WO2021124595A1

WO2021124595A1 - Warehouse management system and moving body

Info

Publication number: WO2021124595A1
Application number: PCT/JP2020/013070
Authority: WO
Inventors: 和田　拓也; 康二森綱
Original assignee: 株式会社日立製作所
Priority date: 2019-12-16
Filing date: 2020-03-24
Publication date: 2021-06-24
Also published as: JP7182670B2; JP2021095231A; JP6908683B2; JP2021155226A

Abstract

This management device is capable of communicating with a moving body capable of loading a transport shelf. The transport shelf has a plurality of shelf surfaces capable of storing products, and a display surface for displaying an identification code which makes it possible to detect the identification information of the transport shelf and a first direction in which a specific shelf surface among the plurality of shelf surfaces is oriented. In addition, the moving body has an imaging unit capable of reading the identification code. The management device is capable of accessing inventory information for each product which associates the shelf surface and the transport shelf where storage is to occur. The management device identifies a specific transport shelf and the first direction as a result of imaging by the imaging unit of the identification code of the specific transport shelf, identifies the shelf surface on which the target product is to be stored on the basis of the inventory information, identifies a second direction in which the shelf surface on which storage is to occur is oriented on the basis of the first direction, and when the specific moving body reaches the movement destination, rotates and controls the moving body on the basis of the second direction and a third direction from the specific moving body toward the movement destination in a manner such that the second direction is the third direction.

Description

Warehouse management system and mobile

Capture by reference

This application claims the priority of Japanese Patent Application No. 2019-226058, which is a Japanese application filed on December 16, 2019, and incorporates it into this application by referring to its contents.

The present invention relates to a warehouse management system and a mobile body.

Patent Document 1 below discloses an automated warehouse transport system that can suppress the collapse of the storage rack when the stacker crane is running. This automated warehouse is an automated warehouse in which a multi-layered storage rack can be stored in a plurality of storage shelves arranged along the traveling path of a stacker crane. The storage rack holds a plurality of trays containing eggs from one direction. The stacker crane is provided with an open surface that can be loaded and is surrounded by a fall prevention wall in three directions other than the open surface, and the stacker crane for transferring the storage rack to and from the storage shelf. The stacker crane is provided with side walls in the front and rear directions in the traveling direction, and the stacker crane conveys the storage rack in a state where one of the side walls of the stacker crane and the open surface of the storage rack face each other.

JP-A-2018-150101

However, in the above-mentioned prior art, only the transport of the storage rack within the range of the automated warehouse and the transport equipment connected to the automated warehouse is disclosed, and the transport of the containment rack outside the range of the transport equipment is considered. Not. Therefore, when the storage rack is transported outside the range of the transport equipment, the shelf surface of the storage rack may not face the picking station, which delays the work of receiving and shipping the goods.

An object of the present invention is to improve the efficiency of the work of receiving and shipping goods.

The warehouse management system, which is one aspect of the invention disclosed in the present application, includes a transport shelf, an automatic warehouse for loading and unloading the transport shelf, a moving body capable of loading the transport shelf, and the automatic warehouse and the moving body. A warehouse management system including a communicable management device, wherein the transport shelf has a plurality of shelf surfaces capable of storing articles, identification information of the transport shelves, and a specific shelf surface among the plurality of shelf surfaces. The moving body has an imaging unit capable of reading the identification code, and the management device is used for each of the articles. It is possible to access the inventory information associated with the transport shelf and the shelf surface as the storage destination, and the management device receives the specific transport shelf in which the target article is stored from the automatic warehouse, and the specific When the moving body is loaded on the transport shelf, the identification code provided on the specific transport shelf is imaged by the imaging unit, and as a result, the identification information of the specific transport shelf and the first direction are specified. , The storage destination shelf surface in which the target article is stored in the specific transport shelf is specified based on the inventory information, and the second direction in which the storage destination shelf surface faces is determined based on the first direction. Based on the second direction and the third direction from the specific moving body to the moving destination when the specific moving body that identifies and loads the specific transport shelf arrives at the moving destination, The moving body is rotationally controlled so that the second direction becomes the third direction.

A moving body according to another aspect of the invention disclosed in the present application is a moving body having a processor for executing a program, a storage device for storing the program, and a transport shelf capable of loading the transport shelf. Is a display surface provided with a plurality of shelf surfaces capable of storing articles, identification information of the transport shelf, and an identification code capable of detecting the first direction in which a specific shelf surface is facing among the plurality of shelf surfaces. The moving body has an imaging unit capable of reading the identification code, and can access the inventory information associated with the transport shelf and the shelf surface, which are storage destinations for each of the articles. When the processor is loaded with a specific transport shelf in which the target article is stored, the identification code provided on the specific transport shelf is imaged by the imaging unit, and as a result, the identification information of the specific transport shelf is obtained. The first direction is specified, the storage destination shelf surface on which the target article is stored in the specific transport shelf is specified based on the inventory information, and the storage destination shelf surface is specified based on the first direction. Based on the second direction and the third direction from the moving body to the moving destination when the specific transport shelf is loaded and arrives at the moving destination. The specific transport shelf is rotationally controlled so that the second direction becomes the third direction.

According to a typical embodiment of the present invention, it is possible to improve the efficiency of the work of receiving and shipping goods. Issues, configurations and effects other than those described above will be clarified by the description of the following examples.

FIG. 1 is an explanatory diagram showing a configuration example of a warehouse management system. FIG. 2 is a front view of a rack constituting an automated warehouse. FIG. 3 is a perspective view of the transport shelf. FIG. 4 is an explanatory view showing a transport shelf. FIG. 5 is an enlarged view of the transport vehicle. FIG. 6 is an explanatory diagram showing a system configuration example of the warehouse management system. FIG. 7 is a block diagram showing an example of a computer hardware configuration. FIG. 8 is a block diagram showing a hardware configuration example of the transport vehicle. FIG. 9 is an explanatory diagram showing an example of the map information DB. FIG. 10 is an explanatory diagram showing an example of the transport vehicle information DB. FIG. 11 is an explanatory diagram showing an example of the inventory information DB. FIG. 12 is an explanatory diagram showing an example of the transport shelf DB. FIG. 13 is an explanatory diagram showing an example of rotation control of a transport shelf by a transport vehicle. FIG. 14 is a sequence diagram showing a sequence example at the time of shipping the article. FIG. 15 is a sequence diagram showing an example of a sequence when an article arrives. FIG. 16 is a sequence diagram showing an example of a warehousing sequence of a transport shelf.

<Configuration example of warehouse management system>
FIG. 1 is an explanatory diagram showing a configuration example of a warehouse management system. The warehouse management system 100 includes an automated warehouse 101, a transport facility 102, and a transport area 103. The automated warehouse 101 is a facility that automatically moves in and out of the transport shelf 113. The transport equipment 102 is equipment that moves the transport shelves 113 that have been delivered from the automated warehouse 101 to the transport area 103, and moves the transport shelves 113 from the transport area 103 to the automated warehouse 101 in order to store them in the automated warehouse 101. ..

In the transport area 103, an automatic guided vehicle (hereinafter, simply a transport vehicle) 104 that transports a transport shelf 113 by autonomous traveling moves, and an article arrives at the transport shelf 113, or an article is shipped (picking) from the transport shelf 113. This is the area where the picking stations PS1 and PS2 are located. When the picking stations PS1 and PS2 are not distinguished, they are simply referred to as picking station PS. Further, in FIG. 1, the number of picking stations PS is two, but it may be one or three or more.

The automated warehouse 101 has racks 111-1 and 111-2 and a stacker crane 112. When racks 111-1 and 111-2 are not distinguished, they are simply referred to as racks 111. Further, in FIG. 1, the number of racks 111 is two, but it may be one or three or more.

The racks 111 are arranged in the Y-axis direction. The rack 111 has a matrix-like accommodating area for accommodating the transport shelves 113 on the XZ plane. The stacker crane 112 is a moving mechanism that is arranged between racks 111-1 and 111-2 and can move in the X-axis direction and can move up and down in the Z-axis direction. The stacker crane 112 can hold the transport shelves 113, and takes out the transport shelves 113 from the storage area of the rack 111 and delivers them to the transport equipment 102, or takes over the transport shelves 113 from the transport equipment 102 to cover the storage area of the rack 111. Store in an empty block.

The transport facility 102 is provided between the automated warehouse 101 and the transport area 103, and delivers the transport shelf 113 between the automated warehouse 101 and the transport area 103. The conveyor 102 has conveyors 121-1 and 121-2 capable of transporting the conveyor 113. When the conveyors 121-1 and 121-2 are not distinguished, they are simply referred to as the conveyor 121. Further, in FIG. 1, the number of conveyors 121 is two, but it may be one or three or more.

The conveyor 121 is arranged in the Y-axis direction together with the rack 111. The transport direction of the conveyor 121 is the X-axis direction. One end of the conveyor 121 corresponds to the range of movement of the stacker crane 112. At one end of the conveyor 121, the transport shelves 113 are placed and removed from the stacker crane 112. The other end of the conveyor 121 corresponds to the transport area 103. At the other end of the conveyor 121, the transport shelf 113 is mounted on the conveyor 104, or the conveyor 113 mounted on the conveyor 104 is mounted on the conveyor 121.

Specifically, for example, when the conveyor 113 is transported to the conveyor region 103, when the conveyor 104 moves below the other end of the conveyor 121, the conveyor 104 raises the rotary plate, which will be described later, in the Z-axis direction. As a result, the transport shelf 113 that has been transported to the other end of the conveyor 121 is lifted and separated from the conveyor 121. The transport vehicle 104 moves from the conveyor 121 to the transport region 103, and then lowers the rotary plate on which the transport shelf 113 is placed in the Z-axis direction.

Further, when the transfer shelf 113 is transferred from the transfer area 103 to the transfer facility 102, when the transfer vehicle 104 on which the transfer shelf 113 is placed approaches below the other end of the conveyor 121, the transfer shelf 113 is placed on the transfer vehicle 104. The placed rotating plate is raised in the Z-axis direction, and in this state, it moves below the other end of the conveyor 121. Then, the transport vehicle 104 delivers the transport shelf 113 to the other end of the conveyor 121 by lowering the rotary plate on which the transport shelf 113 is placed in the Z-axis direction.

The transport area 103 is adjacent to the transport equipment 102. A plurality of transport vehicles 104 travel in the transport region 103. The transport vehicle 104 is a mobile body that transports the transport shelf 113 between the transport equipment 102 and the picking station PS. The transport vehicle 104 receives the transport shelf 113 from the transport equipment 102 and transports it to the picking station PS, or receives the transport shelf 113 from the picking station PS and transports it to the transport equipment 102.

Further, the relay points B1 to B3 may exist in the transport area 103. In this case, the transport vehicle 104 places the transport shelves 113 at the relay points B1 to B3, or receives and transports the transport shelves 113 placed at the relay points B1 to B3. The relay points B1 to B3 adjust the timing of transporting the goods to the destination of the transport vehicle 104 when the transport shelf 113 in which the goods are stored is discharged from the automated warehouse 101 and the transport vehicle 104 loads the transport shelf 113. Therefore, it becomes a buffer area for temporarily arranging the transport shelf 113.

The picking station PS is a place where the articles stored in the transport shelf 113 are taken out (shipment) and the articles transported from the outside are stored in the transport shelf 113 (arrival). The receipt / shipment work is performed by a worker or a work robot.

<Rack 111>
FIG. 2 is a front view of the rack 111 constituting the automated warehouse 101. The rack 111 has a plurality of blocks r (i, j) as the accommodation area 200 (i is an integer satisfying 1 ≦ i ≦ m, and j is an integer satisfying 1 ≦ j ≦ n. Is an integer greater than or equal to 1). In FIG. 2, the block r (i, j) in which the transport shelf 113 is not housed is an empty block.

<Transport shelf 113>
FIG. 3 is a perspective view of the transport shelf 113. FIG. 3 shows three types of transport shelves 113a to 113c. When the transport shelves 113a to 113c are not distinguished, they are simply referred to as the transport shelves 113. The transport shelves 113a are configured with the back surfaces of the two shelves facing each other (back to back). The surface on which the shelf can be seen, that is, the front of the shelf is called the shelf surface. One shelf surface is referred to as surface A, and the other shelf surface is referred to as surface B. The directions of the A side and the B side are different from each other by 180 degrees. The shelves in the transport shelf 113a have three shelves in the Z-axis direction, but may be two or four or more. The transport shelf 113b has one shelf. Further, by arranging the shelf boards parallel to the XZ plane in the Y-axis direction, a plurality of frontages capable of complementing the articles may be formed on the shelf steps.

The transport shelf 113c is configured so that the shelf surfaces (A to D surfaces) of the four shelves face outward. Similar to the

transport shelves

113a and 113b, the A surface and the B surface are different in the direction of 180 degrees, and the C surface and the D surface are different in the direction of 180 degrees. The directions of the A-side and the B-side and the C-side and the D-side are different from each other by 90 degrees.

A pallet 301 is provided at the bottom of the transport shelf 113. An insertion hole 310 is provided in the pallet 301, and a fork (not shown) of the stacker crane 112 is inserted into the pallet 301. As a result, the stacker crane 112 can convey the transport shelf 113. There is also a pallet 301 without an insertion hole 310. In this case, the stacker crane 112 lifts the transport shelf 113 from the bottom surface of the pallet 301.

FIG. 4 is an explanatory view showing the transport shelf 113. (A) is a bottom view of the transport shelf 113. An identification code 400 is provided at a predetermined position (for example, in the center) on the bottom surface of the transport shelf 113, that is, the bottom surface 301a of the pallet 301. That is, the bottom surface 301a is a display surface on which the identification code 400 is provided.

Specifically, for example, a sheet on which the identification code 400 is printed may be attached to the bottom surface 301a, or the identification code 400 may be applied to the bottom surface 301a. Further, the identification code 400 may be displayed as an image on a display provided on the bottom surface 301a. In FIG. 4, a two-dimensional code is given as an example of the identification code 400. Position detection patterns 401 to 403 are provided at three of the four corners of the two-dimensional code. The position detection patterns 401 to 403 are patterns for the imaging unit 504, which will be described later, to recognize the position of the two-dimensional code.

The

position detection patterns

401 and 402 are arranged on the A side, and the position detection pattern 403 is arranged on the B side. The

position detection patterns

401 and 403 are arranged in the arrangement direction of the A plane and the B plane. By detecting the arrangement state of the position detection patterns 401 to 403, it is possible to specify in which direction the shelf surface of the transport shelf 113 is facing.

(B) is an enlarged cross-sectional view of the pallet 301 of the transport shelf 113. The identification code 400 is given to the bottom surface 301a of the pallet 301, but as shown in (B), the identification code 400 may be given to the recess 404 formed in the bottom surface 301a. As a result, when the transport shelf 113 is placed on the conveyor 121, the bottom surface 301a contacts the conveyor 121, but the identification code 400 does not contact the conveyor 121. Therefore, peeling of the identification code 400 due to friction between the bottom surface 301a and the conveyor 121 is reduced.

<Transport vehicle 104>
FIG. 5 is an enlarged view of the transport vehicle 104. (A) shows the perspective view of the transport vehicle 104. The carrier 104 has a front 501. The direction in which the front 501 faces is the traveling direction d of the transport vehicle 104. A rotating plate 503 and an imaging unit 504 are provided on the upper surface 502 of the transport vehicle 104. The image pickup unit 504 is provided at the center position of the rotating plate 503. Further, the transport shelf 113 is placed on the rotary plate 503. The rotary plate 503 can rotate in the direction of arrow R about the image pickup unit 504 in a state where the transport shelf 113 is placed. When the transport shelf 113 is placed on the rotating plate 503, the imaging unit 504 images the identification code 400 on the bottom surface 301a of the pallet 301.

(B) is a plan view showing a transport state of the transport shelf 113 by the transport vehicle 104. (B1) The transport vehicle 104 advances in the traveling direction d with the transport shelf 113 mounted. Here, it is assumed that the A plane faces the traveling direction d. (B2) For example, when the transport vehicle 104 rotates 90 degrees clockwise around the Z axis, the rotating plate 503 does not rotate with the rotation of the transport vehicle 104, so that the A surface faces the same direction as before the rotation.

(B3) For example, when the transport vehicle 104 rotates 90 degrees counterclockwise around the Z axis from the state of (B2), the rotating plate 503 does not rotate with the rotation of the transport vehicle 104, so that the A surface rotates. It remains facing the same direction as before. In FIG. 5B, the case where the rotary plate 503 does not rotate with the rotation of the transport vehicle 104 is taken as an example, but the rotary plate 503 is controlled to rotate with the rotation of the transport vehicle 104. You may.

<System configuration example of warehouse management system 100>
FIG. 6 is an explanatory diagram showing a system configuration example of the warehouse management system 100. The warehouse management system 100 includes an automated warehouse 101, a transport facility 102, a transport vehicle 104, a management device 601, a controller 602, and a terminal 603. The management device 601, the controller 602, the transport vehicle 104, and the terminal 603 are communicably connected by a network 600 such as a LAN (Local Area Network), a WAN (Wide Area Network), or the Internet. Further, the controller 602 is communicably connected to the automated warehouse 101 and the transport facility 102.

The management device 601 manages the controller 602 and the transport vehicle 104. The management device 601 receives arrival information and shipping information from the terminal 603. The management device 601 generates a travel route for the transport vehicle 104, and controls the movement so that the transport vehicle 104 travels on the travel route. The traveling route may be a route to the destination point (for example, the picking station PS or the transport facility 102), but since another transport vehicle 104 is also traveling in the transport area 103, the route for heading to the destination point is required. It may be a route to a predetermined distance. In this case, the management device 601 is to generate a traveling route for each predetermined distance and transmit it to the transport vehicle 104. Thereby, the transport vehicle 104 can be guided according to the situation.

Further, the management device 601 has a map information DB 611, a transport vehicle information DB 612, and an inventory information DB 613. The map information DB 611 is a database that stores the map information of the transport area 103, and the details will be described later in FIG. The transport vehicle information DB 612 is a database that stores mobile information related to the transport vehicle 104, and the details will be described later in FIG.

Inventory information DB 613 is a database that stores inventory information of goods, and details will be described later in FIG. The transport shelf DB 614 is a database that stores information about the transport shelf 113, and the details will be described later in FIG. The transport shelf DB 614 may be provided in the management device 601. Further, the function of the controller 602 may also be provided in the management device 601.

The controller 602 controls the loading and unloading of the transport shelf 113 with respect to the automated warehouse 101, and controls the transport speed and transport direction of the conveyor 121 in the transport facility 102. The terminal 603 is arranged in the picking station PS and is operated by a worker of the picking station PS.

<Hardware configuration example of controller 602>
FIG. 7 is a block diagram showing a hardware configuration example of a computer (management device 601, controller 602, terminal 603). The computer 700 has a first processor 701, a first storage device 702, an input device 703, an output device 704, and a first communication interface (first communication IF) 705. The first processor 701, the first storage device 702, the input device 703, the output device 704, and the first communication IF 705 are connected by the bus 706. The first processor 701 controls the computer 700. The first storage device 702 serves as a work area for the first processor 701. Further, the first storage device 702 is a non-temporary or temporary recording medium for storing various programs and data. Examples of the first storage device 702 include a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), and a flash memory. The input device 703 inputs data. The input device 703 includes, for example, a keyboard, a mouse, a touch panel, a numeric keypad, and a scanner. The output device 704 outputs data. The output device 704 includes, for example, a display and a printer. The first communication IF705 connects to the network 600 and transmits / receives data.

<Hardware configuration example of transport vehicle 104>
FIG. 8 is a block diagram showing a hardware configuration example of the transport vehicle 104. The transport vehicle 104 includes a second processor 801, a second storage device 802, a drive unit 803, an image pickup unit 504, and a second communication interface (second communication IF) 805. The second processor 801 and the second storage device 802, the drive unit 803, the image pickup unit 504, and the second communication IF805 are connected by the bus 806. The second processor 801 controls the transport vehicle 104. The second storage device 802 serves as a work area for the second processor 801. The second storage device 802 is a non-temporary or temporary recording medium that stores various programs and data. Examples of the second storage device 802 include a ROM, a RAM, an HDD, and a flash memory. The drive unit 803 moves the transport vehicle 104 in the transport region 103 or rotates the rotary plate 503 by driving the moving mechanism of the transport vehicle 104. The imaging unit 504 images the identification code 400 on the bottom surface 301a of the transport shelf 113 loaded on the rotating plate 503. Further, an imaging unit 504 is also provided on the bottom surface 301a of the transport vehicle 104 to read a marker provided on the floor surface of the transport region 103. The second communication IF805 connects to the network 600 and transmits / receives data.

<Database>
FIG. 9 is an explanatory diagram showing an example of the map information DB 611. The map information DB 611 has map data (not shown) showing the XY plane of the transport area 103. Specifically, for example, the floor surface of the transport area 103 is divided by a two-dimensional mesh as shown in FIG. 1, and the management device 601 uses the coordinate values of the center of each mesh as map data. Manage as map data (the coordinate values of the vertices of the mesh may be used instead of the center). In addition, each mesh has a marker containing the coordinate values of the mesh. The marker is, for example, a barcode (including a two-dimensional code) attached or applied on a mesh. The barcode is information in which the coordinate values of the mesh are woven.

Further, the map information DB 611 stores the position information in the transport area 103. Specifically, for example, the map information DB 611 has a position ID 901, a position name 902, and a position 903 as fields. The combination of values in each field on the same row constitutes an entry that indicates location information.

The position ID 901 is an identifier that uniquely identifies the position. In FIG. 9, for convenience, the code used for the position is used as the value of the position ID. The position name 902 is the name of the position specified by the position ID. The position 903 is an XY coordinate value on the map data.

FIG. 10 is an explanatory diagram showing an example of the transport vehicle information DB 612. The transport vehicle information DB 612 has a transport vehicle ID 1001, the latest position 1002, and a transport vehicle status 1003 as fields. The combination of the values of each field in the same row constitutes an entry indicating the vehicle information of the vehicle 104.

The transport vehicle ID 1001 is identification information that uniquely identifies the transport vehicle 104. The latest position 1002 is an XY coordinate value indicating the latest position of the transport vehicle 104. Specifically, for example, each time the transport vehicle 104 reads a marker, the XY coordinate values of the mesh obtained from the read marker and the transport vehicle ID 1001 are transmitted to the management device 601. Each time the XY coordinate value of the mesh is received from the transport vehicle 104, the management device 601 overwrites the received XY coordinate value on the latest position 1002 of the entry specified by the received transport vehicle ID 1001.

The transport vehicle status 1003 indicates the current state of the transport vehicle 104. There are three types of transport vehicle status 1003: "transport", "standby", and "pick-up". “Transport” is a state in which the transport vehicle 104 is being transported. “Standby” indicates a state in which the transport vehicle 104 is on standby without being transported. The “pick-up” indicates a state in which the transport shelf 113 to be transported is heading toward the original.

FIG. 11 is an explanatory diagram showing an example of the inventory information DB 613. The inventory information DB 613 has an article ID 1101, a quantity 1102, a storage destination transport shelf ID 1103, a storage destination shelf surface 1104, and a storage destination shelf stage 1105 as fields. The combination of values in each field on the same row constitutes an entry that indicates inventory information for the item.

The article ID 1101 is identification information that uniquely identifies the article. The quantity 1102 is the number in which the article is stored. The storage destination transport shelf ID 1103 is a transport shelf ID of the transport shelf 113 in which the article is stored. The transport shelf ID is identification information that uniquely identifies the transport shelf 113. The storage destination shelf surface 1104 is a shelf surface on which the article is stored on the storage destination shelf 113. The storage destination shelf 1105 is a shelf on which the article is stored on the storage destination shelf surface 1104.

FIG. 12 is an explanatory diagram showing an example of the transport shelf DB 614. The transport shelf DB 614 has transport shelf ID 1201, shelf surface 1202, warehousing row 1203, latest position 1204, and transport shelf status 1205 as fields. The combination of the values of each field in the same row constitutes an entry indicating the transport shelf information of the transport shelf 113.

The transport shelf ID 1201 is identification information that uniquely identifies the transport shelf 113. The shelf surface 1202 is a storage surface for articles possessed by each shelf of the transport shelf 113, and is, for example, the above-mentioned A surface to D surface. The warehousing row 1203 is a rack 111 in which the transport shelves 113 are warehousing. For convenience, the value in the warehousing column 1203 is used as a rank code (referred to as a rack ID).

The latest position 1204 is the latest position of the transport shelf 113. If values are present in the warehousing row 1203 and the latest position 1204, the transport shelves 113 are warehousing in the block r (i, j) within the accommodation area 200 of the rack 111 identified in the warehousing row 1203. Further, in this case, the controller 602 updates the warehousing row 1203 and the latest position 1204 for the warehousing shelves 113 when the warehousing of the warehousing shelves 113 is completed.

The transport shelf status 1205 indicates the current status of the transport shelf 113. There are four types of transport shelf status 1205: "accommodation", "receipt", "delivery", and "standby". “Accommodation” means that the transport shelf 113 is accommodated in the rack 111. “Receiving” indicates that the transport shelf 113 is being transported for storage in the rack 111. “Delivery” indicates that the transport shelf 113 has been delivered from the rack 111 and is being transported. “Standby” is a state that does not correspond to any of “accommodation”, “receipt”, and “delivery”, and is, for example, a state in which the relay points B1 to B3 and the picking station PS are placed.

Further, when the value exists only in the latest position 1204 among the warehousing row 1203 and the latest position 1204, the transport shelf 113 exists in the transport area 103. For example, when the transport shelf status 1205 is "standby", the controller 602 acquires the standby position of the transport shelf 113 from the management device 601 and stores the acquired XY coordinate value of the standby position in the latest position 1204.

Further, when the transport shelf status 1205 is "receipt" and "delivery", the latest position of the transport shelf 113 changes from moment to moment during the transport of the transport shelf 113. Therefore, the management device 601 receives the latest position of the transport vehicle 104 loaded with the transport rack 113 from the transport vehicle 104. The controller 602 acquires the latest position of the transport vehicle 104 from the management device 601 and updates the latest position 1204 of the entry whose transport shelf status 1205 is "warehousing" and "delivery" with the latest position of the acquired transport vehicle 104. To do. As a result, the position of the transport shelf 113 is managed in real time.

<Example of rotation control of transport shelf 113>
FIG. 13 is an explanatory diagram showing an example of rotation control of the transport shelf 113 by the transport vehicle 104. FIG. 13 describes an example of rotation control of the transport shelf 113 when the transport shelf 113 is transported from the transport equipment 102 to the picking station PS. Therefore, as an example, it is assumed that the article g to be picked at the picking station PS is stored on the shelf stage on the A side of the transport shelf 113. Further, in FIG. 13, for convenience of explanation, the rotation direction of the rotating plate 503 is described in the counterclockwise direction, but it may be in the clockwise direction. Further, in (A) to (D), it is assumed that the transport vehicle 104 arrives so that its front surface 501 faces the picking station PS.

(A) shows a state in which the transport vehicle 104 arrives in front of the picking station PS when the A side of the transport shelf 113 and the front 501 of the transport vehicle 104 are in the same direction. Since the A side faces the picking station PS, the worker can easily take out the article g. Therefore, the transport vehicle 104 does not need to rotate the rotary plate 503.

(B) shows a state (b1) in which the transport vehicle 104 arrives in front of the picking station PS when the direction of the A surface of the transport shelf 113 is deviated by 90 degrees clockwise from the front 501 of the transport vehicle 104. In the state (b1), the transport vehicle 104 rotates the rotating plate 503 counterclockwise by 90 degrees to bring it into the state (b2). As a result, since the A surface faces the picking station PS, the worker can easily take out the article g.

(C) shows a state (c1) in which the transport vehicle 104 arrives in front of the picking station PS when the direction of the A surface of the transport shelf 113 is deviated by 180 degrees clockwise from the front 501 of the transport vehicle 104. In the state (c1), the transport vehicle 104 rotates the rotating plate 503 counterclockwise by 180 degrees to bring it into the state (c2). As a result, since the A surface faces the picking station PS, the worker can easily take out the article g.

(D) shows a state (d1) in which the transport vehicle 104 arrives in front of the picking station PS when the direction of the A surface of the transport shelf 113 is deviated by 270 degrees in the clockwise direction from the front 501 of the transport vehicle 104. In the state (d1), the transport vehicle 104 rotates the rotating plate 503 counterclockwise by 270 degrees to bring it into the state (d2). As a result, since the A surface faces the picking station PS, the worker can easily take out the article g.

In addition, in (A) to (D), the same rotation control is also applied when the article g received from the outside is accommodated in the shelf stage on the A side of the transport shelf 113 in the picking station PS. In this case, the worker can easily store the article g on the shelf on the A side, which is the storage position for the article g.

<Sequence example at the time of product shipment>
FIG. 14 is a sequence diagram showing a sequence example at the time of shipping the article. The management device 601 acquires shipping information (step S1401). The shipping information is information that identifies an article to be shipped from the picking station PS. Specifically, for example, the shipping information includes the article ID 1101 of the article to be shipped, the quantity 1102, the position ID 901 of the picking station PS as the shipping source, and the shipping order of the articles to be shipped. The shipping information is acquired from, for example, a host system or terminal 603 connected to the management device 601.

Next, the management device 601 identifies the transport shelf ID 1201 of the transport shelf 113 in which the goods to be shipped are stored, and transmits the specified transport shelf ID 1201 to the controller 602 (step S1402). Specifically, for example, the management device 601 refers to the inventory information DB 613 and specifies the storage destination transport shelf ID 1103 having the same entry as the article ID 1101 of the article to be shipped included in the shipping information. For example, if the article ID 1101 is "g1", "S1" is specified as the storage destination transport shelf ID 1103. Then, the management device 601 transmits the specified storage destination transport shelf ID 1103 to the controller 602.

When the controller 602 receives the storage destination transport shelf ID 1103 from the management device 601, the controller 602 executes the delivery control of the transport shelf 113 (hereinafter, the target transport shelf 113) specified by the storage destination transport shelf ID 1103 (step S1403). Specifically, for example, the controller 602 refers to the transport shelf DB 614, identifies the transport shelf ID 1201 that matches the storage destination transport shelf ID 1103 received from the management device 601 and stores the same entry as the specified transport shelf ID 1201. The row 1203, the latest position 1204, and the transport shelf status 1205 are identified and the goods receipt row 1203 is returned to the management device 601.

When the transport shelf status 1205 is "accommodation", since the target transport shelf 113 is accommodated in the automated warehouse 101, the rack 111 is specified from the warehousing row 1203, and the target transport shelf 113 in the rack 111 is specified from the latest position 1204. The block r (i, j) of is specified. Then, the controller 602 controls the stacker crane 112 so as to take out the target transport shelf 113 from the block r (i, j) of the specified rack 111. The stacker crane 112 that has taken out the target transport shelf 113 delivers the target transport shelf 113 to the transport equipment 102. The transport equipment 102 transports the target transport shelf 113 to the transport area 103. As a result, the target transport shelf 113 is delivered from the automated warehouse 101 and the transport equipment 102.

When the transport shelf status 1205 is "delivery", the controller 602 waits until the transport shelf status 1205 is other than "delivery". When the transport shelf status 1205 is "warehousing", the transport vehicle 104 loaded with the target transport shelf 113 is traveling in the transport area 103 toward the transport equipment 102. Therefore, the controller 602 returns the transport shelf status 1205 "receipt" to the management device 601. As a result, the management device 601 executes the processes after step S1409.

When the transport shelf status 1205 is "standby", the target transport shelf 113 exists in the standby position, for example, the relay points B1 to B3 of the transport area 103 or the picking station PS. The standby position of the target transport shelf 113 is specified at the latest position 1204. For example, when the transport shelf ID of the target transport shelf 113 is “S5”, the target transport shelf 113 is located at the position (X1, Y1) of the transport area 103 as the latest position 1204. Therefore, the controller 602 returns the transport shelf status 1205 "standby" and the latest position 1204 to the management device 601. As a result, the management device 601 executes the processes after step S1404.

Next, the management device 601 specifies the standby position of the target transport shelf 113 (step S1404). Specifically, for example, when the warehousing row 1203 is received from the controller 602, the management device 601 specifies the other end of the conveyor 121 of the conveyor 121 corresponding to the warehousing row 1203 as a standby position of the target transport shelf 113. Further, when the transfer shelf status 1205 "standby" and the latest position 1204 are received from the controller 602, the management device 601 specifies the received latest position 1204 as the standby position of the target transfer shelf 113.

Next, the management device 601 searches for the transport vehicle 104 (step S1405). Specifically, for example, the management device 601 refers to the transport vehicle information DB 612 and selects the transport vehicle 104 of the transport vehicle ID 1001 of any of the entries whose transport vehicle status 1003 is "standby". .. More preferably, the management device 601 selects the carrier 104 having the shortest distance between the latest position 1002 and the standby position identified in step S1404 among the entries whose carrier status 1003 is "standby". ..

Next, the management device 601 updates the transport vehicle status 1003 of the transport vehicle 104 (hereinafter, the target transport vehicle 104) selected in step S1405 to "pick-up" (step S1406), and changes the target transport vehicle 104 to step S1404. Call to the standby position specified in (step S1407). Specifically, for example, the management device 601 transmits the travel route to the standby position to the target transport vehicle 104, and guides the target transport vehicle 104 to the standby position.

When the target transport vehicle 104 arrives at the standby position, the target transport rack 113 is loaded on the rotating plate 503, information is collected from the target transport vehicle 104, and a loading completion notification is transmitted to the management device 601 (step S1408). Specifically, for example, the target transport vehicle 104 captures the identification code 400 on the bottom surface 301a of the loaded target transport shelf 113 with the imaging unit 504, reads the transport shelf ID 1201 of the target transport shelf 113 from the identification code 400, and reads the identification code 1201. From the arrangement relationship of the position detection patterns 401 to 403 of the identification code 400, the orientation of the target transport shelf 113 when loaded on the rotary plate 503 (for example, the orientation of the A side) is specified. Then, the target transport vehicle 104 transmits a loading completion notification including the transport vehicle ID 1001 of the target transport vehicle 104, the transport shelf ID 1201 of the target transport shelf 113, and the orientation of the target transport vehicle 104 to the management device 601.

The management device 601 manages the directions of the transport vehicle ID 1001 of the target transport vehicle 104, the transport shelf ID 1201 of the target transport shelf 113, and the target transport vehicle 104 included in the loading completion notification until step S1415 is completed.

Upon receiving the loading completion notification, the management device 601 updates the transport shelf status 1205 of the entry of the transport shelf ID 1201 included in the loading completion notification in the transport shelf DB614 to "delivery", and sets the latest position 1204 to the standby position XY. Instruct the controller 602 to update to the coordinate values. Further, the management device 601 updates the transport vehicle status 1003 of the entry of the transport vehicle ID 1001 included in the loading completion notification in the transport vehicle information DB 612 from "pick-up" to "transport" (step S1409).

Next, the management device 601 executes direction identification (step S1410). Specifically, for example, in the management device 601, when the transport vehicle 104 loads the transport shelf 113 that is the storage destination of the goods to be shipped, the identification code 400 displayed on the transport shelf 113 is imaged by the imaging unit 504. As a result, the transport shelf ID 1201 of the transport shelf 113 and the orientation (first direction) of the A surface are specified. That is, the management device 601 acquires the transport shelf ID 1201 and the direction of the A plane (first direction) from the transport vehicle 104.

Then, the management device 601 specifies the storage destination shelf surface 1104 in which the goods to be shipped are stored in the transport shelf 113 of the acquired transport shelf ID 1201 with reference to the inventory information DB 613. Then, the management device 601 specifies the orientation (second direction) of the storage destination shelf surface 1104 based on the acquired orientation of the A surface (first direction). For example, if the storage destination shelf surface 1104 is the A surface, the second direction is specified as the same direction as the first direction. If the storage destination shelf surface 1104 is the B surface, the second direction is specified as a direction opposite to the first direction (direction inverted by 180 degrees). If the storage destination shelf surface 1104 is the C surface, the second direction is specified as a direction rotated 90 degrees clockwise from the first direction around the Z axis. If the storage destination shelf surface 1104 is the D surface, the second direction is specified as a direction rotated by 270 degrees clockwise from the first direction around the Z axis.

Then, the management device 601 moves and controls the target transport vehicle 104 loaded with the target transport shelf 113 to the position of the picking station PS, which is the shipping source (step S1411). Specifically, for example, the management device 601 transmits a travel route to the position of the picking station PS, which is the shipping source, to the target transport vehicle 104, and causes the target transport vehicle 104 to the position of the picking station PS, which is the shipping source. Induce. The target transport vehicle 104 moves in the transport area 103 according to the movement control from the management device 601 (step S1412).

Next, the management device 601 controls the rotation of the target transport shelf 113 (step S1413). Specifically, for example, when the management device 601 arrives at the mesh in front of the picking station PS from which the target transport vehicle 104 is shipped, the management device 601 refers to the latest position 1002 of the transport vehicle information DB 612 and refers to the target transport vehicle 104. It is determined whether or not there is another transport vehicle 104 in the vicinity. The periphery is a mesh adjacent to the mesh on which the target carrier 104 is located, and is, for example, four adjacent meshes on the front, back, left, and right of the mesh on which the target carrier 104 is located. It may be 8 meshes around the mesh on which the target carrier 104 is located. Further, depending on the size of the mesh, the mesh adjacent to the adjacent mesh is also set to be included.

When there is no other transport vehicle 104, the management device 601 has the orientation (second direction) of the storage destination shelf surface 1104 specified in step S1410 and the third direction from the transport vehicle 104 to the picking station PS which is the destination. Based on the direction, the target transport shelf 113 is rotationally controlled so that the second direction becomes the third direction. In the case of this example, when the transport vehicle 104 arrives at the mesh in front of the picking station PS, the front surface 501 of the transport vehicle 104 and the A surface of the transport shelf 113 face the picking station PS, so that the third direction is the A surface. (First direction). Therefore, the management device 601 rotates and controls the target transport shelf 113 so that the second direction is the first direction.

On the other hand, when another transport vehicle 104 exists, the management device 601 again determines whether or not there is another transport vehicle 104 around the target transport vehicle 104 after the elapse of a predetermined time. In this way, it is executed until the other transport vehicle 104 disappears. As a result, it is possible to avoid interference with the other transport vehicle 104. Although the presence or absence of the other transport vehicle 104 is determined here, the other transport vehicle 104 may limit the transport rack 113 to the transport vehicle 104 being loaded. Since the transport vehicle 104 on which the transport shelf 113 is not loaded does not easily interfere with other transport vehicles 104 even if the transport shelf 113 rotates, it is possible to improve the transport efficiency.

In this way, the target transport vehicle 104 rotates the rotary plate 503 according to the rotation control from the management device 601 (step S1414). Specifically, for example, if the storage destination shelf surface 1104 of the article to be shipped is "A", the rotation control is as shown in FIG. If the storage destination shelf surface 1104 of the goods to be shipped is "B", the management device 601 rotates and controls the target transport shelf 113 with respect to the target transport vehicle 104 so that the B surface faces the picking station PS of the shipping source. To do. The same applies when the storage destination shelf surface 1104 of the goods to be shipped is “C” or “D”.

After that, the management device 601 acquires the picking completion notification from the terminal 603 (step S1415). Specifically, for example, when a worker takes out an article to be shipped from the target transport shelf 113, the worker packs the article to be shipped. The packaged goods to be shipped are loaded on a truck and transported to the shipping destination. The terminal 603 transmits a picking completion notification indicating that the picking of the goods to be shipped has been completed to the management device 601 by the operation of the worker. The picking completion notification includes the article ID 1101 of the article to be shipped.

Upon receiving the picking completion notification, the management device 601 refers to the inventory information DB 613 and identifies the storage destination transport shelf ID 1103 as the transport shelf ID 1201 of the target transport shelf 113 from the article ID 1101 of the goods to be shipped included in the picking completion notification. Then, in the loading completion notification, the transport vehicle ID 1001 of the target transport vehicle 104 corresponding to the transport shelf ID 1201 is specified. Then, the management device 601 updates the transport shelf status 1205 of the entry of the transport shelf ID 1201 of the target transport shelf 113 to "standby" in the transport shelf DB 614, and updates the latest position 1204 to the XY coordinate value of the standby position. Instruct controller 602.

Further, the management device 601 updates the transport vehicle status 1003 of the entry of the transport vehicle ID 1001 of the target transport vehicle 104 from "transportation" to "standby" in the transport vehicle information DB 612 (step S1416). In this way, the goods to be shipped stored in the transport shelf 113 are shipped from the picking station PS.

<Sequence example when goods arrive>
FIG. 15 is a sequence diagram showing an example of a sequence when an article arrives. The management device 601 acquires the arrival information (step S1501). The arrival information is information that identifies an article to be received in the automated warehouse 101. Specifically, for example, the arrival information includes the article ID 1101, the quantity 1102, and the position ID 901 of the picking station PS which is the arrival source. The arrival information is acquired from, for example, a host system or terminal 603 connected to the management device 601.

Next, the management device 601 specifies the transport shelf ID 1201 of the transport shelf 113 that is the storage position of the goods to be received, and transmits the specified transport shelf ID 1201 to the controller 602 (step S1502). Specifically, for example, the management device 601 refers to the inventory information DB 613 and specifies the storage destination transport shelf ID 1103 having the same entry as the article ID 1101 of the article to be received included in the inventory information. For example, if the article ID 1101 is "g1", "S1" is specified as the storage destination transport shelf ID 1103. Then, the management device 601 transmits the specified storage destination transport shelf ID 1103 to the controller 602.

When the controller 602 receives the storage destination transport shelf ID 1103 from the management device 601, the controller 602 executes the delivery control of the transport shelf 113 (hereinafter, the target transport shelf 113) specified by the storage destination transport shelf ID 1103 (step S1503). Specifically, for example, the controller 602 refers to the transport shelf DB 614, identifies the transport shelf ID 1201 that matches the storage destination transport shelf ID 1103 received from the management device 601 and stores the same entry as the specified transport shelf ID 1201. The row 1203, the latest position 1204, and the transport shelf status 1205 are identified and the warehousing row 1203 is returned to the management device 601.

When the transport shelf status 1205 is "delivery", the controller 602 waits until the transport shelf status 1205 is other than "delivery". When the transport shelf status 1205 is "warehousing", the transport vehicle 104 loaded with the target transport shelf 113 is traveling in the transport area 103 toward the transport equipment 102. Therefore, the controller 602 returns the transport shelf status 1205 "receipt" to the management device 601. As a result, the management device 601 executes the processes after step S1509.

When the transport shelf status 1205 is "standby", the target transport shelf 113 exists in the standby position, for example, the relay points B1 to B3 of the transport area 103 or the picking station PS. The standby position of the target transport shelf 113 is specified at the latest position 1204. For example, when the transport shelf ID of the target transport shelf 113 is “S5”, the target transport shelf 113 is located at the position (X1, Y1) of the transport area 103 as the latest position 1204. Therefore, the controller 602 returns the transport shelf status 1205 "standby" and the latest position 1204 to the management device 601. As a result, the management device 601 executes the processes after step S1504.

Next, the management device 601 specifies the standby position of the target transport shelf 113 (step S1504). Specifically, for example, when the warehousing row 1203 is received from the controller 602, the management device 601 specifies the other end of the conveyor 121 of the conveyor 121 corresponding to the warehousing row 1203 as a standby position of the target transport shelf 113. Further, when the transfer shelf status 1205 "standby" and the latest position 1204 are received from the controller 602, the management device 601 specifies the received latest position 1204 as the standby position of the target transfer shelf 113.

Next, the management device 601 searches for the transport vehicle 104 (step S1505). Specifically, for example, the management device 601 refers to the transport vehicle information DB 612 and selects the transport vehicle 104 of the transport vehicle ID 1001 of any of the entries whose transport vehicle status 1003 is "standby". .. More preferably, the management device 601 selects the carrier 104 having the shortest distance between the latest position 1002 and the standby position identified in step S1504 among the entries whose carrier status 1003 is "standby". ..

Next, the management device 601 updates the transport vehicle status 1003 of the transport vehicle 104 (hereinafter, the target transport vehicle 104) selected in step S1505 to "pick-up" (step S1506), and changes the target transport vehicle 104 to step S1504. Call to the standby position specified in (step S1507). Specifically, for example, the management device 601 transmits the travel route to the standby position to the target transport vehicle 104, and guides the target transport vehicle 104 to the standby position.

When the target transport vehicle 104 arrives at the standby position, the target transport rack 113 is loaded on the rotating plate 503, information is collected from the target transport vehicle 104, and a loading completion notification is transmitted to the management device 601 (step S1508). Specifically, for example, the target transport vehicle 104 captures the identification code 400 on the bottom surface 301a of the loaded target transport shelf 113 with the imaging unit 504, reads the transport shelf ID 1201 of the target transport shelf 113 from the identification code 400, and reads the identification code 1201. From the arrangement relationship of the position detection patterns 401 to 403 of the identification code 400, the orientation of the target transport shelf 113 when loaded on the rotary plate 503 (for example, the orientation of the A side) is specified. Then, the target transport vehicle 104 transmits a loading completion notification including the transport vehicle ID 1001 of the target transport vehicle 104, the transport shelf ID 1201 of the target transport shelf 113, and the orientation of the target transport vehicle 104 to the management device 601.

The management device 601 manages the directions of the transport vehicle ID 1001 of the target transport vehicle 104, the transport shelf ID 1201 of the target transport shelf 113, and the target transport vehicle 104 included in the loading completion notification until step S1514 is completed.

Upon receiving the loading completion notification, the management device 601 updates the transport shelf status 1205 of the entry of the transport shelf ID 1201 included in the loading completion notification in the transport shelf DB614 to "delivery", and sets the latest position 1204 to the standby position XY. Instruct the controller 602 to update to the coordinate values. Further, the management device 601 updates the transport vehicle status 1003 of the entry of the transport vehicle ID 1001 included in the loading completion notification in the transport vehicle information DB 612 from "pick-up" to "transport" (step S1509).

Next, the management device 601 executes direction identification (step S1510). Specifically, for example, in the management device 601, when the transport vehicle 104 loads the transport shelf 113 that is the storage destination of the goods to be received, the identification code 400 displayed on the transport shelf 113 is imaged by the imaging unit 504. As a result, the transport shelf ID 1201 of the transport shelf 113 and the orientation (first direction) of the A surface are specified. That is, the management device 601 acquires the transport shelf ID 1201 and the direction of the A plane (first direction) from the transport vehicle 104.

Then, the management device 601 refers to the inventory information DB 613 and specifies the storage destination shelf surface 1104 in which the goods to be received are stored in the transport shelf 113 of the acquired transport shelf ID 1201. Then, the management device 601 specifies the orientation (second direction) of the storage destination shelf surface 1104 based on the acquired orientation of the A surface (first direction). For example, if the storage destination shelf surface 1104 is the A surface, the second direction is specified as the same direction as the first direction. If the storage destination shelf surface 1104 is the B surface, the second direction is specified as a direction opposite to the first direction (direction inverted by 180 degrees). If the storage destination shelf surface 1104 is the C surface, the second direction is specified as a direction rotated 90 degrees clockwise from the first direction around the Z axis. If the storage destination shelf surface 1104 is the D surface, the second direction is specified as a direction rotated by 270 degrees clockwise from the first direction around the Z axis.

Then, the management device 601 moves and controls the target transport vehicle 104 loaded with the target transport shelf 113 to the position of the picking station PS, which is the arrival source (step S1511). Specifically, for example, the management device 601 transmits a travel route to the position of the picking station PS which is the arrival source to the target transport vehicle 104, and causes the target transport vehicle 104 to the position of the picking station PS which is the arrival source. Induce. The target transport vehicle 104 moves in the transport area 103 according to the movement control from the management device 601 (step S1512).

Next, the management device 601 controls the rotation of the target transport shelf 113 (step S1513). Specifically, for example, when the target transport vehicle 104 arrives at the mesh in front of the picking station PS, which is the arrival source, the management device 601 will be described with reference to the latest position 1002 of the transport vehicle information DB 612. Similarly to the above, it is determined whether or not there is another transport vehicle 104 around the target transport vehicle 104.

When there is no other transport vehicle 104, the management device 601 has the orientation (second direction) of the storage destination shelf surface 1104 specified in step S1510 and the third direction from the transport vehicle 104 to the picking station PS which is the destination. Based on the direction, the target transport shelf 113 is rotationally controlled so that the second direction becomes the third direction. In the case of this example, when the transport vehicle 104 arrives at the mesh in front of the picking station PS, the front surface 501 of the transport vehicle 104 and the A surface of the transport shelf 113 face the picking station PS, so that the third direction is the A surface. (First direction). Therefore, the management device 601 rotates and controls the target transport shelf 113 so that the second direction is the first direction.

In this way, the target transport vehicle 104 rotates the rotary plate 503 according to the rotation control from the management device 601 (step S1514). Specifically, for example, if the storage destination shelf surface 1104 of the goods to be received is "A", the rotation control is as shown in FIG. If the storage destination shelf surface 1104 of the goods to be received is "B", the management device 601 rotates and controls the target transport shelf 113 with respect to the target transport vehicle 104 so that the B surface faces the picking station PS of the stock source. To do. The same applies when the storage destination shelf surface 1104 of the goods to be received is "C" or "D".

After that, the management device 601 acquires the accommodation completion notification from the terminal 603 (step S1515). Specifically, for example, the worker accommodates the goods to be received in the shelf stage of the shelf surface 1202, which is the latest position of the goods to be received in the target transport shelf 113. The terminal 603 transmits a storage completion notification indicating that the storage of the goods to be received has been completed to the management device 601 by the operation of the worker. The containment completion notification includes the article ID 1101 of the goods to be received and the contained quantity 1102.

Upon receiving the storage completion notification, the management device 601 refers to the inventory information DB 613, identifies the entry of the article ID 1101 of the goods to be received included in the storage completion notification, and updates the quantity 1102. Further, the management device 601 specifies the storage destination transport shelf ID 1103 as the transport shelf ID of the target transport shelf 113 from the entry of the article ID 1101 of the goods to be received, and in the loading completion notification, the target transport vehicle corresponding to the transport shelf ID 1201. The transport vehicle ID 1001 of 104 is specified. Then, the management device 601 updates the transport shelf status 1205 of the entry of the transport shelf ID 1201 of the target transport shelf 113 to "standby" in the transport shelf DB 614, and updates the latest position 1204 to the XY coordinate value of the standby position. Instruct controller 602.

Further, the management device 601 updates the transport vehicle status 1003 of the entry of the transport vehicle ID 1001 of the target transport vehicle 104 from "transportation" to "standby" in the transport vehicle information DB 612 (step S1516). In this way, the goods to be received are stored in the transport shelf 113 from the picking station PS.

In addition, in FIGS. 14 and 15, the transport vehicle 104 whose transport vehicle status 1003 is set to "standby" may remain at that position, or may move to a predetermined standby position in the transport area 103. Good.

FIG. 16 is a sequence diagram showing an example of a warehousing sequence of the transport shelf 113. The warehousing of the transport shelf 113 into the automated warehouse 101 is performed after the goods to be shipped are picked from the transport shelves 113 as shown in FIG. 14, and the goods to be received are placed in the transport shelves 113 as shown in FIG. Executed after being stowed. The warehousing sequence of the transport shelf 113 of FIG. 16 is executed, for example, triggered by the picking completion notification of FIG. 14 and the storage completion notification of FIG. 15, or by the warehousing instruction from the terminal 603. Further, in FIG. 16, although the operation by free location will be described as an example, the blocks r (i, j) of the individual transport shelves 113 may be fixed.

The management device 601 specifies the target transport shelf 113 to be stored (step S1601). Specifically, for example, the management device 601 acquires the transport shelf ID 1201 of the transport shelf 113 that is the target of the picking completion notification and the accommodation completion notification from the picking completion notification and the accommodation completion notification, so that the target transport shelf 113 To identify. Further, the management device 601 may specify the transport shelf ID 1201 of the transport shelf 113 by the designation from the terminal 603.

Next, the controller 602 updates the transport shelf status 1205 of the target transport shelf 113 specified in step S1601 to "receipt" in the transport shelf DB 614 according to the instruction from the management device 601 and sends the update completion notification to the management device 601. (Step S1602).

Next, the management device 601 searches for the transport vehicle 104 (step S1603). Specifically, for example, the management device 601 refers to the transport vehicle information DB 612 and selects the transport vehicle 104 of the transport vehicle ID 1001 of any of the entries whose transport vehicle status 1003 is "standby". .. More preferably, the management device 601 has the shortest distance between the latest position 1002 of the transport vehicle 104 and the latest position 1204 (standby position) of the target transport shelf 113 among the entries whose transport vehicle status 1003 is "standby". The transport vehicle 104 is selected.

Next, the management device 601 updates the transport vehicle status 1003 of the transport vehicle 104 (hereinafter, the target transport vehicle 104) selected in step S1603 to "pick-up" (step S1604), and transfers the target transport vehicle 104 to the target transport. Call to the latest position 1204 (standby position) of the shelf 113 (step S1605). Specifically, for example, the management device 601 transmits the travel route to the standby position of the target transport shelf 113 to the target transport vehicle 104, and guides the target transport vehicle 104 to the standby position of the target transport shelf 113.

When the target transport vehicle 104 arrives at the latest position (standby position) of the target transport shelf 113, the target transport shelf 113 is loaded on the rotary plate 503, information is collected from the target transport vehicle 104, and the loading completion notification is sent to the management device 601. (Step S1606). Specifically, for example, the target transport vehicle 104 captures the identification code 400 on the bottom surface 301a of the loaded target transport shelf 113 with the imaging unit 504, and reads the transport shelf ID of the target transport shelf 113 from the identification code 400. Then, the target transport vehicle 104 transmits a loading completion notification including the transport vehicle ID 1001 of the target transport vehicle 104 and the transport shelf ID of the target transport shelf 113 to the management device 601.

The management device 601 manages the transport vehicle ID 1001 of the target transport vehicle 104 and the transport shelf ID of the target transport shelf 113 included in the loading completion notification until step S1612 is completed.

Upon receiving the loading completion notification, the management device 601 updates the transport vehicle status 1003 of the entry of the transport vehicle ID 1001 included in the transport vehicle information DB 612 from "pick-up" to "transport" (step S1607). ..

Then, the management device 601 moves and controls the target transport vehicle 104 loaded with the target transport shelf 113 to the transport equipment 102 (step S1608). Specifically, for example, the management device 601 transmits the travel route to the transport equipment 102 to the target transport vehicle 104, and guides the target transport vehicle 104 to the transport equipment 102. The conveyor 121 is provided for each rack 111 in the transport equipment 102, but the conveyor 121 to which the target transport vehicle 104 is moved may be any conveyor 121.

For example, the conveyor 121 closest to the target transport vehicle 104 may be used. Further, the management device 601 guides the conveyor 121 closer to the picking station PS as the warehousing / delivery frequency, that is, the total of the scheduled arrival number and the scheduled shipment number from the arrival information and the shipment information is larger. As a result, efficient loading and unloading of the transport shelf 113 can be realized. After that, the target transport vehicle 104 moves in the transport area 103 according to the movement control from the management device 601 (step S1609).

When the management device 601 receives the current position of the target transport vehicle 104 from the target transport vehicle 104 and detects that the target transport vehicle 104 has arrived at the transport equipment 102, the management device 601 issues a transfer instruction of the target transport shelf 113 to the target transport. Instruct the car 104 (step S1610). The target transport vehicle 104 transfers the target transport shelf 113 to the conveyor 121 (step S1611). As a result, the target transport shelf 113 is transported from the other end to one end of the conveyor 121. Then, the management device 601 updates the transport vehicle status 1003 of the target transport vehicle 104 to "standby" (step S1612).

The transfer instruction is also transmitted to the controller 602. Upon receiving the transfer instruction, the controller 602 searches for the empty block r (i, j) (step S1613). Then, the controller 602 controls the stacker crane 112 to store the target transport shelf 113 in the searched empty block r (i, j) (step S1614). After that, the controller 602 updates the transport shelf DB 614 (step S1615). Specifically, for example, the controller 602 updates the warehousing row 1203 of the transport shelf DB 614 to the ID of the rack 111 that has warehousing the target transport shelf 113, and sets the latest position 1204 to the block r (i,) of the warehousing rack 111. Update to j) and update the carrier status 1205 to "Accommodation".

As described with reference to FIGS. 14 and 15, even when the transport shelf 113 is discharged from the automated warehouse 101, the identification code 400 is imaged by the imaging unit 504 when the transport vehicle 104 loads the transport shelf 113. Detects the orientation of the A plane. Therefore, as described with reference to FIG. 16, the automated warehouse 101 can store the transport shelves 113 in the empty blocks r (i, j) without considering the orientation of the shelf surface of the transport shelves 113.

As described above, according to the above-described embodiment, it is possible to facilitate the work of accommodating and taking out the articles on the shelf surfaces in the plurality of directions of the transport shelf 113, and the productivity of the work is improved. Further, in the above-described embodiment, the management device 601 controls the movement of the transport vehicle 104 and the rotation of the rotary plate 503, but the transport vehicle 104 autonomously controls the movement of the transport vehicle 104 and the rotation of the rotary plate 503. It may be executed as a target. That is, the transport vehicle 104 executes at least steps S1411, S1413 of the processes of the management device 601 shown in FIG. 14, and at least steps S1511, S1513 of the processes of the management device 601 shown in FIG.

Further, in the above-described embodiment, the transport vehicle 104 has the rotating plate 503, but instead of the rotating plate 503, a non-rotating plate capable of loading the transport shelf 113 may be used. In this case, the transport vehicle 104 can change the orientation of the shelf surface of the transport shelf 113 by rotating the transport vehicle 104 itself around the Z axis.

Further, in the above-described embodiment, the transport shelf 113 is delivered from the automated warehouse 101 and then stored in the automated warehouse 101. However, for the transport shelf 113 having a high frequency of delivery, the management device 601 is moved to the automated warehouse 101. You may make the relay points B1 to B3 stand by without warehousing. Specifically, for example, the management device 601 refers to the arrival information and the shipment information, and relays the transport shelf 113 in which the total number of arrivals and shipments is equal to or greater than the threshold value without being stored in the automated warehouse 101. It can be guided by the transport vehicle 104 to stand by at the points B1 to B3.

Further, when the waiting transport shelf 113 exists in one buffer area in which the two relay points B1 and B2 are connected, the management device 601 selects the articles having a high shipping frequency or the articles having a fast shipping order at a certain picking station PS. The transport vehicle 104 is moved and controlled so that the transport rack 113 to be stored is arranged in a region closer to the picking station PS among the relay points B1 and B2.

For example, among the transport shelves 113 (which may be the transport shelves 113 already arranged at the relay points B1 and B2) that are moving toward the destination in the transport area 103, the articles that are shipped more frequently at the destination are said to be the same. The transport shelves 113 for storing articles are arranged at positions in the relay points B1 and B2 closer to the picking station PS to which they are moved. If the destination is the picking station PS1, for example, the transport shelf 113 for storing articles having a shipping frequency of P1 is arranged in the area on the relay point B2 side and stores articles having a shipping frequency of P2 (<P1). The transport shelf 113 is arranged in the area on the relay point B1 side.

Further, since the shipping work is performed sequentially, the relay points B1 and B2 may be relocated to another buffer area (for example, the relay point B3). For example, among the transport shelves 113 already arranged at the relay points B1 and B2, the more frequently the articles are shipped to the picking station PS2, which is the destination, the more frequently the management device 601 sets the transport shelves 113 for storing the articles. Relocation to the relay point B3 (loading the transport shelf 113 at the relay points B1 and B2, moving to the relay point B3, and loading and unloading the transport shelf 113 at the relay point B3).

Further, such control of the arrangement of the buffer area may be executed based on the order of shipment of the articles, not the frequency of shipment of the articles. In the case of the shipping order, for example, the management device 601 refers to the shipping information acquired in step S1401 and sets the transport shelf 113 for storing the items having the earliest shipping order among the unshipped items as the relay point B1 which is a buffer area. You may make ~ B3 stand by. Specifically, for example, the management device 601 refers to the shipping information, and the earlier the shipping order of the unshipped articles is, the closer the transport shelf 113 for storing the unshipped articles is to the picking station PS at the destination. It can be guided by the transport vehicle 104 to stand by at the relay points B1 to B3.

Similarly, when there is a waiting transport shelf 113 in one buffer area in which two relay points B1 and B2 are connected, the management device 601 indicates that the earlier the shipment order among the unshipped articles is, the more the article is concerned. The transport vehicle 104 is moved and controlled so that the transport shelf 113 for storing the above is arranged in a region closer to the picking station PS among the relay points B1 and B2.

For example, among the transport shelves 113 (which may be the transport shelves 113 already arranged at the relay points B1 and B2) that are moving toward the automated warehouse 101 in the transport area 103, the earlier the shipping order is, the more the articles are stored. The transport shelves 113 to be moved are arranged at positions in the relay points B1 and B2 closer to the picking station PS to which they are moved. If the destination is the picking station PS1, for example, the transport shelf 113 for storing articles in the shipping order (the smaller the ranking value, the faster) is arranged in the area on the relay point B2 side, and the shipping order is Q2. The transport shelf 113 for storing the articles (> Q1) is arranged in the area on the relay point B1 side.

Further, since the shipping work is performed sequentially, the relay points B1 and B2 may be relocated to another buffer area (for example, the relay point B3). For example, among the transport shelves 113 already arranged at the relay points B1 and B2, the earlier the shipment order to the picking station PS2, which is the destination, is, the management device 601 sets the transport shelves 113 for storing the articles. Relocation to the relay point B3 (loading the transport shelf 113 at the relay points B1 and B2, moving to the relay point B3, and loading and unloading the transport shelf 113 at the relay point B3).

In this way, the warehouse management system 100 useslessly stores the transport shelves 113 in the automated warehouse 101 by making the transport shelves 113 stand by in the buffer area without storing them in the automated warehouse 101 based on the shipping frequency and the shipping order. The work can be reduced and the shipping work of goods can be performed efficiently.

Further, when the transport shelf 113 is stored in the automated warehouse 101 after the picking of the transport shelf 113 is completed at the picking station PS, which is the destination, it may be desired to adjust the storage timing in the automated warehouse 101. In that case, the transport shelf 113 may be moved to an area of the relay points B1 to B3 closer to the automated warehouse 101. With this configuration, when it is time to store the transport shelves 113 in the automated warehouse 101, it is possible to reduce the transport time of the transport shelves 113 from the relay points B1 to B3 to the automated warehouse 101.

The present invention is not limited to the above-described embodiment, but includes various modifications and equivalent configurations within the scope of the attached claims. For example, the above-described examples have been described in detail in order to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to those having all the described configurations. Further, a part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Further, the configuration of another embodiment may be added to the configuration of one embodiment. In addition, other configurations may be added, deleted, or replaced with respect to a part of the configurations of each embodiment.

Further, each of the above-described configurations, functions, processing units, processing means, etc. may be realized by hardware by designing a part or all of them by, for example, an integrated circuit, and the processor realizes each function. It may be realized by software by interpreting and executing the program to be executed.

Information such as programs, tables, and files that realize each function is recorded in a memory, hard disk, storage device such as SSD (Solid State Drive), or IC (Integrated Circuit) card, SD card, DVD (Digital Versailles Disc). It can be stored in a medium.

Also, the control lines and information lines indicate those that are considered necessary for explanation, and do not necessarily indicate all the control lines and information lines that are necessary for implementation. In practice, it can be considered that almost all configurations are interconnected.

Claims

A warehouse management system having a transport shelf, an automated warehouse for loading and unloading the transport rack, a moving body capable of loading the transport shelf, and a management device capable of communicating with the automated warehouse and the moving body.
The transport shelves are provided with a plurality of shelf surfaces capable of storing articles, identification information of the transport shelves, and an identification code capable of detecting the first direction in which a specific shelf surface faces the plurality of shelf surfaces. With a display surface,
The moving body has an imaging unit capable of reading the identification code.
The management device can access inventory information associated with the transport shelf and the shelf surface, which are storage destinations for each of the articles.
The management device is
When a specific transport shelf in which the target article is stored is delivered from the automated warehouse and the moving body loads the specific transport shelf, the identification code provided on the specific transport shelf is imaged by the imaging unit. As a result, the identification information of the specific transport shelf and the first direction are specified.
Based on the inventory information, the storage destination shelf surface in which the target article is stored in the specific transport shelf is specified, and based on the first direction, the second direction in which the storage destination shelf surface faces is specified. And
When a specific moving body for loading the specific transport shelf arrives at the moving destination, the second direction is based on the second direction and the third direction from the specific moving body to the moving destination. Rotation control of the moving body so that the direction is the third direction,
A warehouse management system characterized by this.
The warehouse management system according to claim 1.
The transport shelf has an insertion hole into which a moving mechanism that holds and moves the transport shelf in the automated warehouse can be inserted.
A warehouse management system characterized by this.
The warehouse management system according to claim 1 or 2.
Adjacent to the automated warehouse, it has a conveyor that transports the transport shelf from the automated warehouse and delivers it to the moving body.
The identification code is provided in a recess formed in a mounting surface on which the transport shelf is mounted on the conveyor.
A warehouse management system characterized by this.
The warehouse management system according to claim 1 or 2.
A buffer area for temporarily retaining the transport shelf exists between the automated warehouse and the destination.
The management device is
A moving body loaded with the specific transport shelf is moved to the buffer area before or after moving to the moving destination.
A warehouse management system characterized by this.
The warehouse management system according to claim 4.
The management device is
Based on the frequency or order of shipment of the articles stored in the specific transport shelf to the destination, the moving body loaded with the specific transport shelf is moved to the buffer area before being moved to the destination. ,
A warehouse management system characterized by this.
The warehouse management system according to claim 4.
The management device is
When the transport shelf after moving to the destination is stored in the automated warehouse, the transport shelf is moved to an area of the buffer area closer to the automated warehouse.
A warehouse management system characterized by this.
The warehouse management system according to claim 4.
The management device is
The moving body loaded with the specific transport shelf is moved to an area closer to the moving destination in the buffer area as the shipping frequency to the moving destination is higher or the shipping order to the moving destination is earlier. ,
A warehouse management system characterized by this.
The warehouse management system according to claim 4.
There are a plurality of the buffer areas,
The management device is
The more frequently the moving body loaded with the specific transport shelf is shipped to the moving destination, or the earlier the shipping order to the moving destination is, the closer to the moving destination the buffer area among the plurality of buffer areas. Move,
A warehouse management system characterized by this.
The warehouse management system according to claim 1 or 2.
The management device is
Judging whether or not there is an object around the moving body,
When there is no object around the moving body, the moving body is rotated and controlled so that the second direction becomes the third direction.
A warehouse management system characterized by this.
The warehouse management system according to claim 1 or 2.
The management device can access the mobile information that manages the latest position of the mobile.
The management device is
With reference to the moving body information, it is determined whether or not there is another moving body in the vicinity of the moving body.
A warehouse management system characterized by this.
The warehouse management system according to claim 1 or 2.
The identification code is a two-dimensional code having a plurality of position detection patterns.
The plurality of position detection patterns are patterns for the imaging unit to recognize the position of the two-dimensional code.
The management device is
The first direction is specified based on the arrangement relationship of the plurality of position detection patterns.
A warehouse management system characterized by this.
A mobile body that has a processor that executes a program, a storage device that stores the program, and can be loaded with a transport shelf.
The transport shelves are provided with a plurality of shelf surfaces capable of storing articles, identification information of the transport shelves, and an identification code capable of detecting the first direction in which a specific shelf surface faces the plurality of shelf surfaces. With a display surface,
The moving body has an imaging unit capable of reading the identification code, and can access inventory information associated with the transport shelf and the shelf surface, which are storage destinations for each of the articles.
The processor
When a specific transport shelf in which the target article is stored is loaded, the identification code provided on the specific transport shelf is imaged by the imaging unit, and as a result, the identification information of the specific transport shelf and the first direction are obtained. And identify
Based on the inventory information, the storage destination shelf surface in which the target article is stored in the specific transport shelf is specified, and based on the first direction, the second direction in which the storage destination shelf surface faces is specified. And
When the specific transport shelf is loaded and arrives at the moving destination, the second direction is the third direction based on the second direction and the third direction from the moving body to the moving destination. Rotation control of the specific transport shelf so as to
A mobile body characterized by that.
The moving body according to claim 12.
The processor
Judging whether or not there is an object around the moving body,
When there is no object around the moving body, the rotation control of the specific transport shelf is performed so that the second direction becomes the third direction.
A mobile body characterized by that.
The moving body according to claim 13.
It is possible to access the mobile information that manages the latest position of the mobile.
The processor
With reference to the moving body information, it is determined whether or not there is another moving body in the vicinity of the moving body.
A mobile body characterized by that.
The moving body according to claim 12.
The identification code is a two-dimensional code having a plurality of position detection patterns.
The plurality of position detection patterns are patterns for the imaging unit to recognize the position of the two-dimensional code.
The processor
The first direction is specified based on the arrangement relationship of the plurality of position detection patterns.
A mobile body characterized by that.