WO2021064862A1

WO2021064862A1 - Stocker, stocker system, and stocker control method

Info

Publication number: WO2021064862A1
Application number: PCT/JP2019/038756
Authority: WO
Inventors: 実可子川▲崎▼; 浩二河口; 佐藤　武
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2019-10-01
Filing date: 2019-10-01
Publication date: 2021-04-08
Also published as: JPWO2021064862A1; JP7364684B2

Abstract

A stocker according to the present disclosure is used in a stocker system having a mobile body that transports articles and exchanges the articles with the stocker. This stocker comprises: a delivery compartment that stores articles; a door that can close and lock the delivery compartment; a drive unit that opens and closes the door; and a controller that, upon receiving an opening command from the mobile body, controls the drive unit in a first mode to open the door at an opening degree that enables storage and removal of articles, and that, upon receiving an opening signal from a user, executes a second mode, which differs from the first mode and allows the user to recognize the opening of the door.

Description

Stocker, stocker system and stocker control method

This specification discloses a stocker, a stocker system, and a method for controlling the stocker.

Conventionally, as a stocker system for home delivery, for example, a delivery destination identification processing unit that specifies a delivery box unit corresponding to a delivery destination from among a plurality of delivery box units and a plurality of delivery box units based on the delivery destination of the package. And a moving body that delivers a package by automatic operation to a place where a specified delivery box is installed has been proposed (see, for example, Patent Document 1). This moving body is a moving body via an extension rail portion that is erected on the delivery box portion and extends toward the exposed internal space area by opening the opening / closing door corresponding to the specified delivery box portion. Includes a storage mechanism for storing the luggage delivered by the vehicle in the internal space area. The stocker system makes it possible to deliver efficiently while reducing manual work.

Patent No. 6164599

However, in the above-mentioned stocker of Patent Document 1, although it is considered that the article is automatically taken in and out by the moving body, when the user takes out and contains the article, or when the moving body accommodates and takes out the article. Etc. were not considered.

The present disclosure has been made to solve such a problem, and its main purpose is to provide a stocker, a stocker system, and a method for controlling the stocker, which makes it easy for a moving body to be automatically transported or a user to store and take out an article. And.

The stocker of the present disclosure has taken the following measures to achieve the above-mentioned main purpose.

The stockers disclosed herein are
A stocker used in a stocker system having a stocker for accommodating an article, a moving body for transporting the article, and a moving body for exchanging the article.
A delivery room for storing goods and
A door that can be locked by closing the delivery room,
A door drive unit that opens and closes the door,
When the opening command from the moving body is acquired, the door driving unit is controlled in the first embodiment in which the door is opened at an opening degree at which the article can be accommodated and taken out, and when an opening signal from the user is acquired, the opening signal is obtained. A control unit that executes a second aspect in which the user can recognize the opening of the door, unlike the first aspect.
It is equipped with.

In this stocker, the door drive unit is controlled in the first mode in which the door is opened at an opening that allows the article to be stored and taken out when the opening command from the moving body is obtained. On the other hand, the stocker executes the second aspect in which the user can recognize the opening of the door when the opening signal from the user is acquired, unlike the first aspect. As described above, in this stocker, the moving body and the user execute the door opening mode suitable for each. In this stocker, it is easy for a moving body to be automatically transported and a user to store and take out articles. Here, it is assumed that an open signal is obtained from the user and an open command is obtained from the moving body, but this is for facilitating the distinction, and the signal and the command are not intended to make a special difference.

The schematic explanatory view which shows an example of the stocker system 10. Explanatory drawing which shows an example of a delivery storage 20 and a transporting apparatus 50. A flowchart showing an example of a door control routine. Explanatory drawing of an example which opens a door 22. An explanatory view of an example of notifying the user M of the unlocking of the door 22. Explanatory drawing of another example of a door drive part 24.

The embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is a schematic explanatory view showing an example of the stocker system 10. 2A and 2B are explanatory views showing an example of a delivery storage 20 and a transport device 50, FIG. 2A is a side view, and FIG. 2B is a top view. In this embodiment, the left-right direction, the front-back direction, and the up-down direction are as shown in each figure.

The stocker system 10 includes one or more stockers 11 and a management device 12. In addition, in FIG. 1, only one stocker 11 is shown. The management device 12 is configured as a server that exchanges information with the stocker 11 via the network 13. The management device 12 manages the usage status of the stocker 11.

As shown in FIG. 1, the stocker 11 accepts various operations related to the delivery and removal of the goods A to and from each of the plurality of box-shaped delivery boxes 20 capable of delivering the goods A, and each delivery room 20. It is provided with a control unit 30 that performs various processes related to locking and unlocking. In the stocker 11, a plurality of delivery storages 20 (4 in FIG. 1) are arranged side by side in a plurality of rows (5 rows in FIG. 1) on the left and right, instead of the delivery storage 20 in 1 in the leftmost row. The control unit 30 is arranged. The stocker 11 is installed in various places such as offices, convenience stores, train stations, schools, condominiums, and shopping centers, and is configured to be installed not only indoors but also outdoors. In the stocker 11, the user M who receives the article A after the article A is delivered by the transport device 50 (see FIG. 2) or the delivery person to any of the delivery boxes 20 as the delivery destination, delivers the article A from the delivery room 20. By taking out and receiving the article A, it is used for delivery of the article A delivered by the delivery person.

As shown in FIG. 1, the delivery storage 20 includes a main body 21, a door 22, and a door driving unit 23. The main body 21 is a box body having a rectangular parallelepiped space for accommodating the article A. The delivery room 20 can deliver the article A to the space inside the main body 21 by opening the door 22. A lock mechanism (not shown) is provided on the main body 21, and the door 22 is locked by this lock mechanism. The lock mechanism may be a mechanism that is driven by a drive unit and mechanically locks, or may be a mechanism that electromagnetically locks. The door 22 is a rectangular plate-shaped member that can be locked by opening and closing the opening of the main body 21. The door 22 is supported by a support shaft and rotates to open and close the delivery storage. In the delivery storage 20, a support shaft along the vertical direction is arranged on the right side of the door 22, and the door 22 supported by the support shaft opens to the right to open the opening (see FIG. 1). The door driving unit 23 drives the door 22 to open and close, and may be, for example, a motor. The door drive unit 23 may be directly connected to the support shaft, or may be connected to the support shaft via a gear.

As shown in FIG. 1, the control unit 30 includes a control unit 32 and an operation panel 33. The control unit 32 is arranged in a space inside a rectangular parallelepiped main body having the same size as each delivery storage 20. The control unit 32 controls the entire stocker 11 and includes a CPU and a storage unit (not shown). The operation panel 33 is arranged in the center of the front panel 31. The operation panel 33 has a screen that can be touch-operated. The operation panel 33 displays, for example, a guide image for displaying an operation guide for delivery and removal of the article A, an operation image for accepting an input operation for delivery and removal of the article A, and the like on the screen. The front panel 31 is provided with other devices such as a card reader, a code reader, a receipt stamp module, a camera module, a cylinder lock, a voice unit, and a motion sensor. The control unit 32 unlocks or locks the door 22 based on information input by a user such as a deliverer or a recipient by operating the operation panel 33 arranged on the front panel 31 or other devices. Do.

The transport device 50 is configured as a moving body that transports the article A and exchanges the article A with the stocker 11. The transport device 50 is a device that automatically operates between the storage for storing the article A and the stocker 11. As shown in FIG. 2, the transport device 50 includes a mounting base 51, an extension arm 52, a support base 53, an elevating guide 54, an accommodating portion 56, a moving portion 58, and a control device 59. There is. The mounting table 51 is a member on which the article A housed in the main body 21 and the article A collected from the main body 21 are placed. The mounting table 51 is a rectangular flat plate-shaped member, is sent out from the accommodating portion 56 by the extension arm 52, and is accommodated in the accommodating portion 56 by the extension arm 52. The extension arm 52 is a columnar member having a mounting base 51 arranged on one end side and a support base 53 arranged on the other end side. The extension arm 52 is extended and shortened by a drive unit (not shown), and the mounting table 51 is moved inside and outside the accommodating unit 56. The support base 53 is a member that moves up and down along the elevating guide 54 by a driving force from a driving unit (not shown), and supports the mounting base 51 via an extension arm 52. The elevating guide 54 is a member in which a groove having a longitudinal direction in the vertical direction is formed, and is provided at two locations on the side wall of the accommodating portion 56. The accommodating portion 56 is a space for accommodating the article A formed inside the main body of the transport device 50. The moving unit 58 moves the transport device 50, and includes a drive motor and wheels. The control device 59 controls the entire device, and includes a CPU, a storage unit, a communication unit that communicates with an external device, and the like (not shown). The control device 59 acquires the position of the target stocker 11, the position of the storage, information on the moving article A, and the like from the management device 12 and the like via the communication unit. The control device 59 controls the moving unit 58 so as to move to the target stocker 11 or the storage, and moves the mounting table 51 so as to execute the exchange of the article A. The transport device 50 is provided with a mounting base 51, an extension arm 52, and a support base 53 in the accommodating portion 56, one for each, but a plurality of these may be provided. Further, although the transport device 50 is designed to raise and lower the article A in the accommodating portion 56, it may have a space for elevating and lowering the article A separately from the accommodating portion 56 accommodating the article A.

Next, in the delivery storage 20 configured in this way, the operation when the door 22 is opened will be described. FIG. 3 is a flowchart showing an example of a door control routine executed by the control unit 32. 4A and 4B are explanatory views of an example of opening the door 22, FIG. 4A is an explanatory view of opening based on an opening command of the transport device 50, and FIG. 4B is an explanatory view of opening based on an opening signal of the user M. The door control routine is stored in the storage unit of the control unit 32, and is repeatedly executed at a predetermined timing after the control unit 30 is activated. When this routine is started, the control unit 32 determines whether or not the information regarding the opening of the door 22 has been acquired (S100). If the information regarding the opening of the door 22 has not been acquired, this routine is terminated as it is.

On the other hand, when the opening command from the transport device 50 is acquired in S100, the door driving unit 23 is controlled and the door 22 is opened in the first mode of opening the door 22 at an opening degree capable of accommodating and taking out the article A. (S110). The control unit 32 may receive commands and information from the transport device 50 directly from the transport device 50, or may indirectly receive the commands and information from the transport device 50 via the management device 12. In the former case, the processing time can be shortened, and in the latter case, the processing of the stocker 11 and the like can be managed more reliably by the management device 12. Here, as shown in FIG. 4A, the control unit 32 controls the door drive unit 23 so as to open the door 22 in an angle range of 90 ° or more as the first aspect. The opening angle θ1 of the door 22 based on the opening command from the transport device 50 may be 90 °, or may be 100 ° or 120 ° beyond this. When the opening of the main body 21 is opened in this way, the transport device 50 can easily access the opening. Further, when the door 22 is fully opened, the control unit 32 may determine whether or not there is an obstacle around the door 22 based on an image captured by a camera module (not shown), and then open the door 22. When the control device 59 of the transport device 50 confirms that the door 22 has been opened, the control device 59 executes a predetermined operation. For example, the control unit 32 transmits information indicating that the door 22 has been opened, and the control device 59 of the transport device 50 receives the information directly or indirectly via the management device 12. The control device 59 of the transport device 50 may confirm that the door 22 has been opened. Alternatively, when the control device 59 of the transport device 50 recognizes that a predetermined time has elapsed from the time when the opening command is transmitted, it may be estimated that the door 22 has been opened. When the transport device 50 accommodates the article A in the main body 21, the control device 59 moves the article A in front of the corresponding main body 21, adjusts the height of the mounting table 51, and moves the mounting table 51 into the internal space of the main body 21. (See FIG. 2B). When the work is completed, the control device 59 transmits a signal of the end of the work to the control unit 30 and / or the management device 12.

After S110, the control unit 32 determines whether or not the work of the transport device 50 is completed based on the signal from the transport device 50 (S120), and if the work is not completed, stands by as it is. On the other hand, when the work of the transport device 50 is completed, the control unit 32 controls the door drive unit 23 so as to close the door 22 (S130). Subsequently, the control unit 32 locks the door 22 (S170), stores the processing content, outputs the processing content to the management device 12 (S180), and ends this routine. In this way, the transport device 50 can automatically deliver the article A to the stocker 11.

On the other hand, when the release signal from the user M is acquired in S100, the control unit 32 executes the second mode in which the user can recognize the opening of the door (S140). The control unit 32 acquires the release signal from the user M based on the input from the operation panel 33. The control unit 32 may acquire the release signal from the user M directly from the mobile terminal of the user M or indirectly via the management device 12 or the like without going through the operation panel 33. As shown in FIG. 4B, the control unit 32 opens the door 22 at an opening angle θ2 smaller than the opening angle θ1 of the first aspect as the second aspect. As a second aspect, the control unit 32 may control the door drive unit 23 so as to open the door 22 within an angle range of 45 ° or less. The opening angle θ2 based on the opening signal from the user M may be 45 °, or may be 30 ° or less or 20 ° or less, which is smaller than 45 °. The user M can visually recognize the opening of the door 22 even if the opening angle is smaller. Further, if the opening angle is smaller, it is possible to further prevent the door 22 from coming into contact with a passerby or the like. After confirming that the door 22 has been opened, the user M performs a desired operation. For example, when the user M receives the article A, the user M moves to the front of the main body 21 in which the door 22 is opened, opens the door 22 more, takes out the article A housed in the door 22, and takes out the article A contained therein. To close.

After S140, the control unit 32 determines whether or not the door 22 is closed based on a signal from a door sensor (not shown) (S150), and if the door 22 is not closed, closes the door 22 after the work is completed. A message to the effect is displayed on the operation panel 33 (S160), and the processing after S150 is executed. On the other hand, when the door 22 is closed in S150, the control unit 32 locks the door 22 (S170), stores the processing content, outputs the processing content to the management device 12 (S180), and executes this routine. finish. In this way, the stocker 11 can open the door 22 according to the user M and exchange the article A.

Here, the correspondence between the components of the present embodiment and the components of the present disclosure will be clarified. The delivery storage 20 of the present embodiment corresponds to the delivery storage of the present disclosure, the door 22 corresponds to the door, the door drive unit 23 corresponds to the door drive unit, the control unit 32 corresponds to the control unit, and the transport device 50. Corresponds to a moving body. In the present embodiment, by explaining the operation of the stocker 11, an example of the stocker system of the present disclosure and the control method of the stocker of the present disclosure is also clarified.

In the stocker 11 of the present embodiment described above, the door drive unit 23 is in the first embodiment in which the door 22 is opened at an opening degree in which the article A can be accommodated and taken out when an opening command is obtained from the transport device 50 as a moving body. To control. On the other hand, when the stocker 11 acquires the opening signal from the user M, unlike the first aspect, the stocker 11 executes the second aspect in which the user M can recognize the opening of the door 22. It is difficult for the transport device 50 to access the main body 21 unless the door 22 is completely opened. Further, if the transport device 50 is provided with a mechanism for opening the door 22, a complicated operation is required to fully open the door 22. On the other hand, if the user M can visually recognize which door 22 is unlocked, the user M can open the door 22, so that it is not necessary to fully open the door 22. As described above, in the stocker 11, the transport device 50 and the user M execute the opening mode of the door 22 suitable for each. In the stocker 11, the transport device 50 for automatic transport and the user M can easily accommodate and take out the article A.

Further, the door 22 is supported by a support shaft and rotates to open the delivery storage 20, and when the control unit 32 obtains an opening command from the transport device 50, the door 22 is opened to 90 as the first aspect. The door drive unit 23 is controlled so as to open in an angle range of ° or more. In this stocker 11, since the entire surface of the delivery storage 20 is opened, the transport device 50 can more easily access the inside of the delivery storage 20. Further, when the control unit 32 acquires the opening signal from the user M, the control unit 32 controls the door driving unit 23 so as to open the door in an angle range of 45 ° or less as a second aspect. In the stocker 11, when the user M opens the door 22, the door 22 is further suppressed and the door 22 is opened, so that a state in which a person comes into contact with the door can be further suppressed. Further, since the door driving unit 23 rotationally drives the support shaft to open and close the door 22, the stocker 11 can open and close the door 22 by a simple mechanism by rotating the support shaft.

Further, the stocker system 10 has a management device 12 that manages the stocker 11, and the control unit 32 acquires an release command from the transport device 50 via the management device 12. In this stocker 11, since the door 22 is opened after the management of the management device 12, a security system and a management system are more preferable. Further, the stocker 11 includes an operation panel 33 that receives an input from the user M, and the control unit 32 acquires an release signal from the user M from the operation panel 33. In the stocker 11, the operation panel 33 can accept the opening of the door 22 by the user M.

It should be noted that the present disclosure is not limited to the above-described embodiment, and it goes without saying that the present disclosure can be carried out in various embodiments as long as it belongs to the technical scope of the present disclosure.

For example, in the above-described embodiment, the control unit 32 opens the door 22 in an angle range of 45 ° or less as a second aspect, but the user M states that the door 22 can be opened after being unlocked. If it can be recognized, it is not particularly limited to this, and the door may not be opened. At this time, the control unit 32 may notify the user M of the unlocking. FIG. 5 is an explanatory diagram of an example of notifying the user M of unlocking the door 22. As shown in FIG. 5, for example, the stocker 11 has a lighting in each of the delivery storage 20, and the control unit 32 lights the unlocked delivery storage 20 as a second aspect. May be good. Although the door 22 is lit in FIG. 5, a transparent or translucent member may be provided on the door 22 to light the inside of the main body 21. Alternatively, the control unit 32 may display the position of the unlocked delivery storage 20 on the operation panel 33 as a second aspect. Even in this way, the user M can identify the unlocked delivery room 20.

In the above-described embodiment, the door 22 is pivotally supported by a support shaft and rotates to open the delivery storage 20, but the present invention is not particularly limited, and for example, the door 22 moves vertically or horizontally. Then, it may be used as a shutter for opening and closing the delivery storage 20. At this time, the door driving unit 23 may move the shutter. Also in this stocker 11, since the opening mode of the door 22 is switched according to the transport device 50 and the user M for automatic transport, it is easy to store and take out the article A.

In the above-described embodiment, the door driving unit 23 has been described as rotating the support shaft of the door 22. However, the door driving unit 23 is not particularly limited as long as the opening mode of the door 22 can be controlled. The portion 23 may be a mechanism capable of adjusting the opening degree of the door 22. 6A and 6B are explanatory views of an example of a delivery room 20B provided with another door driving unit 24, in which FIG. 6A shows the door 22 closed, FIG. 6B shows the second aspect, and FIG. 6C shows the door 22 in the first aspect. It is a figure which opened. The delivery storage 20B includes a door drive unit 24 including an arm member 41, a connection portion 42, a support portion 43, and a guide shaft 44. The arm member 41 is a rod-shaped member that can be extended and shortened by a drive unit (not shown). The connecting portion 42 is a member that rotatably connects one end of the arm member 41 to the door 22. The support portion 43 is a member that is rotatably connected to the other end of the arm member 41 and slides along the guide shaft 44. The support portion 43 is driven by a drive portion (not shown) and moves along the guide shaft 44. The guide shaft 44 is arranged in the left-right direction along the opening edge of the delivery storage 20. In the door driving unit 24, the connecting portion 42 is pushed out by the arm member 41 by sliding the support portion 43 from the state where the door 22 is closed (FIG. 6A), and the door 22 is opened (FIG. 6B). Further, the door 22 can be further opened by extending the arm member 41 (FIG. 6C). The stocker 11 can also control the opening mode of the door 22 by using such a door driving unit 24.

In the above-described embodiment, the stocker 11 is provided with a plurality of delivery storages 20, but the present invention is not limited to this, and one delivery storage 20 may be provided. Further, in the above-described embodiment, the stocker system 10 has the management device 12 connected to the network 13, but the management device 12 may be omitted, and the function of the management device 12 may be transferred to the control unit 32. It may be provided.

Here, the present disclosure may be configured as follows.

In the stocker of the present disclosure, the door is supported by a support shaft and rotates to open the delivery room, and when the control unit acquires an opening command from the moving body, the first aspect is described. The door driving unit may be controlled so as to open the door in an angle range of 90 ° or more. In this stocker, the entire surface of the delivery room is opened, so that the moving body can more easily access the inside of the delivery room. In the stocker of the present disclosure in which the door rotates, when the control unit acquires an opening signal from the user, the door driving unit opens the door in an angle range of 45 ° or less as the second aspect. May be controlled. In this stocker, when the user opens the door, the door is opened with more restraint, so that a state in which a person comes into contact with the door can be further suppressed. In the second aspect, it is sufficient that the user can recognize that the door can be opened by unlocking the door, and the control unit may not open the door. At this time, the control unit may notify the user of the unlocking. Further, in the stocker of the present disclosure in which the door rotates, the door driving unit may rotate drive the support shaft to open and close the door. In this stocker, the door can be driven by a simple mechanism by rotating the support shaft.

In the stocker of the present disclosure, the stocker system may further include a management device for managing the stocker, and the control unit may acquire an release command from the moving body via the management device. In this stocker, the security system and the management system are more preferable because the door is opened after the management of the management device.

The stocker of the present disclosure includes an operation panel that receives an input from the user, and the control unit may acquire an release signal from the user from the operation panel. In this stocker, the operation panel can accept the opening of the door by the user. Alternatively, the stocker may acquire an open signal from a mobile terminal owned by the user.

The stocker system of the present disclosure includes any of the stockers described above, and a mobile body that carries an article, exchanges the article with the stocker, and outputs a door opening command in the vicinity of the stocker. is there. Since this stocker system includes the stocker described above, it is possible to obtain an effect according to the mode of the stocker to be adopted.

The method of controlling the stocker of the present disclosure is described.
Used in a stocker system having a stocker for accommodating an article and a moving body for transporting the article and exchanging the article, a delivery room for accommodating the article, a door for closing and locking the delivery room, and a lockable door. A method for controlling a stocker including a door drive unit for opening and closing the door.
When the opening command from the moving body is acquired, the door driving unit is controlled in the first embodiment in which the door is opened at an opening degree at which the article can be accommodated and taken out, and when an opening signal from the user is acquired, the opening signal is obtained. A step of performing a second aspect in which the user can recognize the opening of the door, unlike the first aspect.
Is included.

Similar to the above-mentioned stocker, this stocker control method executes a door opening mode suitable for each of the moving body and the user, so that the moving body and the user who automatically transport the goods can easily store and take out the articles. In this stocker control method, various aspects of the stocker or stocker system described above may be adopted, or steps may be added to realize each function of the stocker or stocker system described above. ..

The stocker of the present disclosure can be used in the technical field of a product distribution system for delivering products.

10 stocker system, 11 stocker, 12 management device, 13 network, 20, 20B delivery room, 21 main body, 22 door, 23, 24 door drive unit, 30 control unit, 31 front panel, 32 control unit, 33 operation panel, 41 Arm member, 42 connection part, 43 support part, 44 guide shaft, 50 transport device, 51 mounting stand, 52 extension arm, 53 support stand, 54 elevating guide, 56 accommodating part, 58 moving part, 59 control device, A article, M user, θ1, θ2 open angle.

Claims

A stocker used in a stocker system having a stocker for accommodating an article, a moving body for transporting the article, and a moving body for exchanging the article.
A delivery room for storing goods and
A door that can be locked by closing the delivery room,
A door drive unit that opens and closes the door,
When the opening command from the moving body is acquired, the door driving unit is controlled in the first embodiment in which the door is opened at an opening degree at which the article can be accommodated and taken out, and when an opening signal from the user is acquired, the opening signal is obtained. A control unit that executes a second aspect in which the user can recognize the opening of the door, unlike the first aspect.
Stocker with.
The door is supported by a support shaft and rotates to open the delivery room.
The stocker according to claim 1, wherein the control unit controls the door driving unit so as to open the door in an angle range of 90 ° or more as the first aspect when the opening command from the moving body is acquired. ..
The stocker according to claim 2, wherein the control unit controls the door drive unit so as to open the door in an angle range of 45 ° or less as the second aspect when the opening signal from the user is acquired. ..
The stocker according to claim 2 or 3, wherein the door driving unit rotationally drives the support shaft to open and close the door.
The stocker system further includes a management device for managing the stocker.
The stocker according to any one of claims 1 to 4, wherein the control unit acquires a release command from the moving body via the management device.
The stocker according to any one of claims 1 to 5.
Equipped with an operation panel that accepts input from the user,
The control unit is a stocker that acquires an release signal from the user from the operation panel.
The stocker according to any one of claims 1 to 6 and
A mobile body that carries an article, exchanges the article with the stocker, and outputs a door opening command in the vicinity of the stocker.
Stocker system with.
Used in a stocker system having a stocker for accommodating an article and a moving body for transporting the article and exchanging the article, a delivery room for accommodating the article, a door for closing and locking the delivery room, and a lockable door. A method for controlling a stocker including a door drive unit for opening and closing the door.
When the opening command from the moving body is acquired, the door driving unit is controlled in the first embodiment in which the door is opened at an opening degree at which the article can be accommodated and taken out, and when an opening signal from the user is acquired, the opening signal is obtained. A step of performing a second aspect in which the user can recognize the opening of the door, unlike the first aspect.
How to control the stocker, including.