JP7406605B2 - 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 transport articles between storage shelves using a transport vehicle that is movable in the column direction and a trolley that is movable in the row direction.

Japanese Patent Application Publication No. 2017-160040

In an automated warehouse, when taking inventory, it is sometimes necessary to take out all the items stored in the storage shelves, check them, and then store them again in the storage shelves. This work requires a lot of effort, and while the inventory is being taken, other items cannot be taken in or taken out, leading to delays in loading and unloading and reducing the throughput of the automated warehouse. Such a problem may occur not only when taking stock, but also when checking whether cargo has collapsed or when checking the condition of cargo stored on storage shelves due to other reasons. However, an automated warehouse that takes measures to address this problem has not yet been proposed, and such a proposal is desired.

SUMMARY OF THE INVENTION An object of the present invention has been made in view of the above problems, and it is an object of the present invention to provide an automatic warehouse system that allows easy confirmation of cargo stored on storage shelves.

In order to solve the above problems, an automatic warehouse system according to an aspect of the present invention is an automatic warehouse system capable of storing loads, and includes a storage column extending in a first direction and for storing a plurality of loads. , a cart loaded with cargo and moved in the first direction; a first mode operation in which the cart loads cargo into and out of the storage line; and a second mode operation in which the cart checks the cargo stored in the storage line. and a control unit that executes.

Another aspect of the invention is also an automated warehouse system. This automatic warehouse system is an automatic warehouse system capable of storing loads, and includes a storage line extending in a first direction for storing a plurality of loads, and a trolley that carries loads and moves in the first direction. The cart is provided with an information acquisition section that acquires information regarding the cargo stored in the storage row.

Yet another aspect of the present invention is an information acquisition device. This device is an information acquisition device used in a warehouse for storing a plurality of items, and acquires information regarding items stored in the warehouse while moving within the warehouse.

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 automatic warehouse system in which it is possible to easily check cargo stored on storage shelves.

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 block diagram schematically showing an example of the automated warehouse system of FIG. 1. FIG. FIG. 2 is a plan view schematically showing an example of a cart of the automated warehouse system of FIG. 1. FIG. FIG. 7 is a front view of the cart of FIG. 6; 2 is a plan view schematically showing an example of a moving mechanism of the automated warehouse system of FIG. 1. FIG. FIG. 9 is a front view of the moving mechanism of FIG. 8; 2 is a side view showing an example of a second mode operation of the automated warehouse system of FIG. 1. FIG. 2 is a flowchart showing an example of a second mode operation of the automated warehouse system of FIG. 1. FIG.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments 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 5. 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.

FIG. 5 is a block diagram schematically showing the automated warehouse system 100. Each block of the automated warehouse system 100 shown in this figure can be realized in terms of hardware by elements and mechanical devices such as a CPU (Central Processing Unit) of a computer, and in terms of software, it can be realized by a computer program. However, here we depict the functional blocks realized by their cooperation. Therefore, those skilled in the art who have been exposed to this specification will understand that these functional blocks can be realized in various ways by combining hardware and software.

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. Furthermore, the X-axis direction is sometimes referred to as the "row direction." Further, the Y-axis direction is sometimes referred to as the "column direction." Further, the Z-axis direction is sometimes referred to as the "up-down direction." 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 including a plurality of storage rows 24, a cart 14, a moving mechanism 16, a first rail 40, a second rail 44, a power supply section 34, a control section 18, It mainly includes a reception section 36 and a display section 48. In particular, the automated warehouse system 100 is characterized in that it executes a first mode operation and a second mode operation. In the first mode of operation, the control unit 18 controls the cart 14 to move the cargo 12 into and out of the storage row 24 . In the second mode of operation, the control unit 18 controls the cargo 12 stored in the storage row 24 by the trolley 14 to be checked.

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. The moving path 47 is a travel path for the moving mechanism 16 and extends in the X-axis direction near the end of the storage shelf section 22 . The second rail 44 and the power feeding section 34 extend in the X-axis direction in the moving path 47. In this specification, the end of the storage shelf 22 on the moving path 47 side is referred to as the "frontage of the storage shelf 22." In this embodiment, the trolley 14 is illustrated as an example of a trolley, and the moving mechanism 16 is illustrated as an example of a moving mechanism.

The control unit 18 controls the movement of the load 12 based on the operation result from the user. The control unit 18 can control the operation of the truck 14 and the moving mechanism 16 in order to control the movement of the load 12. The control unit 18 can control the operation of the truck 14 so as to check the load 12.

In this 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)
A plurality of storage shelves 22 are installed on the floor Lg, and are storage spaces of a high-density storage type that can store a large number of loads 12. In this embodiment, storage shelves 22 are provided on both sides of the moving path 47 in the Y-axis direction. 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 22 includes a plurality of 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. The frontage on the second rail 44 side of each storage row 24 is the frontage of the storage shelf section 22, and functions as an entrance through which the trolley 14 enters and exits. The side of the storage row 24 that is closer to the frontage in the Y-axis direction is sometimes referred to as the "frontage side," and the side farther from the frontage is sometimes referred to as the "anti-frontage side." That is, the storage row 24 includes a plurality of storage units 26 arranged from the frontage side to the opposite side of the frontage in the Y-axis direction.

The first rail 40 functions as a first running path for the trolley 14 to run. The first rail 40 extends in the Y-axis direction in each storage row 24. The first rail 40 of this embodiment includes a pair of rails that are spaced apart from each other and extend in the traveling direction, and a space is left between the pair of rails. A floor plate or the like may be provided between the pair of rails, and this floor plate may be made of a transparent material. The second rail 44 functions as a second traveling path for the moving mechanism 16 to travel. The second rail 44 extends in the X-axis direction so as to cross each storage row 24. The second rail 44 of this embodiment is provided at a position close to the frontage of the storage row 24. The second rail 44 of this embodiment includes a pair of rails that are spaced apart from each other and extend in the traveling direction, and a floor plate or the like is provided between the pair of rails. The space between this pair of rails may be open. 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 on a first support member 42 extending in the X-axis direction. The second rail 44 is supported on a cross beam 46 extending in the Y-axis direction. Note that the first support member may be supported on the cross beam 46.

(trolley)
Next, the trolley 14 will be explained with reference to FIGS. 6 and 7 as well. FIG. 6 is a plan view schematically showing an example of the trolley 14. FIG. 7 is a front view of the truck 14. The trolley 14 runs along the first rail 40 in the Y-axis direction in the storage row 24 in order to transport the load 12 . The cart 14 takes the load 12 into and out of the storage section 26. The trolley 14 travels on the moving mechanism 16 in the Y-axis direction in order to get on and off the moving mechanism 16. Further, the trolley 14 of this embodiment also functions as an information acquisition device that acquires information regarding the loads 12 stored in the warehouse while moving within a warehouse where a plurality of loads 12 are stored.

As shown in FIG. 6, the trolley 14 includes a vehicle body 14b, a mounting table 14c, a lift mechanism 14d, a plurality of (for example, four) wheels 14f, a motor 14a, and a battery 14g. The vehicle body 14b has a substantially rectangular parallelepiped profile that is flat in the vertical direction. The vehicle body 14b functions as an outer shell surrounding the motor 14a, battery 14g, and other functional blocks. The motor 14a drives a plurality of wheels 14f. The battery 14g supplies power to each component provided in the vehicle body 14b, such as the motor 14a. The battery 14g of this embodiment is a secondary battery such as a lithium ion battery that can be recharged repeatedly, and is charged by the moving mechanism 16 while being placed on the moving mechanism 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. 7, 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 moving mechanism 16.

As shown in FIG. 5, the trolley 14 includes a mode management section 14h, a load information acquisition section 14j, a specification section 14k, a communication section 14m, an irradiation section 14n, a position information acquisition section 14p, and a drive circuit 14e. ,including. The mode management unit 14h manages the running mode of the trolley 14. The mode management unit 14h of this embodiment switches the driving mode between the first mode and the second mode based on the control of the control unit 18. The drive circuit 14e drives the motor 14a. Note that it is not essential that the mode management section 14h and the position information acquisition section 14p be provided in the cart 14, and the mode management section 14h and the position information acquisition section 14p may be provided in a component other than the cart 14. .

The cargo information acquisition unit 14j obtains information regarding the cargo 12 stored in the storage column 24. The information regarding the load 12 is not limited, and may be information regarding the image of the load, information regarding the temperature and humidity of the load, information regarding the odor of the load, and the like. The load information acquisition unit 14j of this embodiment includes an image sensor that acquires information regarding images of the load 12. The cargo information acquisition unit 14j in FIG. 7 is a camera that is provided facing downward at the bottom of the vehicle body 14b and captures an image of the cargo 12 in the lower storage row 24 of the trolley 14.
The cargo information acquisition unit 14j may acquire information on the cargo 12 in the storage row 24 one stage below, or may acquire information on the cargo 12 in the storage row 24 two or more stages below. The load information acquisition unit 14j may be configured to acquire information on loads in a direction other than downward, such as upward or sideways. The cargo information acquisition unit 14j may image the cargo 12 in a storage row 24 other than the lower storage row 24, such as the storage row 24 of the stage to which the trolley 14 belongs or the upper storage row 24.

The identification unit 14k identifies the cargo 12 stored in the storage row 24. For example, the specifying unit 14k includes the presence or absence of the load 12 in the storage unit 26, the number of loads included in the load 12, the positional shift of the load 12, the inclination of the load 12, the size of the load 12, the type of the load 12, and the number of loads 12 included in the load 12. Discoloration or the like may also be identified. The identification unit 14k of this embodiment identifies the presence or absence of the load 12, the number of loads included in the load 12, the positional shift of the load 12, the inclination of the load 12, and the load One or more of the size of load 12 and type of load 12 is specified. As an example, the identification unit 14k extracts the characteristics of the load 12 from the acquisition result of the load information acquisition unit 14j, and based on the extraction result, refers to information from a database that stores information about the load and determines the characteristics of the load. It is possible to specify the state of the load 12 being carried. This identification can be achieved using artificial intelligence including a multilayered neural network.

The position information acquisition unit 14p acquires position information of the trolley 14. As an example, this positional information can be acquired from positional information presenting means, such as a barcode display or an IC tag, provided in each storage unit 26. In this embodiment, each storage section 26 is provided with a barcode display section (not shown) indicating address information, and the position information acquisition section 14p reads this barcode display section and converts the address information of the storage section 26 into position information. Get as. This address information may be specific information that can specify each of the storage units 26, or two-dimensional or three-dimensional coordinate information. The position information acquisition unit 14p may include a GPS sensor (global positioning system sensor). As another method, the number of loads 12 and pallets may be counted and the position information calculated from the counted number, or the position information may be obtained by an encoder provided along the storage row 24. Good too.

The communication unit 14m communicates with the control unit 18, receives information from the control unit 18, and transmits information from the trolley 14. Known communication means can be used for this communication. The communication unit 14m of this embodiment communicates with the control unit 18 by wireless communication for short-range communication. The communication unit 14m receives a signal for switching between the first mode and the second mode from the control unit 18. The communication unit 14m transmits the acquisition result of the cargo information acquisition unit 14j and the acquisition result of the position information acquisition unit 14p to the control unit 18.

The irradiation unit 14n irradiates the load 12 with irradiation light 14q. By irradiating the load 12 with the irradiation light 14q, the load information acquisition unit 14j can acquire high-quality information such as a clear image of the load 12. The irradiation unit 14n of this embodiment is provided so that the irradiation light 14q hits the load 12 from which the load information acquisition unit 14j attempts to acquire information. The irradiation unit 14n may output light (for example, strobe light) that is emitted for a certain period of time.

In order to save power from the battery 14g, it is desirable to dim or extinguish the irradiation light 14q when it is not needed. Therefore, the irradiation unit 14n of this embodiment irradiates the irradiation light 14q to the load 12 to be checked when performing the second mode, and reduces or extinguishes the irradiation light 14q when performing the first mode. do. Attenuating the irradiation light 14q means making the irradiation light 14q darker than in the second mode.

(Moving mechanism)
Next, the moving mechanism 16 will be explained with reference to FIGS. 8 and 9 as well. FIG. 8 is a plan view schematically showing an example of the moving mechanism 16. FIG. 9 is a front view of the moving mechanism 16, showing a state in which the trolley 14 is mounted. The moving mechanism 16 of this embodiment functions as a trolley that runs on the second rail 44 in the X-axis direction. The moving mechanism 16 transports the cart 14 in an empty state or in a state in which the cargo 12 is loaded.

The moving mechanism 16 includes a base 16a, a trolley mounting portion 16c, a first end cover 16d, a second end cover 16e, a plurality of (for example, four) wheels 16f, and a current collection unit 38. Mainly includes. The base 16a is a base on which each component of the moving mechanism 16 is mounted. The first and second end covers 16d and 16e are provided on the base 16a at each end of the moving mechanism 16 in the X-axis direction. The first end cover 16d functions as a casing that houses the motor 16k that drives the wheels 16f and the gear device 16g. The second end cover 16e functions as a casing that houses the two wheels 16f.

The truck mounting portion 16c is a portion for mounting the truck 14, and is provided on the base 16a at the center of the moving mechanism 16 in the X-axis direction. The truck mounting portion 16c has a pair of guide portions 16j that guide the truck 14.

The current collection unit 38 contacts the power supply unit 34 (see also FIG. 1) and receives power supply. The moving mechanism 16 receives power from the power supply section 34 via its current collection unit 38 . The moving mechanism 16 is configured to drive a motor 16k using the received electric power. The moving mechanism 16 can charge the battery of the trolley 14 using the received power.

(Reception Department)
Please refer to FIG. The reception unit 36 receives input from the user. In particular, the receiving unit 36 receives an input for mode switching between the first mode operation and the second mode operation. The receiving unit 36 of this embodiment receives a user's input instructing movement or stopping of the trolley 14 when the control unit 18 performs the second mode operation. During the second mode operation, the user can input various operations such as starting the movement of the trolley 14, temporarily stopping the movement, stopping the movement, and ending the movement of the cart 14 using the reception unit 36. The reception unit 36 sends the reception result to the control unit 18. The control unit 18 executes controls such as switching between the first and second modes, moving and stopping the trolley 14, based on the reception result of the reception unit 36.

(Display)
The display section 48 displays the position of the cart 14 in the storage row 24. The display unit 48 of this embodiment displays the position of the cart 14 in the Y-axis direction in the storage row 24 when the control unit 18 performs the second mode operation. Display section 48 may include a liquid crystal display.
The above is a description of the overall configuration of the automated warehouse system 100. The operation of the automated warehouse system 100 configured as described above will be described below.

(1st mode operation)
The first mode operation will be explained with reference to FIGS. 1 and 2. The first mode operation is a so-called warehousing/retrieval operation. In the first mode of operation, the control unit 18 controls the cart 14 to move the cargo 12 into and out of the storage row 24 . The automated warehouse system 100 is provided with a storage entrance 28 for carrying in cargo 12 from outside the warehouse and an exit port 30 for carrying cargo 12 out of the warehouse near the movement path 47.

In the warehousing operation, the cargo 12 from outside the warehouse is carried into the warehousing port 28 by a forklift or the like. The cargo 12 carried into the storage entrance 28 is transported to a predetermined storage section 26 by the cart 14 and the moving mechanism 16 and stored therein.

In the unloading operation, the cargo 12 stored in the predetermined storage section 26 is transported to the unloading port 30 by the trolley 14 and the moving mechanism 16. The cargo 12 transported to the exit 30 is carried out of the warehouse by a forklift or the like.
The above is the explanation of the first mode operation.

(Second mode operation)
The second mode operation will be described with reference to FIGS. 5, 6, 10, and 11. FIG. 10 is a side view showing an example of the second mode operation of the automated warehouse system 100. FIG. 11 is a flowchart illustrating processing S110 as an example of the second mode operation. The second mode operation is an operation for checking the stored cargo 12. In the second mode of operation of the present embodiment, the control unit 18 controls the cart 14 to check the cargo 12 stored in the storage row 24 . The second mode operation can be used, for example, as an inventory support operation for checking the stored cargo 12 to support inventory. Here, as an example of the second mode operation, a process S110 will be described in which the goods 12 stored in each of the five storage sections 26 forming the second storage row 24 shown in FIG. 10 are checked.

In the explanation of FIG. 10, each element is distinguished from others by adding -A and -B to the reference numerals. In this example, the cargo 12 in the second storage row 24 is checked using the cart 14-A in the upper storage row 24. The second storage row 24 includes storage sections 26-A to 26E arranged from the frontage side to the opposite frontage side. Items 12-A to 12-E are stored in storage units 26-A to 26E. FIG. 10 shows the cart 14-A checking the second load 12-B from the frontage side. In FIG. 10, the description of the loads in the first and third stages is omitted.

When the process S110 is started, the control unit 18 determines whether or not there is an input of the second mode operation to the reception unit 36 (step S111). If there is no input for the second mode operation (N in step S111), the control unit 18 returns the process to the beginning of step S111 and repeats step S111. Although not shown in the flowchart, the control unit 18 continues the first mode operation until the second mode operation is input.

If there is an input for the second mode operation (Y in step S111), the control unit 18 ends the first mode operation and switches to the second mode operation (step S112). When switching to the second mode operation, the first mode operation may be executed in other storage columns 24 other than the storage column 24 to be confirmed, or the first mode operation may not be performed in other storage columns 24. Good too. Further, the first mode operation may not be performed in the storage shelf section 22 of the stage including the storage row 24 to be checked. In this case, the first mode operation may be performed in the storage shelf section 22 of the stage that does not include the storage row 24 to be checked.

When step S112 is completed, the control unit 18 determines whether there is an input to the reception unit 36 to start moving the trolley 14-A (step S113). If there is no input to start movement (N in step S113), the control unit 18 returns the process to the beginning of step S113 and repeats step S113.

If there is an input to start moving (Y in step S113), the control unit 18 moves the cart 14-A to the storage section 26-A closest to the frontage of the storage row 24 (step S114).

When step S114 is completed, the control unit 18 moves the cart 14-A in the direction of the Y-axis away from the frontage while checking the loads 12-A to 12-E in each of the second-tier storage units 26. Then, the trolley 14-A is controlled. In the second mode of operation, the moving speed of the trolley 14-A is controlled to be lower than the moving speed in the first mode of operation. In this embodiment, the following steps S115 to S119 are executed for each of the storage units 26-A to 26-E while moving the cart 14-A. Note that the trolley 14-A may be controlled to stop at each storage section 26 and check the cargo 12.

When step S114 is completed, the control unit 18 controls the storage unit 18 to move the storage unit 14-A to a predetermined position with respect to each storage unit 26 (for example, a position above the approximate center of the storage unit 26 in the Y-axis direction). The load information acquisition section 14j is controlled to acquire an image of the load 12 in the load information acquisition section 26 (step S115). In this step, the irradiation unit 14n irradiates the load 12 to be checked with the irradiation light 14q. The irradiation light 14q may be a strobe light that emits light for a certain period of time. The irradiation light 14q passes through the space between the first rails 40 and reaches the target load 12. The load information acquisition unit 14j images the target load 12 through the space between the first rails 40.

When step S115 is completed, the control unit 18 determines the presence or absence of the load 12, the type of the load 12, and the positional shift of the load 12 (hereinafter referred to as "specific information") based on the image of the load 12 acquired by the load information acquisition unit 14j. The specifying unit 14k is controlled to specify (step S116).

When step S116 is completed, the control unit 18 controls the position information acquisition unit 14p to acquire address information of the storage unit 26 as position information from the barcode display unit of the storage unit 26 (step S117).

When step S117 is completed, the control unit 18 controls the communication unit 14m to transmit the acquisition result of the cargo information acquisition unit 14j, the specific information of the identification unit 14k, and the position information to the control unit 18 (step S118).

When step S118 is completed, the control unit 18 determines the position (address information) of the cart 14-A in the storage line 24, the presence or absence of the load 12 in each storage unit 26, and the The type of load 12 and the positional shift of the load 12 are displayed on the display unit 48 (step S119).

When step S119 is completed, the control unit 18 determines whether the trolley 14-A has reached the farthest storage section 26-E from the frontage of the storage row 24 (step S120). If the farthest storage unit 26-E has not been reached (N in step S120), the control unit 18 returns the process to the beginning of step S115 and repeats steps S115 to S120. During this repetition, the cart 14-A confirms the loads 12-A to 12-E stored in the storage units 26-A to 26-E in this order, and transmits the confirmation results to the control unit 18. The control unit 18 displays information from the trolley 14-A on the display unit 48.

When the cart 14-A reaches the farthest storage section 26-E (Y in step S120), the control unit 18 stops the movement of the cart 14-A (step S121). When step S121 is completed, the control unit 18 ends processing S110. The process S110 described above is just an example, and a different process may be used as long as it is possible to check the state of the cargo 12 stored in each storage unit 26. For example, other steps may be added, some steps may be changed or deleted, or the order of steps may be rearranged. Also, multiple steps may be executed in parallel. After the process S110 is completed, the control unit 18 may wait for a new reception result from the reception unit 36, or may automatically switch to the first mode operation.

By using the specific information acquired through the above process S110, it is possible to significantly reduce the effort required for inventory. Furthermore, since the time required for inventory can be shortened, it is possible to suppress a decrease in the throughput of the automated warehouse. Moreover, the positional shift of the load can be detected by the above process S110. It is also possible to correct the positional shift of a load whose position has been detected before it collapses.
The above is the explanation of the operation of the automated warehouse system 100.

The above description has been based on the embodiments of the present invention. It will be understood by those skilled in the art that this embodiment is 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 modification, the same or equivalent components and members as in the embodiment are given the same reference numerals. 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, an example is shown in which the load 12 is checked using one trolley 14, but the present invention is not limited to this. The automated warehouse system may include a plurality of trolleys 14, and the control unit 18 may control two or more of the plurality of trolleys 14 to operate in the second mode at the same time. In this case, since each of the two or more carts 14 simultaneously checks the load 12, the total checking time can be shortened.

In the description of the embodiment, an example has been shown in which all the carts 14 can operate in both the first mode and the second mode, but the present invention is not limited to this. For example, an automated warehouse system may include a trolley for both the first and second modes of operation, a trolley for exclusive use of the first mode operation, and a trolley for exclusive use of the second mode operation, as necessary. It is not necessary to have either one of them.

In the description of the embodiment, an example is shown in which the second mode operation is performed by the trolley 14, but the present invention is not limited to this. For example, an automated warehouse system may include an information acquisition device that acquires information regarding cargo stored in a warehouse while moving within the warehouse. This information acquisition device may acquire information about the load while moving in the first direction or the second direction along the arrangement direction of the loads 12, or may acquire information about the load while moving in the first direction or the second direction along the arrangement direction of the loads 12, or may be configured to acquire information about the load while moving in the first direction or the second direction along the arrangement direction of the loads 12. It may also be one that acquires information about the load while moving in the direction. This information acquisition device may be any device that can execute the above-described second mode operation, and may be one that travels on the first rail 40, or may be a device that moves on the first rail 40 or separately from the first rail 40. The vehicle may be guided by a traveling guide, or it may be a vehicle that flies autonomously like a drone.

In the description of the embodiment, an example has been shown in which the load information acquisition unit 14j acquires information about the appearance of the load 12, but the present invention is not limited to this. For example, when the cargo 12 includes a plurality of items, an IC tag may be provided for each of the plurality of items, and the cargo information acquisition unit 14j may obtain information regarding each item from the IC tag. An IC tag is a small electronic device that operates by receiving radio waves, and may be, for example, an RFID (Radio frequency identification). By acquiring IC tag information, it is possible to acquire information such as the quantity of each item that is difficult to acquire from its appearance. The IC tag may be provided on an item included in the cargo 12 or may be provided on the cargo 12 itself.

In the description of the embodiment, an example was shown in which the truck runs on a running path with 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.

In the description of the embodiment, when performing the second mode operation for a certain storage row 24 (target storage row), the cart 14 corresponding to the storage row 24 one level above the target storage row 24 is used. The invention is not limited to this. For example, the cart 14 corresponding to the storage row 24 two levels above the target storage row may be used. Alternatively, an upward camera may be provided on the upper part of the cart 14 corresponding to the storage row one level below the target storage row, and this cart 14 may be used. However, in these cases, if a load is stored in a storage row other than the target storage row, that load may become an obstacle and the location information of the load stored in the target storage row may not be properly obtained. be. If the position information of the cargo cannot be obtained appropriately, it is preferable to use the cart 14 corresponding to the storage row one step above the target storage row for the second mode operation, as described in the embodiment.

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

An elevating mechanism for elevating and lowering the load 12 between the plurality of storage shelves 22 may be provided.

It is not essential that the number of storage sections 26 in storage row 24 be configured uniformly. The number of storage sections 26 constituting the storage row 24 may be larger or smaller 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.

Providing the moving mechanism 16 is not essential. Any moving mechanism that can mount the trolley 14 and move in the second direction is sufficient; for example, a stacker crane may be provided instead of the moving mechanism 16.

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 present invention. A new embodiment resulting from a combination has the effects of each of the combined embodiments and modified examples.

14...Truck, 14h...Mode management section, 14j...Load information acquisition section, 14k...Identification section, 14m...Communication section, 14n...Irradiation section, 14p...Position information acquisition section, 14q...Irradiation Light, 16...Moving mechanism, 18...Control unit, 22...Storage shelf unit, 24...Storage row, 26...Storage unit, 36...Reception unit, 48...Display unit, 100...Automatic warehouse system.

Claims (9)

An automatic warehouse system that can store cargo,
a storage column extending in a first direction and for storing a plurality of loads;
a cart that carries a load and moves in the first direction;
an image acquisition unit provided on the trolley and configured to acquire an image of the cargo stored in the storage row;
has
The storage row is provided in multiple stages in the height direction,
The automated warehouse system is characterized in that the image acquisition unit is provided facing downward and acquires an image of a load in a storage row at a lower level of the stage on which the trolley travels. A plurality of the storage rows are provided in a second direction intersecting the first direction,
The automated warehouse system according to claim 1, further comprising a moving mechanism that mounts the cart and moves in the second direction. The automated warehouse system according to claim 1, further comprising an elevating mechanism for elevating and lowering loads between the plurality of storage rows provided in a plurality of stages in the height direction . The storage system further includes a control unit that executes a first mode operation in which the cart carries cargo in and out of the storage row, and a second mode operation in which the cart checks cargo stored in the storage row. The automated warehouse system according to any one of claims 1 to 3, characterized by: The image acquisition unit is provided at a lower part of the trolley,
In the second mode of operation, the control unit is configured to check the cargo stored in a second storage row lower than the first storage row by the trolley moving to a position corresponding to the first storage row. The automated warehouse system according to claim 4, wherein the automated warehouse system performs the following. 6. The automated warehouse system according to claim 4, wherein the moving speed of the cart in the second mode of operation is slower than the moving speed of the cart in the first mode of operation. The automatic transmission according to any one of claims 4 to 6, further comprising a display unit that displays the position of the trolley in the first direction when the second mode operation is performed by the control unit. warehouse system. 8. The vehicle according to claim 4, further comprising a reception section that receives an input from a user instructing the trolley to move or stop when the second mode operation is performed by the control section. automated warehouse system. The second mode operation includes identifying one or more of the presence or absence of loads stored in the storage row, the number of loads, positional shift of loads, inclination of loads, size of loads, and type of loads. The automated warehouse system according to any one of claims 4 to 8, characterized by:

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