JP2024045768A - Automatic warehousing system - Google Patents

Abstract

To provide an automatic warehousing system which can improve throughput.SOLUTION: An automatic warehousing system 100 can keep a load and comprises: a storage shelf part 22 which extends in a first direction and in which storage lines 24 to keep multiple loads are provided side by side in a second direction crossing the first direction; a carriage loading a load and shifting in the first direction; a move mechanism loading the carriage and shifting in the second direction; and a control part controlling delivery of the load from the storage shelf part 22. As for a first load and a second load which are available for one delivery request and kept in the storage shelf part 22, the control part controls the delivery of the load to deliver the first load when the number of other loads needing relocation for delivery of the first load is fewer than that of the second load.SELECTED DRAWING: Figure 11

Description

The present invention relates to an automatic warehouse system.

Automated warehouse systems that can efficiently store and retrieve a large number of items in a small space are known. In Patent Document 1, the present applicant discloses an automated warehouse system equipped with multiple storage shelves capable of storing multiple items. This automated warehouse system is configured to load and unload items using transport carts that can move in the column direction between the storage shelves and carts that can move in the row direction.

JP 2017-160040 A

In automated warehouses, multiple types of cargo may be stored in one column. In such a warehouse, there are cases where a load to be shipped is stored at the back of the queue, and another load that is not to be shipped is stored at the front of the queue. In this case, before shipping the item to be shipped, it is necessary to rearrange other items to a different storage space, and if the allocation takes time, there is a problem in that the throughput of shipping decreases.

The object of the present invention is to provide an automated warehouse system that can improve throughput, in order to address these issues.

In order to solve the above problem, an automated warehouse system according to one aspect of the present invention is an automated warehouse system capable of storing loads, and includes a storage shelf section extending in a first direction, with multiple storage rows for storing multiple loads arranged in a second direction intersecting the first direction, a cart that carries the load and moves in the first direction, a moving mechanism that carries the cart and moves in the second direction, and a control unit that controls the retrieval of the load from the storage shelf section. With respect to a first load and a second load that are stored in the storage shelf section and can respond to one retrieval request, the control unit controls the retrieval of the load so that the first load is retrieved when the first load has fewer other loads that require redistribution for retrieval than the second load.

Another aspect of the present invention is also an automated warehouse system. This automated warehouse system is capable of storing goods, and includes a storage shelf section that extends in a first direction and has multiple storage rows arranged in a second direction intersecting the first direction for storing multiple goods, a cart that carries the goods and moves in the first direction, a moving mechanism that carries the cart and moves in the second direction, and a control unit that controls the retrieval of goods from the storage shelf section. For a first and second goods stored in the storage shelf section and capable of responding to one retrieval request, the control unit controls the retrieval of goods so that the first goods is retrieved when the first goods is closer to the retrieval port in the second direction than the second goods.

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

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

1 is a plan view schematically showing an example of an automated warehouse system according to an embodiment. 2 is a plan view showing the arrangement of storage shelves of the automated warehouse system of FIG. 1. FIG. FIG. 2 is a side view showing a schematic diagram of the automated warehouse system of FIG. 1. FIG. 2 is a side view showing the arrangement of the storage shelf section of the automated warehouse system of FIG. 1. 2 is a plan view illustrating an example of a first cart of the automated warehouse system of FIG. 1. FIG. 6 is a front view of the first bogie of FIG. 5 . 2 is a plan view schematically showing an example of a second cart of the automated warehouse system of FIG. 1. FIG. FIG. 8 is a front view of the second truck in FIG. 7; FIG. 2 is a first diagram illustrating an example of a shipping operation of the automated warehouse system of FIG. 1. FIG. FIG. 2 is a second diagram illustrating an example of the unloading operation of the automated warehouse system of FIG. 1; FIG. 3 is a third diagram illustrating an example of a retrieval operation of the automated warehouse system of FIG. 1. FIG. 3 is a fourth diagram illustrating an example of the unloading operation of the automated warehouse system of FIG. 1; FIG. 5 is a fifth diagram illustrating an example of a retrieval operation of the automated warehouse system of FIG. 1. FIG. 6 is a sixth diagram illustrating an example of a retrieval operation of the automated warehouse system of FIG. 1. FIG. 21 is a seventh diagram illustrating an example of the unloading operation of the automated warehouse system of FIG. 1; 4 is a flowchart illustrating an example of a load allocation process in the automated warehouse system of FIG. 1 .

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

[Embodiment]
The configuration of an automated warehouse system 100 according to an embodiment will be described with reference to Figures 1 to 4. Figure 1 is a plan view that shows a schematic example of an automated warehouse system 100 according to an embodiment. Figure 2 is a plan view that shows the arrangement of a storage shelf section 22 of the automated warehouse system 100. Figure 3 is a side view that shows a schematic example of the automated warehouse system 100. Figure 4 is a side view that shows the arrangement of the storage shelf section 22 of the automated warehouse system 100. In these figures, illustration of pillars, beams, etc. is omitted.

For convenience of explanation, as shown in the figure, an XYZ Cartesian coordinate system is defined in which a horizontal direction is the X-axis direction, a horizontal direction perpendicular to the X-axis direction is the Y-axis direction, and a direction perpendicular to both, i.e., the vertical direction, is the Z-axis direction. The positive directions of the X-axis, Y-axis, and Z-axis are defined as the directions of the arrows in each figure, and the negative directions are defined as the directions opposite to the arrows. The X-axis direction is sometimes called the "row direction." The Y-axis direction is sometimes called the "column direction." The Z-axis direction is sometimes called the "up-down direction." These directional notations do not limit the configuration of the automated warehouse system 100, and the automated warehouse system 100 can be used in any configuration depending on the application. In the following explanation, the XYZ Cartesian coordinate system is used for explanation, but the X-axis, Y-axis, and Z-axis directions do not necessarily have to be perpendicular to each other, as long as they intersect at approximately 90 degrees.

First, the overall configuration of the automated warehouse system 100 will be explained. The automated warehouse system 100 is a system that includes a storage shelf 22 that can store a large number of items 12. The automated warehouse system 100 includes a storage shelf 22, a first trolley 14, a second trolley 16, a first rail 40, a second rail 44, a power supply section 34, and a control section 18. In the embodiment, the Y-axis direction is illustrated as the first direction, and the X-axis direction is illustrated as the second direction. In the storage shelf section 22, the first rail 40 extends in the Y-axis direction. The moving path 47 is a travel path for the second cart 16 and extends in the X-axis direction near the end of the storage shelf section 22 . The second rail 44 and the power feeding section 34 extend in the X-axis direction in the moving path 47. In this specification, the end of the storage shelf 22 on the moving path 47 side is referred to as the "frontage of the storage shelf 22." In this embodiment, the first truck 14 is illustrated as an example of the truck, and the second truck 16 is illustrated as the moving mechanism.

The control unit 18 includes an MPU (Micro Processing Unit) and the like, and controls the movement of the load 12 based on the operation result from the user. The control unit 18 can control the operation of the first truck 14 and the second truck 16 in order to control the movement of the load 12.

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

(Storage shelf section)
The storage shelf section 22 is installed in a plurality of stages on the floor section Lg, and is a so-called high-density storage type storage space capable of storing a large number of loads 12. In this embodiment, the storage shelf section 22 is provided on both sides in the Y-axis direction across the moving passage 47. The configuration of the storage shelf section 22 is not particularly limited as long as it is capable of accommodating and storing a plurality of loads 12. The automated warehouse system 100 has N (N≧2) stages of storage shelf section 22 stacked in layers in the vertical direction. In this embodiment, the storage shelf section 22 has three stages. The N stages of storage shelf section 22 stacked in layers are referred to as a storage shelf group 20. The first stage storage shelf section 22 closest to the floor section Lg may be simply referred to as the "first stage", the second stage storage shelf section 22 may be simply referred to as the "second stage", and the third stage storage shelf section 22 may be simply referred to as the "third stage".

Each storage shelf 22 includes a plurality of storage rows 24 arranged in the X-axis direction, and each storage row 24 includes a plurality of storage sections 26 connected in the Y-axis direction. The storage unit 26 is a unit that stores the cargo 12. The frontage on the second rail 44 side of each storage row 24 is the frontage of the storage shelf section 22, and functions as an entrance through which the first cart 14 enters and exits.

The first rail 40 is a running path on which the first bogie 14 runs. The first rail 40 extends in the Y-axis direction in each storage row 24. The second rail 44 is a rail on which the second truck 16 runs. The second rail 44 extends in the X-axis direction so as to cross each storage row 24. The second rail 44 of this embodiment is provided at a position close to the frontage of the storage row 24. When the first rail 40 and the second rail 44 are collectively referred to, they are simply referred to as rails. The first rail 40 is supported on a first support member 42 extending in the X-axis direction. The second rail 44 is supported on a cross beam 46 extending in the Y-axis direction. Note that the first support member may be supported on the cross beam 46.

(First cart)
Next, the first carriage 14 will be described with reference to Figs. 5 and 6. Fig. 5 is a plan view that shows a schematic example of the first carriage 14. Fig. 6 is a front view of the first carriage 14. The first carriage 14 travels on the first rail 40 in the storage row 24 in the Y-axis direction to transport the load 12. The first carriage 14 puts the load 12 in and takes it out of the storage section 26. The first carriage 14 travels on the second carriage 16 in the Y-axis direction to get on and off the second carriage 16.

The first cart 14 mainly includes a car body 14b, a mounting platform 14c, a lift mechanism 14d, and multiple (e.g., four) wheels 14f. The car body 14b has a generally rectangular parallelepiped shape that is flat in the vertical direction. Inside the car body 14b, a motor (not shown) that drives the multiple wheels 14f, a control circuit (not shown) that controls the motor, and a battery 14g are mounted. The first cart 14 is configured to drive the motor using power from the battery 14g. The battery is a secondary battery such as a repeatedly rechargeable lithium-ion battery. In this embodiment, the battery 14g is charged by the second cart 16 while placed on the second cart 16.

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

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

The second truck 16 includes a base 16a, a truck mounting portion 16c, a first end cover 16d, a second end cover 16e, a plurality of (for example, four) wheels 16f, and a current collector unit 38. Mainly includes. The base 16a is a base on which each component of the second truck 16 is mounted. The base 16a is a plate-shaped member extending in the X-axis direction and the Y-axis direction at the lower part of the second truck 16. The first end cover 16d is provided on the base 16a at one end of the second truck 16 in the X-axis direction. The second end cover 16e is provided on the base 16a at the other end of the second truck 16 in the X-axis direction. The truck mounting portion 16c is provided on the base 16a at the center of the second truck 16 in the X-axis direction. Therefore, the truck mounting portion 16c is arranged between the first end cover 16d and the second end cover 16e.

(Truck mounting part)
The truck mounting portion 16c is a portion for mounting the first truck 14, and has a pair of guide portions 16j for guiding the first truck 14. The pair of guide portions 16j are spaced apart from each other on the upper surface of the base 16a so as to sandwich the space in which the first truck 14 is mounted in the X-axis direction. The cross section of each guide portion 16j when viewed from the front has an angular, horizontal U-shape. The truck mounting portion 16c is recessed downward from the end covers at both ends of the second truck 16 in the X-axis direction, and the second truck 16 has a substantially concave shape when viewed from the front.

The first end cover 16d functions as a casing that houses the motor 16k for driving the wheels 16f, the gear device 16g that transmits the rotation of the motor 16k to the wheels 16f, a control circuit (not shown) that controls the motor 16k, and the two wheels 16f on one end side on the base 16a. The first end cover 16d is configured to cover these elements at least from above.

The second end cover 16e functions as a casing that accommodates the two wheels 16f on the other end side on the base 16a. The second end cover 16e is configured to cover the wheel 16f at least from above. The wheels 16f are for running on the second rail 44. The two wheels 16f on the first end cover 16d side are driving wheels driven by the motor 16k, and the two wheels 16f on the second end cover 16e side are driven wheels not driven by the motor.

Although the two wheels 16f may be driven by one motor, in this embodiment, two motors 16k are provided corresponding to each of the two wheels 16f. The two motors 16k are spaced apart from each other in the Y-axis direction and are arranged near each wheel 16f. The motor 16k is horizontally arranged under the first end cover 16d so that its longitudinal direction extends in the X-axis direction. The gear device 16g changes the direction of the rotating shaft and transmits the rotation of the motor 16k to the wheels 16f. Since the motor 16k is disposed near the wheel 16f, the transmission mechanism is simplified and the first end cover 16d can be made smaller.

The current collecting unit 38 is in contact with the power supply unit 34 (see also FIG. 1) to receive power. The second bogie 16 receives power from the power supply unit 34 via the current collecting unit 38. The second bogie 16 is configured to drive the motor 16k with the received power. The second bogie 16 can charge the battery of the first bogie 14 with the received power.

(Warehouse entry/exit)
Next, the storage entrance 28 and the storage exit 30 will be explained with reference to FIGS. 1 and 2. The automated warehouse system 100 is provided with an entry port 28 for carrying in cargo 12 from outside the warehouse, and an exit port 30 for carrying cargo 12 out of the warehouse. In FIG. 1 , the storage entrance 28 and the storage exit 30 are arranged near the movement path 47 on the negative side of the X-axis of the storage shelf 22 . In the warehousing operation, the cargo 12 from outside the warehouse is carried into the warehousing port 28 by a forklift or the like. The cargo 12 carried into the storage entrance 28 is transported by the first cart 14 and the second cart 16 to a predetermined storage section 26 and stored therein. In the unloading operation, the cargo 12 stored in the predetermined storage section 26 is transported to the unloading port 30 by the first truck 14 and the second truck 16. The cargo 12 transported to the exit 30 is carried out of the warehouse by a forklift or the like.
The above is a description of the overall configuration of the automated warehouse system 100.

Next, an example of the shipping operation of the automated warehouse system 100 will be described with reference to FIGS. 1 and 9 to 15. 9 to 15 are diagrams illustrating an example of the shipping operation of the automated warehouse system 100. In these figures, each storage section 26 of the storage shelf section 22 in plan view is schematically shown as a grid. In the storage shelf section 22 of this example, storage rows 24 for storing a plurality of loads 12 are arranged in 12 rows in the X-axis direction. Each storage row 24 includes five storage units 26 arranged in the Y-axis direction. An exit port 30 is provided on the X-axis negative direction side of the storage shelf section 22 . A moving passage 47 extending in the X-axis direction is provided near the exit 30 and the end of each storage row 24 on the Y-axis negative direction side (hereinafter referred to as "frontage").

The first cart 14 moves in the Y-axis direction in each storage row 24. The goods 12 are loaded onto the first cart 14 and transported in the Y-axis direction in the storage row 24. The second cart 16 moves in the X-axis direction in the transfer passage 47. The goods 12 loaded onto the first cart 14 are transported to the exit 30 by the second cart 16. The goods 12 transported to the exit 30 are transferred to the exit 30. The goods 12 transferred to the exit 30 are removed by an external transport mechanism such as a forklift.

In these figures, the storage shelf 22 stores cargoes 12 to be shipped, which are indicated by alphabets and numbers, and cargoes 12 which are indicated by the alphabet X. The cargo 12 to be shipped is included in the shipping plan at this point, and the cargo 12 indicated by X is not included in the shipping plan at this point. The loads indicated by A, B, C, D, E, F, G, H and X are different types of loads. In this specification, different types of cargo include not only cargoes that have different contents, but also cargoes that have the same contents but have different attributes set in advance to distinguish between manufacturing lots, receiving lots, and shipping lots.

The numbers attached to the alphabets A to H are numbers for distinguishing loads of the same type from each other. For example, C1 and C2 are the same type of cargo, and either one may be delivered in response to a delivery request for cargo C. In other words, each load with a common alphabet is a load that can respond to one shipping request in the shipping plan. Hereinafter, loads indicated by alphabets and numbers will be expressed as, for example, "load A", "load C1", and "load X" using the alphabets and numbers.

The shipping procedure will be explained using an example in which the shipping plan includes one shipping request for cargo A. In each storage row 24, the side farthest from the opening is called the "back side," and the side near the frontage is called the "front side." Cargo A is stored fourth from the frontage to the rear side of the storage row 24, and three items X are stored in front of Cargo A. In this case, before the cargo A is shipped out, the three cargoes X on the near side of the cargo A are rearranged to be moved to an intermediate storage area (not shown).

Specifically, the loads X are moved one by one from the front to an intermediate storage area by the first trolley 14 and the second trolley 16. After the three loads X at the front have been rearranged, load A is carried by the first trolley 14 and the second trolley 16 to the exit gate 30 and is removed from the warehouse. In this way, the number of other loads (in this example, the three loads X at the front) that need to be rearranged in order for one load (load A in this example) to be removed from the warehouse is called the "number of rearrangements." In other words, the number of rearrangements required to remove load A from the warehouse is three.

Next, a description will be given of load allocation in which specific loads are made to correspond to each shipping request included in the shipping plan. Here, as an example, in response to eight shipping requests for shipping one item each of items A to H, a description will be given of which items are allocated to each shipping request. The control unit 18 of this embodiment allocates loads corresponding to each of the input requests for shipping loads A to H. In the present embodiment, each request for shipping goods A to H is input to the control unit 18, and the control unit 18 allocates the corresponding goods based on each input request for shipping. The control unit 18 controls the removal of the allocated cargo from the storage shelf unit 22 .

Specifically, in this embodiment, cargoes A to H are delivered one by one under the control described below. First, if there is only one cargo that can respond to one delivery request, that one cargo is delivered. Next, if there are two cargoes that can respond to one delivery request, the cargo that requires fewer rearrangements for delivery is delivered. Then, if there are two cargoes that can respond to one delivery request and the number of rearrangements required for their delivery is the same, the cargo that is closer to the exit port 30 in the X direction is delivered. . Hereinafter, with reference to the first to sixth control examples, the control for shipping the cargoes A to H in this embodiment will be explained in detail.

(First control example)
In this embodiment, when only one load is stored that can correspond to one outgoing request, the control unit 18 controls the outgoing of the load so that the load is outgoing. An example of this control will be described with reference to FIG. 10. As shown in this figure, in response to the outgoing requests of load A and load B, one load A and one load B are stored in the storage shelf unit 22, so that the allocation target is uniquely determined. That is, the control unit 18 allocates load A and load B in FIG. 10 in response to the outgoing requests of load A and load B. In FIGS. 10 to 15, the allocated load is indicated by a double circle, the unallocated load is indicated by a dashed circle, and the load related to the description is indicated by a square. Load A is outgoing after the three loads X in front of it are rearranged. Load B is outgoing after the two loads X and load D1 in front of it are rearranged.

Below, we will explain the case where there are two loads that can be handled in response to one shipping request, with reference to the second to fifth control examples. In this case, as described above, the load that requires the least number of rearrangements for shipping will be shipped.

(Second control example)
In this embodiment, when a plurality of cargoes that can respond to one delivery request are stored, the control unit 18 gives priority to the cargo located near the movement path 47 in the Y-axis direction and takes the cargo out of the warehouse. to control the shipping of goods.

An example of this control will be described with reference to FIG. 11. As shown in this figure, two loads, C1 and C2, are stored in the storage shelf section 22 in response to a request to release load C. Here, load C1 and load C2 are loads that have no other loads to be released in the same storage row, and load X in front must be rearranged in order to release load C1 and load C2. Therefore, loads closer to the moving passage 47 in the Y-axis direction (closer to the second cart 16 in the Y-axis direction) have fewer loads X in front, and the number of rearrangements for release is also smaller. Specifically, the number of rearrangements when load C1 is released is 1, and the number of rearrangements when load C2 is released is 2. Therefore, the control section 18 allocates load C1, which is the load closer to the moving passage 47 in the Y-axis direction, in response to a request to release load C. Load C1 is released after one load X in front of it has been rearranged.

In this way, by controlling the outgoing of goods, it is possible to reduce the total number of reassignments compared to when goods are allocated regardless of the number of reassignments, thereby improving the throughput of outgoing goods.

(Third control example)
In this embodiment, when a plurality of loads that can correspond to one outgoing request includes a load adjacent in the Y-axis direction to another load to be outgoing in response to another outgoing request, the control unit 18 controls the outgoing of the loads so that the adjacent load is outgoing in priority to the loads other than the adjacent loads among the plurality of loads. An example of this control will be described with reference to Fig. 12. As shown in this figure, two loads, D1 and D2, are stored in the storage shelf unit 22 in response to the outgoing request of load D. In a simple calculation assuming that load B is not outgoing, the number of reassignments when load D1 is outgoing is 2, and the number of reassignments when load D2 is outgoing is 1, so load D2 is allocated.

However, the load D1 is adjacent in the Y-axis direction to another load B that is scheduled to be delivered due to another delivery request, and the control unit 18 controls the load D2 to Priority will be given to In other words, since cargo D1 is rearranged and moved when cargo B is dispatched in response to another dispatch request, the number of rearrangements required for dispatch of cargo D1 is 0 by dispatching cargo D1 during this rearrangement movement. , is smaller than 1 of load D2. In other words, since cargo D1 is adjacent to cargo B, which is scheduled to be shipped due to another shipping request, cargo B will be rearranged for shipping regardless of whether cargo D1 is to be shipped. The number of rearrangements for the delivery of D1 is 0. For this reason, the control unit 18 allocates the cargo D1 adjacent to another cargo to be delivered in accordance with another delivery request in response to the delivery request for the cargo D. Specifically, the cargo D1 is delivered by setting the exit port 30 as the destination during rearrangement movement. By controlling the unloading of cargo in this manner, the total number of rearrangements can be further reduced.

In the third control example, load D1 is adjacent to load B, which is scheduled to be released due to a different release request, in the negative Y-axis direction, i.e., on the side of the moving passage 47, but they do not necessarily have to be adjacent. For example, even if load B is stored in a position shifted one position in the positive Y-axis direction from FIG. 12, i.e., in a position where load B and load D1 are not adjacent, the number of transfers for the release of load D1 will be 0 in order to release load B. In this way, even if they are not necessarily adjacent, if load B, which is scheduled to be released due to a different release request, is located in the same storage row on the positive Y-axis side of load D1, the number of transfers for the target load will be 0, so the total number of transfers can be reduced by controlling the release of loads to release load D1.

(Fourth control example)
In this embodiment, when a plurality of articles that can correspond to one retrieval request are stored, the control unit 18 controls the retrieval of the articles so that the article that is closest in the Y-axis direction to the moving passage along which the second cart 16 moves is retrieved. An example of this control will be described with reference to Fig. 13. As shown in this figure, in response to the retrieval requests for articles E and F, two articles each, articles E1 and E2 and articles F2 and F2, are stored in the storage shelf unit 22. Since the articles E1 and F1 are stored at the front side of each storage row 24 and are closer to the moving passage 47 in the Y-axis direction than the articles E2 and F2, the control unit 18 controls the retrieval of the articles so that the articles E1 and F1 are retrieved.

The control unit 18 allocates the cargo E1 and the cargo F1 that are closer to the movement path 47 in response to the request for shipping the cargo E and the cargo F. The cargo E1 and the cargo F1 are taken out of the warehouse without rearranging and moving other cargoes. The number of rearrangements required to take out the goods E1 and F1 is 0, which is smaller than the number of rearrangements required to take out the goods E2 and F2, so that the throughput of goods out is improved. By controlling the unloading of cargo in this manner, the total number of rearrangements can be further reduced.

(Fifth control example)
In this embodiment, when a plurality of cargoes that can respond to one shipping request include a cargo that is stored behind another cargo that is to be shipped in response to another shipping request, the control unit 18 The delivery of cargo is controlled so that the cargo for which the number of cargoes to be rearranged for delivery is the minimum among the plurality of cargoes in the state in which the cargo has been delivered is delivered. An example of this control will be explained with reference to FIG. 15. As shown in this figure, in response to a request to take out the cargo H, two cargoes, a cargo H1 and a cargo H2, are stored in the storage shelf section 22. When simply calculated assuming that the cargo F1 is not delivered, the number of rearrangements when the cargo H1 and the cargo H2 are delivered is equal to 1.

However, load F1 in front of load H1 is allocated for delivery, and the number of reassignments for load H1 after load F1 is delivered is 0, which is smaller than the number of reassignments for H2 (1). For this reason, the control unit 18 allocates load H1, which has a smaller number of reassignments after load F1 is delivered, in response to a delivery request for load H. After load F1 is delivered, load H1 is delivered without reassigning any other loads. In this way, by controlling the delivery of loads, the total number of reassignments can be further reduced.

In this manner, according to the second to fifth control examples, when there are two cargoes that can respond to one delivery request, the cargo that requires fewer rearrangements for delivery is shipped. , throughput can be improved.

(Sixth control example)
In this embodiment, when a plurality of articles capable of responding to one outgoing request are stored, and there are two or more articles among the plurality of articles that have the smallest number of other articles requiring rearrangement, the control unit 18 controls the outgoing of the articles so as to outgo the article among the two or more articles that is closest to the outgoing port 30 in the X-axis direction. An example of this control will be described with reference to Fig. 14. As shown in this figure, two articles G1 and G2 are stored in the storage shelf unit 22 in response to the outgoing request for article G.

The number of rearrangements when goods G1 and G2 are taken out is equal to two, and both are the minimum, so it can be said that there are two or more items with the minimum number of rearrangements. The control unit 18 controls the unloading of loads so that out of the loads G1 and G2, the load G1 closest to the exit port 30 in the X-axis direction is unloaded. Specifically, the control unit 18 calculates the distance from the frontage of each storage row 24 where the cargo G1 and the cargo G2 are stored to the exit port 30, and dispatches the cargo from the storage row 24 with the shortest calculated distance. Allocate to the request. Since the cargo G1 is closer to the exit port 30 than the cargo G2, in this example, the control unit 18 allocates the cargo G1 closer to the exit port 30 in response to the request for delivery of the cargo G. The cargo G1 is delivered after the two cargoes X on the front side of the cargo G1 are rearranged. In this way, by preferentially leaving the cargo near the exit 30, the travel time of the second cart 16 can be shortened.

According to the sixth control example, when there are two loads that can be handled in response to one delivery request and the number of reassignments is the same, the throughput can be further improved by delivering the load closest to the delivery entrance and shortening the travel time of the second cart.

Next, with reference to FIG. 16, a process for allocating a load corresponding to a shipping request will be described. FIG. 16 is a flowchart illustrating an example of load allocation processing according to this embodiment. This process S110 implements the first to sixth controls described above as a series of processes.

When process S110 starts, the control unit 18 determines whether or not there is a request to unload the item (step S111). If there is no request to unload the item (N in step S111), the control unit 18 returns the process to the beginning of step S111 and repeats step S111.

If there is a shipping request (Y in step S111), the control unit 18 determines whether there are multiple items that can fulfill the shipping request (step S112). If the number of items that can fulfill the shipping request is 0 or 1, not multiple (N in step S112), the control unit 18 assigns one item that can fulfill the shipping request to the shipping request (step S113). In this step, if there are 0 items (no items at all) that can fulfill the shipping request, the control unit 18 provides information to the worker or a higher-level control system that there are no items that can be fulfilled. When this step is completed, the control unit 18 transitions the process to step S122. Step S122 will be described later.

If there are multiple loads that can fulfill the outgoing request (Y in step S112), the control unit 18 determines whether the multiple loads include loads adjacent to the moving aisle 47 (step S114). Loads adjacent to the moving aisle 47 are loads stored in the storage unit 26 that is closest to the moving aisle 47 in the storage row 24. If loads adjacent to the moving aisle 47 are included (Y in step S114), the control unit 18 assigns the loads adjacent to the moving aisle 47 to the outgoing request (step S115). When this step is completed, the control unit 18 transitions the process to step S122.

If the moving path 47 does not contain any adjacent cargo (N in step S114), the control unit 18 causes the plurality of cargoes to move in the Y-axis direction to another cargo to be delivered in response to another delivery request. It is determined whether adjacent loads are included (step S116). In this step, the control unit 18 determines whether there is an article adjacent to the front side or the rear side of another article.

If an adjacent load is included (Y in step S116), the control unit 18 allocates the adjacent load to the shipping request (step S117). When this step is completed, the control unit 18 moves the process to step S122.

If adjacent loads are not included (N in step S116), the control unit 18 calculates the number of reassignments for each of the loads (step S118). Once this step is completed, the control unit 18 determines whether there are two or more loads with the smallest number of reassignments (step S119).

If there are two or more loads with the minimum number of rearrangements (Y in step S119), the control unit 18 calculates the distance in the X-axis direction to the exit 30 for each load with the minimum number of rearrangements, and calculates the distance in the X-axis direction for each load with the minimum number of rearrangements. The cargo with the shortest time is assigned to the shipping request (step S120). When this step is completed, the control unit 18 moves the process to step S122.

If the item with the smallest number of reassignments is 1 (not 2 or more) (N in step S119), the control unit 18 assigns the item with the smallest number of reassignments to the out-of-stock request (step S121). When this step is completed, the control unit 18 transitions the process to step S122.

In step S122, the control unit 18 controls the delivery of cargo so that the cargo assigned to the delivery request is delivered. Specifically, first, the first truck 14 and the second truck are controlled to rearrange and move the load on the front side of the allocated load. After the rearrangement movement is completed, the first cart 14 and the second cart are controlled to move the allocated cargo to the exit port 30.

When step S122 is completed, the control unit 18 ends process S110. The above-mentioned process S110 is merely an example, and different processes may be used as long as they provide the same effects as the first to sixth embodiments described above. For example, other steps may be added, some steps may be changed or deleted, or the order of the steps may be changed. In addition, for example, after S111, a process may be performed in which the number of reassignments required to release each of multiple loads is calculated, and if there is only one load with the smallest number of reassignments, the load with the smallest number is allocated, and if there are multiple loads with the smallest number of reassignments, the load closer to the exit is allocated.

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

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

In the description of the embodiment, an example was shown in which the cart travels on a track with rails, but the present invention is not limited to this. The cart may also travel on a track that does not have rails.

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

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

A lifting mechanism may be provided for raising and lowering the load 12 between the multiple storage shelf sections 22.

It is not essential that the number of storage sections 26 in storage row 24 be configured uniformly. The number of storage sections 26 constituting the storage row 24 may be larger or smaller depending on the unevenness of the wall of the building in which the storage shelves 22 are housed.

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

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

Instead of a forklift, the load 12 may be loaded and unloaded using another type of loading and unloading device, such as a loading and unloading device equipped with a crane.

It is not essential to provide the second cart 16. Any moving mechanism capable of carrying the first cart 14 and moving in the second direction will suffice, and for example, a stacker crane may be provided instead of the second cart 16.

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

Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. The new embodiment resulting from the combination has the combined effects of each of the combined embodiments and modifications.

14...First trolley, 16...Second trolley, 18...Control unit, 22...Storage shelf, 24...Storage row, 26...Storage unit, 30...Outlet, 40...First Rail, 44...Second rail, 47...Moving path, 100...Automated warehouse system.

Claims (6)

An automatic warehouse system that can store cargo,
a storage shelf extending in a first direction and having a plurality of storage rows for storing a plurality of loads arranged in a second direction intersecting the first direction;
a cart that carries a load and moves in the first direction;
a moving mechanism that mounts the trolley and moves in the second direction;
a control unit that controls shipping of cargo from the storage shelf,
Regarding the first cargo and the second cargo stored in the storage shelf section and capable of responding to one shipping request, the control unit may cause the first cargo to be rearranged for shipping rather than the second cargo. 1. An automatic warehouse system characterized in that when the number of loads is small, the unloading of loads is controlled so that the first load is unloaded. The control unit is configured such that another load to be discharged in response to another discharge request is stored in the same storage row at a position farther from the moving mechanism in the first direction than the first load; In addition, if another load to be discharged in the same storage row according to another discharge request is not stored at a position farther from the moving mechanism in the first direction than the second load, the second load is The automated warehouse system according to claim 1, wherein the automated warehouse system controls the delivery of cargo so that one cargo is delivered. The automated warehouse system according to claim 1 or 2, characterized in that the control unit controls the removal of the goods so as to remove the first goods when the first goods are closer to the moving mechanism in the first direction than the second goods. When each of the plurality of loads requires the displacement of other loads for retrieval from the warehouse,
The automated warehouse system according to any one of claims 1 to 3, characterized in that the control unit controls the removal of goods so as to remove the first goods when the first goods are closer to the moving mechanism in the first direction than the second goods. The automated warehouse system according to claim 1, characterized in that the control unit controls the retrieval of the first load so that the first load is retrieved when the number of other loads that need to be rearranged for the retrieval of the first load is the same as the number of other loads that need to be rearranged for the retrieval of the second load, and when the first load is closer to the retrieval port in the second direction than the second load. An automatic warehouse system that can store cargo,
a storage shelf extending in a first direction and having a plurality of storage rows for storing a plurality of loads arranged in a second direction intersecting the first direction;
a cart that carries a load and moves in the first direction;
a moving mechanism that mounts the trolley and moves in the second direction;
a control unit that controls shipping of cargo from the storage shelf,
Regarding a first load and a second load stored in the storage shelf section and capable of responding to one delivery request, the control unit may cause the first load to be closer to the exit exit in the second direction than the second load. In this case, the automated warehouse system controls the shipping of cargo so that the first cargo is delivered.

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