JP7377141B2 - automatic warehouse system - Google Patents

Description

The present invention relates to an automatic warehouse system.

Automated warehouse systems that can efficiently store and unload a large number of cargo in a small space are known. The present applicant discloses an automatic warehouse system equipped with a plurality of storage shelves capable of storing a plurality of articles in Patent Document 1. This automated warehouse system is configured to carry in and out articles between storage shelves using a transport vehicle that is movable in the column direction and a stacker crane that is movable in the row direction.

Japanese Patent Application Publication No. 2017-160040

The present inventors have obtained the following knowledge regarding the automated warehouse system.
In automated warehouses, in order to take out the cargo stored at the back of the storage shelf, the task of transferring the cargo placed in front of that row to another row (hereinafter referred to as "rearrangement") is performed. be exposed. In this case, a transport truck and a stacker crane are used to transport the load at the transport source to the storage section at the transport destination. Rearrangement, which changes the arrangement of stored loads, may be performed in other cases, such as when implementing a first-in, first-out system.

However, when performing rearrangement, depending on the movement route, the time required for rearrangement may become longer, or the distance traveled by the transport vehicle during rearrangement may become longer. When performing rearrangement, the automated warehouse will stop shipping and receiving until the operation is completed, so if the time required for rearrangement is long, the warehouse's operating efficiency will decrease accordingly. There is. Further, when the traveling distance of the transport vehicle is long, the charging rate of the battery of the transport vehicle decreases quickly according to the distance, and the charging frequency increases. Since the transport vehicle does not operate while the battery is being charged, there is a problem in that the operating efficiency of the warehouse decreases as the charging frequency increases.
Based on these findings, the present inventors recognized that there is room for improvement in the automated warehouse system from the viewpoint of optimizing the movement route for rearrangement and improving the operating efficiency of the warehouse.

The purpose of the present invention was made in view of such problems, and it is an object of the present invention to provide an automated warehouse system that can improve operating efficiency.

In order to solve the above problems, an automatic warehouse system according to an aspect of the present invention is an automatic warehouse system, which includes a first truck loaded with cargo and moved in a first direction; When moving a predetermined load from the first position to the second position using both the first and second carts, the first route and the first route and a control unit that controls the first and second carts to move a predetermined load along either of the routes.

According to this aspect, either the first route or the second route can be selected.

Another aspect of the invention is also an automated warehouse system. This automated warehouse system is an automated warehouse system, and includes a first cart loaded with cargo and moved in a first direction, and a second cart loaded with the first cart and moved in a second direction intersecting the first direction. , and a control unit that controls movement of the first and second carts so that the time required to move the load is shortened.

Yet another aspect of the invention is also an automated warehouse system. This automated warehouse system is an automated warehouse system, and includes a first cart loaded with cargo and moved in a first direction, and a second cart loaded with the first cart and moved in a second direction intersecting the first direction. , a control unit that controls the movement of the first and second carts so that the distance that the first cart moves in the first direction is shortened.

Note that arbitrary combinations of the above-mentioned components and mutual substitution of the components and expressions of the present invention between methods, systems, etc. are also effective as aspects of the present invention.

According to the present invention, it is possible to provide an automated warehouse system that can improve operating efficiency.

1 is a plan view schematically showing an example of an automated warehouse system according to an embodiment. 2 is a plan view showing the arrangement of storage shelves of the automated warehouse system of FIG. 1. FIG. 2 is a side view schematically showing the automated warehouse system of FIG. 1. FIG. FIG. 2 is a side view showing the arrangement of storage shelves in the automated warehouse system of FIG. 1; 2 is a plan view schematically showing an example of a first cart of the automated warehouse system of FIG. 1. FIG. FIG. 6 is a front view of the first truck in FIG. 5; 2 is a plan view schematically showing an example of a second cart of the automated warehouse system of FIG. 1. FIG. FIG. 8 is a front view of the second truck in FIG. 7; 2 is a route diagram illustrating a first mode operation of the automated warehouse system of FIG. 1. FIG. It is a flowchart of a 1st mode operation. 3 is a time chart schematically showing a first mode operation. 2 is a route diagram illustrating a second mode operation of the automated warehouse system of FIG. 1. FIG. It is a flowchart of a 2nd mode operation. 3 is a time chart schematically showing a second mode operation. 2 is a route diagram illustrating a third mode of operation of the automated warehouse system of FIG. 1. FIG. It is a flowchart of 3rd mode operation. 12 is a time chart schematically showing a third mode operation. 2 is a route diagram illustrating a fourth mode of operation of the automated warehouse system of FIG. 1. FIG. It is a flowchart of a 4th mode operation. 12 is a time chart schematically showing a fourth mode operation. 2 is a route diagram illustrating a fifth mode of operation of the automated warehouse system of FIG. 1. FIG. It is a flowchart of a 5th mode operation. 12 is a time chart schematically showing a fifth mode operation. FIG. 2 is a route diagram illustrating a sixth mode of operation of the automated warehouse system of FIG. 1; It is a flowchart of 6th mode operation. 12 is a time chart schematically showing a sixth mode operation. FIG. 2 is a route diagram illustrating a seventh mode of operation of the automated warehouse system of FIG. 1; It is a flowchart of 7th mode operation. 12 is a time chart schematically showing a seventh mode operation. FIG. 2 is a route diagram illustrating an eighth mode of operation of the automated warehouse system of FIG. 1; It is a flowchart of 8th mode operation. 12 is a time chart schematically showing an eighth mode operation. FIG. 3 is a route diagram illustrating a ninth mode of operation of the automated warehouse system of FIG. 1; It is a flowchart of 9th mode operation. 12 is a time chart schematically showing a ninth mode operation. FIG. 2 is a route diagram illustrating a tenth mode of operation of the automated warehouse system of FIG. 1; It is a flowchart of 10th mode operation. 10 is a time chart schematically showing a tenth mode operation.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments, comparative examples, and modified examples, the same or equivalent components and members are given the same reference numerals, and redundant explanations will be omitted as appropriate. Further, the dimensions of members in each drawing are shown enlarged or reduced as appropriate to facilitate understanding. Further, in each drawing, some members that are not important for explaining the embodiments are omitted.
Also, although ordinal terms such as first, second, etc. are used to describe various components, these terms are used only to distinguish one component from another; The components are not limited by this.

[Embodiment]
The configuration of an automated warehouse system 100 according to an embodiment will be described with reference to FIGS. 1 to 4. FIG. 1 is a plan view schematically showing an example of an automated warehouse system 100 according to an embodiment. FIG. 2 is a plan view showing the arrangement of the storage shelves 22 of the automated warehouse system 100. FIG. 3 is a side view schematically showing the automated warehouse system 100. FIG. 4 is a side view showing the arrangement of the storage shelves 22 of the automated warehouse system 100. In these figures, descriptions of columns, beams, etc. are omitted.

For convenience of explanation, as shown in the figure, an XYZ orthogonal coordinate system is used in which a certain horizontal direction is the X-axis direction, a horizontal direction perpendicular to the X-axis direction is the Y-axis direction, and a direction perpendicular to both, that is, a vertical direction is the Z-axis direction. Establish. The positive direction of each of the X, Y, and Z axes is defined in the direction of the arrow in each figure, and the negative direction is defined in the direction opposite to the arrow. Further, the X-axis direction is sometimes referred to as the "left-right direction," the positive side of the X-axis is sometimes referred to as the "right side," and the negative side of the X-axis is sometimes referred to as the "left side." Further, the Y-axis direction may be referred to as the "front-back direction," the positive direction of the Y-axis may be referred to as the "front side," and the negative direction of the Y-axis may be referred to as the "rear side." Further, the Z-axis direction is sometimes referred to as the "up-down direction," the positive side of the Z-axis is sometimes referred to as "upper side," and the negative side of the Z-axis is sometimes referred to as "lower side." Such directional notation does not limit the configuration of the automated warehouse system 100, and the automated warehouse system 100 can be used in any configuration depending on the application. Note that although the following description will be made using an XYZ orthogonal coordinate system, the X-axis direction, Y-axis direction, and Z-axis direction do not necessarily have to be orthogonal to each other as long as they intersect at approximately 90 degrees.

First, the overall configuration of the automated warehouse system 100 will be explained. The automated warehouse system 100 is a system that includes a storage shelf 22 that can store a large number of items 12. The automated warehouse system 100 includes a storage shelf section 22, a first trolley 14, a second trolley 16, a first rail 40, a second rail 44, a lifting mechanism 48, a power supply section 34, and a control section 18. , a reception section 30, and a mode setting section 32. In the embodiment, the Y-axis direction is illustrated as the first direction, and the X-axis direction is illustrated as the second direction. In the storage shelf section 22, the first rail 40 extends in the Y-axis direction, and the second rail 44 and the power supply section 34 extend in the X-axis direction.

The control unit 18 includes an MPU (Micro Processing Unit) and the like, and controls the movement of the load 12 based on the operation result from the user. The control unit 18 can control the movement of the first cart 14 and the second cart 16 and the operation of the lifting mechanism 48 in order to control the movement of the load 12. The receiving unit 30 functions as a receiving unit that sequentially receives requests for moving cargo such as rearrangement. The reception unit 30 provides the reception result to the control unit 18. The mode setting section 32 is a setting means for setting the operation mode of the automated warehouse system 100. The mode setting unit 32 of this embodiment can set the first to tenth modes of operation. The mode setting section 32 provides the setting result to the control section 18.

In the embodiment, the load 12 is handled on a pallet (not shown), but the present invention is not limited to this, and the load 12 may be handled alone without using a pallet. Note that transporting the load 12 on a pallet is simply referred to as transporting the load 12.

(Storage shelf)
The storage shelf section 22 is installed on the floor Lg and is a so-called high-density storage type storage space that can store a large number of items 12. The configuration of the storage shelf section 22 is not particularly limited as long as it can accommodate and store a plurality of items 12. The automated warehouse system 100 has N (N≧2) storage shelves 22 stacked in layers in the vertical direction. This embodiment has three storage shelves 22. The N storage shelves 22 stacked in layers are referred to as a storage shelf group 20. Note that the first storage shelf 22 closest to the floor Lg is simply referred to as "first tier", the second storage shelf 22 is simply referred to as "second tier", and the third tier storage shelf 22 is simply referred to as "second tier". is sometimes simply referred to as the "third stage."

Each storage shelf section 22 includes a plurality of (eg, eight) storage rows 24 arranged in the X-axis direction, and each storage row 24 includes a plurality of storage sections 26 connected in the Y-axis direction. The storage unit 26 is a unit that stores the cargo 12. At the end of each storage row 24 on the second rail 44 side, an entrance/exit section for loading/unloading the cargo 12 is provided.

The first rail 40 extends in the Y-axis direction in each storage row 24. The second rail 44 extends in the X-axis direction so as to cross each storage row 24. When the first rail 40 and the second rail 44 are collectively referred to, they are simply referred to as rails. The first rail 40 is supported by a first support member 42, and the second rail 44 is supported by a second support member 46.

In this embodiment, two sets of second rails 44 are provided that are spaced apart in the Y-axis direction. In order to distinguish the two sets of second rails 44, they are referred to as second rails 44A and 44B, respectively. The second rail 44A is provided near the rear end of the storage row 24. The second rail 44B is provided on the front side across the four storage sections 26 from the second rail 44A. Two storage sections 26 are provided on the front side of the second rail 44B, and the second rail 44B is sandwiched between four storage sections 26 and two storage sections 26. With this configuration, in this embodiment, a route selected from a route using the second bogie 16A running on the second rail 44A and a route using the second bogie 16B running on the second rail 44B is selected. Accordingly, the load 12 can be transferred from the storage section 26 at the first position to the storage section 26 at another second position.

The lifting mechanism 48 is a lifting mechanism that lifts and lowers the first cart 14 carrying the cargo 12 between the storage shelves 22 of a plurality of stages. This embodiment has two lifting mechanisms 48 provided at the ends of two sets of second rails 44. In order to distinguish between the two elevating mechanisms 48, the one provided at the end of the second rail 44A is called an elevating mechanism 48A, and the one provided at the end of the second rail 44B is called an elevating mechanism 48B.

The first truck 14 runs on the first rail 40 in the Y-axis direction. The second truck 16 runs on the second rail 44 in the X-axis direction. When the first truck 14 and the second truck 16 are collectively referred to, they may simply be referred to as a "truck." Further, the first truck 14, the second truck 16, the first rail 40, the second rail 44, and the lifting mechanism 48 may be collectively referred to as an "internal transport mechanism."

(1st truck)
Next, the first truck 14 will be explained with reference to FIGS. 5 and 6 as well. FIG. 5 is a plan view schematically showing an example of the first truck 14. As shown in FIG. FIG. 6 is a front view of the first truck 14. The first truck 14 runs on the first rail 40 in the Y-axis direction in the storage row 24 in order to transport the load 12 . The first cart 14 takes the load 12 into and out of the storage section 26. The first truck 14 travels on the second truck 16 in the Y-axis direction in order to get on and off the second truck 16.

The first trolley 14 mainly includes a vehicle body 14b, a mounting table 14c, a lift mechanism 14d, and a plurality of (for example, four) wheels 14f. The vehicle body 14b has a substantially rectangular parallelepiped profile that is flat in the vertical direction. A motor (not shown) that drives a plurality of wheels 14f, a control circuit (not shown) that controls this motor, and a battery 14g are mounted inside the vehicle body 14b. The first truck 14 is configured to drive a motor using electric power from a battery 14g. The battery is a rechargeable secondary battery such as a lithium ion battery. The battery 14g of this embodiment is charged by the second cart 16 while being placed on the second cart 16.

The mounting table portion 14c is a portion that lifts and holds the load 12. The lift mechanism 14d is a mechanism that raises and lowers the mounting table 14c. In FIG. 6, the mounting table part 14c in the raised state is shown by a broken line, and the mounting table part 14c in the lowered state is shown by a solid line. The lift mechanism 14d can raise the mounting table section 14c and lift the load 12 from the mounting surface of the storage section 26. The lift mechanism 14d can lower the mounting table section 14c and lower the load 12 onto the mounting surface of the storage section 26. The plurality of wheels 14f can roll on the first rail 40 and the second truck 16.

(Second truck)
Next, the second truck 16 will be explained with reference to FIGS. 7 and 8 as well. FIG. 7 is a plan view schematically showing an example of the second truck 16. As shown in FIG. FIG. 8 is a front view of the second truck 16, showing a state in which the first truck 14 is mounted. The second truck 16 runs on the second rail 44 in the X-axis direction. The second cart 16 transports the first cart 14 in an empty state or in a state in which a load 12 is loaded.

The second truck 16 mainly includes a truck mounting section 16c, a mechanism storage section 16d, a plurality of (for example, four) wheels 16f, and a current collection unit 38. The truck mounting portion 16c is for mounting the first truck 14. The mechanism storage section 16d is provided on both sides of the truck mounting section 16c in the X-axis direction. The trolley mounting portion 16c and the mechanism storage portion 16d are collectively referred to as the vehicle body 16b.

(Truck mounting part)
The truck mounting portion 16c is recessed downward from the upper surface of the vehicle body 16b, and the vehicle body 16b has a concave shape when viewed from the side. The trolley mounting portion 16c has a substantially plate shape that is thinner in the Z-axis direction than in the Y-axis direction width and the X-axis direction width. The truck mounting portion 16c is a part of the travel path along which the first truck 14 travels in the Y-axis direction. The size of the trolley mounting section 16c is determined by adding a sufficient margin to the size of the first trolley 14 so that the first trolley 14 can travel in the Y-axis direction without interfering with the surroundings of the trolley mounting section 16c. considered to be large.

(Mechanism storage part)
The mechanism housing portion 16d is thicker in the Z-axis direction than the truck mounting portion 16c, and has a substantially rectangular parallelepiped shape that protrudes upward on both sides of the truck mounting portion 16c. The mechanism housing section 16d has a pair of side walls 16j that sandwich the space above the trolley mounting section 16c in the X-axis direction. The pair of side wall portions 16j face the side wall of the vehicle body of the first truck 14 with a gap in between in the X-axis direction. A motor (not shown) that drives the wheel 16f and a control circuit (not shown) that controls this motor are mounted inside the mechanism housing portion 16d.

The wheels 16f run on the second rail 44. The current collecting unit 38 receives power by contacting the power feeding section 34 (see also FIG. 1) that extends in the vicinity of the second rail 44 along the X-axis direction. The second truck 16 receives power from the power supply unit 34 via its current collection unit 38 . The second truck 16 is configured to drive a motor using the received electric power. The second truck 16 can charge the battery 14g of the first truck 14 using the received power.
The above is a description of the overall configuration of the automated warehouse system 100.

(Loading/unloading operation)
Next, with reference to FIG. 1, the loading and unloading operations of the automated warehouse system 100 will be described. The automated warehouse system 100 carries in cargo 12 from outside the warehouse using a forklift (not shown) or the like. The automated warehouse system 100 transports the loaded cargo 12 to a predetermined storage section 26 using the first cart 14 and the second cart 16 and stores it therein. The automated warehouse system 100 transfers the cargo 12 stored in a predetermined storage section 26 using the first cart 14 and the second cart 16, and carries out the transferred cargo 12 outside the warehouse using a forklift or the like.

Next, an example of a mode that can be executed by the automated warehouse system configured as described above will be explained.

(1st mode operation)
An example of the first mode operation will be described with reference to FIGS. 9 to 11. FIG. 9 is a route diagram illustrating the first mode operation S110. In this figure, each storage section 26 of the storage shelf section 22 in a plan view is schematically shown as a grid. Columns A to H indicate rows of squares corresponding to the storage units 26 arranged in the front-back direction. Furthermore, the first row, the second row, and the fourth to seventh rows indicate the rows of squares corresponding to the storage units 26 arranged in the left-right direction. Further, in order to distinguish the plurality of first carts 14, they are referred to as first carts 14A and 14B. Further, in order to distinguish the plurality of second carts 16, they are referred to as second carts 16A and 16B. Further, to distinguish the plurality of loads 12, they are referred to as loads 12A and 12B.

Further, in this figure, the third line shows the running path (second rail 44B) on which the second bogie 16B runs, and the eighth line shows the running path (second rail 44A) on which the second bogie 16A runs. The travel paths of the third and eighth rows are referred to as "left and right passages", and moving along the left and right passages is sometimes referred to as "left and right movement". Furthermore, the rows of storage units 26 arranged in the front-rear direction, such as rows A to H, are referred to as "front-rear passages," and moving through the front-rear passages is sometimes referred to as "back-and-forth movement." In this figure, the positions of the cargo 12 and the cart are indicated by the row and column names of the squares, such as "A1".

In the following description, for convenience, the unit of time will be expressed as "t" and the unit of distance will be expressed as "d". "1t" represents the time it takes for the cart to move one square, and "1d" represents the distance that the cart moves one square.

FIG. 10 is a flowchart of the first mode operation S110. FIG. 11 is a time chart schematically showing the first mode operation S110. In this figure, the horizontal axis indicates elapsed time (unit: t), 14A and 14B indicate the position of the first truck, and 12A and 12B indicate the position of the load 12. Further, in this figure, a thick white arrow indicates a state in which the second cart 16 is running with the first cart 14 on it, and a thin arrow indicates a state in which the first cart 14 is running on its own.

In this description, moving the load 12 based on an instruction to move the load 12 is referred to as a task. The receiving unit 30 of this embodiment receives the tasks for moving the cargo 12 in the order in which they are moved. The receiving unit 30 may be, for example, an operating terminal (not shown) or a higher-level information processing device (not shown). The reception unit 30 provides the received movement task to the control unit 18. The control unit 18 generates a sequence for operating a cart or the like based on the provided task. The control unit 18 operates the cart etc. based on the generated sequence.

In the explanation of the first to third modes, the first task is to transfer cargo 12A stored in C6 to E8, and the second task is to transfer cargo 12B stored in G6 to A7, in this order. The behavior in this case is shown below.

The first mode operation S110 is executed when an instruction to rearrange the loads 12 is received while the first mode operation is set. The control rules for the first mode will be explained. In the first mode, of the second carts in the eighth row and the third row, the second cart located closest to the starting point of transferring the load 12 is used. In addition, in this mode, if the first task and the second task do not conflict, the first task and the second task are executed in parallel, and if they conflict, the first task and the second task are executed first. Tasks that receive instructions are executed with priority.

Since this embodiment has a plurality of left and right passages movable by the second cart 16, the control unit 18 can select a movement route that passes through a desired passage from the plurality of left and right passages. Particularly, when moving a predetermined load from the storage section 26 at the first position to the storage section at the second position using both the first cart 14 and the second cart 16, the control section 18 controls the first route and the storage section 26 at the second position. A predetermined load can be controlled to be moved along either one of the first route and a second route different from the first route. Moreover, in the description of this embodiment, the load 12A and the load 12B are illustrated as the predetermined loads defined in the claims.

When the first mode operation S110 is started, the control unit 18 selects the route of the first task received earlier (step S111). In this step, of the two routes, the route that passes through the eighth row using the second cart 16A that is closer to the starting point C6 is selected.

After completing step S111, the control unit 18 selects the route of the second task (step S112). In this step, a route passing through the 8th row using the second truck 16A that is closer to the starting point G6 between the 8th row and the 3rd row is selected. In this case, since the first task and the second cart 16A compete with each other, the control unit 18 determines the sequence so that the second task is executed after the first task is completed.

(1st task)
(T1-1) After completion of step S112, in the first task, the control unit 18 controls the first cart 14A and the second cart 16A to move the first cart 14A from H8 to C6 (step S113) . As shown in FIG. 11, the total moving distance of the cart in this step (hereinafter simply referred to as "moving distance") is 7 d, and the time required for moving the cart (hereinafter referred to as "moving time") is 7 t.

(T1-2) After completing step S113, the control unit 18 controls the first cart 14A and the second cart 16A to move the load 12A from C6 to E6 (step S114). As shown in FIG. 11, the moving distance in this step is 6d, and the moving time is 6t. The first task is now complete. The travel distance of the first task is 13d, and the travel time is 13t.

(Second task)
(T2-1) After completion of step S114, in the second task, the control unit 18 controls the first cart 14A and the second cart 16A to move the first cart 14A from E6 to G6 (step S115) . As shown in FIG. 11, the moving distance in this step is 6d, and the moving time is 6t.
(T2-2) After completing step S115, the control unit 18 controls the first cart 14A and the second cart 16A to move the load 12B from G6 to A7 (step S116). As shown in FIG. 11, the moving distance in this step is 9d, and the moving time is 9t. The second task is now complete. The movement distance of the second task is 15d, and the movement time is 15t. Further, as shown in FIG. 11, the total moving distance of the first task and the second task is 28 d, and the moving time is 28 t.

(Second mode operation)
Next, an example of the second mode operation will be described with reference to FIGS. 12 to 14. In the second mode, the control unit 18 controls the movement of the first and second carts 14 and 16 so that the time required to move the load 12 is shorter than in the first mode. FIG. 12 is a route diagram illustrating the second mode operation S120. FIG. 13 is a flowchart of the second mode operation S120. FIG. 14 is a time chart schematically showing the second mode operation S120. In this explanation, redundant explanations will be omitted regarding matters common to the first mode, and differences will be mainly shown.

The second mode operation S120 is executed when an instruction to rearrange the loads 12 is received while the second mode operation is set. The control rules for the second mode will be explained. In the second mode, of the second carts in the eighth row and the third row, the second cart located closest to the starting point of transferring the load 12 is used.

Furthermore, in this mode, if a route passing through a plurality of left and right passages can be selected, the travel time for each is calculated, and the route passing through the left and right passages with the shortest travel time is selected based on the comparison result. Therefore, the movement route in the second mode exemplifies the second route, and the total time required for moving the loads 12A and 12B is shorter than the movement route in the first mode that exemplifies the first route. Of the first task and the second task, the first task which received the instruction first takes priority and selects the left and right passages. Also, in this mode, the second task uses the left and right passages that the first task does not use. Further, in this mode, if the first task and the second task do not compete, the first task and the second task are executed in parallel.

When the second mode operation S120 is started, the control unit 18 selects the route of the first task received earlier (step S121). In this step, of the two routes, the route that passes through the eighth row using the second cart 16A that is closer to the starting point C6 is selected.

After completing step S121, the control unit 18 selects the route of the second task (step S122). In this step, a route that passes through the third row using the second cart 16B that does not compete with the first task is selected between the eighth row and the third row. In this example, the first task and the second task are executed in parallel because the routes do not conflict.

(1st task)
(T1-1) After completion of step S122, in the first task, the control unit 18 controls the first cart 14A and the second cart 16A to move the first cart 14A from H8 to C6 (step S123) . As shown in FIG. 14, the moving distance in this step is 7d, and the moving time is 7t.

(T1-2) After completing step S123, the control unit 18 controls the first cart 14A and the second cart 16A to move the load 12A from C6 to E6 (step S124). As shown in FIG. 14, the moving distance in this step is 6d, and the moving time is 6t. The first task is now complete. The travel distance of the first task is 13d, and the travel time is 13t.

(Second task)
(T2-1) After completion of step S124, in the second task, the control unit 18 controls the first cart 14B and the second cart 16B to move the first cart 14B from H3 to G6 (step S125) . As shown in FIG. 14, the moving distance in this step is 4d, and the moving time is 4t.

(T2-2) After completing step S125, the control unit 18 controls the first cart 14B and the second cart 16B to move the load 12B from G6 to A7 (step S126). As shown in FIG. 14, the moving distance in this step is 13d, and the moving time is 13t. The second task is now complete. The movement distance of the second task is 17d, and the movement time is 17t.

In the second mode, the first task and the second task are executed in parallel, so as shown in FIG. 14, the first task is completed first and the second task is completed, thereby completing the entire task. Therefore, the total travel time in this mode is 17t, which is shorter than 28t in the first mode, and can be executed at high speed.

(3rd mode operation)
Next, an example of the third mode operation will be described with reference to FIGS. 15 to 17. In the third mode, the control unit 18 controls the movement of the first and second carts 14 and 16 so that the movement time of the load 12 is shorter than in the second mode. FIG. 15 is a route diagram illustrating the third mode operation S130. FIG. 16 is a flowchart of the third mode operation S130. FIG. 17 is a time chart schematically showing the third mode operation S130. In this explanation, redundant explanations will be omitted regarding matters common to the second mode, and differences will be mainly shown.

The third mode operation S130 is executed when an instruction to rearrange the loads 12 is received while the third mode operation is set. The control rules for the third mode will be explained. In the third mode, if a route passing through a plurality of left and right passages can be selected, the travel time for each is calculated, and the route passing through the left and right passages with a short travel time is selected based on the comparison result. Furthermore, in this mode, tasks that require a shorter total travel time are executed with priority, regardless of the order in which instructions are received. In this example, the travel time of the sequence giving priority to the first task and the travel time of the sequence giving priority to the second task are calculated, and based on the comparison results, the sequence with the shorter travel time is executed. That is, in this mode, the control unit 18 can change and replace the order in which the articles 12 are moved, and changes the order in which the articles 12 are moved so that the total moving time is shortened. Furthermore, in this mode, the non-priority task uses the left and right paths that are not used by the priority task, so that the first task and the second task are executed in parallel.

When the third mode operation S130 is started, the control unit 18 calculates the travel time when giving priority to the first task and the travel time when giving priority to the second task, and calculates the travel time when giving priority to the first task and the travel time when giving priority to the second task. to select a movable sequence (step S131). In this case, a sequence giving priority to the second task is selected.

After completing step S131, the control unit 18 selects the route of the second task to be prioritized (step S132). In this step, between the eighth row and the third row, a route passing through the eighth row is selected using the second truck 16A that is closer to the starting point G6.

After completing step S132, the control unit 18 selects the route of the first task (step S133). In this step, a route passing through the third row using the second cart 16B that does not conflict with the second task is selected between the eighth row and the third row. In this example, the first task and the second task are executed in parallel because the routes do not conflict.

(1st task)
(T1-1) After completion of step S133, in the first task, the control unit 18 controls the first cart 14B and the second cart 16B to move the first cart 14B from H3 to C6 (step S134) . As shown in FIG. 17, the moving distance in this step is 8d, and the moving time is 8t.

(T1-2) After completing step S134, the control unit 18 controls the first cart 14B and the second cart 16B to move the load 12A from C6 to E6 (step S135). As shown in FIG. 17, the moving distance in this step is 8d, and the moving time is 8t. The first task is now complete. The travel distance of the first task is 16d, and the travel time is 16t.

(Second task)
(T2-1) After step S133 is completed, in the second task, the control unit 18 controls the first cart 14A and the second cart 16A to move the first cart 14A from H8 to G6 (step S136) . As shown in FIG. 17, the moving distance in this step is 3d, and the moving time is 3t.

(T2-2) After completing step S136, the control unit 18 controls the first cart 14A and the second cart 16A to move the load 12B from G6 to A7 (step S137). As shown in FIG. 17, the moving distance in this step is 9d, and the moving time is 9t. The second task is now complete. The movement distance of the second task is 12d, and the movement time is 12t.

In the third mode, the first task and the second task are executed in parallel, so as shown in FIG. 17, the second task is completed first, and the entire task is completed when the first task is completed. Therefore, the total moving time in this mode is 16 t, which is shorter than 28 t in the first mode and 17 t in the second mode, and among these, the time required for moving the load is the shortest.

Next, the fourth to eighth mode operations will be explained. In the above description of each mode, an example of control was given in which priority is given to high-speed operation to shorten the travel time of the cart, but the present invention is not limited to this. The automated warehouse system 100 may be controlled to give priority to the energy-saving operation of the first trolley 14.

The battery 14g of the first truck 14 is charged when it is mounted on the second truck 16, and discharged while it is self-propelled in the front-rear direction. Therefore, in order to suppress a decrease in the charging rate of the battery 14g of the first truck 14, the distance that the first truck 14 moves by itself in the front and back direction (hereinafter referred to as "self-traveling distance") is shortened. This is desirable. The operations in the fourth to eighth modes will be described below from the viewpoint of shortening the self-traveling distance of the first truck 14.

(4th mode operation)
An example of the fourth mode operation will be described with reference to FIGS. 18 to 20. FIG. 18 is a route diagram illustrating the fourth mode operation S140. FIG. 19 is a flowchart of the fourth mode operation S140. FIG. 20 is a time chart schematically showing the fourth mode operation S140. In this explanation, redundant explanations will be omitted regarding matters common to the first mode, and differences will be mainly shown.

In the following description, in order to facilitate understanding, the unit of the self-traveling distance of the first truck 14 will be expressed as "u". “1u” represents the distance that the first cart 14 travels by one square in the front-rear direction.

In the explanation of the fourth mode and the fifth to eighth modes described later, initially, the first cart 14A is waiting at D7, and the first task is to transfer the cargo 12A stored in F2 to G1, and the first task is to transfer the cargo 12A stored in F2 to G1, and The operation when the second task of transporting the loaded cargo 12B to A7 is received in this order.

The fourth mode operation S140 is executed when an instruction to rearrange the loads 12 is received while the fourth mode operation is set. The control rules for the fourth mode will be explained. In the fourth mode, of the second carts in the eighth and third rows, the second cart located closest to the starting point of the transfer of the load 12 is used to perform left-right movement. In addition, in this mode, if the first task and the second task do not conflict, the first task and the second task are executed in parallel, and if they conflict, the first task and the second task are executed first. Tasks that receive instructions are executed with priority.

When the fourth mode operation S140 is started, the control unit 18 selects the route of the first task received earlier (step S141). In this step, of the routes in the eighth row and the third row, the route passing through the eighth row using the second truck 16A that is closer to the starting point D7 is selected.

After completing step S141, the control unit 18 selects the route of the second task (step S142). In this step, a route passing through the 8th row using the second cart 16A closer to the starting point B7 between the 8th row and the 3rd row is selected. In this case, since the second cart 16A competes with the first task, the control unit 18 determines the sequence so that the second task is executed after the first task is completed.

(1st task)
(T1-1) After step S142 is completed, in the first task, the control unit 18 controls the first cart 14A and the second carts 16A, 16B to move the first cart 14A from D7 to F2 (step S143). As shown in FIG. 20, the moving distance in this step is 9d, the moving time is 9t, and the self-traveling distance of the first truck 14A is 7u.

(T1-2) After completing step S143, the control unit 18 controls the first cart 14A and the second cart 16B to move the load 12A from F2 to G1 (step S144). As shown in FIG. 20, the moving distance in this step is 4d, the moving time is 4t, and the self-traveling distance of the first cart 14A is 3u. The first task is now complete. The self-traveling distance of the first cart 14A in the first task is 10u.

(Second task)
(T2-1) After step S144 is completed, in the second task, the control unit 18 controls the first cart 14A and the second cart 16B to move the first cart 14A from G1 to B7 (step S145) . As shown in FIG. 20, the moving distance in this step is 11d, the moving time is 11t, and the self-traveling distance of the first truck 14 is 6u.

(T2-2) After completing step S145, the control unit 18 controls the first cart 14A and the second cart 16A to move the load 12B from B7 to A7 (step S146). As shown in FIG. 20, the moving distance in this step is 3d, the moving time is 3t, and the self-traveling distance of the first cart 14A is 2u. The second task is now complete. The self-traveling distance of the first cart 14A in the second task is 8u, and the total self-traveling distance with the first task is 18u.

(5th mode operation)
Next, an example of the fifth mode operation will be described with reference to FIGS. 21 to 23. In the fifth mode, the control unit 18 controls the movement of the first and second carts 14 and 16 so that the self-traveling distance of the first cart 14 is shorter than in the fourth mode. FIG. 21 is a route diagram illustrating the fifth mode operation S150. FIG. 22 is a flowchart of the fifth mode operation S150. FIG. 23 is a time chart schematically showing the fifth mode operation S150. In this explanation, redundant explanations will be omitted regarding matters common to the fourth mode, and differences will be mainly shown.

The fifth mode operation S150 is executed when an instruction to rearrange the loads 12 is received while the fifth mode operation is set. The control rules for the fifth mode will be explained. In the fifth mode, if the first task and the second task do not conflict, the first task and the second task are executed in parallel, and if they conflict, the first task and the second task are instructed first. The task that receives the request will be executed with priority.

In addition, in this mode, the control rule for moving left and right using the second cart in the position closest to the starting point of transferring the load 12 among the second carts in the 8th and 3rd rows is canceled and Travel using routes with short distances. In other words, in this mode, when multiple routes are available, the self-traveling distance of each first bogie 14A is calculated, and based on the comparison result, movement is performed using the route with the shortest self-traveling distance. . Therefore, the movement route in the fifth mode is an example of the second route, and the self-travel distance in which the first cart 14 moves in the front-rear direction is shorter than the movement route in the fourth mode, which is an example of the first route.

When the fifth mode operation S150 is started, the control unit 18 calculates the self-traveling distance of the route using the eighth row and the self-traveling distance of the route using the third row, and A sequence with a short self-running distance is selected (step S151). In this step, a sequence is selected in which the first task uses the third row and the second task uses the third and eighth rows.

After completing step S151, the control unit 18 selects the route of the first task received earlier (step S152). In this step, the route using the third row, which has a short self-running distance, is selected from among the routes in the eighth row and the third row.

After completing step S152, the control unit 18 selects the route of the second task (step S153). In this step, a route using the third and eighth rows, which have a short self-running distance, is selected. In this case, since the first task and the second cart 16A compete with each other, the control unit 18 determines the sequence so that the second task is executed after the first task is completed.

(1st task)
(T1-1) After completion of step S153, in the first task, the control unit 18 controls the first cart 14A and the second cart 16B to move the first cart 14A from D7 to F2 (step S154) . As shown in FIG. 23, the moving distance in this step is 7d, the moving time is 7t, and the self-traveling distance of the first truck 14A is 5u.

(T1-2) After completing step S154, the control unit 18 controls the first cart 14A and the second cart 16B to move the load 12A from F2 to G1 (step S155). As shown in FIG. 23, the moving distance in this step is 4d, the moving time is 4t, and the self-traveling distance of the first cart 14A is 3u. The first task is now complete. The self-traveling distance of the first cart 14A in the first task is 10u.

(Second task)
(T2-1) After completion of step S155, in the second task, the control unit 18 controls the first cart 14A and the second cart 16B to move the first cart 14A from G1 to B7 (step S156) . As shown in FIG. 23, the moving distance in this step is 11d, the moving time is 11t, and the self-traveling distance of the first truck 14 is 6u.

(T2-2) After completing step S156, the control unit 18 controls the first cart 14A and the second cart 16A to move the load 12B from B7 to A7 (step S157). As shown in FIG. 23, the moving distance in this step is 3d, the moving time is 3t, and the self-traveling distance of the first cart 14A is 2u. The second task is now complete. The self-traveling distance of the first cart 14A in the second task is 8u, and the total self-traveling distance with the first task is 16u. As a result, the self-running distance in the fifth mode is shorter than that in the fourth mode, and a decrease in the charging rate of the battery 14g of the first truck 14 can be suppressed.

(6th mode operation)
Next, an example of the sixth mode operation will be described with reference to FIGS. 24 to 26. In the sixth mode, the control unit 18 controls the movement of the first and second carts 14 and 16 so that the self-traveling distance of the first cart 14 is shorter than in the fifth mode. FIG. 24 is a route diagram illustrating the sixth mode operation S160. FIG. 25 is a flowchart of the sixth mode operation S160. FIG. 26 is a time chart schematically showing the sixth mode operation S160. In this explanation, redundant explanations will be omitted regarding matters common to the fifth mode, and differences will be mainly shown.

The sixth mode operation S160 is executed when an instruction to rearrange the loads 12 is received while the sixth mode operation is set. The control rules for the sixth mode will be explained. In the sixth mode, if the first task and the second task do not conflict, the first task and the second task are executed in parallel. In this mode, the control rule for moving left and right using the second trolley in the 8th row and the 3rd row that is closest to the starting point of transferring the load 12 is canceled, and the self-traveling distance is travels using short routes. In other words, in this mode, when multiple routes are available, the self-traveling distance of each first bogie 14A is calculated, and based on the comparison result, movement is performed using the route with the shortest self-traveling distance. . In addition, in this mode, regardless of the order in which instructions are received, the self-running distance for the sequence that prioritizes the first task and the self-running distance for the sequence that prioritizes the second task are calculated, and the self-running distance for the sequence that prioritizes the second task is calculated. Run the sequence.

When the sixth mode operation S160 is started, the control unit 18 calculates the self-running distance when giving priority to the first task and the self-running distance when giving priority to the second task, and calculates the self-running distance when giving priority to the first task and the self-running distance when giving priority to the second task. A sequence that allows movement in a short self-propelled distance is selected (step S161). In this case, a sequence giving priority to the second task is selected.

After completing step S161, the control unit 18 selects the route of the second task (step S162). In this step, between the eighth row and the third row, the route passing through the eighth row is selected using the second bogie 16A, which has a shorter total self-travel distance.

After completing step S162, the control unit 18 selects the route of the first task (step S163). In this step, between the eighth row and the third row, the route passing through the third row using the second truck 16B having the shortest total self-travel distance is selected. In this case, since the first cart 14A competes with the second task, the control unit 18 determines the sequence so that the first task is executed after the second task is completed.

(Second task)
(T2-1) After step S163 is completed, in the second task, the control unit 18 controls the first cart 14A and the second cart 16A to move the first cart 14A from D7 to B7 (step S164) . As shown in FIG. 26, the moving distance in this step is 4d, the moving time is 4t, and the self-traveling distance of the first cart 14A is 2u.

(T2-2) After completing step S164, the control unit 18 controls the first cart 14A and the second cart 16A to move the load 12B from B7 to A7 (step S165). As shown in FIG. 26, the moving distance in this step is 3d, the moving time is 3t, and the self-traveling distance of the first cart 14A is 2u. The second task is now complete. The moving distance of the second task is 7d, the moving time is 7t, and the self-running distance of the first cart 14 is 4u.

(1st task)
(T1-1) After completion of step S165, in the first task, the control unit 18 controls the first cart 14A and the second cart 16A to move the first cart 14A from A7 to F2 (step S166) . As shown in FIG. 26, the moving distance in this step is 10 d, the moving time is 10 t, and the self-traveling distance of the first truck 14 is 5 u.

(T1-2) After completing step S166, the control unit 18 controls the first cart 14A and the second cart 16B to move the load 12B from F2 to G1 (step S167). As shown in FIG. 26, the moving distance in this step is 4d, the moving time is 4t, and the self-traveling distance of the first truck 14 is 3u. The first task is now complete. The self-traveling distance of the first cart 14A in the first task is 8u, and the total self-traveling distance with the second task is 12u. That is, the self-traveling distance in the sixth mode is shorter than those in the fourth mode and the fifth mode, and among these, the distance that the first truck 14 moves in the front-rear direction, which is exemplified as the first direction, is the shortest. As a result, a decrease in the charging rate of the battery 14g of the first truck 14 can be further suppressed.

(7th mode operation)
Next, an example of the seventh mode operation will be described with reference to FIGS. 27 to 29. FIG. 27 is a route diagram illustrating the seventh mode operation S170. FIG. 28 is a flowchart of the seventh mode operation S170. FIG. 29 is a time chart schematically showing the seventh mode operation S170. In this explanation, redundant explanations will be omitted regarding matters common to the fourth mode, and differences will be mainly shown.

The seventh mode operation S170 is executed when an instruction to rearrange the loads 12 is received while the seventh mode operation is set. The control rules for the seventh mode will be explained. In the seventh mode, of the second carts in the eighth and third rows, the second cart located closest to the starting point of the transfer of the load 12 is used to perform left-right movement. In addition, in this mode, if the first task and the second task do not conflict, the first task and the second task are executed in parallel, and if they conflict, the first task and the second task are executed first. Tasks that receive instructions are executed with priority.

When the seventh mode operation S170 is started, the control unit 18 selects the route of the first task received earlier (step S171). In this step, the route using the third line, which is closer to F2, which is the starting point for transferring the load 12A, is selected from among the routes on the eighth line and the third line.

After completing step S171, the control unit 18 selects the route of the second task (step S172). In this step, the route using the eighth row, which is closer to B7, which is the starting point for transferring the cargo 12B, is selected from among the routes on the eighth row and the third row. In this case, since the first trolley 14A competes with the first task, the control unit 18 determines the sequence so that the second task is executed after the first task is completed.

(1st task)
(T1-1) After completion of step S172, in the first task, the control unit 18 controls the first cart 14A and the second cart 16B to move the first cart 14A from D7 to F2 (step S173) . As shown in FIG. 29, the moving distance in this step is 7d, the moving time is 7t, and the self-traveling distance of the first cart 14A is 5u.

(T1-2) After completing step S173, the control unit 18 controls the first cart 14A and the second cart 16B to move the load 12A from F2 to G1 (step S174). As shown in FIG. 29, the moving distance in this step is 4d, the moving time is 4t, and the self-traveling distance of the first cart 14A is 3u. The first task is now complete. The self-traveling distance of the first cart 14A in the first task is 8u.

(Second task)
(T2-1) After step S174 is completed, in the second task, the control unit 18 controls the first cart 14A, the second cart 16B, and the second cart 16A to move the first cart 14A from G1 to B7. (step S175). As shown in FIG. 29, the moving distance in this step is 13d, the moving time is 13t, and the self-traveling distance of the first truck 14 is 8u.

(T2-2) After completing step S175, the control unit 18 controls the first cart 14A and the second cart 16A to move the load 12B from B7 to A7 (step S176). As shown in FIG. 29, the moving distance in this step is 3d, the moving time is 3t, and the self-traveling distance of the first cart 14A is 2u. The second task is now complete. The self-traveling distance of the first cart 14A in the second task is 10u, and the total self-traveling distance with the first task is 18u. As a result, the self-running distance in the seventh mode is longer than that in the fourth mode.

(8th mode operation)
Next, an example of the eighth mode operation will be described with reference to FIGS. 30 to 32. In the eighth mode, the control unit 18 controls the movement of the first and second carts 14 and 16 so that the self-traveling distance of the first cart 14 is shorter than in the seventh mode. FIG. 30 is a route diagram illustrating the eighth mode operation S180. FIG. 31 is a flowchart of the eighth mode operation S180. FIG. 32 is a time chart schematically showing the eighth mode operation S180. In this explanation, redundant explanations will be omitted regarding matters common to the seventh mode, and differences will be mainly shown.

The eighth mode operation S180 is executed when an instruction to rearrange the loads 12 is received while the eighth mode operation is set. The control rules for the eighth mode will be explained. In the eighth mode, if the first task and the second task do not conflict, the first task and the second task are executed in parallel. In addition, in this mode, if multiple routes are available, the self-traveling distance of each first bogie 14A is calculated, and based on the comparison results, movement is performed using the route with the shortest self-traveling distance. . In addition, in this mode, regardless of the order in which instructions are received, the self-running distance for the sequence that prioritizes the first task and the self-running distance for the sequence that prioritizes the second task are calculated, and the self-running distance for the sequence that prioritizes the second task is calculated. Run the sequence.

When the eighth mode operation S180 is started, the control unit 18 calculates the self-running distance when giving priority to the first task and the self-running distance when giving priority to the second task, and performs the self-running distance as described above. A sequence that allows movement in a short self-propelled distance is selected (step S181). In this example, a sequence is selected that gives priority to the second task, which has a short self-running distance.

After completing step S181, the control unit 18 selects the route of the second task (step S182). In this step, between the eighth row and the third row, the route passing through the eighth row is selected using the second bogie 16A, which has a shorter total self-travel distance.

After completing step S182, the control unit 18 selects the route of the first task (step S183). In this step, between the eighth row and the third row, the route passing through the third row using the second truck 16B having the shortest total self-travel distance is selected. In this case, since the first cart 14A competes with the second task, the control unit 18 determines the sequence so that the first task is executed after the second task is completed.

(Second task)
(T2-1) After completion of step S183, in the second task, the control unit 18 controls the first cart 14A and the second cart 16A to move the first cart 14A from D7 to B7 (step S184) . As shown in FIG. 32, the moving distance in this step is 4d, the moving time is 4t, and the self-traveling distance of the first cart 14A is 2u.

(T2-2) After completing step S184, the control unit 18 controls the first cart 14A and the second cart 16A to move the load 12B from B7 to A7 (step S185). As shown in FIG. 32, the moving distance in this step is 3d, the moving time is 3t, and the self-traveling distance of the first cart 14A is 2u. The second task is now complete. The moving distance of the second task is 7d, the moving time is 7t, and the self-running distance of the first truck 14 is 4u.

(1st task)
(T1-1) After step S185 is completed, in the first task, the control unit 18 controls the first cart 14A and the second carts 16A, 16B to move the first cart 14A from A7 to F2 (step S186). As shown in FIG. 32, the moving distance in this step is 12d, the moving time is 12t, and the self-traveling distance of the first truck 14 is 7u.

(T1-2) After step S186 is completed, the control unit 18 controls the first cart 14A and the second cart 16B to move the load 12B from F2 to G1 (step S187). As shown in FIG. 32, the moving distance in this step is 4d, the moving time is 4t, and the self-traveling distance of the first cart 14 is 3u. The first task is now complete. The self-traveling distance of the first cart 14A in the first task is 10u, and the total self-traveling distance with the second task is 14u. As a result, the self-running distance in the eighth mode is shorter than in the fourth mode and the seventh mode, and a decrease in the charging rate of the battery 14g of the first truck 14 can be suppressed.

Next, the ninth and tenth mode operations will be explained. In the above description of each mode, an example was shown in which the cart moves in a plane in the left-right direction and the front-back direction in the storage shelf section 22 of one stage, but the present invention is not limited to this. The first cart 14 and the second cart 16 may be controlled to move along a route that moves up and down between a plurality of storage shelves 22 at different stages. In other words, the automated warehouse system 100 calculates travel times and self-traveling distances for multiple routes, including flat routes and three-dimensional routes, from the viewpoint of prioritizing high-speed operation and energy-saving operation, and determines routes and sequences based on the results of these comparisons. can be determined.

Below, we will move the two-dimensional route when the first task to transfer cargo 12A stored in B7 to B4 and the second task to transfer cargo 12B stored in H7 to H4 are received in this order. The operations of the ninth mode in which the vehicle moves along a three-dimensional route and the tenth mode in which the vehicle moves along a three-dimensional route will be explained.

(9th mode operation)
An example of the ninth mode operation will be described with reference to FIGS. 33 to 35. FIG. 33 is a route diagram illustrating the ninth mode operation S190. FIG. 33(a) shows the second storage shelf section 22, and FIG. 33(b) shows the first storage shelf section 22. In this figure, the cargo 12 is stored in the storage section 26 marked with an x, and the moving cargo 12 cannot pass through this storage section 26. The storage shelf section 22 of each stage is provided with a front and back passage connecting the third row and the eighth row in order to facilitate the rearrangement of the loads 12. Note that when the front and rear passages are not required, the front and rear passages can be used as the storage section 26 for storing the cargo 12. In this example, row A of the second storage shelf section 22 and row H of the first storage shelf section are used as front and rear passages without storing the cargo 12.

Further, the lifting mechanisms 48A and 48B can raise and lower the first cart 14 carrying the load 12 between the first and second storage shelves 22. FIG. 34 is a flowchart of the ninth mode operation S190. FIG. 35 is a time chart schematically showing the ninth mode operation S190. In this explanation, redundant explanations will be omitted regarding matters common to the fourth mode, and differences will be mainly shown.

The ninth mode operation S190 is executed when an instruction to rearrange the loads 12 is received while the ninth mode operation is set. The control rules for the ninth mode will be explained. In the ninth mode, of the second carts in the eighth row and the third row, the second cart located closest to the starting point of transferring the load 12 is used to move left and right. In addition, in this mode, if the first task and the second task do not conflict, the first task and the second task are executed in parallel, and if they conflict, the first task and the second task are executed first. Tasks that receive instructions are executed with priority.

When the ninth mode operation S190 is started, the control unit 18 selects the route of the first task received earlier (step S191). Since the starting point B7 and the ending point B4 of the route are in the same row B, a route is selected in which the second trolley 16 is not used and only the first trolley 14 is used in row B.

After completing step S191, the control unit 18 selects the route of the second task (step S192). In this step, a route is selected that passes through the eighth row near the transfer start point H7 of the load 12B, column A, and the third row near the transfer end point H4. In this example, the first task and the second task are executed in parallel since they do not compete with the first task for the trolley and route.

(1st task)
(T1) After completion of step S192, in the first task, the control unit 18 controls the first cart 14A to move the load 12A from B7 to B4 (step S193). The first task is now complete. As shown in FIG. 35, the moving distance in the first task is 3d, and the moving time is 3t.

(Second task)
(T2) After completion of step S192, in the second task, the control unit 18 controls the first cart 14A, the second cart 16B, and the second cart 16A to move the load 12B from H7 to H4 (step S194 ). In this step, the load 12B is transported along the route H7→H8→A8→A3→H3→H4. The second task is now complete. As shown in FIG. 35, the moving distance in this step is 21d, and the moving time is 21t.

In the ninth mode, the first task and the second task are executed in parallel, so as shown in FIG. 35, the first task is completed first and the second task is completed, thereby completing the entire process. Therefore, the total moving distance in this mode is 21d, and the moving time is 21t.

(10th mode operation)
Next, an example of the tenth mode operation will be described with reference to FIGS. 36 to 38. In the tenth mode, the control unit 18 controls the movement of the first and second carts 14 and 16 so that the moving time of the load 12 is shorter than in the ninth mode. FIG. 36 is a route diagram illustrating the tenth mode operation S200. FIG. 36(a) shows the second storage shelf section 22, and FIG. 36(b) shows the first storage shelf section 22. FIG. 37 is a flowchart of the tenth mode operation S200. FIG. 38 is a time chart schematically showing the tenth mode operation S200. In this explanation, redundant explanations will be omitted regarding matters common to the ninth mode, and differences will be mainly shown. In the 10th mode, a three-dimensional route is used in which the storage shelf 22 is moved up and down between the second and first storage shelves 22 using lifting mechanisms 48A and 48B. As a result, the tenth mode can shorten the travel time compared to the ninth mode, which uses only a planar route.

In this explanation, for convenience, the travel time required to move up and down between the second and first storage shelves 22 by the lifting mechanisms 48A and 48B is assumed to be 1t, and the travel distance is assumed to be 1d. do.

The tenth mode operation S200 is executed when an instruction to rearrange the loads 12 is received while the tenth mode operation is set. The control rules for the tenth mode will be explained. In the tenth mode, of the second carts in the eighth and third rows, the second cart located closest to the starting point of transfer of the load 12 is used to perform left-right movement. In addition, in this mode, if the first task and the second task do not conflict, the first task and the second task are executed in parallel, and if they conflict, the first task and the second task are executed first. Tasks that receive instructions are executed with priority. Furthermore, in this mode, if a plurality of front and back passages are traversable, the travel time for each is calculated, and based on the comparison result, the vehicle travels back and forth using a route that passes through the front and rear passages with a short travel time.

When the tenth mode operation S200 is started, the control unit 18 selects the route of the first task received earlier (step S201). Since the starting point B7 and the ending point B4 of the route are in the same row B, a route is selected in which the second trolley 16 is not used and only the first trolley 14 is used in row B.

After completing step S201, the control unit 18 selects the route of the second task (step S202). In this step, the left and right passages are first selected. In this example, the eighth row near the starting point H7 and the third row near the ending point H4 of the transfer of the load 12B are selected as the left and right passages. Also, in this step, the front and rear passages are selected. In this example, the second row A row and the first row H row can be selected, and the travel time when using the second row A row and when using the first row H row The first H column with the shortest travel time is selected. Further, since the first task and the second task do not compete with each other, in this example, the first task and the second task are executed in parallel.

(1st task)
(T1) After step S202 is completed, in the first task, the control unit 18 controls the first cart 14A to move the load 12A from B7 to B4 (step S203). The first task is now complete. As shown in FIG. 38, the moving distance in the first task is 3d, and the moving time is 3t.

(Second task)
(T2-1) After step S202 is completed, in the second task, the control unit 18 controls the first cart 14A, the second cart 16A, and the lifting mechanism 48A to move the load 12B from H7 to the lifting mechanism 48A. , and lowered to the first storage shelf section 22 (step S204).

(T2-2) After step S204 is completed, the control unit 18 controls the first cart 14A, the second cart 16C, and the second cart 16D to move the load 12B from the lifting mechanism 48A to the lifting mechanism 48B (step S205). In this step, the first cart 14A moves on its own in the first stage H column from the 8th row to the 3rd row.

(T2-3) After step S205 is completed, the control unit 18 controls the lifting mechanism 48B, the first cart 14A, and the second cart 16B to lift the load 12B to the second storage shelf 22, and lift it up and down. It is moved from mechanism 48B to H4 (step S206). The second task is now complete. As shown in FIG. 38, the moving distance in this step is 13d, and the moving time is 13t.

In the tenth mode, the first task and the second task are executed in parallel, so as shown in FIG. 38, the first task is completed first, and the second task is completed, thereby completing the entire task. Therefore, the total moving distance in this mode is 13d, and the moving time is 13t. As a result, the travel time in the 10th mode is shorter than the travel time in the 9th mode, allowing high-speed rearrangement. That is, in the tenth mode, the front and rear passages of the storage shelves 22 of different stages can be selected, so that the cargo 12 can be rearranged in a short time.

The above has been described based on each embodiment of the present invention. Those skilled in the art will understand that these embodiments are illustrative and that various modifications and changes are possible and within the scope of the claims of the present invention. It is about to be done. Accordingly, the description and drawings herein are to be regarded in an illustrative rather than a restrictive sense.

(Modified example)
Modifications will be described below. In the drawings and description of the modified example, the same reference numerals are given to the same or equivalent components and members as in the embodiment. Explanation that overlaps with the embodiment will be omitted as appropriate, and configurations that are different from the embodiment will be mainly explained.

In the description of the embodiment, a case is shown in which two tasks are received, but the present invention is not limited to this. The present invention can also be applied to cases where three or more tasks are received. In this case, the task received first is executed with priority, or the travel distance, travel time, or self-running distance of the first truck is calculated for the sequence in which the order of each task is changed, and the task is executed in the most preferable sequence. It is possible to calculate conflicts between trolleys and routes among each task and execute the tasks in a sequence that avoids conflicts.

Although the embodiment has been described as an example including the second cart 16 that runs on the storage shelf 22 in a planar manner, the present invention is not limited thereto. For example, the second cart 16 may be replaced with a stacker crane that has a lifting function and can travel in the left and right directions. For example, when a plurality of second carts 16 are provided, some of them may be replaced with stacker cranes.

In the description of the embodiment, an example in which two sets of second rails 44 are provided is shown, but the present invention is not limited to this. Three or more sets of second rails 44 may be provided.

In the description of the embodiment, an example is shown in which the cart runs on rails, but the present invention is not limited to this. The trolley may run on a running path without rails.

In the description of the embodiment, an example was shown in which the automated warehouse system 100 includes three storage shelves 22, but the present invention is not limited to this. The automated warehouse system may include two or less or four or more storage shelves.

It is not essential to provide the first carts 14 in each row of each stage, and the first carts 14 may not be provided in each row.

It is not essential to provide the elevating mechanism 48 on each second rail 44, and the elevating mechanism 48 may not be provided.

It is not essential that the number of storage sections 26 in storage row 24 be configured uniformly. The number of storage units 26 constituting the storage row 24 may be determined by providing rows with a large number and rows with a small number, depending on the unevenness of the wall of the building in which the storage shelves 22 are housed.

It is not essential that the number of storage rows 24 stacked in the vertical direction be uniform. The number of tiers in the storage row 24 may be determined by providing areas with a large number of tiers and areas with a small number of tiers depending on the height of the ceiling of the building that accommodates the storage shelves 22.

It is not essential that the load 12 include a pallet. This automated warehouse system may also handle loads that do not include pallets.

Instead of the forklift, the load 12 may be carried in and out using another type of transfer device, such as a transfer device equipped with a crane.

In the embodiment, a mode in which the first to tenth mode operations are performed has been described, but implementation in other modes is also possible. As long as at least two modes can be executed, the effects of the present invention can be obtained. For example, only two modes may be executable: the first mode and the second mode in which the time required for moving the first and second carts is shorter than in the first mode. Furthermore, in addition to the first and second modes, there are a total of three modes: a third mode that allows changing the order of cargo movement and shortens the time required to move the first and second carts even more than the second mode. It may be possible to execute only

Furthermore, for example, there are two modes: a fourth mode, and a fifth mode in which the moving distance of the first truck in the first direction is shorter than in the fourth mode and a decrease in the charging rate of the battery of the first truck is suppressed. It may be possible to execute only Furthermore, in addition to the fourth and fifth modes, only three modes in total can be executed: a sixth mode that allows the order of movement of loads to be changed and further suppresses a decrease in the battery charging rate than the fifth mode. There may be.

In addition, there is a mode in which the time required for moving the first and second carts is shortened, as exemplified in the second mode, and a mode in which the moving distance of the first cart in the first direction is shortened, as exemplified in the fifth mode. It may be possible to execute only two modes: a mode that suppresses a decrease in the battery charging rate.

Furthermore, the mode to be executed can be determined based on a user's instruction via an interface. Alternatively, the automated warehouse system may automatically determine priorities from travel time and charging rate, and determine the mode to be executed.

Each of these modified examples has the same effects as the embodiment.

Any combination of the embodiments and variations described above are also useful as embodiments of the invention. A new embodiment resulting from a combination has the effects of each of the combined embodiments and modified examples.

12... Load, 14... First trolley, 16... Second trolley, 18... Control section, 22... Storage shelf section, 24... Storage row, 26... Storage section, 30... Reception section, 32...Mode setting unit, 40...First rail, 42...First support member, 44...Second rail, 46...Second support member, 48...Elevating mechanism, 100...Automatic warehouse system.

Claims (6)

A storage shelf section in which a plurality of storage rows capable of storing cargo are arranged side by side, and three or more stages are stacked vertically ;
a first running path provided in each of the plurality of stages, communicating with each other at one end of the plurality of storage rows , extending in a direction in which the storage rows are juxtaposed ;
a second running path that communicates with each other at the other end of the plurality of storage rows, extends in the direction in which the storage rows are juxtaposed, and is provided in each of the plurality of stages ;
a first parent carriage provided in each of the plurality of stages and moving on the first running path;
a second parent cart provided in each of the plurality of stages and moving on the second traveling path;
It is provided in each of the plurality of stages, is capable of loading cargo, is movable within the plurality of storage rows in the direction in which the storage rows extend, and is capable of getting on and off both the first parent cart and the second parent cart. Nako trolley and
has
The child truck is equipped with a battery,
The battery can be charged in a state in which the child truck rides into the first parent truck or the second parent truck,
The child cart, which is provided in each of the plurality of stages and is located in one of the plurality of storage rows and moves to the other storage row, is located in the first storage row provided at the same stage as the stage in which the child cart is located. Either one of the parent cart and the second parent cart is selected, and the selected first parent cart or second parent cart is moved to the end of the other row with the child cart loaded thereon, and the child An automatic warehouse system characterized in that the cart gets off the first parent cart or the second parent cart after being moved to another row and moves to the other row. Furthermore, the first parent truck, the second parent truck, The automated warehouse system according to claim 1, further comprising a control unit that controls movement of the sub-truck. Before transferring the first load and the second load to be transferred, the control unit controls the first load to be transferred via the first parent truck and the second load to be transferred via the second parent truck. 3. The movement is controlled so as to calculate a travel time for a second route to be transported, and select a route with a shorter travel time between the first route and the second route for transportation. Automatic warehouse system. The control unit, before transferring the first load and the second load to be transferred,
A first procedure in which the order of movement of the first load and the second load is not changed, and a second procedure in which the order of movement of the first load and the second load is changed. Calculate the total travel time,
The automated warehouse system according to claim 2, wherein the movement is controlled so that the procedure with the shorter total movement time is selected from the first procedure and the second procedure. The control unit, before transferring the first load and the second load to be transferred,
Calculating the total travel time of the child cart in the direction in which the storage row extends in a first transfer route via the first parent cart and a second transfer route via the second parent cart;
3. The automated warehouse system according to claim 2, wherein said movement is controlled so as to select a transfer route with a shorter total travel time between said first transfer route and said second transfer route. comprising a first lifting mechanism connected to the first running path and a second lifting mechanism connected to the second running path,
The child truck is movable to another stage via a three-dimensional route via the first lifting mechanism and the second lifting mechanism,
The control unit calculates the travel time of a planar route that does not go through the first lifting mechanism and the second lifting mechanism, and the three-dimensional route, and selects the route with the shorter travel time between the planar route and the three-dimensional route. The automated warehouse system according to claim 2, wherein said movement is controlled to select and transfer.

Images