Prayer equipment

Abstract

The present invention provides a further improved worship facility capable of, for example, more rapid conveyance of articles between a storage area and a worship position. The worship facility includes: a first conveyance mechanism capable of conveying articles between a first storage rack; a second conveyance mechanism capable of conveying articles between a second storage rack; a third conveyance mechanism capable of conveying articles between a worship room or a worship position and a first transfer position on a side opposite to the first conveyance path and the second conveyance path; and a fourth conveyance mechanism that penetrates an intermediate rack located between the first conveyance mechanism and the second conveyance mechanism and that is part of at least one of the first storage rack and the second storage rack, and is capable of conveying articles between a second transfer position, where articles are transferred with the first conveyance mechanism, and a third transfer position, where articles are transferred with the second conveyance mechanism.

Description

Technical Field

[0001] The present invention relates to a worship device. Background Art

[0002] Conventionally, there has been known a worship device that stores an article such as a bone in a plurality of storage racks in a storage area (for example, refer to Patent Document 1).

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2014-234616 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] In such a worship device, for example, when the number of storage areas in each worship room is large, it is necessary to more quickly transport articles between the storage area and the worship position.

[0008] Therefore, one object of the present invention is to provide a worship device that has been further improved, such as being able to more quickly transport articles between, for example, a storage area and a worship position.

[0009] Means for Solving the Problems

[0010] The worship device of the present invention includes: a first storage rack having a plurality of first storage areas provided along a first conveying path extending across a first direction, each of the plurality of first storage areas being capable of storing an article; a first conveying mechanism having a first supporting portion that supports the article and conveys the article along the first conveying path, and being capable of conveying the article between each of the first storage areas and a first supporting position within the first conveying path where the article is supported by the first supporting portion; a second storage rack that is disposed offset from the first storage rack in the first direction and has a plurality of second storage areas provided along a second conveying path extending across the first direction, each of the plurality of second storage areas being capable of storing an article; a second conveying mechanism that is disposed separately from the first conveying mechanism in the first direction and has a second supporting portion that supports the article and conveys the article along the second conveying path, and being capable of conveying the article between each of the second storage areas and a second supporting position within the second conveying path where the article is supported by the second supporting portion; a third conveying mechanism that is capable of conveying the article between a worship position and a first transfer position, the worship position being provided in a worship room or adjacent to the worship room on a side opposite to the first conveying path and the second conveying path, the first transfer position being provided corresponding to the worship position and being capable of transferring the article between the first conveying mechanism; and a fourth conveying mechanism that penetrates an intermediate rack located between the first conveying mechanism and the second conveying mechanism and that is a part of at least one of the first storage rack and the second storage rack, and being capable of conveying the article between a second transfer position and a third transfer position, the second transfer position being capable of transferring the article between the first conveying mechanism, and the third transfer position being capable of transferring the article between the second conveying mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is an exemplary and schematic top view of one floor of the worship device according to the embodiment.

[0012] Figure 2 is an exemplary and schematic side view of the storage rack and the stacking crane of the worship device according to the embodiment.

[0013] Figure 3 is an exemplary and schematic side view of the intermediate rack of the worship device according to the embodiment.

[0014] Figure 4 is an exemplary and schematic side view of the storage rack on the worship room side of the worship device according to the embodiment.

[0015] Figure 5 isFigure 1 V-V sectional view.

[0016] Figure 6 It is a block diagram of the worship equipment of the embodiment.

[0017] Figure 7 It is a flowchart showing an example of the processing order during worship in the worship equipment of the embodiment.

[0018] Figure 8 It is an illustrative and schematic top view of one floor of the worship equipment of the first modified example.

[0019] Figure 9 It is an illustrative and schematic side view of the intermediate rack of the worship equipment of the second modified example.

[0020] Figure 10 It is an illustrative and schematic top view of one floor of the worship equipment of the third modified example.

[0021] Explanation of reference numerals:

[0022] 1 Storage area (first storage area, second storage area)

[0023] 3 Worship room

[0024] 4-1 Conveyor (fourth conveying mechanism)

[0025] 4-2 Conveyor (third conveying mechanism)

[0026] 5a Processing decision unit (allocation decision unit)

[0027] 10, 10A, 10B, 10C Worship equipment

[0028] 20-11, 20-12 Stacking crane (first conveying mechanism)

[0029] 20-2 Stacking crane (second conveying mechanism)

[0030] 24a Support part (first support part, second support part)

[0031] A, A1, A2 Articles

[0032] Pd1 Handover position (first handover position)

[0033] Pd2 Handover position (second handover position)

[0034] Pd3 Handover position (third handover position)

[0035] Ph Support position (first support position, second support position)

[0036] Pxm Intermediate position (first intermediate position)

[0037] Pzm Intermediate position (second intermediate position)

[0038] R11 Storage rack (first storage rack)

[0039] R12 Storage rack (first storage rack, intermediate rack)

[0040] R21 Storage rack (second storage rack, intermediate rack)

[0041] R22 Storage rack (second storage rack)

[0042] T1 Conveyor path (first conveyor path)

[0043] T2 Conveyor path (second conveyor path)

[0044] xf Front end

[0045] xb Rear end

[0046] zf Front end

[0047] zb Rear end

[0048] X direction (second direction)

[0049] Y direction (first direction)

[0050] Z direction (third direction). Detailed implementation manners

[0051] Hereinafter, exemplary embodiments and modification examples of the present invention will be disclosed. The structures of the embodiments and modification examples shown below, and the actions and results (effects) obtained from the structures are examples. The present invention can also be implemented by structures other than those disclosed in the following embodiments and modification examples. In addition, according to the present invention, at least one of various effects (including derivative effects) obtained by the following structures can be obtained.

[0052] It should be noted that in this specification, ordinal numbers are expediently marked for distinguishing components, parts, etc., and do not represent priority order or sequence.

[0053] In addition, in each figure, the directions in the reference equipment are indicated by arrows. The X direction, Y direction, and Z direction intersect and are orthogonal to each other. The Z direction is substantially along the vertical direction, and the arrow Z points vertically upward. The X direction and Y direction are substantially along the horizontal direction. In addition, the X direction is referred to as the left - right direction or the long - side direction, the Y direction is referred to as the front - rear direction or the short - side direction, and the Z direction is referred to as the up - down direction.

[0054] In addition, in each figure, the reference numerals indicating the respective positions of article A are sometimes shown in parentheses attached to the reference numeral indicating article A.

[0055] [Embodiment]

[0056] [Article, Conveyor Path, Storage Rack, Storage Area, and Worship Room]

[0057] Figure 1 is a top view of one floor of the worship facility 10. More specifically, it is a top view obtained by observing the worship facility 10 in the opposite direction of the Z direction along the line I-I in Figure 5 . As shown in Figure 1 , the worship facility 10 includes a plurality of storage racks R. In addition, each storage rack R has a plurality of storage areas 1 for storing article A. It should be noted that in the following figures, for simplicity, the storage area 1 is represented by a simple quadrilateral.

[0058] In the worship facility 10, article A is, for example, a container that houses an urn containing remains, relics, a memorial tablet, etc.

[0059] Each article A has an identification body (not shown) indicating the identification information of that article A, and a reader 51 for acquiring the identification information is provided in each storage area 1 (see Figure 6 ). The identification body is, for example, a label to which a code such as a barcode or a two-dimensional code is assigned, or an RFID (radio frequency identifier) tag that holds the identification information. The reader 51 is, for example, a code reader having a camera for photographing a code image, or an RFID reader that acquires the identification information through wireless communication with the RFID tag. It should be noted that in the present embodiment, one storage position for article A is provided in each storage area 1, but it is not limited thereto, and a plurality of storage positions that are offset from each other in the Y direction may be provided in each storage area 1.

[0060] A conveyor path T is provided in the worship facility 10 as a space for the stacker crane 20 to move and convey article A. The conveyor path T extends in the X direction and in the Z direction with a substantially constant width in the Y direction. That is, the conveyor path T extends in the X direction and the Z direction. In other words, the conveyor path T intersects the Y direction and extends. The stacker crane 20 is an example of a conveying mechanism for conveying article A. The Y direction is an example of a first direction, the X direction is an example of a second direction, and the Z direction is an example of a third direction.

[0061] As shown in Figure 1As shown, two conveying paths T (T1, T2) are provided in the worship device 10. Storage racks R are provided on both sides in the Y direction of each conveying path T. A plurality of storage areas 1 are provided along the conveying path T in each storage rack R. The conveying path T1 and the conveying path T2 are offset in the Y direction. The conveying path T1 is an example of the first conveying path, and the conveying path T2 is an example of the second conveying path.

[0062] The worship device 10 has a plurality of storage racks R (R11, R12, R21, R22). The storage racks R11 and R12 can transfer the article A between the stacking cranes 20-11 and 20-12 for conveying the article A in the conveying path T1. The storage racks R11 and R12 are examples of the first storage rack. The storage areas 1 provided in the storage racks R11 and R12 are examples of the first storage area. In addition, the stacking cranes 20-11 and 20-12 are examples of the first conveying mechanism.

[0063] The storage racks R21 and R22 can transfer the article A between the stacking crane 20-2 for conveying the article A in the conveying path T2. The storage racks R21 and R22 are examples of the second storage rack. The storage areas 1 provided in the storage racks R21 and R22 are examples of the second storage area. In addition, the stacking crane 20-2 is an example of the second conveying mechanism.

[0064] The worship device 10 is equipped with a conveyor 4-1 (4) capable of conveying the article A between the stacking cranes 20-11, 20-12 and the stacking crane 20-2. The conveyor 4-1 penetrates through the storage racks R12 and R21 in the Y direction. Specifically, the conveyor 4-1 conveys the article A between the transfer positions Pd2 and Pd3. The transfer position Pd2 faces the conveying path T1 and can transfer the article between both the stacking cranes 20-11 and 20-12. In addition, the transfer position Pd3 faces the conveying path T2 and can transfer the article A with the stacking crane 20-2. In the storage racks R12 and R21, the storage area 1 is not provided at the part where the conveyor 4-1 is provided. The conveyor 4-1, for example, penetrates through the part obtained by arranging in the Y direction a space having substantially the same size as one storage area 1 in the storage rack R12 and a space having substantially the same size as one storage area 1 in the storage rack R21. It should be noted that the stacking cranes 20-11, 20-12, and 20-2 all have the same structure. The method and sequence of transferring the article A between the stacking crane 20 and the transfer positions Pd2 and Pd3 are the same as the method and sequence of transferring the article A between the storage areas 1. The storage racks R12 and R21 are examples of intermediate racks. The conveyor 4-1 is an example of the fourth conveying mechanism and can also be called a rack-penetrating conveyor. The transfer position Pd2 is an example of the second transfer position, and the transfer position Pd3 is an example of the third transfer position.

[0065] On the side opposite to the conveying path T1 with respect to the conveying path T2, there is a column L of the worship rooms 3 arranged in the X direction. In other words, the conveying path T1 is closer to the column L of the worship rooms 3 than the conveying path T2. In addition, the column L of the worship rooms 3 is arranged on the side opposite to the storage rack R11 with respect to the conveying path T1. That is, the storage rack R11 is arranged between the column L of the worship rooms 3 and the conveying path T1.

[0066] In the column L, as an example, a plurality of worship rooms 3 are arranged in a row at substantially constant intervals along the X direction. That is, the lengths of the plurality of worship rooms 3 in the X direction are substantially the same. It should be noted that in each worship room 3, there is a reader 52 (refer to Figure 6 ) for reading the identification information of the worshiper from a portable information terminal, an RFID tag, etc. held by the worshiper through wireless communication.

[0067] The worship equipment 10 is provided with a conveyor 4-2(4) penetrating the storage rack R11 along the Y direction corresponding to each worship room 3. The conveyor 4-2 conveys the article A between each worship room 3 and the conveying path T. Specifically, the conveyor 4-2 conveys the article A between the transfer position Pd1 and the worship position Po corresponding to the worship room 3. The transfer position Pd1 faces the conveying path T1 and can perform the transfer of the article A between at least one of the stacking cranes 20-11 and the stacking crane 20-12. The worship position P o is, for example, located inside the worship room 3, faces the worship room 3, or is adjacent to the worship room 3. In the storage rack R11, there is no storage area 1 at the position where the conveyor 4-2 is provided. The conveyor 4-2 penetrates, for example, a space along the Y direction that is substantially the same size as one storage area 1 in the storage rack R11. The method and order of transferring the article A between the stacking crane 20 and the transfer position Pd1 are the same as the method and order of transferring the article A between the storage area 1. The conveyor 4-2 is an example of the third conveying mechanism and can also be called a worship room conveyor. The transfer position Pd1 is an example of the first transfer position.

[0068] In each storage rack R, except for the position where the conveyor 4(4-1, 4-2) is provided, a plurality of storage areas 1 are arranged in a matrix with the X direction as rows and the Z direction as columns. In other words, in each storage rack R, a plurality of storage areas 1 are arranged in the X direction and also in the Z direction. In addition, between two storage racks R opposed in the Y direction across the conveying path T, the storage areas 1 are arranged in the Y direction across the conveying path T.

[0069] [Stacking Crane]

[0070] Figure 2 is a side view of the storage rack R and the stacking crane 20. As Figure 1 , 2As shown, the stacking crane 20 has a traveling body 21, a mast 22, a platform 23, and a transfer device 24 respectively. Guide rails 25 extending in the X direction are provided on at least one of the lower and upper parts of the conveying path T. The stacking crane 20 can move in the X direction along the guide rails 25.

[0071] The traveling body 21 is supported by the guide rails 25 so as to be movable in the X direction. Two masts 22 are fixed to the traveling body 21. The two masts 22 are separated from each other in the X direction and extend in the Z direction. The traveling body 21 and the masts 22 can move in the X direction along the guide rails 25 corresponding to the rotation of a motor (not shown) which is the driving source for the traveling body 21 and the masts 22 to move in the X direction, and can stop at multiple positions in the X direction corresponding to the stop of the motor.

[0072] The platform 23 is supported by the two masts 22 so as to be movable in the Z direction. The platform 23 is installed between the two masts 22. The platform 23 can move in the Z direction along the masts 22 corresponding to the rotation of a motor (not shown) which is the driving source for the platform 23 to move in the Z direction, and can stop at multiple positions in the Z direction corresponding to the stop of the motor.

[0073] The transfer device 24 is installed on the platform 23 so as to be able to expand and contract in the Y direction. The transfer device 24 has a support portion 24a for supporting the article A. Corresponding to the expansion and contraction of the transfer device 24 in the Y direction, the position of the support portion 24a and the article A supported by the support portion 24a in the Y direction changes. The expansion and contraction state of the transfer device 24 changes corresponding to the rotation of a motor (not shown). That is, the support portion 24a can move in the Y direction corresponding to the rotation of the motor and can stop at multiple positions in the Y direction corresponding to the stop of the motor. It should be noted that the support portion 24a of the stacking cranes 20-11 and 20-12 is an example of the first support portion, and the support portion 24a of the stacking crane 20-2 is an example of the second support portion.

[0074] As Figure 2 shown, in the contracted state (stored state) of the transfer device 24, the support portion 24a and the article A are located inside the conveying path T. Through the control of the motor for driving the traveling body 21 and the masts 22 in the contracted state, and the control of the motor for driving the platform 23, the article A can be moved to the opposed position Pf facing each storage area 1 inside the conveying path T and stop. Each opposed position Pf is also the support position Ph where the article A is supported by the support portion 24a inside the conveying path T. It should be noted that the support position Ph in the stacking cranes 20-11 and 20-12 is an example of the first support position, and the support position Ph in the stacking crane 20-2 is an example of the second support position.

[0075] The movement of article A between the support portion 24a and each storage area 1 can be achieved by a combination of the movement of the support portion 24a in the Y direction and the movement of at least a part of the transfer device 24 in a direction intersecting the Y direction.

[0076] As an example, the conveyance of article A in the following case will be described. That is, the transfer device 24 is a known slide fork having a plurality of members that can slide relative to each other in the Y direction, the support portion 24a is the front-end member of the slide fork, and the transfer device 24 is configured not to interfere with each storage area 1 and to be movable in the Z direction. In this case, by combining the movement of the support portion 24a in the Y direction caused by the expansion and contraction of the transfer device 24 and the movement of the support portion 24a in the Z direction accompanying the movement of the platform 23 in the Z direction, article A can be transferred between the support portion 24a and each storage area 1. The transfer device 24 can expand and contract relative to both sides in the Y direction of the conveyance path T, and can extend to a length corresponding to the storage position of article A in the storage area 1 on both sides in the Y direction. When article A is carried out from the storage area 1 to the opposed position Pf, the support portion 24a that does not support article A first moves slightly below article A stored in the storage area 1 in correspondence with the extension of the transfer device 24 in the Y direction. Next, the support portion 24a moves slightly upward as the platform 23 moves in the Z direction (upward), and receives article A from the storage area 1. Next, the support portion 24a moves along the Y direction into the conveyance path T as the transfer device 24 contracts in the Y direction, and moves article A to the opposed position Pf. On the other hand, when article A is carried into the storage area 1 from the opposed position Pf, the support portion 24a that supports article A first moves slightly above the predetermined storage position of article A in the empty storage area 1 in correspondence with the extension of the transfer device 24 in the Y direction. Next, the support portion 24a moves to slightly below the storage area 1 and delivers (places) article A to the storage area 1 as the platform 23 moves in the opposite direction (downward) of the Z direction. Next, the support portion 24a moves along the Y direction into the conveyance path T as the transfer device 24 contracts in the Y direction. The transfer device 24 can convey article A between the support position Ph (opposed position Pf) of article A in the conveyance path T and the storage areas 1 on both sides in the Y direction of the conveyance path T.

[0077] It should be noted that the mechanism for transporting the article A between the support position Ph (opposite position Pf) and each storage area 1 is not limited to the sliding fork. For example, when the storage area 1 and the platform 23 are provided with a free roller conveyor for assisting the movement of the article A in the Y direction, the telescopic movement of the transfer device 24 can be used to move the article A on the free roller conveyor. In this case, the connection part, which is at least a part of the transfer device 24, can also be moved in a direction intersecting the Y direction, such as the Z direction, thereby switching between the connected state in which the connection part is connected to the article A and the separated state in which the connection part is separated from the article A. In the connected state, the transfer device 24 can move the article A, and in the separated state, the transfer device 24 cannot move the article A.

[0078] [Workable Range of Stacker Crane and Relay of Articles]

[0079] From Figure 1 It is clearly known that the stacker crane 20-11 (support part 24a thereof) and the stacker crane 20-12 (support part 24a thereof) moving on the same guide rail 25 cannot overtake each other in the X direction.

[0080] Figure 3 It is a side view obtained by observing the storage area 1 of the storage rack R12 corresponding to the transport path T1 in the Y direction. The workable ranges of the respective stacker cranes 20 are set so as not to interfere with each other. In Figure 3 In the example of Figure 3 the workable range C1 of the stacker crane 20-11 (not shown in Figure 3 ) located relatively on the right side in Figure 3 is the range from the rightmost column of the storage area 1 to the column obtained by shifting five columns to the right from the leftmost column, so as to avoid interference with the stacker crane 20-12 (not shown in Figure 3 ) located relatively on the left side. Similarly, in Figure 3 the workable range C2 of the stacker crane 20-12 on the left side in Figure 3The range from the leftmost column to the column obtained by shifting five columns to the left from the rightmost column in the storage area 1 to avoid interference with the stacking crane 20-11 on the right side. That is, the stacking crane 20-11 can transport the article A between the storage area 1 within the workable range C1, and the stacking crane 20-12 can transport the article A between the storage area 1 within the workable range C2. Both the stacking crane 20-11 and the stacking crane 20-12 can transport the article A between the storage area 1 within the overlapping range Co where the workable range C1 and the workable range C2 overlap. In addition, the stacking crane 20-11 cannot transport the article A between the storage area 1 within the non-reachable range Cn1 at the front end in the X direction outside the workable range C1, and the stacking crane 20-12 cannot transport the article A between the storage area 1 within the non-reachable range Cn2 at the rear end in the X direction outside the workable range C2. The non-reachable range Cn1 can also be referred to as the first non-reachable area, the non-reachable range Cn2 can also be referred to as the second non-reachable area, and the overlapping range Co can also be referred to as the intermediate area.

[0081] Figure 4 It is a side view obtained by observing the storage area 1 of the storage rack R11 corresponding to the transport path T1 along the opposite direction of the Y direction. As Figure 4 shown, for the storage area 1 belonging to the storage rack R11, for example, the workable ranges C1, C2, the overlapping range Co, and the non-reachable ranges Cn1, Cn2 are also set within the ranges that are approximately arranged along the Y direction with respect to the workable ranges C1, C2, the overlapping range Co, and the non-reachable ranges Cn1, Cn2 of the storage rack R12. It can be clearly seen from Figure 4 that a part of the transfer position Pd1 is located within the non-reachable ranges Cn1, Cn2. Therefore, the stacking crane 20-11 cannot transport the article A between the storage area 1 within the non-reachable range Cn1 and the transfer position Pd1, and the stacking crane 20-12 cannot transport the article A between the storage area 1 within the non-reachable range Cn2 and the transfer position Pd1.

[0082] Therefore, in the present embodiment, as Figure 3 、 4As shown, a relay position Pr is assigned to the empty storage area 1 within the repetition range Co. Thus, the stacking crane 20-11 conveys the article A between the relay position Pr, and the stacking crane 20-12 conveys the article A between the relay position Pr and the storage area 1 within the non-reachable range Cn1, so that the article A can move between the support portion 24a of the stacking crane 20-11 and the storage area 1 within the non-reachable range Cn1. Similarly, the stacking crane 20-12 conveys the article A between the relay position Pr, and the stacking crane 20-11 conveys the article A between the relay position Pr and the storage area 1 within the non-reachable range Cn2, so that the article A can move between the support portion 24a of the stacking crane 20-12 and the storage area 1 within the non-reachable range Cn2.

[0083] In addition, the relay position Pr is also used for conveying the article A between the relay position Pr and the transfer position Pd1 within the non-reachable ranges Cn1 and Cn2. That is, the stacking crane 20-11 conveys the article A between the relay position Pr, and the stacking crane 20-12 conveys the article A between the relay position Pr and the transfer position Pd1 within the non-reachable range Cn1, so that the article A can move between the support portion 24a of the stacking crane 20-11 and the transfer position Pd1 within the non-reachable range Cn1. Similarly, the stacking crane 20-12 conveys the article A between the relay position Pr, and the stacking crane 20-11 conveys the article A between the relay position Pr and the transfer position Pd1 within the non-reachable range Cn2. Thus, the article A can move between the support portion 24a of the stacking crane 20-12 and the transfer position Pd1 within the non-reachable range Cn2. It should be noted that the assignment of the relay position Pr to the empty storage area 1 can be changed according to the storage condition of the article A in the worship equipment 10, that is, the free condition of the storage area 1 of the storage rack R. The relay position Pr can be set to any position within the repetition range Co. In addition, the relay position Pr can also be assigned to the empty transfer position Pd2 where no article A is waiting.

[0084] Figure 5 is a longitudinal sectional view of the worship equipment 10. More specifically, it is a sectional view obtained by observing the worship equipment 10 in the X direction along the V-V line of Figure 1 As shown, in the worship equipment 10, a plurality of floors F are stacked. The worship equipment 10 has the same structure in each floor F. The worshiper can access each floor F via a staircase, an escalator, an elevator, etc. not shown. The stacking crane 20 (refer to Figure 5 As shown, a plurality of floors F are stacked in the worship equipment 10. The worship equipment 10 has the same structure in each floor F. The worshiper can access each floor F via a staircase, an escalator, an elevator, etc. not shown. The stacking crane 20 (refer to Figure 1 the same structure. The worshiper can access each floor F via a staircase, an escalator, an elevator, etc. not shown. The stacking crane 20 (refer to Figure 2) extends in the Z direction in the conveying path T and is capable of transferring the article A between the transfer positions Pd1 of the conveyors 4-2 provided corresponding to the worship rooms 3 on multiple floors F. As an example, in the worship equipment 10 of the present embodiment, for the conveying path T1, as Figure 1 shown, the number of worship rooms on each floor F is 5, and as Figure 5 shown, the number of floors F is 2. Therefore, the stacking cranes 20-11 and 20-12 operate corresponding to a total of 10 (=5×2) worship rooms 3. It should be noted that the number of worship rooms 3 and the number of floors F are not limited to this.

[0085] [Control device]

[0086] Figure 6 is a block diagram of the worship equipment 10. As Figure 6 shown, the worship equipment 10 includes a control device 5. The control device 5 includes a processing determination unit 5a, a conveyance control unit 5b, reading units 5c, 5d, an input control unit 5e, and an output control unit 5f.

[0087] The processing determination unit 5a determines the processing order performed by the stacking cranes 20 and the conveyors 4, the allocation of the article A to each storage area 1, the allocation of the relay position Pr to the storage area 1, etc. The processing determination unit 5a is an example of an allocation determination unit.

[0088] The conveyance control unit 5b controls the stacking cranes 20 and the conveyors 4 to operate according to the processing order and settings determined by the processing determination unit 5a.

[0089] The reading unit 5c acquires the information read by the reader 51, and the reading unit 5d acquires the information read by the reader 52.

[0090] The input control unit 5e acquires the information input through the operations of the worshiper on the input device 53 such as a touch panel, a switch, a button, and a keyboard.

[0091] The output control unit 5f controls the output devices 54 such as a display, a lamp, and a speaker to perform a prescribed output.

[0092] The control device 5 can be composed of a computer. The computer at least has a processor (circuit), a main storage unit 5g such as RAM (random access memory) and ROM (read only memory), and auxiliary storage devices 5h such as HDD (hard disk drive) and SSD (solid state drive). The processor reads and executes programs (application programs) stored in the ROM of the main storage unit 5g and the auxiliary storage device 5h. By operating according to the program, the processor operates as a processing decision unit 5a, a conveyance control unit 5b, reading units 5c and 5d, an input control unit 5e, and an output control unit 5f. In this case, the program includes program modules corresponding to the processing decision unit 5a, the conveyance control unit 5b, the reading units 5c and 5d, the input control unit 5e, and the output control unit 5f. In addition, the auxiliary storage device 5h stores information indicating the presence or absence of the article A in each storage area 1 (stored or empty), information indicating the article A stored in the storage area 1 (hereinafter referred to as storage status information), identification information of the article A being conveyed, identification information of the article A located at the worship position Po, identification information of the storage area 1 allocated as the relay position Pr (hereinafter referred to as allocation information), attribute information of the article A stored in the worship device 10 (hereinafter referred to as article database), etc. Each piece of information can be rewritten by, for example, the processing decision unit 5a at any time. It should be noted that the storage status information may also be referred to as idle status information.

[0093] The program can be provided by being recorded in a computer-readable recording medium in an installable format or an executable format file. The recording medium may also be referred to as a program product. In addition, the program can be imported into the computer by being stored in the storage unit of a computer connected to a communication network and downloaded via the network. In addition, the program can also be pre-loaded into the ROM, etc.

[0094] In addition, in the case where at least a part of the computer is composed of hardware, for example, FPGA (field programmable gate array), ASIC (application specific integrated circuit), etc. may also be included in the computer.

[0095] Information used in the arithmetic processing performed by the processing decision unit 5a, the conveyance control unit 5b, the reading units 5c and 5d, the input control unit 5e, and the output control unit 5f is stored in the ROM of the main storage unit 5g or the auxiliary storage device 5h. In addition, the information used in this arithmetic processing may also be described in the program.

[0096] [Processing order during worship]

[0097] Figure 7 This is a flowchart showing an example of the processing sequence during a visit. In Figure 7 this example, in the specified start standby state, when the reading unit 5d acquires information corresponding to the detection signal of the reader 52 provided in the visit room 3, or when the input control unit 5e acquires information input to the input device 53 (S1), the processing determination unit 5a retrieves the information acquired in step S1 from the item database (S2). The information acquired in step S1 is, for example, the attribute information of item A such as the identification information of the visitor.

[0098] In the search in step S2, when it is determined that the information acquired in step S1 exists in the item database and there is an item A corresponding to the information acquired in step S1 in the visit device 10 (when it is "Yes" in S3), the processing determination unit 5a determines the processing sequence when transporting item A from the storage area 1 to the visit position Po in the corresponding visit room 3 (S4). In this step S4, the processing determination unit 5a determines the stacking crane 20 and the conveyor 4 to be used during the transportation of this item A, and their operation sequences. Additionally, when relay is required, the processing determination unit 5a refers to the storage status information (idle status information) and allocates a relay position Pr to an empty storage area 1 within the repetition range Co where item A is not stored. In other words, the processing determination unit 5a determines the storage area 1 to be used as the relay position Pr from the empty storage areas 1 within the repetition range Co where item A is not stored.

[0099] Moreover, in this step S4, after determining the processing sequence, the processing determination unit 5a releases the allocation of the storage area 1 storing item A. Specifically, the processing determination unit 5a, for example, changes the current status of this storage area 1 from "stored" to "idle" in the storage status information, and eliminates the association established between this storage area 1 and item A by deleting the identification information of the stored item A, etc.

[0100] Next, the transportation control unit 5b controls the stacking crane 20 and the conveyor 4 so as to transport this item A from the storage area 1 to the visit position Po in accordance with the processing sequence determined in step S4 (S5). After that, the input control unit 5e enters a standby state for acquiring information indicating the end of the visit.

[0101] When the worship performed by the worshiper ends and the input control unit 5e acquires information indicating the end of the worship corresponding to the operation of the worshiper on the input device 53 (S6), the conveyance control unit 5b determines the storage area 1 for storing the article A and the processing order when conveying the article A from the worship position Po to the storage area 1 (S7). In this step S7, the processing determination unit 5a can refer to the storage status information (idle status information) and allocate the storage of the article A to the empty storage area 1 in the storage rack R. In other words, the processing determination unit 5a can determine the storage area 1 for the article A that is to be moved into the storage rack R from the worship position Po. Specifically, for example, the processing determination unit 5a changes the current status of the storage area 1 from "idle" to "stored" in the storage status information, and associates the storage area 1 with the article A by adding the identification information of the stored article A as the information corresponding to the storage area 1.

[0102] Next, the conveyance control unit 5b controls the stacking crane 20 and the conveyor 4 so that the article A is conveyed from the worship position Po to the determined (allocated) storage area 1 in the processing order determined in step S7 (S8).

[0103] In the search in step S2, when the information obtained in step S1 does not exist in the article database (No in S3), the output control unit 5f controls the display, speaker, etc. to output an error message (S9).

[0104] After the above step S8 or step S9, a series of processing orders ends. It should be noted that the conveyance control unit 5b can also determine the conveyance order when the article A returns in step S4. In this case, step S7 is omitted, and in step S8, the conveyance control unit 5b controls the stacking crane 20 and the conveyor 4 so that the article A is conveyed from the worship position Po to the determined (allocated) storage area 1 in the processing order determined in step S4.

[0105] As described above, the worship device 10 of the present embodiment has a conveyance path T2 (second conveyance path) and storage racks R21, R22 on the side opposite to the worship room 3 with respect to the conveyance path T1 (first conveyance path) and the storage racks R11, R12, and has a conveyor 4-1 (fourth conveyance mechanism) that penetrates the storage racks R12, R21 (intermediate racks). The conveyor 4-1 can convey the article A between the stacking cranes 20-11, 20-12 (first conveyance mechanisms) that convey the article A in the conveyance path T1 and the stacking crane 20-2 (first conveyance mechanism) that conveys the article A in the conveyance path T2.

[0106] According to such a structure, even if the conveying path T2 and the storage racks R21 and R22 are provided on the side opposite to the conveying path T1, the storage racks R11 and R12, and the worship room 3, the conveyor 4-1 can be used to more quickly convey the article A between the stacking cranes 20-11 and 20-12 and the stacking crane 20-2. Therefore, the conveyance delay of the article A can be suppressed, and the worship equipment 10 with a large number of storage areas 1 for each worship room 3 can be configured.

[0107] In addition, the worship equipment 10 of the present embodiment includes, for example, a plurality of stacking cranes 20-11 and 20-12 (first conveying mechanism) that convey the article A in the conveying path T1 facing the transfer position Pd1 corresponding to the worship room 3.

[0108] According to such a structure, for example, in a structure with a large number of worship rooms 3 or in a case where there are many worshipers, it is easy to suppress the conveyance delay of the article A.

[0109] In addition, in the worship equipment 10 of the present embodiment, for example, the number of stacking cranes 20-11 and 20-12 (=2) is larger than the number of stacking cranes 20-2 (=1).

[0110] In a structure such as the present embodiment, usually, the number of operations of the stacking crane 20 for conveying the article A per unit time in the conveying path T1 is larger than the number of operations of the stacking crane 20 for conveying the article A per unit time in the conveying path T2. Therefore, according to such a structure, for example, the following advantages can be obtained: the conveyance delay of the article A can be suppressed, or the useless setting of the stacking crane 20 in the conveying path T2 can be prevented, and the increase in the manufacturing effort and cost can be suppressed.

[0111] In addition, in the worship equipment 10 of the present embodiment, for example, as Figure 3 shown, the conveyor 4-1 is provided at an intermediate position Pxm (first intermediate position) between the front end xf and the rear end xb in the X direction (second direction) of the storage rack R12 (intermediate rack), and is provided at an intermediate position Pzm (second intermediate position) between the front end zf and the rear end zb in the Z direction (third direction) of the storage rack R12. It should be noted that the intermediate position Pxm is a position obtained by separating from the front end xf and the rear end xb, and is not limited to the central position. The intermediate position Pzm is a position obtained by separating from the front end zf and the rear end zb, and is not limited to the central position.

[0112] Assume that, when the conveyor 4-1 is at the end in the X direction or the Z direction, depending on the position of the storage area 1 or the transfer position Pd1, the conveyance of the article A between the transfer positions Pd2 and Pd3 by the stacking crane 20 sometimes takes time. Regarding this point, in the present embodiment, for example, since the conveyor 4-1 is at the intermediate position Pxm in the X direction and the intermediate position Pzm in the Z direction, the conveyance delay of the article A between the storage area 1 or the transfer position Pd1 and the transfer positions Pd2 and Pd3 can be suppressed.

[0113] In addition, in the visiting equipment 10 of the present embodiment, for example, as Figure 1 , 3 shown, a plurality of conveyors 4-1 are adjacent to each other. In this case, the plurality of transfer positions Pd2 for transferring the article A between the stacking cranes 20-11 and 20-12 are adjacent to each other, and the plurality of transfer positions Pd3 for transferring the article A between the stacking crane 20-2 are adjacent to each other.

[0114] According to such a structure, for example, the stacking crane 20-11 or the stacking crane 20-12 can receive the article A from the adjacent transfer position Pd2 after delivering the article A to one transfer position Pd2. In addition, the stacking crane 20-2 can receive the article A from the adjacent transfer position Pd3 after delivering the article A to one transfer position Pd3. Therefore, compared with the structure in which the plurality of transfer positions Pd2 are separated from each other and the plurality of transfer positions Pd3 are separated from each other, the operations of delivering the article A and receiving the article A can be continuously performed more quickly, and thus the effect of further increasing the conveyance speed of the article A can be obtained. It should be noted that, in the present embodiment, the plurality of transfer positions Pd2 are adjacent to each other in the X direction and the plurality of transfer positions Pd3 are adjacent to each other in the X direction, but it is not limited thereto, and they may be adjacent in the Z direction or in a direction between the X direction and the Z direction. In addition, when two conveyors 4-1 are adjacent to each other, one of the two conveyors 4-1 can convey the article A from the transfer position Pd2 to the transfer position Pd3, and the other conveyor 4-1 can convey the article A from the transfer position Pd3 to the transfer position Pd2. However, the conveyance direction of the article A by the conveyor 4-1 may be fixed or may be changed according to the conveyance situation.

[0115] In addition, in the worship device 10 of the present embodiment, for example, in a period when not much time has passed since the installation of the worship device 10, in a situation where the total number of items A being stored is small and the storage racks R21 and R22 (second storage racks) are not needed, it is also possible to use only the storage racks R11 and R12 (first storage racks) in the storage rack R for storing the item A, and use the transfer position Pd2 (second transfer position) for storing the item A. Specifically, when the total number n (n: an integer of 1 or more) of the items A stored in the worship device 10 is less than or equal to the threshold Th (first threshold, Th: an integer of 1 or more), that is, when n ≤ Th, the processing determination unit 5a (allocation determination unit) allocates the storage of the item A to the transfer position Pd2. In the case of the present embodiment, the threshold Th can be set, for example, to the number m (m: an integer of 1 or more) of the storage areas 1 (first storage areas) of the storage racks R11 and R12. This is to ensure that either the storage area 1 of the storage racks R11 and R12 or the transfer position Pd2 is the relay position Pr between the stacking cranes 20-11 and 20-12. The threshold Th can be appropriately set according to the structure of the storage racks R11 and R12 and the number of transfer positions Pd2.

[0116] According to such a structure, for example, in a state where the number of items A is small, the storage racks R21 and R22 (second storage racks) are not used, so that the energy required for the operation of the stacking crane 20-2 (second conveying mechanism) and the conveyor 4-1 (fourth conveying mechanism) is not consumed, and the number of storage positions for the item A that can be conveyed by the stacking cranes 20-11 and 20-12 (first conveying mechanisms) can be increased. The transfer position Pd2 is an example of the placement position of the item A on the conveyor 4-1. Here, the placement position of the item A on the conveyor 4-1 refers to the position where the conveyor 4-1 places the item A. Therefore, not only the transfer position Pd2, but also the transfer position Pd3 and the positions between the transfer position Pd2 and the transfer position Pd3 are included in the placement position of the item A on the conveyor 4-1. However, for example, for the conveyance of the item A between a position such as the transfer position Pd3 that cannot be directly conveyed by the stacking cranes 20-11 and 20-12 and these stacking cranes 20-11 and 20-12, the operation of the conveyor 4-1 is required.

[0117] It should be noted that when n ≤ Th, each time an item A is removed from the transfer position Pd2, the processing determination unit 5a can cancel the storage allocation of the item A to the transfer position Pd2.

[0118] [First Variant Example]

[0119] Figure 8 is a top view of one floor of the worship device 10A of the first variant example. As Figure 8As shown, in this modified example, pairs of adjacent conveyors 4-1 are arranged separately from each other in the X direction. In other words, pairs of adjacent conveyors 4-1 are provided at a plurality of separate installation positions. Except for this point, the worship device 10A has the same structure as the worship device 10. According to such a structure, for example, since the number of conveyors 4-1 is larger than that in the above-described embodiment, it may be possible to further suppress the conveyance delay of the article A. In addition, for example, since a plurality of conveyors 4-1 (pairs thereof) are separated from each other, that is, are arranged dispersedly, compared with the case where a plurality of conveyors 4-1 are arranged concentratedly, it may be possible to further shorten the distance between the conveyor 4-1 and the storage area 1 and further suppress the conveyance delay of the article A. Moreover, for example, since a plurality of conveyors 4-1 are adjacent to each other in each pair of the pairs of conveyors 4-1, the same effects as those in the above-described embodiment can be obtained.

[0120] [Second Modified Example]

[0121] Figure 9 is a side view obtained by observing the storage area 1 of the storage rack R12 of the worship device 10B of the second modified example in the Y direction. As Figure 9 shown, in this modified example, pairs of adjacent conveyors 4-1 are arranged separately from each other in the Z direction. In other words, pairs of adjacent conveyors 4-1 are provided at a plurality of separate installation positions. Except for this point, the worship device 10A has the same structure as the worship device 10. Even in this modified example, although the separation direction is different from that of the first modified example, since pairs of adjacent conveyors 4-1 are separated from each other, in other words, since they are dispersed, the same effects as those of the first modified example can be obtained.

[0122] [Third Modified Example]

[0123] Figure 10 is a plan view of one floor of the worship device 10C of the third modified example. As Figure 10As shown, in this modified example, a plurality of storage positions P1 and P2 arranged in the Y direction are set in each storage area 1 of the storage racks R11 and R12. The storage positions P1 and P2 are offset in the Y direction, and the storage position P1 is closer to the conveying path T1 than the storage position P2. In such a structure, when the article A (hereinafter referred to as article A1) is located at the storage position P1, it is impossible to carry out the article A (hereinafter referred to as article A2) from the storage position P2 and impossible to carry the article A2 into the storage position P2. Therefore, in this case, after the stacking cranes 20-11 and 20-12 move the article A1 at the storage position P1 to an empty storage position P1 in another storage area 1, they perform carrying out the article A2 from the storage position P2 or carrying the article A2 into the storage position P2. According to such a structure, the number of storage areas 1 of the article A for each stacking crane 20 can be further increased. It should be noted that in this other storage area 1, when both the storage position P1 and the storage position P2 are empty, the article A1 can also be moved to the storage position P2. In addition, in this case, the processing determination unit 5a may also set the moving destination of the article A1 moved for the carrying out or carrying in of the article A2 at the storage position P2 as the new storage positions P1 and P2 (storage area 1) of the article A1, or may return the article A1 to the original storage position P1. In addition, although not shown, a plurality of storage positions P1 and P2 arranged in the Y direction may also be set in the storage racks R21 and R22.

[0124] In addition, also in this modified example, in a state where the number of articles A is small, the processing determination unit 5a (distribution determination unit) may also allocate the storage of the article A to the placement positions of the article A on the conveyor 4-1, such as the transfer position Pd2, the transfer position Pd3, and the position between the transfer position Pd2 and the transfer position Pd3. Moreover, the processing determination unit 5a may also set two storage positions in the Y direction on the conveyor 4-1. However, in this case, similar to the case of the above-mentioned articles A1 and A2, for the conveyance of the article A (A2) between the placement positions far from the conveying path T1, a temporary avoidance operation of the article A (A1) being stored at the placement position closer to the conveying path T1 may sometimes be required.

[0125] As described above, embodiments of the present invention have been illustrated, but the above embodiments are merely examples and are not intended to limit the scope of the invention. The above embodiments can be implemented in various other ways, and various omissions, substitutions, combinations, and changes can be made without departing from the gist of the invention. In addition, the specifications (structure, type, direction, form, size, length, width, thickness, height, quantity, arrangement, position, material, etc.) of each structure, shape, etc. can be appropriately changed for implementation.

[0126] For example, the article is not limited to a container. On the other hand, when the article is a container, the worship device can also manage the storage state of the storage part stored in the container.

[0127] In addition, various settings can also be made for the layout of the worship device of the article.

[0128] In addition, the worship device may also include a plurality of conveying mechanisms that can be overridden in the second direction. In this case, the present invention can also be applied to a plurality of conveying mechanisms that require relay and a plurality of conveying mechanisms that cannot be overridden in the second direction. In addition, the conveying mechanism is not limited to a stacking crane, and may be, for example, a self-propelled cart having a lifting device.

[0129] In addition, the number of the first conveying mechanisms may be 3 or more, and the number of the second conveying mechanisms may be 2 or more.

Claims

1. A worship device, wherein the worship device includes: a first storage rack having a plurality of first storage areas arranged along a first conveying path extending across a first direction, and each of the plurality of first storage areas can store an item; a first conveying mechanism having a first supporting portion for supporting the item and conveying the item along the first conveying path, and capable of conveying the item between each of the first storage areas and a first supporting position in the first conveying path where the item is supported by the first supporting portion; a second storage rack arranged offset from the first storage rack in the first direction and having a plurality of second storage areas arranged along a second conveying path extending across the first direction, and each of the plurality of second storage areas can store an item; a second conveying mechanism arranged separately from the first conveying mechanism in the first direction and having a second supporting portion for supporting the item and conveying the item along the second conveying path, and capable of conveying the item between each of the second storage areas and a second supporting position in the second conveying path where the item is supported by the second supporting portion; a third conveying mechanism capable of conveying the item between a worship position and a first transfer position, the worship position being arranged in a worship room or adjacent to the worship room on a side opposite to the first conveying path and the second conveying path, and the first transfer position being correspondingly arranged with the worship position and capable of transferring the item between the first conveying mechanism; and a fourth conveying mechanism passing through an intermediate rack located between the first conveying mechanism and the second conveying mechanism and being at least a part of one of the first storage rack and the second storage rack, and capable of conveying the item between a second transfer position and a third transfer position, the second transfer position being for transferring the item between the first conveying mechanism, and the third transfer position being for transferring the item between the second conveying mechanism.

2. The worship device according to claim 1, wherein the worship device includes a plurality of first conveying mechanisms as the first conveying mechanism.

3. The worship device according to claim 2, wherein the number of the first conveying mechanisms is larger than the number of the second conveying mechanisms.

4. The worship device according to claim 1, wherein the fourth conveying mechanism passes through the intermediate rack at a first intermediate position separated from both the front end and the rear end of the intermediate rack in a second direction, the second direction intersecting the first direction.

5. The worship device according to claim 2, wherein the fourth conveying mechanism passes through the intermediate rack at a first intermediate position separated from both the front end and the rear end of the intermediate rack in a second direction, the second direction intersecting the first direction.

6. The worship device according to claim 4, wherein Between the front end and the rear end of the intermediate frame in the third direction, at a second intermediate position obtained by separating from both the front end and the rear end of the third direction, the fourth conveying mechanism penetrates the intermediate frame, and the third direction intersects the first direction and is orthogonal to the second direction.

7. The worship device according to claim 5, wherein Between the front end and the rear end of the intermediate frame in the third direction, at a second intermediate position obtained by separating from both the front end and the rear end of the third direction, the fourth conveying mechanism penetrates the intermediate frame, and the third direction intersects the first direction and is orthogonal to the second direction.

8. The worship device according to any one of claims 1 to 7, wherein The worship device includes a plurality of fourth conveying mechanisms adjacent to each other as the fourth conveying mechanism.

9. The worship device according to any one of claims 1 to 7, wherein The worship device includes a plurality of fourth conveying mechanisms separated from each other as the fourth conveying mechanism.

10. The worship device according to any one of claims 1 to 7, wherein The worship device includes a plurality of fourth conveying mechanisms adjacent to each other as the fourth conveying mechanism at a plurality of separate installation sites.

11. The worship device according to any one of claims 1 to 7, wherein The worship device includes an allocation determination unit that determines the allocation of the articles to be carried into the first storage rack to the first storage area, The allocation determination unit can allocate the storage of the articles to the second transfer position or the placement position of the articles in the fourth conveying mechanism when the total number of the articles stored in the worship device is below a threshold value.

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