereon. Here, it is assumed that the A plane faces the traveling direction d. (B2) For example, when the transport vehicle 104 rotates clockwise about the Z axis by 90 degrees, the rotating plate 503 does not rotate with the rotation of the transport vehicle 104, so the A plane faces the same direction as before rotation.

(B3) For example, when the transport vehicle 104 rotates counterclockwise about the Z-axis from the state of (B2), the rotating plate 503 does not rotate with the rotation of the transport vehicle 104. Therefore, the surface A rotates. Remain facing the same direction as before. In FIG. 5B, the rotating plate 503 does not rotate with the rotation of the transport vehicle 104, but the rotating plate 503 is controlled to rotate with the rotation of the transport vehicle 104. may

<System Configuration Example of Warehouse Management System 100>
FIG. 6 is an explanatory diagram showing a system configuration example of the warehouse management system 100. As shown in FIG. The warehouse management system 100 has an automated warehouse 101 , a transport facility 102 , a transport vehicle 104 , a management device 601 , a controller 602 and a terminal 603 . A management device 601, a controller 602, a transport vehicle 104, and a terminal 603 are communicably connected by a network 600 such as a LAN (Local Area Network), a WAN (Wide Area Network), or the Internet. Also, the controller 602 is communicably connected to the automated warehouse 101 and the transfer facility 102 .

The management device 601 manages the controller 602 and the carrier 104 . The management device 601 receives receipt information and shipping information from the terminal 603 . The management device 601 generates a travel route for the transport vehicle 104 and controls movement of the transport vehicle 104 so that the transport vehicle 104 travels along the travel route. The travel route may be a route to the destination point (for example, the picking station PS or the transport equipment 102), but since other transport vehicles 104 are also running in the transport area 103, A route up to a predetermined distance may be used. In this case, the management device 601 generates a travel route for each predetermined distance and transmits it to the transport vehicle 104 . As a result, the transport vehicle 104 can be guided according to the situation.

The management device 601 also has a map information DB 611 , a transport vehicle information DB 612 , and an inventory information DB 613 . The map information DB 611 is a database that stores map information of the transport area 103, and the details will be described later with reference to FIG. The transport vehicle information DB 612 is a database that stores moving body information related to the transport vehicle 104, and the details will be described later with reference to FIG.

The inventory information DB 613 is a database that stores inventory information of articles, and the details will be described later with reference to FIG. The transport shelf DB 614 is a database that stores information about the transport shelf 113, and the details will be described later with reference to FIG. Note that the transport shelf DB 614 may be provided in the management device 601 . Also, the functions of the controller 602 may be provided in the management device 601 .

The controller 602 controls the loading and unloading of the transport racks 113 to and from the automated warehouse 101 and controls the transport speed and transport direction of the conveyor 121 in the transport facility 102 . A terminal 603 is placed at the picking station PS and operated by a worker at the picking station PS.

<Hardware Configuration Example of Controller 602>
FIG. 7 is a block diagram showing a hardware configuration example of a computer (management device 601, controller 602, terminal 603). The computer 700 has a first processor 701 , a first storage device 702 , an input device 703 , an output device 704 and a first communication interface (first communication IF) 705 . First processor 701 , first storage device 702 , input device 703 , output device 704 and first communication IF 705 are connected by bus 706 . A first processor 701 controls the computer 700 . The first storage device 702 serves as a work area for the first processor 701 . Also, the first storage device 702 is a non-temporary or temporary recording medium that stores various programs and data. Examples of the first storage device 702 include ROM (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disk Drive), and flash memory. The input device 703 inputs data. The input device 703 includes, for example, a keyboard, mouse, touch panel, numeric keypad, and scanner. The output device 704 outputs data. Output device 704 includes, for example, a display and a printer. The first communication IF 705 connects to the network 600 and transmits and receives data.

<Hardware configuration example of carrier 104>
FIG. 8 is a block diagram showing a hardware configuration example of the carrier 104. As shown in FIG. The carrier 104 has a second processor 801 , a second storage device 802 , a driving section 803 , an imaging section 504 , and a second communication interface (second communication IF) 805 . The second processor 801 , second storage device 802 , driving section 803 , imaging section 504 and second communication IF 805 are connected by a bus 806 . A second processor 801 controls the carrier 104 . A second storage device 802 serves as a work area for the second processor 801 . Also, the second storage device 802 is a non-temporary or temporary recording medium that stores various programs and data. The second storage device 802 includes, for example, ROM, RAM, HDD, and flash memory. The drive unit 803 drives the movement mechanism of the carrier 104 to move the carrier 104 in the carrier area 103 and rotate the rotary plate 503 . The imaging unit 504 images the identification code 400 on the bottom surface 301 a of the transport shelf 113 loaded on the rotary plate 503 . An imaging unit 504 is also provided on the bottom surface 301 a of the transport vehicle 104 to read markers provided on the floor surface of the transport area 103 . The second communication IF 805 connects with the network 600 to transmit and receive data.

<Database>
FIG. 9 is an explanatory diagram showing an example of the map information DB 611. As shown in FIG. The map information DB 611 has map data (not shown) indicating the XY plane of the transport area 103 . Specifically, for example, the floor surface of the transport area 103 is divided into two-dimensional meshes as shown in FIG. It is managed as map data (not the center, but the vertex coordinate value of the mesh may be used). Each mesh also has a marker containing the coordinates of that mesh. A marker is, for example, a barcode (including a two-dimensional code) attached or applied on the mesh. A barcode is information in which mesh coordinate values are woven.

Also, the map information DB 611 stores position information in the transport area 103 . Specifically, for example, the map information DB 611 has a position ID 901, a position name 902, and a position 903 as fields. A combination of field values in the same row constitutes an entry indicating position information.

A location ID 901 is an identifier that uniquely identifies a location. In FIG. 9, the code|symbol used for a position is made into the value of position ID for convenience. The location name 902 is the name of the location specified by the location ID. A position 903 is an XY coordinate value on the map data.

FIG. 10 is an explanatory diagram showing an example of the carrier information DB 612. As shown in FIG. The transport vehicle information DB 612 has transport vehicle ID 1001, latest position 1002, and transport vehicle status 1003 as fields. A combination of field values in the same row constitutes an entry indicating transport vehicle information of the transport vehicle 104 .

The transport vehicle ID 1001 is identification information that uniquely identifies the transport vehicle 104 . The latest position 1002 is the XY coordinate values indicating the latest position of the carrier 104 . Specifically, for example, each time the transport vehicle 104 reads a marker, it transmits the XY coordinate values of the mesh obtained from the read marker and the transport vehicle ID 1001 to the management device 601 . The management device 601 overwrites the latest position 1002 of the entry identified by the received carrier ID 1001 with the received XY coordinate values each time the XY coordinate values of the mesh are received from the carrier 104 .

A transport vehicle status 1003 indicates the current state of the transport vehicle 104 . The transport vehicle status 1003 includes three types of "transport", "standby" and "pickup". “Conveyance” is a state in which the conveyance vehicle 104 is being conveyed. "Standby" indicates a state in which the carrier 104 is on standby without being carried. "Meeting" indicates a state in which the vehicle is heading toward the transport shelf 113 to be transported.

FIG. 11 is an explanatory diagram showing an example of the inventory information DB 613. As shown in FIG. The inventory information DB 613 has, as fields, article ID 1101, quantity 1102, storage destination transport shelf ID 1103, storage destination shelf surface 1104, and storage destination shelf level 1105. FIG. A combination of field values on the same line constitutes an entry indicating the inventory information of the item.

The item ID 1101 is identification information that uniquely identifies the item. The quantity 1102 is the number of items in storage. The storage destination transport shelf ID 1103 is the transport shelf ID of the transport shelf 113 in which the article is stored. The transport shelf ID is identification information that uniquely identifies the transport shelf 113 . The storage destination shelf surface 1104 is the shelf surface on which the article is stored in the storage destination transport shelf 113 . The storage destination shelf level 1105 is a shelf level where the article is stored on the storage destination shelf surface 1104 .

FIG. 12 is an explanatory diagram showing an example of the transport shelf DB 614. As shown in FIG. The transport shelf DB 614 has, as fields, a transport shelf ID 1201 , a shelf surface 1202 , a warehousing row 1203 , a latest position 1204 , and a transport shelf status 1205 . A combination of field values in the same row constitutes an entry indicating transport rack information of the transport rack 113 .

The transport shelf ID 1201 is identification information that uniquely identifies the transport shelf 113 . A shelf surface 1202 is a surface for storing articles held by each shelf of the transport shelf 113, and is, for example, the above-described A surface to D surface. The incoming row 1203 is the rack 111 into which the transport shelf 113 has entered. For the sake of convenience, the values in the warehousing column 1203 are used as rank codes (referred to as rack IDs).

The latest position 1204 is the latest position of the transport shelf 113 . If there are values in the warehousing column 1203 and the latest position 1204 , the transport shelf 113 is stored in the block r(i, j) within the accommodation area 200 of the rack 111 identified by the warehousing column 1203 . Further, in this case, the controller 602 updates the warehousing column 1203 and the latest position 1204 of the transport shelf 113 that has received the transport shelf 113 when the storage of the transport shelf 113 is completed.

The carrier rack status 1205 indicates the current state of the carrier rack 113 . The transport rack status 1205 includes four types of "storage", "warehouse receipt", "warehouse delivery" and "standby". “Accommodated” is a state in which the transport shelf 113 is accommodated in the rack 111 . “Receipt” indicates that the transport shelf 113 is being transported to be stored in the rack 111 . "Delivery" indicates that the transport shelf 113 has been delivered from the rack 111 and is being transported. "Standby" is a state that does not correspond to "accommodation", "warehousing", or "shipping", and is, for example, a state of being placed at the relay points B1 to B3 or the picking station PS.

Further, if a value exists only in the latest position 1204 out of the warehousing column 1203 and the latest position 1204 , the transport shelf 113 exists in the transport area 103 . For example, when the transport shelf status 1205 is “waiting”, the controller 602 acquires the standby position of the transport shelf 113 from the management device 601 and stores the acquired XY coordinate values of the standby position in the latest position 1204 .

Further, when the transport shelf status 1205 is "incoming" and "outgoing", the latest position of the transport shelf 113 changes moment by moment while the transport shelf 113 is being transported. Therefore, the management device 601 receives from the transport vehicle 104 the latest position of the transport vehicle 104 loaded with the transport shelf 113 . The controller 602 acquires the latest position of the carrier 104 from the management device 601, and updates the latest position 1204 of the entry whose carrier shelf status 1205 is "incoming" and "outgoing" with the acquired latest position of the carrier 104. do. Thereby, the position of the transport shelf 113 is managed in real time.

<Example of Rotation Control of Transport Rack 113>
FIG. 13 is an explanatory diagram showing an example of rotation control of the carrier shelf 113 by the carrier 104. As shown in FIG. FIG. 13 illustrates an example of rotation control of the transport shelf 113 when transporting the transport shelf 113 from the transport facility 102 to the picking station PS. Therefore, as an example, it is assumed that an article g to be picked at the picking station PS is stored on the shelf on the side A of the transport shelf 113 . Also, in FIG. 13, for convenience of explanation, the rotating direction of the rotating plate 503 is described as counterclockwise, but it may be clockwise. In (A) to (D), it is assumed that the carrier 104 arrives with its front face 501 facing the picking station PS.

(A) shows a state in which the transport vehicle 104 has arrived in front of the picking station PS when the A side of the transport shelf 113 and the front surface 501 of the transport vehicle 104 face the same direction. Since the A side faces the picking station PS, the worker can easily take out the article g. Therefore, the carrier 104 does not need to rotate the rotary plate 503 .

(B) shows a state (b1) in which the transport vehicle 104 arrives in front of the picking station PS when the orientation of the surface A of the transport shelf 113 is deviated from the front surface 501 of the transport vehicle 104 by 90 degrees in the clockwise direction. In the state (b1), the transport vehicle 104 rotates the rotating plate 503 counterclockwise by 90 degrees to enter the state (b2). As a result, the A side faces the picking station PS, making it easier for the worker to take out the article g.

(C) shows a state (c1) in which the transport vehicle 104 arrives in front of the picking station PS when the orientation of the surface A of the transport shelf 113 is shifted clockwise by 180 degrees from the front surface 501 of the transport vehicle 104 . In the state (c1), the transport vehicle 104 rotates the rotating plate 503 counterclockwise by 180 degrees to enter the state (c2). As a result, the A side faces the picking station PS, making it easier for the worker to take out the article g.

(D) shows a state (d1) in which the transport vehicle 104 arrives in front of the picking station PS when the orientation of the surface A of the transport shelf 113 is deviated from the front surface 501 of the transport vehicle 104 by 270 degrees in the clockwise direction. In the state (d1), the transport vehicle 104 rotates the rotating plate 503 counterclockwise by 270 degrees to enter the state (d2). As a result, the A side faces the picking station PS, making it easier for the worker to take out the article g.

In (A) to (D), the same rotation control is performed when an article g received from the outside is accommodated in the tray on the side A of the transport shelf 113 at the picking station PS. In this case, the worker can easily store the article g on the shelf on the A side, which is the storage position of the article g.

<Sequence example when goods are shipped>
FIG. 14 is a sequence diagram showing an example of a sequence when shipping goods. The management device 601 acquires shipping information (step S1401). The shipping information is information that specifies an article to be shipped from the picking station PS. Specifically, the shipping information includes, for example, the item ID 1101 and quantity 1102 of the items to be shipped, the position ID 901 of the picking station PS serving as the shipping source, and the shipping order of the items to be shipped. The shipping information is obtained, for example, from a host system or terminal 603 connected to the management device 601 .

Next, the management device 601 identifies the transport shelf ID 1201 of the transport shelf 113 where the item to be shipped is stored, and transmits the specified transport shelf ID 1201 to the controller 602 (step S1402). Specifically, for example, the management device 601 refers to the inventory information DB 613 and identifies the storage destination transport rack ID 1103 of the same entry as the item ID 1101 of the item to be shipped included in the shipping information. For example, if the item ID 1101 is “g1”, “S1” is specified as the storage destination transport shelf ID 1103 . The management device 601 then transmits the specified storage destination transport shelf ID 1103 to the controller 602 .

When the controller 602 receives the storage destination transport shelf ID 1103 from the management device 601, the controller 602 executes delivery control of the transport shelf 113 identified by the storage destination transport shelf ID 1103 (hereinafter referred to as the target transport shelf 113) (step S1403). Specifically, for example, the controller 602 refers to the transport shelf DB 614, identifies the transport shelf ID 1201 that matches the storage destination transport shelf ID 1103 received from the management device 601, and stores the incoming goods with the same entry as the specified transport shelf ID 1201. Column 1203 , latest position 1204 , and transport shelf status 1205 are identified, and warehousing column 1203 is returned to management device 601 .

If the transport shelf status 1205 is "accommodated", the target transport shelf 113 is stored in the automated warehouse 101. Therefore, the rack 111 is specified from the incoming column 1203, and the target transport shelf 113 at the rack 111 is identified from the latest position 1204. Identify the block r(i,j) of . Then, the controller 602 controls the stacker crane 112 to take out the target transport shelf 113 from the identified block r(i, j) of the rack 111 . The stacker crane 112 that has taken out the target transport shelf 113 delivers the target transport shelf 113 to the transport equipment 102 . The transport facility 102 transports the target transport shelf 113 to the transport area 103 . As a result, the target transfer shelf 113 is taken out from the automated warehouse 101 and transfer facility 102 .

When the carrier shelf status 1205 is "out of warehouse", the controller 602 waits until the carrier shelf status 1205 becomes other than "out of warehouse". When the transport shelf status 1205 is “entered”, the transport vehicle 104 loaded with the target transport shelf 113 is traveling in the transport area 103 toward the transport facility 102 . Therefore, the controller 602 returns the transport rack status 1205 “stocked” to the management device 601 . As a result, the management device 601 executes the processing from step S1409.

When the transport shelf status 1205 is "standby", the target transport shelf 113 is in a standby position, for example, at the relay points B1 to B3 of the transport area 103 or the picking station PS. The standby position of the target transport shelf 113 is specified by the latest position 1204 . For example, when the transport shelf ID of the target transport shelf 113 is “S5”, the target transport shelf 113 is located at the position (X1, Y1) in the transport area 103 as the latest position 1204 . Therefore, the controller 602 returns the transport shelf status 1205 “standby” and the latest position 1204 to the management device 601 . As a result, the management device 601 executes the processing from step S1404.

Next, the management device 601 identifies the standby position of the target transport shelf 113 (step S1404). Specifically, for example, upon receiving the incoming queue 1203 from the controller 602 , the management device 601 identifies the other end of the conveyor 121 of the transport equipment 102 corresponding to the incoming queue 1203 as the waiting position of the target transport shelf 113 . Also, upon receiving the transport shelf status 1205 “standby” and the latest position 1204 from the controller 602 , the management device 601 identifies the received latest position 1204 as the standby position of the target transport shelf 113 .

Next, the management device 601 searches for the carrier 104 (step S1405). Specifically, for example, the management device 601 refers to the transport vehicle information DB 612 and selects the transport vehicle 104 of the transport vehicle ID 1001 of one of the entries whose transport vehicle status 1003 is "standby". . More preferably, the management device 601 selects the transport vehicle 104 having the shortest distance between the latest position 1002 and the standby position identified in step S1404, among the entries whose transport vehicle status 1003 is "waiting". .

Next, the management apparatus 601 updates the transport vehicle status 1003 of the transport vehicle 104 selected in step S1405 (hereinafter referred to as the target transport vehicle 104) to "pickup vehicle" (step S1406), and changes the target transport vehicle 104 to step S1404. (step S1407). Specifically, for example, the management device 601 transmits the travel route to the standby position to the target guided vehicle 104 and guides the target guided vehicle 104 to the standby position.

When the target transport vehicle 104 arrives at the standby position, it loads the target transport shelf 113 on the rotating plate 503, collects information from the target transport vehicle 104, and transmits a loading completion notification to the management device 601 (step S1408). Specifically, for example, the target transport vehicle 104 captures an image of the identification code 400 on the bottom surface 301a of the loaded target transport shelf 113 with the imaging unit 504, reads the transport shelf ID 1201 of the target transport shelf 113 from the identification code 400, The orientation of the target transfer shelf 113 when loaded on the rotary plate 503 (for example, the orientation of the A surface) is specified from the positional relationship of the position detection patterns 401 to 403 of the identification code 400 . The target transport vehicle 104 then transmits a loading completion notification including the transport vehicle ID 1001 of the target transport vehicle 104 , the transport shelf ID 1201 of the target transport shelf 113 , and the orientation of the target transport vehicle 104 to the management device 601 .

The management device 601 manages the carrier ID 1001 of the target carrier 104, the carrier shelf ID 1201 of the target carrier shelf 113, and the orientation of the target carrier 104 included in the loading completion notification until step S1415 is completed.

Upon receiving the loading completion notification, the management device 601 updates the transport shelf status 1205 of the entry of the transport shelf ID 1201 included in the loading completion notification in the transport shelf DB 614 to "out", and changes the latest position 1204 to XY of the standby position. The controller 602 is instructed to update the coordinate values. In addition, the management device 601 updates the transport vehicle status 1003 of the entry of the transport vehicle ID 1001 included in the loading completion notification in the transport vehicle information DB 612 from "pick up" to "convey" (step S1409).

Next, the management device 601 executes direction identification (step S1410). Specifically, for example, in the management device 601, the imaging unit 504 captures an image of the identification code 400 displayed on the transport shelf 113 when the transport vehicle 104 loads the transport shelf 113, which is the storage destination of the article to be shipped. As a result, the transport shelf ID 1201 of the transport shelf 113 and the direction of the A surface (first direction) are specified. That is, the management device 601 acquires the transport shelf ID 1201 and the direction of the A side (first direction) from the transport vehicle 104 .

Then, the management device 601 refers to the inventory information DB 613 to specify the storage destination shelf surface 1104 where the item to be shipped is stored on the transport shelf 113 of the acquired transport shelf ID 1201 . Then, the management device 601 identifies the orientation (second direction) of the storage destination shelf surface 1104 based on the obtained orientation of the A side (first direction). For example, if the storage destination shelf surface 1104 is the A surface, the second direction is identified as the same direction as the first direction. If the storage destination shelf surface 1104 is the B surface, the second direction is identified as the direction opposite to the first direction (the direction reversed by 180 degrees). If the storage destination shelf surface 1104 is the C surface, the second direction is specified as the direction rotated clockwise by 90 degrees from the first direction around the Z axis. If the storage destination shelf surface 1104 is the D surface, the second direction is identified as a direction rotated clockwise by 270 degrees from the first direction around the Z axis.

Then, the management device 601 controls the movement of the target transport vehicle 104 loaded with the target transport shelf 113 to the position of the picking station PS, which is the shipping source (step S1411). Specifically, for example, the management device 601 transmits to the target guided vehicle 104 a travel route to the position of the picking station PS that is the shipping source, and drives the target guided vehicle 104 to the position of the picking station PS that is the shipping source. Induce. The target transport vehicle 104 moves within the transport area 103 according to the movement control from the management device 601 (step S1412).

Next, the management device 601 controls the rotation of the target transport shelf 113 (step S1413). Specifically, for example, when the target transported vehicle 104 arrives at the mesh in front of the picking station PS, which is the shipping source, the management device 601 refers to the latest position 1002 of the transported vehicle information DB 612 to determine whether the target transported vehicle 104 It is determined whether or not there are other transport vehicles 104 around. The surroundings are meshes adjacent to the mesh in which the target transport vehicle 104 is located, for example, four adjacent meshes on the front, back, left and right of the mesh in which the target transport vehicle 104 is located. It may be 8 meshes around the mesh where the target transport vehicle 104 is located. Also, depending on the size of the mesh, it is set to include meshes adjacent to adjacent meshes.

If there is no other transport vehicle 104, the management device 601 determines the orientation (second direction) of the storage destination shelf surface 1104 specified in step S1410 and the third direction from the transport vehicle 104 to the destination picking station PS. The target transport shelf 113 is rotationally controlled so that the second direction becomes the third direction based on the direction and the . In the case of this example, when the transport vehicle 104 arrives at the mesh in front of the picking station PS, the front surface 501 of the transport vehicle 104 and the A surface of the transport rack 113 face the picking station PS, so the third direction is the A surface. (first direction). Therefore, the management device 601 controls the rotation of the target transport shelf 113 so that the second direction becomes the first direction.

On the other hand, if another guided vehicle 104 exists, the management device 601 determines again whether or not another guided vehicle 104 exists around the target guided vehicle 104 after a predetermined period of time has elapsed. This is done until there are no more vehicles 104 left. Thereby, interference with other transport vehicles 104 can be avoided. Although the presence or absence of another transport vehicle 104 is determined here, the other transport vehicle 104 may be limited to the transport vehicle 104 that is currently loading the transport shelf 113 . Even if the transport rack 113 rotates, the transport vehicle 104 not loaded with the transport shelf 113 does not easily interfere with other transport vehicles 104, so that the transport efficiency can be improved.

In this way, the target transport vehicle 104 rotates the rotary plate 503 according to the rotation control from the management device 601 (step S1414). Specifically, for example, if the storage destination shelf surface 1104 of the article to be shipped is "A", the rotation control is performed as shown in FIG. If the storage destination shelf surface 1104 of the item to be shipped is "B", the management device 601 controls the rotation of the target transport shelf 113 with respect to the target transport vehicle 104 so that the B surface faces the picking station PS of the shipping source. do. The same applies when the storage destination shelf surface 1104 of the item to be shipped is "C" or "D".

Thereafter, the management device 601 acquires a picking completion notification from the terminal 603 (step S1415). Specifically, for example, when the worker takes out the item to be shipped from the target carrier shelf 113, the worker packs the item to be shipped. The packaged goods to be shipped are loaded on a truck and transported to the shipping destination. The terminal 603 transmits to the management device 601 a picking completion notification indicating that the picking of the articles to be shipped has been completed by the operation of the worker. The picking completion notification includes the item ID 1101 of the item to be shipped.

Upon receiving the picking completion notification, the management device 601 refers to the inventory information DB 613 and identifies the storage destination transport shelf ID 1103 as the transport shelf ID 1201 of the target transport shelf 113 from the item ID 1101 of the item to be shipped included in the picking completion notification. Then, in the loading completion notification, the transport vehicle ID 1001 of the target transport vehicle 104 corresponding to the transport rack ID 1201 is specified. Then, the management device 601 updates the transport shelf status 1205 of the entry of the transport shelf ID 1201 of the target transport shelf 113 to "standby" in the transport shelf DB 614, and updates the latest position 1204 to the XY coordinate values of the standby position. Instruct controller 602 .

In addition, the management device 601 updates the transport vehicle status 1003 of the entry of the transport vehicle ID 1001 of the target transport vehicle 104 from "transport" to "standby" in the transport vehicle information DB 612 (step S1416). In this way, the goods to be shipped stored on the transport shelf 113 are shipped from the picking station PS.

<Sequence example when goods are received>
FIG. 15 is a sequence diagram showing a sequence example when goods are received. The management device 601 acquires arrival information (step S1501). Arrival information is information that specifies an article to be delivered to the automated warehouse 101 . Specifically, for example, the receipt information includes an item ID 1101, a quantity 1102, and a position ID 901 of the picking station PS from which the item is to be received. Arrival information is obtained, for example, from a host system or a terminal 603 connected to the management device 601 .

Next, the management device 601 identifies the transport shelf ID 1201 of the transport shelf 113 serving as the storage position of the article to be received, and transmits the specified transport shelf ID 1201 to the controller 602 (step S1502). Specifically, for example, the management device 601 refers to the inventory information DB 613 to identify the storage destination transport shelf ID 1103 of the same entry as the item ID 1101 of the item to be received included in the receipt information. For example, if the item ID 1101 is “g1”, “S1” is specified as the storage destination transport shelf ID 1103 . The management device 601 then transmits the specified storage destination transport shelf ID 1103 to the controller 602 .

When the controller 602 receives the storage destination transport shelf ID 1103 from the management device 601, the controller 602 executes delivery control of the transport shelf 113 (hereinafter referred to as the target transport shelf 113) identified by the storage destination transport shelf ID 1103 (step S1503). Specifically, for example, the controller 602 refers to the transport shelf DB 614, identifies the transport shelf ID 1201 that matches the storage destination transport shelf ID 1103 received from the management device 601, and stores the incoming goods with the same entry as the specified transport shelf ID 1201. Column 1203 , latest position 1204 , and transport shelf status 1205 are identified, and warehousing column 1203 is returned to management device 601 .

If the transport shelf status 1205 is "accommodated", the target transport shelf 113 is stored in the automated warehouse 101. Therefore, the rack 111 is specified from the incoming column 1203, and the target transport shelf 113 at the rack 111 is identified from the latest position 1204. Identify the block r(i,j) of . Then, the controller 602 controls the stacker crane 112 to take out the target transport shelf 113 from the identified block r(i, j) of the rack 111 . The stacker crane 112 that has taken out the target transport shelf 113 delivers the target transport shelf 113 to the transport equipment 102 . The transport facility 102 transports the target transport shelf 113 to the transport area 103 . As a result, the target transfer shelf 113 is taken out from the automated warehouse 101 and transfer facility 102 .

When the carrier shelf status 1205 is "out of warehouse", the controller 602 waits until the carrier shelf status 1205 becomes other than "out of warehouse". When the transport shelf status 1205 is “entered”, the transport vehicle 104 loaded with the target transport shelf 113 is traveling in the transport area 103 toward the transport facility 102 . Therefore, the controller 602 returns the transport rack status 1205 “stocked” to the management device 601 . As a result, the management device 601 executes the processing from step S1509.

When the transport shelf status 1205 is "standby", the target transport shelf 113 is in a standby position, for example, at the relay points B1 to B3 of the transport area 103 or the picking station PS. The standby position of the target transport shelf 113 is specified by the latest position 1204 . For example, when the transport shelf ID of the target transport shelf 113 is “S5”, the target transport shelf 113 is located at the position (X1, Y1) in the transport area 103 as the latest position 1204 . Therefore, the controller 602 returns the transport shelf status 1205 “standby” and the latest position 1204 to the management device 601 . As a result, the management device 601 executes the processing from step S1504.

Next, the management device 601 identifies the standby position of the target transport shelf 113 (step S1504). Specifically, for example, upon receiving the incoming queue 1203 from the controller 602 , the management device 601 identifies the other end of the conveyor 121 of the transport equipment 102 corresponding to the incoming queue 1203 as the waiting position of the target transport shelf 113 . Also, upon receiving the transport shelf status 1205 “standby” and the latest position 1204 from the controller 602 , the management device 601 identifies the received latest position 1204 as the standby position of the target transport shelf 113 .

Next, the management device 601 searches for the carrier 104 (step S1505). Specifically, for example, the management device 601 refers to the transport vehicle information DB 612 and selects the transport vehicle 104 of the transport vehicle ID 1001 of one of the entries whose transport vehicle status 1003 is "standby". . More preferably, the management device 601 selects the transport vehicle 104 having the shortest distance between the latest position 1002 and the standby position specified in step S1504, among the entries whose transport vehicle status 1003 is "standby". .

Next, the management device 601 updates the transport vehicle status 1003 of the transport vehicle 104 selected in step S1505 (hereinafter referred to as the target transport vehicle 104) to "pick up" (step S1506), and changes the target transport vehicle 104 to step S1504. (step S1507). Specifically, for example, the management device 601 transmits the travel route to the standby position to the target guided vehicle 104 and guides the target guided vehicle 104 to the standby position.

When the target transport vehicle 104 arrives at the standby position, it loads the target transport shelf 113 on the rotating plate 503, collects information from the target transport vehicle 104, and transmits a loading completion notification to the management device 601 (step S1508). Specifically, for example, the target transport vehicle 104 captures an image of the identification code 400 on the bottom surface 301a of the loaded target transport shelf 113 with the imaging unit 504, reads the transport shelf ID 1201 of the target transport shelf 113 from the identification code 400, The orientation of the target transfer shelf 113 when loaded on the rotary plate 503 (for example, the orientation of the A surface) is specified from the positional relationship of the position detection patterns 401 to 403 of the identification code 400 . Then, the target transport vehicle 104 transmits a loading completion notification including the transport vehicle ID 1001 of the target transport vehicle 104 , the transport shelf ID 1201 of the target transport shelf 113 , and the orientation of the target transport vehicle 104 to the management device 601 .

The management device 601 manages the carrier ID 1001 of the target carrier 104, the carrier shelf ID 1201 of the target carrier shelf 113, and the orientation of the target carrier 104 included in the loading completion notification until step S1514 is completed.

Upon receiving the loading completion notification, the management device 601 updates the transport shelf status 1205 of the entry of the transport shelf ID 1201 included in the loading completion notification in the transport shelf DB 614 to "out", and changes the latest position 1204 to XY of the standby position. The controller 602 is instructed to update the coordinate values. In addition, the management device 601 updates the transport vehicle status 1003 of the entry of the transport vehicle ID 1001 included in the loading completion notification in the transport vehicle information DB 612 from "pick up" to "transport" (step S1509).

Next, the management device 601 executes direction identification (step S1510). Specifically, for example, in the management device 601, the imaging unit 504 captures an image of the identification code 400 displayed on the transport shelf 113 when the transport vehicle 104 loads the transport shelf 113, which is the storage destination of the goods to be received. As a result, the transport shelf ID 1201 of the transport shelf 113 and the direction of the A surface (first direction) are specified. That is, the management device 601 acquires the transport shelf ID 1201 and the direction of the A side (first direction) from the transport vehicle 104 .

Then, the management device 601 refers to the inventory information DB 613 to specify the storage destination shelf surface 1104 where the goods to be received are stored in the transport shelf 113 of the acquired transport shelf ID 1201 . Then, the management device 601 identifies the orientation (second direction) of the storage destination shelf surface 1104 based on the obtained orientation of the A side (first direction). For example, if the storage destination shelf surface 1104 is the A surface, the second direction is identified as the same direction as the first direction. If the storage destination shelf surface 1104 is the B surface, the second direction is identified as the direction opposite to the first direction (the direction reversed by 180 degrees). If the storage destination shelf surface 1104 is the C surface, the second direction is specified as the direction rotated clockwise by 90 degrees from the first direction around the Z axis. If the storage destination shelf surface 1104 is the D surface, the second direction is identified as a direction rotated clockwise by 270 degrees from the first direction around the Z axis.

Then, the management device 601 controls the movement of the target transport vehicle 104 loaded with the target transport shelf 113 to the position of the picking station PS, which is the receiving source (step S1511). Specifically, for example, the management device 601 transmits to the target transport vehicle 104 a travel route to the picking station PS, which is the source of receipt of goods, and drives the target transport vehicle 104 to the position of the picking station PS, which is the source of receipt of goods. Induce. The target transport vehicle 104 moves within the transport area 103 according to the movement control from the management device 601 (step S1512).

Next, the management device 601 controls the rotation of the target transport shelf 113 (step S1513). Specifically, for example, when the target transport vehicle 104 arrives at the mesh in front of the picking station PS, which is the delivery source, the management device 601 refers to the latest position 1002 of the transport vehicle information DB 612 and performs the operations described in FIG. Similar to , it is determined whether or not there is another transport vehicle 104 around the target transport vehicle 104 .

If there is no other transport vehicle 104, the management device 601 determines the orientation (second direction) of the storage destination shelf surface 1104 specified in step S1510 and the third direction from the transport vehicle 104 to the destination picking station PS. The target transport shelf 113 is rotationally controlled so that the second direction becomes the third direction based on the direction and the . In the case of this example, when the transport vehicle 104 arrives at the mesh in front of the picking station PS, the front surface 501 of the transport vehicle 104 and the A surface of the transport rack 113 face the picking station PS, so the third direction is the A surface. (first direction). Therefore, the management device 601 controls the rotation of the target transport shelf 113 so that the second direction becomes the first direction.

In this way, the target transport vehicle 104 rotates the rotary plate 503 according to the rotation control from the management device 601 (step S1514). Specifically, for example, if the storage destination shelf surface 1104 of the goods to be received is "A", the rotation control is performed as shown in FIG. If the storage destination shelf surface 1104 of the article to be received is "B", the management device 601 controls the rotation of the target transport shelf 113 with respect to the target transport vehicle 104 so that the B surface faces the picking station PS of the receiving source. do. The same applies when the storage destination shelf surface 1104 of the article to be received is "C" or "D".

After that, the management device 601 acquires a accommodation completion notice from the terminal 603 (step S1515). Specifically, for example, the worker stores the goods to be received on the shelf of the shelf surface 1202 that is the latest position of the goods to be received on the target transport shelf 113 . The terminal 603 transmits to the management device 601 an accommodation completion notification indicating that the accommodation of the goods to be received has been completed by the operation of the worker. The accommodation completion notice includes the item ID 1101 and the amount of items received 1102 of the items to be received.

Upon receiving the accommodation completion notice, the management device 601 refers to the inventory information DB 613 to identify the entry of the item ID 1101 of the incoming goods included in the accommodation completion notice, and updates the quantity 1102 . In addition, the management device 601 identifies the storage destination transport shelf ID 1103 as the transport shelf ID of the target transport shelf 113 from the entry of the item ID 1101 of the goods to be received, and the target transport vehicle corresponding to the transport shelf ID 1201 in the loading completion notification. The carrier ID 1001 of 104 is specified. Then, the management device 601 updates the transport shelf status 1205 of the entry of the transport shelf ID 1201 of the target transport shelf 113 to "standby" in the transport shelf DB 614, and updates the latest position 1204 to the XY coordinate values of the standby position. Instruct controller 602 .

In addition, the management device 601 updates the transport vehicle status 1003 of the entry of the transport vehicle ID 1001 of the target transport vehicle 104 from "transport" to "standby" in the transport vehicle information DB 612 (step S1516). In this way, the goods to be received are received from the picking station PS on the transport shelf 113 .

14 and 15, the transport vehicle 104 whose transport vehicle status 1003 is "standby" may remain at that position or may move to a pre-designated standby position within the transport area 103. good.

FIG. 16 is a sequence diagram showing an example of a warehousing sequence for the transport shelf 113. As shown in FIG. Entry into the automated warehouse 101 of the transport shelf 113 is performed after the goods to be shipped are picked from the transport shelf 113 as shown in FIG. Executed after storage. The warehousing sequence of the transport shelf 113 of FIG. 16 is executed, for example, triggered by the picking completion notification of FIG. 14 and the accommodation completion notification of FIG. Also, in FIG. 16, the operation by free location is described as an example, but the block r(i, j) of each transport shelf 113 may be fixed.

The management device 601 identifies the target transport shelf 113 to be stocked (step S1601). Specifically, for example, the management device 601 obtains the transport shelf ID 1201 of the transport shelf 113 that is the target of the picking completion notification or the storage completion notification from the picking completion notification or the storage completion notification. identify. Also, the management device 601 may specify the transport shelf ID 1201 of the transport shelf 113 by designation from the terminal 603 .

Next, the controller 602 updates the transport shelf status 1205 of the target transport shelf 113 identified in step S1601 to "stocked" in the transport shelf DB 614 according to an instruction from the management apparatus 601, and sends an update completion notification to the management apparatus 601. (step S1602).

Next, the management device 601 searches for the carrier 104 (step S1603). Specifically, for example, the management device 601 refers to the transport vehicle information DB 612 and selects the transport vehicle 104 having the transport vehicle ID 1001 of one of the entries whose transport vehicle status 1003 is "standby". . More preferably, the management device 601 determines the shortest distance between the latest position 1002 of the carrier 104 and the latest position 1204 (standby position) of the target carrier shelf 113 among the entries whose carrier status 1003 is "standby". is selected.

Next, the management apparatus 601 updates the transport vehicle status 1003 of the transport vehicle 104 (hereinafter referred to as the target transport vehicle 104) selected in step S1603 to "pick up" (step S1604), and changes the target transport vehicle 104 to the target transport vehicle. Call to the latest position 1204 (standby position) of the shelf 113 (step S1605). Specifically, for example, the management device 601 transmits the travel route to the standby position of the target transport shelf 113 to the target transport vehicle 104 and guides the target transport vehicle 104 to the target transport shelf 113 standby position.

When the target transport vehicle 104 reaches the latest position (standby position) of the target transport shelf 113, it loads the target transport shelf 113 on the rotating plate 503, collects information from the target transport vehicle 104, and sends a loading completion notification to the management device 601. (step S1606). Specifically, for example, the target transport vehicle 104 captures an image of the identification code 400 on the bottom surface 301 a of the loaded target transport shelf 113 with the imaging unit 504 and reads the transport shelf ID of the target transport shelf 113 from the identification code 400 . Then, the target transport vehicle 104 transmits a loading completion notification including the transport vehicle ID 1001 of the target transport vehicle 104 and the transport shelf ID of the target transport shelf 113 to the management device 601 .

The management device 601 manages the transport vehicle ID 1001 of the target transport vehicle 104 and the transport shelf ID of the target transport shelf 113 included in the loading completion notification until step S1612 is completed.

Upon receiving the loading completion notification, the management device 601 updates the transport vehicle status 1003 of the entry of the transport vehicle ID 1001 included in the loading completion notification in the transport vehicle information DB 612 from "pick up vehicle" to "transport" (step S1607). .

Then, the management device 601 controls the movement of the target transport vehicle 104 loaded with the target transport rack 113 to the transport facility 102 (step S1608). Specifically, for example, the management device 601 transmits the travel route to the transport facility 102 to the target transport vehicle 104 and guides the target transport vehicle 104 to the transport facility 102 . Note that the transport facility 102 has a conveyor 121 for each rack 111, but any conveyor 121 may be used as the destination of the target transport vehicle 104. FIG.

For example, the conveyor 121 closest to the target transport vehicle 104 may be used. In addition, the management device 601 guides the goods to the conveyor 121 closer to the picking station PS as the total of the expected number of arrivals and the expected number of shipments based on the incoming/outgoing frequency, that is, the arrival information and the shipping information, increases. As a result, efficient loading and unloading of the transport shelf 113 can be realized. Thereafter, the target transport vehicle 104 moves within the transport area 103 according to the movement control from the management device 601 (step S1609).

When the management device 601 receives the current position of the target transport vehicle 104 from the target transport vehicle 104 and detects that the target transport vehicle 104 has arrived at the transport facility 102, the management device 601 instructs the transfer of the target transport rack 113 to the target transport position. The vehicle 104 is instructed (step S1610). The target carrier 104 transfers the target carrier shelf 113 to the conveyor 121 (step S1611). As a result, the target transfer shelf 113 is transferred from the other end of the conveyor 121 to one end. Then, the management device 601 updates the transport vehicle status 1003 of the target transport vehicle 104 to "standby" (step S1612).

The transfer instruction is also transmitted to the controller 602 . Upon receiving the transfer instruction, the controller 602 searches for an empty block r(i, j) (step S1613). Then, the controller 602 controls the stacker crane 112 to store the target transport shelf 113 in the searched empty block r(i, j) (step S1614). After that, the controller 602 updates the transport shelf DB 614 (step S1615). Specifically, for example, the controller 602 updates the warehousing column 1203 of the transport shelf DB 614 to the ID of the rack 111 that received the target transport shelf 113, and updates the latest position 1204 to the block r(i, j), and the transport shelf status 1205 is updated to "accommodated".

As described with reference to FIGS. 14 and 15, even when the transport shelf 113 is to be taken out of the automated warehouse 101, the identification code 400 can be imaged by the imaging unit 504 when the transport vehicle 104 loads the transport shelf 113. to detect the orientation of the A surface. Therefore, as described with reference to FIG. 16, the automated warehouse 101 can store the transport shelf 113 in the empty block r(i, j) without considering the orientation of the shelf surface of the transport shelf 113 .

As described above, according to the embodiment described above, it is possible to facilitate the work of storing and taking out articles from the shelf surfaces of the transport shelf 113 in a plurality of directions, thereby improving work productivity. In the above-described embodiment, the management device 601 controls the movement of the carrier 104 and the rotation of the rotary plate 503. However, the carrier 104 autonomously controls the movement of the carrier 104 and the rotation of the rotary plate 503. can be executed effectively. That is, the transport vehicle 104 executes at least steps S1411 and S1413 of the processing of the management device 601 shown in FIG. 14 and at least steps S1511 and S1513 of the processing of the management device 601 shown in FIG.

Further, in the above-described embodiment, the transport vehicle 104 has the rotating plate 503, but instead of the rotating plate 503, a non-rotating plate on which the transport shelf 113 can be loaded may be used. In this case, the transport vehicle 104 can change the orientation of the shelf surface of the transport shelf 113 by rotating the transport vehicle 104 itself around the Z-axis.

In the above-described embodiment, the transport shelf 113 is taken out from the automated warehouse 101 and then entered into the automated warehouse 101. For the carrier shelf 113 with a high delivery frequency, the management device 601 It is also possible to have the vehicle wait at the relay points B1 to B3 without entering the warehouse. Specifically, for example, the management device 601 refers to the receipt information and the shipment information, and relays the transport shelf 113 for which the sum of the number of receipts and the number of shipments is equal to or greater than the threshold value without entering the automated warehouse 101 . It can be guided by the carrier 104 to wait at the points B1 to B3.

Also, if there is a waiting transport shelf 113 in one buffer area where two relay points B1 and B2 are connected, the management device 601 selects an item with a high shipping frequency or an item with an early shipping order at a certain picking station PS. The movement of the transport vehicle 104 is controlled so that the transport shelf 113 to be stored is placed in an area closer to the picking station PS between the relay points B1 and B2.

For example, among the transport racks 113 that are moving toward the destination in the transport area 103 (the transport racks 113 that have already been placed at the relay points B1 and B2 may be used), the higher the shipping frequency at the destination, the more frequently the item is shipped. A transport shelf 113 for storing articles is placed at a position within the relay points B1 and B2 closer to the picking station PS to which the articles are to be moved. If the destination is the picking station PS1, for example, the transport shelf 113 that stores items with a shipping frequency of P1 is arranged in the area on the relay point B2 side, and stores items with a shipping frequency of P2 (<P1). The transport shelf 113 is arranged in the region on the side of the relay point B1.

In addition, since the shipping work is performed sequentially, there are cases where the relay points B1 and B2 are relocated to another buffer area (for example, the relay point B3). For example, among the transport shelves 113 already arranged at the relay points B1 and B2, the management device 601 selects the transport shelf 113 that stores the item for which the frequency of shipment to the destination picking station PS2 is higher. Arrangement is changed to the relay point B3 (loading of the transport shelf 113 at the relay points B1 and B2, movement to the relay point B3, and unloading of the transport shelf 113 at the relay point B3).

Also, such buffer area placement control may be executed based on the shipping order of the goods instead of the shipping frequency of the goods. In the case of shipping order, for example, the management device 601 refers to the shipping information acquired in step S1401, and transfers the transport shelf 113 storing the item with the earliest shipping order among the unshipped items to the relay point B1, which is the buffer area. ~ B3 may be made to wait. Specifically, for example, the management device 601 refers to the shipping information, and the earlier the shipping order of the unshipped items, the closer the transport shelf 113 storing the unshipped items to the destination picking station PS. It can be guided by the carrier 104 to wait at the relay points B1 to B3.

Similarly, when there is a waiting transport rack 113 in one buffer area where two relay points B1 and B2 are connected, the management device 601 selects an item that is earlier in shipping order among the unshipped items. The movement of the transport vehicle 104 is controlled so that the transport shelf 113 storing the is placed in an area closer to the picking station PS between the relay points B1 and B2.

For example, among the transport racks 113 that are moving in the transport area 103 toward the automated warehouse 101 (the transport racks 113 that have already been placed at the relay points B1 and B2 may be used), the items that are shipped earlier are stored. The transport shelf 113 to be transported is placed at a position within the relay points B1 and B2 closer to the picking station PS to which it moves. If the destination is picking station PS1, for example, transport shelf 113 that stores items with a shipping order of Q1 (the smaller the order value, the faster) is placed in the area on the relay point B2 side, and the shipping order is Q2. The transport shelf 113 for storing (>Q1) articles is arranged in the area on the relay point B1 side.

In addition, since the shipping work is performed sequentially, there are cases where the relay points B1 and B2 are relocated to another buffer area (for example, the relay point B3). For example, among the transport racks 113 already arranged at the relay points B1 and B2, the management device 601 selects the transport racks 113 that store the items earlier in the order of shipment to the picking station PS2 as the movement destination. Arrangement is changed to the relay point B3 (loading of the transport shelf 113 at the relay points B1 and B2, movement to the relay point B3, and unloading of the transport shelf 113 at the relay point B3).

In this way, the warehouse management system 100 prevents the transfer shelf 113 from entering the automated warehouse 101 unnecessarily by waiting in the buffer area without entering the transfer shelf 113 into the automated warehouse 101 based on the shipping frequency and shipping order. Work can be reduced and the work of shipping articles can be efficiently performed.

In addition, when the transport rack 113 is to be stored in the automated warehouse 101 after the picking of the transport shelf 113 at the destination picking station PS is completed, the timing of entering the automated warehouse 101 may be desired to be adjusted. In that case, the transport shelf 113 may be moved to an area closer to the automated warehouse 101 among the relay points B1 to B3. With this configuration, it is possible to reduce the transport time of the transport shelf 113 from the relay points B1 to B3 to the automated warehouse 101 when the timing for storing the transport shelf 113 in the automated warehouse 101 comes.

It should be noted that the present invention is not limited to the embodiments described above, but includes various modifications and equivalent configurations within the scope of the appended claims. For example, the above-described embodiments have been described in detail to facilitate understanding of the present invention, and the present invention is not necessarily limited to those having all the described configurations. Also, part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Moreover, the configuration of another embodiment may be added to the configuration of one embodiment. Moreover, other configurations may be added, deleted, or replaced with respect to a part of the configuration of each embodiment.

In addition, each configuration, function, processing unit, processing means, etc. described above may be implemented in hardware, for example, by designing a part or all of them with an integrated circuit, and the processor implements each function. It may be realized by software by interpreting and executing a program to execute.

Information such as programs, tables, files, etc. that realize each function is stored in storage devices such as memory, hard disk, SSD (Solid State Drive), or IC (Integrated Circuit) card, SD card, DVD (Digital Versatile Disc) recording Can be stored on media.

In addition, the control lines and information lines indicate those considered necessary for explanation, and do not necessarily indicate all the control lines and information lines necessary for mounting. In practice, it can be considered that almost all configurations are interconnected.

100 Warehouse management system 101 Automatic warehouse 102 Transfer equipment 103 Transfer area 104 Transfer vehicle 111 Rack 112 Stacker crane 113 Transfer rack 121 Conveyor 301a Bottom surface 310 Insertion hole 400 Identification code 401 Concave portions 401 to 403 Position detection pattern 501 Front surface 502 Top surface 503 Rotating plate 504 Imaging unit 601 Management device 602 Controller 603 Terminal 611 Map information DB
612 Carrier information DB
613 Inventory information DB
614 Transport shelf DB

Claims (14)

A warehouse management system comprising a transport shelf, an automated warehouse for loading and unloading the transport shelf, a mobile body capable of loading the transport shelf, and a management device capable of communicating with the mobile body,
The transport shelf has a plurality of shelf surfaces capable of storing articles , and an identification code capable of specifying a direction in which a specific shelf surface among the plurality of shelf surfaces faces,
The moving object has an imaging unit capable of imaging the identification code,
The management device is capable of accessing inventory information that associates an item stored on the transport shelf with a shelf surface on which the item is stored on the transport shelf,
The management device
When the transport shelf on which the target article is stored is taken out from the automated warehouse,
referring to the inventory information to specify a storage destination shelf surface where the target article is stored on the transport shelf;
identifying the direction of the storage destination shelf surface based on the direction in which the specific shelf surface identified by the identification code captured by the imaging unit of the moving body faces;
controlling the moving body so that when the moving body loaded with the transport shelf arrives at the picking station, the surface of the storage destination shelf is oriented in the direction from the moving body to the picking station ;
A warehouse management system characterized by: A warehouse management system according to claim 1,
The transport shelf has a pallet at the bottom of the transport shelf,
The identification code is provided on the bottom surface of the pallet,
A warehouse management system characterized by: A warehouse management system according to claim 2,
The pallet of the transport shelf has an insertion hole into which a moving mechanism for holding and moving the transport shelf in the automated warehouse can be inserted,
A warehouse management system characterized by: The warehouse management system according to any one of claims 1 to 3 ,
a conveyor adjacent to the automated warehouse that transports the transport rack from the automated warehouse and delivers it to the moving body;
The identification code is provided in a recess formed in a bottom surface where the transport shelf is placed on the conveyor.
A warehouse management system characterized by: A warehouse management system according to claim 1 ,
there is a buffer area between the automated warehouse and the picking station, in which the transport shelves are temporarily retained;
The management device
moving the moving body loaded with the transport shelf to the buffer area before or after moving to the picking station;
A warehouse management system characterized by: A warehouse management system according to claim 5 ,
The management device
After the picking of the transport shelf is completed at the picking station, when the transport shelf is stored in the automated warehouse, the transport shelf is moved to an area closer to the automated warehouse in the buffer area,
A warehouse management system characterized by: A warehouse management system according to claim 5 ,
The management device
moving the moving body loaded with the transport shelf to an area closer to the picking station in the buffer area as the frequency of shipment to the picking station is higher or the order of shipment to the picking station is earlier;
A warehouse management system characterized by: A warehouse management system according to claim 5 ,
A plurality of the buffer areas exist,
The management device
The moving body loaded with the transport shelf is moved to a buffer area closer to the picking station among a plurality of buffer areas as the frequency of shipment to the picking station is higher or the order of shipment to the picking station is earlier. let
A warehouse management system characterized by: A warehouse management system according to claim 1 ,
The management device
determining whether or not there is another moving object in the vicinity of the moving object;
When the other moving body does not exist around the moving body, when the moving body loaded with the transport shelf arrives at the picking station, the direction of the storage destination shelf surface is changed from the moving body to the picking station. Rotation control of the moving body in a transport area in which the moving body moves so as to be in the direction of
A warehouse management system characterized by: A warehouse management system according to claim 9 ,
The management device is capable of accessing mobile information for managing the latest locations of the mobile and the other mobiles,
The management device
referring to the moving body information to determine whether or not the other moving body exists in the vicinity of the moving body;
A warehouse management system characterized by: A warehouse management system according to claim 1 ,
The identification code is a two-dimensional code having a plurality of position detection patterns,
The plurality of position detection patterns are patterns for the imaging unit to recognize the position of the two-dimensional code,
The management device
Identifying the direction in which the specific shelf surface is facing based on the arrangement relationship of the plurality of position detection patterns;
A warehouse management system characterized by: A warehouse management system comprising a transport shelf, an automated warehouse for loading and unloading the transport shelf, a mobile body capable of loading the transport shelf, and a management device capable of communicating with the mobile body,
The transport shelf has a plurality of shelf surfaces that can store articles, and is configured to be able to specify the direction in which a specific shelf surface among the plurality of shelf surfaces is facing,
The management device
When the transport shelf storing the target article is taken out from the automated warehouse,
determining whether or not there is another moving object in the vicinity of the moving object;
When the other moving body does not exist in the vicinity of the moving body, when the moving body loaded with the transport shelf arrives at the picking station, the target article is stored on the transport shelf. controlling rotation of the moving body in a transport area in which the moving body moves so that the direction is in the direction from the moving body to the picking station;
A warehouse management system characterized by: The warehouse management system according to claim 12 ,
The management device is capable of accessing mobile information for managing the latest locations of the mobile and the other mobiles,
The management device
referring to the moving body information to determine whether or not the other moving body exists in the vicinity of the moving body;
A warehouse management system characterized by: A management device capable of communicating with a mobile body capable of loading a transport rack delivered from an automated warehouse,
The transport shelf has a plurality of shelf surfaces capable of storing articles , and an identification code capable of specifying a direction in which a specific shelf surface among the plurality of shelf surfaces faces,
The moving object has an imaging unit capable of imaging the identification code,
The management device is capable of accessing inventory information that associates an item stored on the transport shelf with a shelf surface on which the item is stored on the transport shelf,
The management device
When the transport shelf on which the target article is stored is taken out from the automated warehouse,
referring to the inventory information to specify a storage destination shelf surface where the target article is stored on the transport shelf;
identifying the direction of the storage destination shelf surface based on the direction in which the specific shelf surface identified by the identification code captured by the imaging unit of the moving body faces;
controlling the moving body so that, when the moving body loaded with the transport shelf arrives at the picking station, the surface of the storage destination shelf is oriented in the direction from the moving body to the picking station ;
A management device characterized by:

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