JP7206955B2 - AUTOMATED WAREHOUSE CONTROL DEVICE AND CRANE EXIT CONTROL METHOD IN AUTOMATED WAREHOUSE - Google Patents

Description

The present disclosure relates to an automated warehouse control device and a crane exit control method in an automated warehouse.

An automated warehouse for loading and unloading goods generally has a configuration including racks, cranes, crane-side loading/unloading conveyors, loading/unloading conveyors, loading/unloading conveyors, picking conveyors, and carriages.

In the warehousing operation, the cargo is unloaded from a truck or the like, stacked on a pallet, and warehousing information is input from the warehousing terminal. Next, the goods are loaded from the receiving conveyor in units of pallets, moved to racks by the carriage, and stored on the target racks by the crane.

In the unloading operation, the target pallet is taken out from the shelf by a crane according to the unloading instruction, and the pallet is unloaded onto the picking conveyor or the unloading conveyor by the carriage, and the goods corresponding to the unloading instruction are taken out. In the picking conveyor, a worker manually picks up the cargo for the delivery instruction from the pallet (picking delivery). On the unloading conveyor, each pallet is unloaded using a forklift or the like (unit unloading).

In the case of warehousing, there are new warehousing for new pallets and re-warehousing for pallets after picking and shipping. Both receipts are performed by crane cyclic logic. Crane cyclic means that multiple cranes are allocated in order from the downstream or in order from the upstream to enter or re-enter the warehouse.

JP-A-2001-163415 JP-A-2002-087547

By the way, focusing on the movement of the crane in the automatic warehouse, it is possible to minimize the movement of the crane at the time of entering and leaving the warehouse and improve efficiency by performing warehousing and re-entry near the shelf to be delivered next time.
However, although conventional crane control can maximize the number of goods entering and leaving the automated warehouse per unit time, it is not necessarily efficient in terms of the number of goods leaving.

In view of the above problems, an object of the present disclosure is to provide an automated warehouse control device and a crane retrieval control method in an automated warehouse that can improve retrieval efficiency.

In a first aspect for achieving the above object, when a shipping instruction for one crane is input for a pallet stored in a plurality of shelves that one crane is in charge of, the shipping instruction is Delivery order rearranging means for sorting the racks in descending order of distance from the crane-side delivery conveyor, and delivery for instructing the crane to take out the pallets from the shelves in the sorted order and transport them to the crane-side delivery conveyor. and processing means.

In the second mode, one crane is in charge of inputting a delivery instruction for one crane for a pallet stored in a plurality of shelves, and the input delivery instruction is sent to each shelf and the crane side delivery conveyor. is sorted in ascending order of distance, and the pallets are taken out from the shelves in the sorted order and transported to the crane-side delivery conveyor.

According to the present disclosure, it is possible to improve delivery efficiency.

It is an explanatory view showing an example of composition of an automatic warehouse in an embodiment. 1 is a block diagram showing the configuration of an automated warehouse control device in an embodiment; FIG. It is explanatory drawing which shows the movement at the time of the loading/unloading in the crane generally implemented. It is explanatory drawing which shows operation|movement of the crane in embodiment. 4 is a flow chart showing a processing procedure of the automated warehouse control device in the embodiment;

First, the configuration of an automated warehouse targeted by this embodiment will be described with reference to FIG.

FIG. 1 is a top plan view of an automated warehouse 1. FIG. An automated warehouse 1 is composed of racks 2, cranes 3, a carriage system 4, and a loading/unloading area system 5. - 特許庁

Shelves 2 are for storing goods that have been stored, and in the embodiment, eight shelving rows T1 to T8 are arranged. Each shelf row T1-T8 has a plurality of storage shelves arranged in a matrix in the depth direction and the vertical direction.

The crane 3 is, for example, a stacker crane, which reciprocates on the crane rail along the depth direction of the shelf and moves vertically on the shelf by means of an elevator to move the pallet in and out of the target shelf. conduct.

In the embodiment, four cranes 3 are provided. The first crane 31 moves in and out of the rack rows T1 and T2. The second crane 32 moves in and out of the rack rows T3 and T4. The third crane 33 moves in and out of the rack rows T5 and T6. The fourth crane 34 moves in and out of the rack rows T7 and T8.

The carriage system 4 is a system that transports pallets received from the receiving conveyor to the rack 2 side (crane 3 side), and conveys pallets discharged from the shelf 2 to a picking conveyor or a shipping conveyor, which will be described later. The carriage system 4 includes a carriage rail 6 formed in a loop shape and one or more carriages 7 running clockwise on the carriage rail 6 .

An entry conveyor 8 , an exit conveyor 9 , and a picking conveyor 10 are arranged on the entry/exit area 5 side of the carriage system 4 . Conveyors 8 and 9 each have a space capable of transporting three pallets. The picking conveyor 10 has two sets of picking conveyors, one set includes a picking conveyor on the delivery side and a picking conveyor on the re-entry side, each having a space capable of transporting three pallets. In addition, a space for picking is provided at one location at the head of the picking conveyor on the delivery side. "Conveyor in use" refers to a state in which at least one pallet is placed on the conveyor.

The warehousing conveyor 8 conveys cargo unloaded from a truck stopped at a truck berth 11 and loaded on a pallet. The truck berth 11 is also called a cargo handling area, and is a space for loading and unloading cargo between the loading/unloading area system 5 and trucks.

The unloading conveyor 9 transports the pallet that has been unloaded from the shelf 2 and carried by the carrier 7 to the truck berth 11 for unloading.

The picking conveyor 10 is unloaded from the shelf 2, and the worker manually takes out the desired cargo from the pallet carried by the carrier 7 (picking work), and transports the pallet for restocking. The picking conveyor 10 includes a first picking conveyor 21 and a second picking conveyor 22, and either the first picking conveyor 21 or the second picking conveyor 22 is selected. In addition, the first picking conveyor 21 includes a delivery side picking conveyor 21A and a re-entering side picking conveyor 21B. The re-stocking picking conveyor refers to a conveyor for re-stocking a pallet from which a part of cargo has been picked. Similarly, the second picking conveyor 22 includes a delivery side picking conveyor 22A and a re-entry side picking conveyor 22B.

A crane-side conveyor 12 is installed in the carriage system 4 . The crane-side conveyor 12 includes a crane-side unloading conveyor C<b>1 and a crane-side unloading conveyor C<b>2 corresponding to the first crane 31 . The crane-side conveyor 12 also includes a crane-side exit conveyor C3 and a crane-side entrance conveyor C4 corresponding to the second crane 32 . Further, the crane-side conveyor 12 includes a crane-side exit conveyor C5 and a crane-side entrance conveyor C6 corresponding to the third crane 33 . Further, the crane-side conveyor 12 includes a shelf-crane-side exit conveyor C7 and a crane-side entrance conveyor C8 corresponding to the fourth crane 34 . The crane-side conveyor 12 also has a space capable of transporting three pallets. When three pallets are placed on one conveyor or are in the process of being transported, or when three pallets are allocated to a transport vehicle and are in the process of being transported, the conveyor has no empty space.

The carriage system 4 is provided with two home positions HP1 and HP2. The home position HP1 is the origin position of the carriage 7 at the time of unloading, and outputs transport instructions for pallet picking and pallet unloading. The home position HP2 is the origin position of the carriage 7 at the time of warehousing, and outputs transport instructions for pallet picking and pallet unloading. A first position sensor 13 is installed near the home position HP1, and a second position sensor 14 is installed near the home position HP2.

As will be described later with reference to FIG. 2, the home position HP2 has a control section 16. As shown in FIG. That is, the first position sensor 14 detects the pallet on which the goods are loaded via the incoming conveyor 8 or the re-entering pallet after part of the goods have been picked by the picking conveyor 10 . At the time of detection, the carriage 7 is temporarily stopped. After that, the home position HP2 determines whether or not the carriage 7 should start from HP2 according to the preparation status of the warehousing conveyors C2, C4, C6, and C8 of the crane-side conveyor 12, the state of congestion, and the like. Control.

As will be described later with reference to FIG. 2, the home position HP1 has a control section 15. As shown in FIG. That is, the pallets delivered from the delivery conveyors C1, C3, C5, and C7 of the crane-side conveyor 12 are loaded on the carriage 7. As shown in FIG. When the carriage 7 is detected by the second position sensor 13, the carriage 7 is temporarily stopped. After that, the home position HP1 controls the traveling of the carrier 7, such as whether or not to start the carrier 7 from HP1 according to the preparation status of the delivery conveyor 9 or the picking conveyor 10, the state of congestion, and the like.

As shown in FIG. 2, the automated warehouse 1 in the embodiment is centrally controlled by an automated warehouse control device 100 composed of a computer. This automated warehouse control device 100 is connected with a warehousing terminal 200 , a conveyor controller 300 , a carriage controller 400 , a crane controller 500 , and a crane-side conveyor controller 600 . Also, the control unit 15 of the home position HP1 and the control unit 16 of the home position HP2 are connected to the automated warehouse control device 100 .

The hardware configuration of the automated warehouse control device 100 includes one or more processors, main storage devices such as RAM (Random Access Memory) and ROM (Read Only Memory), and auxiliary storage devices such as hard disk devices. It also includes an input device such as a keyboard, an output device such as a display, and a communication device as a data transmission/reception device. Each function shown in FIG. 2 of the automated warehouse control device 100 is implemented by causing hardware such as a main storage device to read one or more predetermined computer programs. That is, it is realized by operating each piece of hardware under the control of one or more processors and reading and writing data in the main storage device and the auxiliary storage device according to the loaded computer program.

The control unit 15 at the home position HP1 executes control for leaving the carrier 7 at the time of leaving the warehouse. Further, the control unit 16 at the home position HP2 executes warehousing control of the carriage 7 at the time of warehousing.

The warehousing terminal 200 outputs pallet-by-pallet information (type, number, pallet number, etc.) of the cargo unloaded at the truck berth 11 to the automated warehouse control device 100 as warehousing information.

The conveyor controller 300 is composed of a programmable logic controller (hereinafter referred to as PLC). The conveyor controller 300 includes an incoming conveyor controller 301 that controls the incoming conveyor 8 , an outgoing conveyor controller 302 that controls the outgoing conveyor 9 , and a picking conveyor controller 303 that controls the picking conveyor 10 . The conveyor controller 300 cooperates with the automated warehouse control device 100 to control the driving of each conveyor.

The carriage controller 400 receives control commands from the control unit 15 at the home position HP1 and the control unit 16 at the home position HP2, and executes travel control of the carriage 7 traveling on the carriage rails 6 . In addition, the carriage controller 400 can also perform travel control of the carriage 7 in response to a control command from the automated warehouse control device 100 .

The crane controller 500 executes travel control and elevation control of each crane 3 . In this embodiment, a first crane controller 501 that controls the first crane 31 and a second crane controller 502 that controls the second crane 32 are provided. Further, a third crane controller 503 that controls the third crane 33 and a fourth crane controller 504 that controls the fourth crane 34 are provided.

The crane-side conveyor controller 600 executes transport control of the crane-side conveyors 12 (C1 to C8). This embodiment includes a first conveyor controller 601 that controls the crane-side conveyors C<b>1 and C<b>2 for loading and unloading by the first crane 31 . Further, a second conveyor controller 602 is provided to control the crane-side conveyors C3 and C4 for loading and unloading by the second crane 32 . Further, a third conveyor controller 603 is provided to control the crane-side conveyors C5 and C6 for carrying in and out of the warehouse by the third crane 33 . It also has a fourth conveyor controller 604 that controls the crane-side conveyors C7 and C8 for carrying in and out of the warehouse by the fourth crane 34 .

The automated warehouse control device 100 includes an input/output unit 101, an entry/exit control unit 102, an inventory database unit 103, an entry history database unit 104, an exit history database unit 105, an entry/crane assignment unit 106, and a display unit. 108.

The input/output unit 101 executes input/output of data and various commands between the control unit 15 of the home position HP1 and the control unit 16 of the home position HP2. The input/output unit 101 inputs and outputs data and various commands to/from the warehousing terminal 200 , the conveyor controller 300 , the carriage controller 400 , the crane controller 500 and the crane-side conveyor controller 600 . Further, the input/output unit 101 is connected to the entry/exit control unit 102, the inventory database unit 103, the entry history database unit 104, and the exit history database unit 105, and executes input/output of data and various commands.

A warehouse entry/exit control unit 102 serves as a control center of the automated warehouse control device 100 . The warehousing/dispatching control unit 102 executes input/output control to the warehousing history database unit 104 and the warehousing history database unit 105 . In addition, the entry/exit control unit 102 executes control of the conveyor controller 300, the carriage controller 400, and the crane controller 500, and the like. Furthermore, the loading/unloading control unit 102 also controls the crane-side conveyor controller 600 and displays the display unit 108 .

The inventory database unit 103 records and stores inventory data such as the type and quantity of cargo stored in the shelf 2 .

The warehousing history database unit 104 receives the warehousing instruction from the warehousing terminal 200, the re-warehousing instruction from the conveyor controller 300, and the crane warehousing operation completion data from the crane controller 500, and records and stores them as warehousing history data.

The shipping history database unit 105 stores data of the shipping instruction from the loading/unloading control unit 102, the completion of the crane shipping operation from the crane controller 500, the completion of shipping from the conveyor controller 300, and the completion of the crane re-entry operation from the crane controller 500. is received, it is recorded and saved as shipping history data.

The crane allocation unit 106 includes means for rearranging the delivery order. When a batch of pallets stored in a plurality of racks handled by one crane receives a shipping instruction, the shipping order rearranging means sends the shipping instruction to each shelf and the crane side shipping conveyor. Sort in descending order of distance to. Specifically, the inventory database unit 103 is searched based on one batch of shipping instructions. As a result of the search, the transportation time of the crane from the shelf 2 where the pallet of the corresponding cargo is stored to the crane-side delivery conveyor is calculated, and the delivery instructions are sorted in ascending order of the transportation time.

A display unit 108 displays various screen data for the operator.

<Automated warehouse entry/exit processing>
In the above-described automated warehouse 1, loading and unloading is controlled by the following processing. Here, the storage and delivery of cargo A will be described as an example.

When X pieces of goods A are stowed on a pallet by a worker and warehousing information to that effect is input from the warehousing terminal 200 , the warehousing information is output to the automated warehouse control device 100 .

When the pallet loaded with goods A is placed on the carriage 7 via the warehousing conveyor 8, the carriage controller 400 receives the information that the pallet is placed on the carriage 7 and the automated warehouse control device 100. Check for a match with the receipt information from When a match is confirmed, a start signal is output to the carriage 7 . As a result, the carriage 7 on which the pallet is placed travels on the carriage rails 6 . In the embodiment, the carriage 7 runs clockwise.

When the second position sensor 14 detects that the empty carriage 7 has arrived at the home position HP2, it stops temporarily and waits for the next instruction. If the crane-side receiving conveyors C2, C4, C6, and C8 of the crane-side conveyor 12 are not congested, and there is a receiving pallet at the leading end of the receiving conveyor 8 and the leading ends of the re-receiving-side picking conveyors 21B and 22B, the home position HP2 is reached. A travel instruction is output from the control unit 16 to the carriage controller 400 . As a result, the empty carrier 7 travels to the receiving conveyor where the receiving pallet is located and stops. After stopping, the incoming pallet is picked up from the leading end of the incoming conveyor, traveled to the corresponding incoming conveyor where there is a row of shelves to be incoming, and stopped. Then, it is conveyed by any one of designated crane-side warehousing conveyors C2, C4, C6, and C8, and is put into a desired rack 2 by the corresponding crane 3.

On the other hand, at the time of warehousing, a process opposite to that at the time of warehousing is executed. When there is a delivery instruction, the pallet on which the goods A are stowed is taken out from the target shelf 2 by the crane 3. The taken out pallets are loaded on the carriage 7 via the crane-side unloading conveyors C1, C3, C5 and C7 and run. When the carriage 7 is detected by the first position sensor 13, it temporarily stops before the home position HP1. The control unit 15 at the home position HP1 checks the availability of the delivery conveyor 9 or the picking conveyor 10, and starts the carrier 7 if there is no congestion.

In the shipping work, in the case of unit shipping in which the cargo A on the pallet is shipped as it is, it is shipped via the shipping conveyor 9 . Also, in the case of picking delivery in which a part of the cargo A on the pallet is picked and delivered, the number of pallets waiting for the picking operation from the first picking conveyor 21 or the second picking conveyor 22 of the picking conveyor 10 is small. is selected. Then, a predetermined number of articles A are picked by the worker via the delivery-side picking conveyor 21A of the first picking conveyor 21 or the delivery-side picking conveyor 22A of the second picking conveyor 22 and delivered. The pallet after being picked is restocked via the restocking side picking conveyor 21B or 22B.

<Efficiency of crane delivery>
FIG. 3 is an explanatory diagram showing the movement of a generally practiced crane during loading and unloading.
In FIG. 3, (1) indicates movement for warehousing, (2) indicates movement for warehousing shelf, and (3) movement for warehousing. The movement of (1) indicates movement of the crane for warehousing when a warehousing instruction is issued from the home position HP1. The movement of (2) indicates the movement of the crane to the delivery shelf after the completion of the storage to the desired storage shelf. Movement (3) shows the movement of a desired pallet from the delivery rack to the crane-side delivery conveyor for delivery.

If the moving distances shown in (1) to (3) above are the shortest, then the loading and unloading of the crane will be efficient. However, when focusing on shipping, crane movement is not efficient.

A specific description will be given with reference to FIG. Here, the movement of the fourth crane 34 is focused on as the movement of one crane in the automated warehouse.

As shown in FIG. 4, it is assumed that pallets are stocked in the meshed portion of the shelf 2 . Focus on the fourth crane 34 as one crane. The fourth crane 34 moves in and out of the rack row T7 and the rack row T8. As shown in FIG. 4, it is assumed that pallets P1, P2, P3, P4, and P5 are stocked in rack rows T7 and T8 in order of proximity to the conveyor.

As described above, if the goods are delivered in order of proximity to the conveyor, the movement of the crane is the shortest and the delivery can be made in the shortest time. However, when there are shipping instructions for one batch, shipping in the order of shipping instructions results in random shipping, which is not efficient. For example, if the delivery instruction is for the pallets P2, P5, P3, P1, and P4 to be delivered in that order, the movement of the fourth crane 34 will be inefficient. In addition, when the delivery instruction and the warehousing instruction to the fourth crane 34 are mixed, the delivery processing and the warehousing processing are repeated, resulting in further inefficiency.

In the present embodiment, when focusing on one crane, here the fourth crane 34, priority is given to the shipping process, and in the shipping process, the pallets on the shelf 2 closest to the crane side shipping conveyor C7 can be shipped in order. By rearranging the instructions, we are trying to improve the efficiency of crane delivery.

In the flowchart of FIG. 5, the crane allocation unit 106 first monitors whether or not there is a delivery instruction, and if there is a delivery instruction (step S1 YES), it executes a process of changing the delivery order (step S2). In this switching process, the delivery order is switched so that the pallets stored at the shelf address closest to the crane-side delivery conveyor C7 can be delivered in order. Specifically, for example, when one batch of pallets stored in a plurality of racks handled by one crane is input with a shipping instruction, the shipping instruction is sent to each shelf 2 and the crane side. They are sorted in descending order of distance from the delivery conveyor C7. Specifically, the inventory database unit 103 is searched based on one batch of shipping instructions. As a result of the search, the transportation time of the crane from the rack 2 where the pallet of the corresponding cargo is stored to the crane-side delivery conveyor C7 is calculated, and the shipping instructions are sorted in ascending order of the transportation time.

When the delivery order is changed, delivery processing is executed in that order (step S3). In the unloading process, the fourth crane 34 takes out the pallet from the shelf 2 and conveys it to the crane-side unloading conveyor C7. As shown in FIG. 4, the crane-side unloading conveyor C7 has mounting spaces C71, C72, and C73 for placing three pallets. When all of the loading spaces C71, C72, and C73 are filled with pallets, a traffic jam occurs in which the crane-side unloading conveyor C7 cannot carry out the unloading process. Therefore, the controller of the crane-side delivery conveyor C7 (fourth conveyor controller 604) monitors whether or not the crane-side delivery conveyor C7 is congested during the delivery process (step S4). If there is no congestion on the crane-side delivery conveyor C7 and the delivery process has not ended (steps S4 NO, S5), the delivery process is continued (step S3).

When all the placement spaces C71, C72, C73 of the crane-side delivery conveyor C7 are full and traffic jams occur, the delivery process is temporarily interrupted (steps S4 YES, S6). Next, it is determined whether or not there is a warehousing instruction (hereinafter referred to as "warehousing instruction" including re-warehousing instruction), and if there is a warehousing instruction, warehousing processing is executed (steps S7 YES, S8). If there is no instruction to enter the warehouse, it waits for the congestion of the crane-side exit conveyor C7 to be cleared (steps S7 NO, S4). It is desirable that the pallets to be stored or re-stocked be stored or re-stocked near the shelf 2 scheduled to be delivered next.

Even during the warehousing process, the fourth conveyor controller 604 monitors whether there is a traffic jam on the crane-side delivery conveyor C7. ).

On the other hand, if the crane-side delivery conveyor C7 is not congested during the delivery process (step S3) (step S4NO), the delivery process is continued (step S9). Also, when the congestion of the crane-side delivery conveyor C7 is resolved during the warehousing process (step S9 NO), the warehousing process is temporarily interrupted (step S11), and the suspended delivery process is resumed.

If there is a warehousing instruction when the warehousing processing ends (step S5 YES), the warehousing processing is executed (steps S5 YES, S12 NO, S8). If there is no warehousing instruction at the time when the warehousing process ends (step S5YES, S12), the warehousing/dispatching process ends.

Thus, according to the embodiment, the operation time of the fourth crane 34 is shortened, and the time required for unloading can be shortened. Also, when there is a traffic jam during the leaving process, the entering process is executed if there is an entering instruction, so that the fourth crane 34 does not stand by and efficient crane control is possible.

Although the present disclosure has been described in detail using the embodiments, the present disclosure is not limited to the embodiments described herein. The scope of the present disclosure is determined by the description of the claims and the range equivalent to the description of the claims.

DESCRIPTION OF SYMBOLS 1... Automated warehouse, 2... Shelf, 3... Crane, 4... Conveyor system, 5... Carriage entry/exit area system, 6... Carriage rail, 7... Conveyance car, 8... Receiving conveyor, 9... Receiving conveyor, 10... Picking conveyor , 11... Track berth, 12... Crane-side conveyor, 13... First position sensor, 14... Second position sensor, 15... Control unit for home position HP1, 16... Control unit for home position HP2, 21... First picking conveyor , 22... 2nd picking conveyor, 21A, 22A... delivery side picking conveyor, 21B, 22B... re-entry side picking conveyor, 31... 1st crane, 32... 2nd crane, 33... 3rd crane, 34... 4th crane , 100... Automated warehouse control device, 101... Input/output unit, 102... Entry/exit control unit, 103... Inventory database unit, 104... Entry history database unit, 105... Delivery history database unit, 106... Crane allocation unit, 108... Display Part 200 Entry terminal 300 Conveyor controller 301 Entry conveyor controller 302 Exit conveyor controller 303 Picking conveyor controller 400 Carriage controller 500 Crane controller 501 Third First crane controller 502 Second crane controller 503 Third crane controller 504 Fourth crane controller 600 Crane-side conveyor controller 601 First conveyor controller 602 Second conveyor controller, 603... controller for third conveyor, 604... controller for fourth conveyor, C1, C3, C5, C7... crane side delivery conveyor, C2, C4, C6, C8... crane side delivery conveyor, T1 to T8... shelf Rows, HP1--first home position, HP2--second home position.

Claims (6)

When one batch of shipping instructions is input for pallets stored on multiple shelves that one crane is in charge of, the shipping instructions are sorted in order of shortest distance between each shelf and the crane side shipping conveyor. Warehousing order sorting means for sorting;
delivery processing means for instructing the crane to take out the pallets from the shelves in the rearranged order and transport them to the crane-side delivery conveyor;
Automated warehouse control device with The delivery order rearranging means calculates the time required for the crane to transport from the shelf to the crane-side delivery conveyor, and sorts the delivery instructions in ascending order of transportation time.
The automatic warehouse control device according to claim 1. If there is an instruction to enter or re-enter the shelf that the crane is in charge of when there is a congestion in the exit by the exit processing means, the crane enters or re-enters the warehouse until the exit congestion is resolved. The automatic warehouse control device according to claim 1 or 2, which performs When the crane-side delivery conveyor is full of pallets, it is determined that there is a delivery congestion.
The automatic warehouse control device according to claim 3. The pallet subject to the warehousing or re-stocking process is stocked or re-stocked near the shelf scheduled to be delivered next.
The automatic warehouse control device according to claim 3 or 4. Enter one batch of shipping instructions for pallets stored on multiple shelves handled by one crane,
Sort the input delivery instructions in descending order of the distance between each shelf and the delivery conveyor on the crane side,
taking out the pallets from the rack in the rearranged order and conveying them to the crane-side unloading conveyor;
A crane delivery control method in an automated warehouse.

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