JP7247809B2 - picking equipment - Google Patents

Description

The present invention relates to picking equipment.

For example, in the equipment disclosed in Japanese Patent No. 3760756 (Patent Document 1), an article storage shelf (21a) for storing articles is placed on one side of the article storage shelf (21a), and the article is moved between the article storage shelf (21a). A conveying device (22) for loading the article is provided, and a work area is provided on the other side for the worker (H) to work on the article storage shelf (21a). Reference numerals shown in parentheses in the background art column are those of Patent Document 1.

Japanese Patent No. 3760756

In such a facility in which access to the article storage rack is performed by both the conveying device and the worker, it is necessary to avoid interference between the conveying device and the worker for the safety of the worker. For this reason, for example, when a sensor or the like detects a situation in which interference between the transport device and the worker may occur, it is conceivable to stop all operations of the transport device. In this way, the safety of workers is ensured, but all the operations of the conveying device are stopped, and the conveying device cannot operate until restoration, so the operating rate of the equipment tends to decrease.

In view of the above-mentioned actual situation, it is desired to realize a picking facility that can suppress a decrease in the operating rate of the facility while ensuring the safety of workers.

The picking equipment according to the present disclosure is
A conveying device that conveys articles by traveling in a traveling direction that is a direction along a prescribed traveling route;
an article storage shelf for storing articles;
A control device that controls the operation of the transport device,
The article storage shelf has a plurality of storage sections arranged along the traveling direction, and is configured to be able to store articles in each of the storage sections. has
The conveying device performs a traveling operation of traveling along the traveling route and a transferring operation of transferring the article to and from the storage section of the article storage shelf,
A plurality of work areas are provided for a worker who performs picking work on the article storage shelf,
a plurality of said work areas are arranged side by side in said travel direction in a region adjacent to said article storage shelf on a side opposite to said travel path side in said intersecting direction with said article storage shelf sandwiched therebetween;
A human detection sensor is provided for detecting the presence or absence of the worker in each of the plurality of work areas,
The control device permits both the transfer operation and the traveling operation of the transport device in the work area where the worker is not detected by the human detection sensor, permitting the traveling operation of the conveying device but prohibiting the transfer operation in the work area where the worker is detected ;
A passing object detection sensor for detecting a passing object that has passed through an opening on the travel path side of the article storage shelf is provided corresponding to each of the plurality of work areas,
When the passing object is detected by the passing object detection sensor in the work area where the worker is detected by the human detection sensor, the control device stops the operation of the conveying device and detects the worker. In the work area where the worker is not detected by the detection sensor, the operation of the conveying device is not stopped even if the passing object is detected by the passing object detection sensor.

According to this configuration, since the transfer operation and the traveling operation by the transfer device are not restricted in the work area where no worker is present, the article can be transferred and transferred as usual. On the other hand, the transfer operation by the conveying device is restricted in the work area where workers are present. Interference between the worker and the transport device can occur when the picking operation of the worker and the transfer operation of the transport device are performed at the same position of the article storage shelf. According to this configuration, since the transfer operation of the transport device to the work area where the worker is present is restricted, it is possible to reliably avoid interference between the worker and the transport device. Therefore, worker safety can be ensured. On the other hand, the traveling motion of the conveying device is not limited to the work area where the worker is present. Therefore, for example, when the conveying device performs an operation of conveying an article to a location corresponding to a work area in which no worker exists on an article storage shelf, the article is conveyed so as to pass through a location corresponding to the work area where a worker exists. Since the device can be run, the operation of the transport device can be continued without stopping. Therefore, compared with the case where all the operations of the conveying device are stopped, it is possible to suppress a decrease in the operation rate of the facility. Therefore, according to this configuration, it is possible to suppress a decrease in the operating rate of the facility while ensuring the safety of the worker.
In addition, according to this configuration, in the work area where the worker is detected by the human detection sensor, a passing object that has passed through the opening on the travel path side of the article storage shelf is removed from the article storage shelf due to the work of the worker. There is a high possibility that it also protrudes toward the travel route. According to this configuration, when such a passing object is detected, the operation of the conveying device including the traveling operation is stopped, so that interference between the operator and the conveying device can be avoided with high certainty. Therefore, according to this configuration, it is possible to ensure the safety of the operator more appropriately.

Further features and advantages of the technology according to the present disclosure will become clearer from the following description of exemplary and non-limiting embodiments described with reference to the drawings.

Top view of picking equipment Side view of picking equipment Control block diagram Explanatory diagram showing actions that can be performed by the transport device when the work area is unmanned Explanatory diagram showing operations that can be performed by the transport device when the work area is manned Explanatory diagram showing the operation of the notification unit when the conveying device is performing the transfer operation. Explanatory diagram showing the operation of the conveying device when a passing object is detected Explanatory diagram showing the operation of the conveying device when a falling object is detected Flowchart showing the control procedure

[Schematic configuration of picking equipment]
An embodiment of a picking facility will be described with reference to the drawings. As shown in FIG. 1, the picking facility 100 includes a conveying device 1 that travels in a travel direction X that is a direction along a prescribed travel route R to convey articles 9, an article storage shelf 2 that stores the articles 9, A work area WA for the worker H to pick up the article storage rack 2 and a control device C (see FIG. 3) for controlling the operation of the conveying device 1 are provided.

In this embodiment, the article 9 is a container for containing a plurality of items such as commodities as contents. In the picking operation by the operator H, the contents are taken out from the articles 9 stored in the article storage shelf 2 based on the order information indicating the contents to be stored in the article collection container 8 and shipped. The taken out contents are accommodated in the collection container 8. - 特許庁The order information may include attribute information such as the type, number, and weight of the contents, and transportation information such as the shipping destination, shipping source, shipping date and time, and the like. After the picking operation is completed, the product collection container 8 is transported to a place where the next process is performed. In the example shown in FIG. 1, the collection container 8 is transported by a manual trolley 81 . However, the item collection container 8 may be transported by various transport devices such as a conveyor and an unmanned transport vehicle.

In the illustrated example, the picking facility 100 includes an article storage shelf 3 for storing articles 9 in addition to the article storage shelf 2 . The article storage shelf 2 and the article storage shelf 3 are arranged to face each other in the cross direction Y intersecting the traveling direction X. As shown in FIG. The article storage shelf 2 is a shelf for picking work on which the picking work by the worker H is performed. The article storage shelf 3 is a storage shelf for storing articles 9 to replenish the article storage shelf 2 . Between the article storage rack 2 and the article storage rack 3 in the cross direction Y, the travel route R described above is defined. The conveying device 1 that travels along the travel route R is configured to be able to convey articles 9 between the article storage rack 2 and the article storage rack 3 . In this embodiment, when the articles 9 (containers) stored in the article storage shelf 2 become empty due to the picking operation, the conveying device 1 moves the empty articles 9 back to the article storage shelf 2 . A new article 9 containing the contents is transferred from the article storage shelf 3 to the article storage shelf 2.

As described above, in the picking facility 100 , the conveying device 1 transports the articles 9 to the article storage shelf 2 , and the worker H performs the picking operation for the article storage shelf 2 . In this embodiment, the transport area TA in which the transport device 1 transports the articles 9 is set on one side of the article storage shelf 2 in the cross direction Y, and the picking work by the operator H is performed. An area WA is set on the other side in the cross direction Y with respect to the article storage shelf 2 . A detailed configuration of the picking facility 100 will be described below.

[Goods storage shelf]
As shown in FIGS. 1 and 2, the article storage shelf 2 is arranged so as to be adjacent in the intersecting direction Y with respect to the traveling route R along which the conveying device 1 travels. In this embodiment, the article storage shelf 2 is arranged in the cross direction Y between the transport area TA and the work area WA. The article storage shelf 2 includes a plurality of storage sections 20 arranged along the traveling direction X, and is configured to be able to store an article 9 in each of the plurality of storage sections 20 .

In this embodiment, the article storage shelf 2 includes a plurality of strut members 21 arranged along the vertical direction, a beam member (not shown) connecting the plurality of strut members 21, and the strut member 21 and the beam member. and a support member 22 attached to at least one of them to support the article 9 . In this example, a pair of support members 22 are arranged apart from each other in the running direction X with respect to one storage portion 20 . In each storage section 20, a pair of support members 22 support the articles 9 from below. In this embodiment, a plurality of storage units 20 are arranged side by side not only in the traveling direction X but also in the vertical direction. Therefore, in this embodiment, the article storage rack 2 has a plurality of storage sections 20 arranged along the traveling direction X and the vertical direction. In this example, each of the storage units 20 is provided with a display unit 24 that displays picking instruction information based on order information. The worker H performs picking work based on the picking instruction information displayed on the display unit 24 .

The article storage shelf 2 has openings 23 on both sides in the cross direction Y. As shown in FIG. Specifically, the openings 23 include a travel route side opening 23r provided on the side of the travel route R (transportation area TA) in the cross direction Y, and a work area 23r provided on the side of the work area WA in the cross direction Y. A side opening 23w is included. Further, the opening 23 is set for each of the plurality of storage units 20, and for each storage unit 20, a travel path side opening 23r and a work area side opening 23w are set. The conveying device 1 transfers the articles 9 to and from the storage section 20 via the travel path side opening 23r. The worker H performs a picking operation of taking out contents from the articles 9 stored in the storage unit 20 through the work area side opening 23w.

In this embodiment, the storage unit 20 includes a fall control unit 20A that controls the stored article 9 from falling toward the travel route R. As shown in FIG. The fall control portion 20A is provided in a region on the travel route R side in the storage portion 20, and is arranged at a position overlapping the article 9 stored in the storage portion 20 in the cross direction Y view. When the article 9 stored in the storage section 20 moves to the traveling route R side in the cross direction Y, the fall control section 20A contacts the article 9 from the traveling route R side to regulate the movement. , thereby restricting the article 9 from falling to the traveling route R side. In this example, the fall control portion 20A includes a protrusion that protrudes upward from the support surface of the support member 22 that supports the article 9 .

The article storage shelf 3 for storing the articles 9 to be replenished to the article storage shelf 2 may be configured so as to be able to store the articles 9 . For example, the article storage shelf 3 may have the same configuration as the article storage shelf 2 described above.

[Conveyor]
The conveying device 1 is configured to perform a traveling operation of traveling along the traveling route R and a transfer operation of transferring the article 9 to and from the storage section 20 of the article storage shelf 2 . In this embodiment, the conveying device 1 is configured to be able to transfer the articles 9 to and from each of the plurality of storage units 20 arranged in the traveling direction X and the vertical direction. Further, as described above, in this example, the conveying device 1 is configured to be able to transfer the articles 9 to and from the article storage shelf 3 in addition to the article storage shelf 2 .

The conveying device 1 includes a running rail 11R arranged along a running route R, a running section 11 running on the running rail 11R, a mast 12M provided on the running section 11 and extending in the vertical direction, and a mast 12M, and a transfer section 13 that moves up and down along the mast 12M together with the lifting section 12 and transfers the articles 9 to and from the storage section 20. In this embodiment, the conveying device 1 is configured as a so-called stacker crane capable of conveying the articles 9 along both the vertical direction and the horizontal direction (in this example, the traveling direction X).

The traveling part 11 is driven by a traveling drive part, for example, a traveling motor, and travels on the traveling rail 11R. The elevation unit 12 is driven by an elevation driving unit, such as an elevation motor, to ascend and descend along the mast 12M. The transfer section 13 is supported by the elevating section 12 and ascends and descends along the mast 12M together with the elevating section 12 as described above. That is, the transfer section 13 can move in the traveling direction X by traveling of the traveling section 11 and can move in the vertical direction by raising and lowering the elevation section 12 . Therefore, the transfer section 13 can move to transfer positions corresponding to the plurality of storage sections 20 arranged in the traveling direction X and the vertical direction. At such a transfer position, the transfer section 13 is driven by a transfer driving section, such as a transfer motor, to transfer the articles 9 to and from the storage section 20 .

In this embodiment, the transfer section 13 includes an extending/retracting section 13A extending/retracting along the cross direction Y. As shown in FIG. 13 A of advancing/retracting parts are comprised so that the article|item 9 can be supported from the downward direction. The retractable portion 13A supports the article 9 from below and passes between the pair of support members 22 forming the storage section 20 from above to below, thereby placing the article 9 on the pair of support members 22. do. As a result, the transfer section 13 delivers the article 9 to the storage section 20 . In addition, the retractable portion 13A supports the article 9 from below by passing from below to above between the pair of support members 22 on which the article 9 is placed. Thereby, the transfer section 13 receives the article 9 from the storage section 20 . Such delivery and receipt of the article 9 is included in the transfer operation of the conveying device 1 . In addition, the retractable portion 13A may not be configured to support the article 9 from below. For example, the protruding/retracting portion 13A may be configured to support the article 9 by sandwiching it from both sides or lifting it from above.

[Work area]
The picking facility 100 is provided with a plurality of work areas WA for workers H who perform picking work on the article storage shelf 2 . A plurality of work areas WA are arranged side by side in the traveling direction X in a region adjacent to the article storage shelf 2 on the side opposite to the travel route R side in the cross direction Y with the article storage shelf 2 interposed therebetween. . As shown in FIG. 1, each of the plurality of work areas WA is set corresponding to the installation range of the plurality of storage units 20 in the traveling direction X. As shown in FIG. Each of the workers H who perform the picking work in each work area WA performs the picking work on the plurality of storage units 20 corresponding to the work area WA. In the example shown in FIG. 1, the multiple work areas WA include a first work area WA1, a second work area WA2, and a third work area WA3.

[Transportation area]
The picking facility 100 is provided with a plurality of transport areas TA where the transport device 1 transports the articles 9 . A plurality of transport areas TA are arranged side by side in the traveling direction X in a region opposite to the work area WA side in the cross direction Y with the article storage shelf 2 interposed therebetween. In this example, the plurality of transport areas TA are arranged in the traveling direction X between the article storage rack 2 and the article storage rack 3 in the cross direction Y. As shown in FIG. As shown in FIG. 1, each of the plurality of transport areas TA is set corresponding to the installation range of the plurality of storage units 20 in the traveling direction X. As shown in FIG. The transport device 1 performs a transfer operation with respect to a plurality of storage units 20 corresponding to each transport area TA. In the example shown in FIG. 1, the multiple transport areas TA include a first transport area TA1, a second transport area TA2, and a third transport area TA3. The set range of the first transport area TA1 in the traveling direction X corresponds to the set range of the first work area WA1. The set range of the second transport area TA2 in the traveling direction X corresponds to the set range of the second work area WA2. The set range of the third transport area TA3 in the traveling direction X corresponds to the set range of the third work area WA3. Here, the set ranges in the traveling direction X of the transport area TA and the work area WA that correspond to each other are the same.

[Buffer area]
In the picking equipment 100, the distance from the opening 23 (work area side opening 23w) of the article storage shelf 2 on the work area WA side in the cross direction Y to the travel locus of the transport device 1 (hereinafter referred to as a safe distance) is A buffer area BA is provided between the article storage shelf 2 and the travel locus so as to ensure a length of H's arm or more. It is preferable that the safe distance is set to be equal to or greater than the maximum arm length of the operator H assumed. In this example, the safe distance is defined by a safety standard (eg, ISO standard), and is, for example, 850 millimeters or more. With such a configuration, even if the worker H erroneously extends his arm toward the traveling route R side of the article storage shelf 2, the interference between the worker H's arm and the conveying device 1 is avoided. be able to. In the illustrated example, the buffer area BA is provided so as to extend in the traveling direction X between the work area WA and the transport area TA in the cross direction Y. As shown in FIG. The buffer area BA is provided corresponding to the entire area of the article storage shelf 2 in the traveling direction X. As shown in FIG.

[Notification part]
The picking equipment 100 is provided with a notification unit 4 that notifies the operation status of the transport device 1 in each of the plurality of work areas WA. The notification unit 4 notifies at least the work area WA where the transfer device 1 is performing the transfer operation. As a result, it is possible to notify the worker H of the work area WA where the transport device 1 is performing the transfer operation, and to call attention to the worker H.

In this embodiment, a notification unit 4 is provided for each of the plurality of work areas WA. The notification unit 4 notifies the operation status (transfer operation status) of the transport device 1 with respect to the corresponding work area WA. In this example, the notification unit 4 also notifies the operation status of the transport device 1 in the corresponding transport area TA. In this example, the notification unit 4 provided in the first work area WA1 notifies the status of the transfer operation of the transport device 1 to the first work area WA1. In addition, the notification unit 4 provided in the first work area WA1 notifies the status of the traveling operation of the transport device 1 in the first transport area TA1. The same applies to the notification unit 4 provided in the second work area WA2 and the notification unit 4 provided in the third work area WA3.

The notification unit 4 visually or audibly notifies the operation status of the conveying device 1 . In this embodiment, the notification unit 4 visually notifies the operation status of the conveying device 1 . In this example, the notification unit 4 is configured by a laminated signal lamp (so-called signal tower) in which a plurality of signal lamps are laminated. In this case, the notification unit 4 notifies different operating conditions of the conveying apparatus 1 by selectively lighting or blinking a plurality of signal lamps constituting the signal lamp stack. For example, the notification unit 4 configured as a stacked signal light includes signal lights of three colors of red, yellow, and green. As an example of the notification operation, the notification unit 4 lights or flashes a green signal lamp to notify that the transfer operation of the transport device 1 is not being performed in the corresponding work area WA. do. In this case, the worker H is permitted to enter the corresponding work area WA. In addition, the notification unit 4 notifies that the transfer operation of the transport device 1 is being performed to the corresponding work area WA by lighting or blinking a yellow signal lamp. In this case, the worker H is prohibited from entering the corresponding work area WA. Further, the notification unit 4 notifies that the conveying apparatus 1 is abnormally stopped by turning on or blinking a red signal lamp. In this case, the worker H is urged to take necessary measures in an emergency. It should be noted that the operation (including restriction and permission) of the worker H corresponding to such notification state of the notification unit 4 is preferably defined as a usage rule of the picking equipment 100, for example.

[Sensor]
The picking equipment 100 is provided with a plurality of sensors Se for detecting various conditions of the equipment. In the picking facility 100, the operation of each device or each section is controlled based on information detected by a plurality of sensors Se.

The picking equipment 100 is provided with a human detection sensor Se1 that detects the presence or absence of the worker H in each of the plurality of work areas WA. In this embodiment, the human detection sensor Se1 is provided for each of the plurality of work areas WA. Each of the plurality of human detection sensors Se1 detects the presence or absence of the worker H in the corresponding work area WA. Specifically, the human detection sensor Se1 provided in the first work area WA1 detects the presence or absence of the worker H in the first work area WA1. The human detection sensor Se1 provided in the second work area WA2 and the human detection sensor Se1 provided in the third work area WA3 also detect the presence or absence of the worker H in the corresponding work areas WA2 and WA3. .

In this embodiment, the human detection sensor Se1 is configured by a laser scanner that emits a laser beam to detect a target object within a set range. However, without being limited to such a configuration, the human detection sensor Se1 may be configured to detect a person using, for example, infrared rays, ultrasonic waves, or a camera, or other known means. It may be configured to detect a person.

The picking facility 100 also includes a plurality of passing object detection sensors Se2 for detecting passing objects Op (see FIG. 8) that have passed through the opening 23 (travel route side opening 23r) on the travel route R side of the article storage shelf 2. It is provided corresponding to each work area WA. In this embodiment, the passing object detection sensor Se2 is an optical sensor (a so-called area sensor). Here, the passing object detection sensor Se2 detects the passing object Op by blocking the irradiated light. The passing object Op includes all objects passing through the travel path side opening 23r. For example, the article 9, the worker H, a tool used by the worker H, and the like can be the passing object Op.

Further, the picking equipment 100 is equipped with a falling object detector for detecting a falling object Of (see FIG. 8), which is an object that has fallen on the floor surface F within the area sandwiched between the article storage shelf 2 and the travel route R of the conveying device 1. A detection sensor Se3 is provided. In the example shown in FIGS. 1 and 2, the falling object detection sensor Se3 is provided on the floor surface F of the buffer area BA. In addition, the falling object detection sensor Se3 is provided in a range extending over a plurality of work areas WA in the traveling direction X. As shown in FIG. In this embodiment, the falling object detection sensor Se3 is composed of a pressure sensor (so-called mat switch) that emits a signal when pressure is detected. When the falling object Of drops onto the falling object detection sensor Se3, the falling object Of is detected by the falling object detection sensor Se3. Note that the falling object Of includes all objects falling on the falling object detection sensor Se3. For example, the article 9 or a tool used by the worker H can be the falling object Of.

[Control configuration]
Next, the control configuration of the picking equipment 100 will be described. As shown in FIG. 3, the picking facility 100 includes a control device C. As shown in FIG. The control device C includes, for example, a processor such as a microcomputer, peripheral circuits such as a memory, and the like. Each function is realized through cooperation between these hardware and a program executed on a processor such as a computer.

The control device C is configured to be able to communicate with each of the conveying device 1 and the notification unit 4 by wire or wirelessly. Also, the control device C is configured to be able to acquire information detected by the plurality of sensors Se.

In this embodiment, the control device C controls the operation of the transport device 1 for each of the transport areas TA1 to TA3 based on the information detected by the sensors Se. Specifically, the control device C controls the traveling operation of the conveying device 1 by controlling the traveling unit 11 , the lifting operation of the conveying device 1 by controlling the lifting unit 12 , and the transfer unit 13 . is controlled to control the transfer operation of the transport device 1 . The controller C controls each of these operations for each of the plurality of transport areas TA1-TA3. Further, the control device C controls the operation of the notification unit 4 for each of the work areas WA1 to WA3.

As shown in FIG. 4, the control device C permits both the transfer operation and the traveling operation of the transport device 1 in the work area WA where the worker H is not detected by the human detection sensor Se1. FIG. 4 shows an example in which no worker H exists in any of the first to third work areas WA1 to WA3. In this case, the control device C permits both the transfer operation and the traveling operation of the transport device 1 to any of the first to third work areas WA1 to WA3. In other words, the control device C permits both the transfer operation and the traveling operation of the transport device 1 in the first to third transport areas TA1 to TA3 corresponding to the first to third work areas WA1 to WA3, respectively. do. In this embodiment, the control device C also permits the lifting operation of the transporting device 1 in the transporting area TA where the traveling operation is permitted.

With such a configuration, the transfer operation and traveling operation (further lifting operation in this embodiment) by the transport device 1 are not restricted in the work area WA where the worker H does not exist. Transfer can be carried out as usual.

On the other hand, as shown in FIG. 5, the control device C permits the transport device 1 to travel in the work area WA where the worker H is detected by the human detection sensor Se1, but prohibits the transfer operation. . FIG. 5 shows an example in which a worker H exists in the first work area WA1. In this case, the control device C permits the traveling operation of the conveying device 1 in the first work area WA1, but prohibits the transfer operation. In other words, the control device C permits the traveling operation of the transport device 1 but prohibits the transfer operation in the first transport area TA1 corresponding to the first work area WA1.

Here, interference between the worker H and the conveying device 1 can occur when the picking work of the worker H and the transfer operation of the conveying device 1 are performed at the same position of the article storage shelf 2 . For example, when the picking work of the worker H is performed in the first work area WA1 (see FIG. 5), if the transfer operation of the transport device 1 is performed in the first transport area TA1 corresponding to the first work area WA1, , interference between the worker H and the transport device 1 may occur. According to the above configuration, the transfer operation of the transport device 1 to the work area WA where the worker H is present is restricted. It can be avoided to be done in the same position. Therefore, the safety of the worker H can be ensured. On the other hand, the traveling operation of the conveying device 1 is not limited to the work area WA where the worker H is present. Therefore, for example, when the conveying device 1 carries out an operation of conveying the article 9 to a location corresponding to the work area WA where the worker H does not exist in the article storage shelf 2, the work area WA where the worker H exists. Since the conveying device can be made to run so as to pass through the location, the operation of the conveying device 1 can be continued without stopping. Therefore, compared with the case where all operations of the transport device 1 are stopped, it is possible to suppress a decrease in the operation rate of the facility.

By the way, since the worker H is not present in the work area WA, the worker H performs picking in the work area WA while the transport device 1 is performing the transfer operation to the work area WA. When the work is started, there is a possibility that the worker H and the transport device 1 will interfere with each other. Therefore, it is preferable to avoid the occurrence of such a situation.

Therefore, in the present embodiment, as shown in FIG. 6, the control device C uses the notification unit 4 to notify the work area WA where the conveying device 1 is performing the transfer operation. For example, the controller C controls the notification unit 4 so as to light or blink a yellow signal light, so that the conveying device 1 performs the transfer operation in the work area WA in which the notification unit 4 is provided. Notify that the situation is In the illustrated example, the notification unit 4 notifies the first work area WA1 that the transport device 1 is performing the transfer operation. In this case, the worker H is prohibited from entering the first work area WA1. As a result, it is possible to avoid that the picking work of the worker H and the transfer operation of the transport device 1 are performed at the same position of the article storage shelf 2, and the safety of the worker H can be ensured. In this embodiment, the control device C is configured to be able to acquire position information and operation information of the transport device 1, and based on these information, specifies the work area WA where the transport device 1 is performing the transfer operation. Note that the control device C, for example, determines whether or not the transfer unit 13 of the transport device 1 is detected by the passing object detection sensor Se2 provided corresponding to each of the plurality of work areas WA. The work area WA where the loading operation is being performed may be specified.

As shown in FIG. 7, in the present embodiment, when the passing object Op is detected by the passing object detection sensor Se2 in the work area WA where the worker H is detected by the human detection sensor Se1, the control device C , the operation of the transport device 1 is stopped. In this example, when the passing object Op is detected as described above, the control device C stops all operations of the transport device 1 including the traveling operation and the transfer operation. That is, in this case, the up-and-down motion is also stopped in conjunction with the stop of the traveling motion. FIG. 7 shows an example in which a worker H exists in the first work area WA1. As shown in the lower diagram of FIG. 7, when the worker H is picking, the arm of the worker H or the article 9 handled by the worker H may protrude from the travel path side opening 23r. could be. In the example shown in FIG. 7, the arm of the worker H protrudes from the travel path side opening 23r and serves as the passing object Op. Even in such a case, according to the present embodiment, the operation of the transport device 1 is stopped, so that interference between the worker H and the transport device 1 can be avoided with high reliability.

On the other hand, in the work area WA where the worker H is not detected by the human detection sensor Se1, the control device C controls the operation of the transport device 1 even when the passing object Op is detected by the passing object detection sensor Se2. don't stop. In the example shown in the upper diagram of FIG. 7, the transfer device 1 is performing the transfer operation to the third work area WA3 where the worker H does not exist. Therefore, the transfer section 13 of the conveying device 1 is detected by the passing object detection sensor Se2 as the passing object Op passing through the travel path side opening 23r. However, since the worker H does not exist in the third work area WA3, according to the present embodiment, the transfer operation by the transport device 1 is continued even in such a case. As a result, it is possible to prevent the operation of the conveying device 1 from being stopped unnecessarily, and it is possible to prevent the operating rate of the equipment from being lowered.

In addition to the control configuration described above, the control device C may stop the operation of the conveying device 1 based on the detection result of the passing object detection sensor Se2 regardless of whether or not the worker H is present. That is, when the passing object detection sensor Se2 detects the passing object Op in a work area WA other than the work area WA where the transport device 1 is performing the transfer operation, the control device C controls the operation of the transport device 1. may be stopped. In this case, the control device C may grasp the work area WA where the conveying device 1 is performing the transfer operation and invalidate the detection of the passing object detection sensor Se2 in the work area WA. With such a control configuration, interference between the worker H and the transport device 1 can be avoided with high reliability, and unnecessary stoppage of the operation of the transport device 1 can be suppressed. can be suppressed.

Furthermore, in the present embodiment, as shown in FIG. 8, the control device C stops the operation of the conveying device 1 when the falling object Of is detected by the falling object detection sensor Se3. In this example, when the falling object Of is detected as described above, the control device C stops all the operations of the transport device 1 including the traveling operation and the transfer operation. That is, in this case as well, the lifting operation is stopped when the traveling operation is stopped. In the picking equipment 100, for example, due to a mistake by the worker H who is performing the picking work, or due to vibration of the article storage shelf 2 caused by an earthquake or the like, the tools and the articles 9 used by the worker H may be removed from the article storage shelf 2. It is possible that the falling object Of may fall on the side of the travel route R from the starting point. In the example shown in FIG. 8, an article 9 has fallen from the article storage shelf 2 and has become a fallen object Of. Even in such a case, according to the present embodiment, the operation of the conveying device 1 is stopped. and damage to the article 9 (falling object Of) can be appropriately avoided.

Next, a control procedure performed by the picking equipment 100 will be described with reference to FIG. Note that FIG. 9 shows a control procedure for a single work area WA or single transport area TA. Although detailed description is omitted, in the picking facility 100, the control procedure shown in FIG. 9 is implemented for each of a plurality of work areas WA or transport areas TA.

First, the control device C determines whether or not the worker H is detected in the work area WA (step #1). This determination is made based on information detected by the human detection sensor Se1. When the worker H is detected in the work area WA (step #1: Yes), the control device C permits the traveling operation with respect to the work area WA and prohibits the transfer operation with respect to the work area WA ( Step #2). On the other hand, when the worker H is not detected in the work area WA (step #1: No), the control device C permits both the traveling operation and the transfer operation with respect to the work area WA (step #3 ). Then, while the control device C causes the transfer device 1 to perform the transfer operation in the work area WA (step #4: Yes), the transfer work by the transfer device 1 is performed in the work area WA. The notification section 4 is made to notify that it is in a state where the user is in the state (step #5). On the other hand, when the control device C does not cause the transfer device 1 to perform the transfer operation in the work area WA (step #4: No), the transfer operation of the transfer device 1 is not performed. The notification unit 4 is notified of this (step #6).

Further, the control device C determines whether or not a passing object Op passing through the travel path side opening 23r of the article storage shelf 2 has been detected (step #7). This determination is made based on the information detected by the passing object detection sensor Se2. Note that, in the present embodiment, the control device C determines that the passing object Op has been detected when the passing object Op is detected in the work area WA where the worker H is present. When the control device C determines that the passing object Op has been detected (step #7: Yes), it stops the operation of the transport device 1 including the traveling operation and the transfer operation (step #8). On the other hand, when the passing object Op is detected in the work area WA where the worker H does not exist, or when the passing object Op is detected in the work area WA where the conveying device 1 is performing the transfer operation, the control device C If so, it is determined that the passing object Op has not been detected (step #7: No). This is because there is a high possibility that the passing object Op in that case is part of the transport device 1 during the transfer operation. Further, naturally, when nothing is detected by the passing object detection sensor Se2, the control device C determines that the passing object Op is not detected (step #7: No).

Further, the control device C determines whether or not a falling object Of falling on the floor surface F within the area sandwiched between the article storage shelf 2 and the traveling route R of the conveying device 1 has been detected (step #9). . This determination is made based on the information detected by the falling object detection sensor Se3. When the control device C determines that the falling object Of has been detected (step #9: Yes), it stops the operation of the transport device 1 including the traveling operation and the transfer operation (step #10).

Furthermore, in this embodiment, the control device C determines whether or not the conveying device 1 is abnormally stopped (step #11). The conveying device 1 may stop abnormally due to, for example, a defective transfer of the article 9 or a failure of a constituent part of the conveying device 1 . When the control device C detects such an abnormally stopped state of the conveying device 1 (step #11: Yes), the control device C causes the notification unit 4 to notify that the conveying device 1 is abnormally stopped (step #12).

[Other embodiments]
Next, another embodiment of the picking facility will be described.

(1) In the above-described embodiment, an example has been described in which the control device C stops the operation of the transport device 1 when the passing object Op is detected by the passing object detection sensor Se2. However, without being limited to such an example, when the passing object Op is detected by the passing object detection sensor Se2, for example, the control device C causes the conveying device 1 to retreat to a designated retreat location. Also good. In this case, the retreat location is preferably designated as a position where the conveying apparatus 1 can move without passing the position where the passing object Op is detected.

(2) In the above embodiment, an example was explained in which the control device C stops the operation of the transport device 1 when the falling object Of is detected by the falling object detection sensor Se3. However, without being limited to such an example, when the falling object Of is detected by the falling object detection sensor Se3, for example, the control device C causes the conveying device 1 to retreat to a designated retreat location. Also good. In this case, it is preferable that the evacuation point is designated as a position where the conveying apparatus 1 can move without passing the position where the falling object Of is detected.

(3) In the above embodiment, an example was explained in which the notification unit 4 was configured by a laminated signal lamp for visually notifying the operation status of the conveying device 1 . However, without being limited to such an example, the notification unit 4 includes, for example, a display unit, and is configured to visually notify the operation status of the conveying device 1 by displaying characters, sentences, symbols, or the like. can be Furthermore, the notification unit 4 is not limited to the configuration for visually notifying the operation status of the transport device 1, but for example, emits an alarm sound or an announcement sound to audibly notify the operation status of the transport device 1. It may be a configuration.

(4) In the above embodiment, the notification unit 4 is provided for each of the plurality of work areas WA, and each of the plurality of notification units 4 notifies the operation status of the transport device 1 for the corresponding work area WA. An example has been described that is configured to However, without being limited to such an example, one notification unit 4 is provided for a plurality of work areas WA, and the one notification unit 4 indicates the operation of the transport device 1 for the plurality of work areas WA. You may be comprised so that a situation may be alert|reported. Note that the notification unit 4 is not an essential component and may not be provided in the picking equipment 100 .

(5) In the above embodiment, the human detection sensor Se1 is provided for each of the plurality of work areas WA, and each of the plurality of human detection sensors Se1 detects the presence or absence of the worker H in the corresponding work area WA. Examples have been described that are configured to detect. However, without being limited to such an example, one human detection sensor Se1 is provided for a plurality of work areas WA, and the one human detection sensor Se1 detects a worker in each of the plurality of work areas WA. The presence or absence of H may be detected.

(6) In the above embodiment, an example in which the storage section 20 includes the fall control portion 20A has been described, but the fall control portion 20A is not an essential component.

(7) It should be noted that the configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments as long as there is no contradiction. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate without departing from the scope of the present disclosure.

[Overview of the above embodiment]
The picking equipment described above will be described below.

The picking equipment is
A conveying device that conveys articles by traveling in a traveling direction that is a direction along a prescribed traveling route;
an article storage shelf for storing articles;
A control device that controls the operation of the transport device,
The article storage shelf has a plurality of storage sections arranged along the traveling direction, and is configured to be able to store articles in each of the storage sections. has
The conveying device performs a traveling operation of traveling along the traveling route and a transferring operation of transferring the article to and from the storage section of the article storage shelf,
A plurality of work areas are provided for a worker who performs picking work on the article storage shelf,
a plurality of said work areas are arranged side by side in said travel direction in a region adjacent to said article storage shelf on a side opposite to said travel path side in said intersecting direction with said article storage shelf sandwiched therebetween;
A human detection sensor is provided for detecting the presence or absence of the worker in each of the plurality of work areas,
The control device permits both the transfer operation and the traveling operation of the transport device in the work area where the worker is not detected by the human detection sensor, For the work area where the worker is detected, the traveling operation of the conveying device is permitted, but the transfer operation is prohibited.

According to this configuration, since the transfer operation and the traveling operation by the transfer device are not restricted in the work area where no worker is present, the article can be transferred and transferred as usual. On the other hand, the transfer operation by the conveying device is restricted in the work area where workers are present. Interference between the worker and the transport device can occur when the picking operation of the worker and the transfer operation of the transport device are performed at the same position of the article storage shelf. According to this configuration, since the transfer operation of the transport device to the work area where the worker is present is restricted, it is possible to reliably avoid interference between the worker and the transport device. Therefore, worker safety can be ensured. On the other hand, the traveling motion of the conveying device is not limited to the work area where the worker is present. Therefore, for example, when the conveying device performs an operation of conveying an article to a location corresponding to a work area in which no worker exists on an article storage shelf, the article is conveyed so as to pass through a location corresponding to the work area where a worker exists. Since the device can be run, the operation of the transport device can be continued without stopping. Therefore, compared with the case where all the operations of the conveying device are stopped, it is possible to suppress a decrease in the operation rate of the facility. Therefore, according to this configuration, it is possible to suppress a decrease in the operating rate of the facility while ensuring the safety of the worker.

here,
A passing object detection sensor for detecting a passing object that has passed through an opening on the travel path side of the article storage shelf is provided corresponding to each of the plurality of work areas,
Preferably, the control device stops the operation of the conveying device when the passing object is detected by the passing object detection sensor in the work area where the worker is detected by the human detection sensor. .

In a work area where a worker is detected by a human detection sensor, a passing object that has passed through an opening on the travel path side of an article storage shelf protrudes toward the travel route from the article storage shelf due to the work of the worker. likely to be. According to this configuration, when such a passing object is detected, the operation of the conveying device including the traveling operation is stopped, so that interference between the operator and the conveying device can be avoided with high certainty. Therefore, according to this configuration, it is possible to ensure the safety of the operator more appropriately.

again,
A passing object detection sensor for detecting a passing object that has passed through an opening on the travel path side of the article storage shelf is provided corresponding to each of the plurality of work areas,
When the passing object detection sensor detects the passing object in the work area other than the work area in which the transport device is performing the transfer operation, the control device causes the transport device to operate. It is preferable to stop.

In the work area where the transport device is performing the transfer operation, the transport device during the transfer operation or the article transferred by the transport device will be detected as a passing object, but in other work areas When the passing object detection sensor detects a passing object, there is a high possibility that something other than the object caused by the transfer operation of the conveying device has protruded toward the travel route from the article storage shelf. According to this configuration, when such a passing object is detected, the operation of the conveying device including the traveling operation is stopped. It is also possible to appropriately avoid damage to the conveying device due to collision with an object protruding toward the traveling path. Therefore, according to this configuration, it is possible to ensure the safety of the operator more appropriately and to protect the conveying device.

again,
A falling object detection sensor is provided for detecting a falling object, which is an object that has fallen on a floor surface in a region sandwiched between the article storage shelf and the travel route of the conveying device,
Preferably, the control device stops the operation of the conveying device when the falling object is detected by the falling object detection sensor.

Objects falling on the floor in the area closer to the travel route than the article storage rack may interfere with the conveying device in operation. According to this configuration, the operation of the conveying device is stopped when the falling object detection sensor detects a falling object in the area sandwiched between the article storage shelf and the traveling path of the conveying device. Therefore, it is possible to appropriately avoid damage to the conveying device and the falling object due to interference between the conveying device and the falling object during operation.

again,
A notification unit is provided for notifying the operation status of the transport device in each of the plurality of work areas,
It is preferable that the notification unit notifies at least the work area in which the transport device is performing the transfer operation.

According to this configuration, it is possible to notify the worker of the work area where the transport device is performing the transfer operation, and to call attention to the worker. Therefore, according to this configuration, it is possible to prevent the worker from entering the work area where the conveying device is performing the transfer operation, and it is possible to ensure the safety of the worker more appropriately.

again,
The article storage shelf and the travel locus are arranged such that the distance from the opening of the article storage shelf on the work area side to the travel locus of the conveying device in the cross direction is equal to or longer than the arm length of the worker. Advantageously, a buffer area is provided between the

According to this configuration, even if the worker accidentally extends his or her arm toward the travel path side of the article storage rack, interference between the worker's arm and the conveying device during travel is avoided. .

again,
It is preferable that the storage section includes a drop control section that controls the drop of the stored articles toward the travel path.

According to this configuration, it is possible to reduce the possibility that the articles stored in the storage section will fall toward the traveling path side of the article storage shelf.

The technology according to the present disclosure can be used for picking equipment.

100 : Picking equipment 1 : Conveyor 2 : Article storage shelf 20 : Storage unit 20A : Fall control unit 23 : Opening 4 : Notification unit 9 : Article C : Control device Se1 : Human detection sensor Se2 : Passing object detection sensor Se3 : Drop Object detection sensor H: Worker F: Floor surface WA: Work area BA: Buffer area Of: Falling object Op: Passing object R: Traveling path X: Traveling direction Y: Intersecting direction

Claims (5)

A conveying device that conveys articles by traveling in a traveling direction that is a direction along a prescribed traveling route;
an article storage shelf for storing articles;
A control device that controls the operation of the transport device,
The article storage shelf has a plurality of storage sections arranged along the traveling direction, and is configured to be able to store articles in each of the storage sections. has
The conveying device performs a traveling operation of traveling along the traveling route and a transferring operation of transferring the article to and from the storage section of the article storage shelf,
A plurality of work areas are provided for a worker who performs picking work on the article storage shelf,
a plurality of said work areas are arranged side by side in said travel direction in a region adjacent to said article storage shelf on a side opposite to said travel path side in said intersecting direction with said article storage shelf sandwiched therebetween;
A human detection sensor is provided for detecting the presence or absence of the worker in each of the plurality of work areas,
The control device permits both the transfer operation and the traveling operation of the transport device in the work area where the worker is not detected by the human detection sensor, permitting the traveling operation of the conveying device but prohibiting the transfer operation in the work area where the worker is detected ;
A passing object detection sensor for detecting a passing object that has passed through an opening on the travel path side of the article storage shelf is provided corresponding to each of the plurality of work areas,
When the passing object is detected by the passing object detection sensor in the work area where the worker is detected by the human detection sensor, the control device stops the operation of the conveying device and detects the worker. The picking equipment, wherein in the work area where the worker is not detected by the detection sensor, the operation of the conveying device is not stopped even when the passing object is detected by the passing object detection sensor. The article storage shelf and the travel locus are arranged such that the distance from the opening of the article storage shelf on the work area side to the travel locus of the conveying device in the cross direction is equal to or longer than the arm length of the worker. 2. The picking facility of claim 1 , wherein a buffer area is provided between and. A falling object detection sensor is provided for detecting a falling object, which is an object that has fallen on a floor surface in a region sandwiched between the article storage shelf and the travel route of the conveying device,
The falling object detection sensor is provided in the buffer area,
3. The picking facility according to claim 2 , wherein the control device stops the operation of the conveying device when the falling object is detected by the falling object detection sensor. A notification unit is provided for notifying the operation status of the transport device in each of the plurality of work areas,
The picking facility according to any one of claims 1 to 3 , wherein the notification unit notifies at least the work area in which the transport device is performing the transfer operation. The picking equipment according to any one of claims 1 to 4 , wherein the storage unit includes a drop control unit that controls the stored articles from falling toward the traveling path.

Images