Automated warehouse system, method for correcting position deviation of a load position of an article in the system, computer program product, and recording medium

Abstract

The present application relates to an automated warehouse system, a position deviation correction method for a placement position of an article in the automated warehouse system, a computer program, and a recording medium. A control unit (5) of an automated warehouse system (A) includes a position deviation determination unit (5C) that determines whether or not an article is estimated to have received a vibration exceeding a predetermined threshold after the article is stored in a storage rack, and a position deviation correction instruction unit (5D) that outputs a control signal to a conveyance device to drive the conveyance device to perform a position deviation correction work for a placement position of the article when the article is estimated to have received a vibration exceeding a predetermined threshold by the position deviation determination unit (5C).

Description

Technical Field

[0001] This invention relates to an automated warehouse system for automatically moving items into and out of storage racks, a method for correcting positional deviations of items in the automated warehouse system, a computer program, and a recording medium. Background Technology

[0002] Such automated warehouse systems typically include storage racks for items, conveying devices for moving items from the receiving station to the storage racks or from the storage racks to the outgoing station, and control devices for controlling the operation of the conveying devices.

[0003] The conveying device includes a traveling trolley and a transfer machine. The transfer machine is mounted on the traveling trolley. Through the transfer machine, items are transferred to the shelves of the storage rack or from the storage rack to the transfer machine.

[0004] The movement of these traveling trolleys and the operation of the transfer machine are controlled by the aforementioned control device.

[0005] In such an automated warehouse system, items are frequently transferred (moved in) to storage racks and transferred (moved out) from storage racks to transfer machines. Along with these items being moved in and out, the traveling trolley moves and the transfer machine operates.

[0006] Therefore, the vibrations associated with the movement of the traveling trolley or the transfer of items by the transfer machine always act on and affect the items temporarily stored in the storage rack.

[0007] Therefore, for items that are placed on storage racks that are continuously and significantly affected by these vibrations, the more the transfer machine is unable to remove the items from the racks, the more the items deviate from their designated placement positions. When the transfer machine is unable to remove the items, it poses a significant obstacle to the overall operation of the automated warehouse system.

[0008] As an example of an automated warehouse system that addresses the aforementioned vibration problem, examples include the item storage rack described in Patent Document 1 (Japanese Patent Application Publication No. 2019-189409) and the item storage rack described in Patent Document 2 (Japanese Patent Application Publication No. 2020-158216).

[0009] In the item storage rack described in Patent Document 1, a limiting member that restricts the placement of items stored in the storage rack is disposed on the rack plate. In order to install the limiting member on the rack plate, for example, the following structure is formed: an engaging recess is formed on the rack plate side, and an engaging protrusion that engages with the engaging recess is formed on the limiting member side.

[0010] By placing such limiting members at all the placement locations of the items, it is possible to prevent items temporarily stored in the storage rack from deviating from their designated placement locations.

[0011] Furthermore, in the item storage rack described in Patent Document 2, the rack structure is a dual structure of a rack plate member and a frame member supporting the rack plate member, resulting in a structure in which the vibration generated when the traveling trolley travels is difficult to be directly transmitted from the travel track to the items stored in the storage rack. Summary of the Invention

[0012] In the case of the aforementioned automated warehouse system, as the scale increases, for example, it must be able to hold 10,000 to 100,000 items.

[0013] In the item storage rack described in the aforementioned Patent Document 1, the limiting member must be arranged at all item placement positions where there are 10,000 to 100,000 items, and the engaging recess must be pre-formed on the side of the rack.

[0014] Furthermore, the size and shape of the stored items vary greatly, and the placement of the limiting components must be adjusted for each different size of these items.

[0015] Therefore, although the item storage rack described in the aforementioned Patent Document 1 can reliably prevent items temporarily stored in the storage rack from deviating from their designated placement positions, there is a problem that the production of the item storage rack requires time and labor, resulting in a significant increase in the production cost of the item storage rack.

[0016] Furthermore, in the item storage rack described in Patent Document 2, the structure of the rack must also be a dual structure of a shelf panel member and a frame member supporting the shelf panel member. As with the item storage rack described in Patent Document 1, there is a problem that the production of the item storage rack takes time and the cost of components increases, resulting in a significant increase in the production cost of the item storage rack.

[0017] Furthermore, in the case of the item storage rack described in Patent Document 2, there is still a problem that is difficult to reliably prevent items temporarily stored in the storage rack from deviating from their designated placement positions.

[0018] The present invention was made in view of the above-mentioned problems, and its object is to provide an automated warehouse system, a method for correcting the position deviation of the loading position of items in the automated warehouse system, a computer program and a recording medium, so that even if the vibration associated with the transfer of items by the transfer machine or the vibration associated with the movement of the traveling trolley acts on the items temporarily loaded and stored in the designated loading position of the storage rack, there will be no situation where the loading position of the items deviates further from the designated loading position as the items cannot be moved out of the storage rack, and there will be no significant increase in the cost of manufacturing the item storage rack.

[0019] The automated warehouse system of the present invention includes: a storage rack for items; a conveying device for moving items to or from the storage rack; and a control unit for controlling the operation of the conveying device, wherein the control unit includes:

[0020] The position deviation determination unit determines whether, after the item is placed into the storage rack, it is estimated that the item has been subjected to vibration exceeding a predetermined threshold; and

[0021] When the position deviation determination unit estimates that the item has been subjected to vibration exceeding a predetermined threshold, the position deviation correction indicator outputs a control signal to the conveying device to drive the conveying device to perform position deviation correction work on the item's placement position.

[0022] According to the aforementioned automated warehouse system, when it is estimated that an item has been subjected to vibration exceeding a predetermined threshold after it has been stored in the storage rack, the conveying device can be driven to perform position deviation correction work on the item's placement position. Therefore, it can reliably prevent the following situation: the more difficult it is to remove the item from the storage rack, the more the item's placement position deviates from the item's predetermined placement position.

[0023] Furthermore, there is no need to attach a special structure to the storage rack as described in Patent Document 1 or Patent Document 2. It can be handled simply by changing the software processing in the control unit, and there will be no significant increase in cost during the manufacture of the storage rack.

[0024] Furthermore, the method for correcting the position deviation of items in the automated warehouse system of the present invention is a method for correcting the position deviation of items in the automated warehouse system, which includes an item storage rack, a conveying device for conveying items to or from the storage rack, and a control unit for controlling the operation of the conveying device. The method causes the control unit to perform the following steps:

[0025] The position deviation determination process determines whether, after the item is placed into the storage rack, it is estimated that the item has been subjected to vibration exceeding a predetermined threshold; and

[0026] In the position deviation correction indication process, when it is estimated in the position deviation determination process that the item has been subjected to vibration exceeding a specified threshold, a control signal is output to the conveying device to drive the conveying device to perform position deviation correction work on the placement position of the item.

[0027] According to the position deviation correction method for the placement of items in the above-mentioned automated warehouse system, when it is estimated that the item has been subjected to vibration exceeding a predetermined threshold after the item is placed in the storage rack, the conveying device can be driven to perform position deviation correction work for the item's placement position. Therefore, it can reliably prevent the following situation: the more the item cannot be moved out of the storage rack, the more the placement position of the item deviates from the predetermined placement position of the item.

[0028] Furthermore, there is no need to attach a special structure to the storage rack as described in Patent Document 1 or Patent Document 2. It can be handled simply by changing the software processing in the control unit, and there will be no significant increase in cost during the manufacture of the storage rack.

[0029] Furthermore, the computer program of the present invention is a computer program for causing at least one computer to perform position deviation correction processing of the loading position of items in an automated warehouse system, wherein the computer program causes the at least one computer to perform the following steps:

[0030] The position deviation determination step determines whether, after the item is placed on the storage rack, it is estimated that the item has been subjected to vibration exceeding a specified threshold; and

[0031] In the position deviation correction indication step, when it is estimated in the position deviation determination step that the item has been subjected to vibration exceeding a specified threshold, a control signal is output to the conveying device that is conveying the item, driving the conveying device to perform position deviation correction work on the placement position of the item.

[0032] According to the above computer program, the at least one computer can perform a position deviation correction instruction step. In the position deviation correction instruction step, when it is estimated that the item has been subjected to vibration exceeding a predetermined threshold after the item has been placed in the storage rack, a control signal is output to the conveying device that transports the item, driving the conveying device to perform position deviation correction work on the placement position of the item. Therefore, it is possible to reliably prevent the following situation: the more the item cannot be moved out of the storage rack, the more the placement position of the item deviates from the predetermined placement position of the item.

[0033] Furthermore, there is no need to attach a special structure to the storage rack as described in Patent Document 1 or Patent Document 2. It can be handled simply by changing the software processing performed by the computer, and there will be no significant increase in cost during the manufacture of the storage rack.

[0034] Furthermore, the recording medium of the present invention is a recording medium containing a computer program for instructing at least one computer to perform position deviation correction processing of items in an automated warehouse system, wherein the computer program instructs the at least one computer to perform the following steps:

[0035] The position deviation determination step determines whether, after the item is placed on the storage rack, it is estimated that the item has been subjected to vibration exceeding a specified threshold; and

[0036] In the position deviation correction indication step, when it is estimated in the position deviation determination step that the item has been subjected to vibration exceeding a specified threshold, a control signal is output to the conveying device that is conveying the item, driving the conveying device to perform position deviation correction work on the placement position of the item. Attached Figure Description

[0037] Figure 1 This is a perspective view showing the overall schematic structure of the automated warehouse system according to the embodiment.

[0038] Figure 2 This is a perspective view showing the schematic structure of a conveying device in the form of a stacking crane according to an embodiment.

[0039] Figure 3 This is a block diagram illustrating the control unit of an automated warehouse system according to an embodiment.

[0040] Figure 4 This is a flowchart illustrating the operation of the control unit in an automated warehouse system according to an embodiment.

[0041] Figure 5 This is a conceptual diagram of Implementation I, which evaluates the impact of vibrations associated with the transfer when other items are transferred to the periphery of a suitable shelf using a transfer machine at each transfer site.

[0042] Figure 6 This is a conceptual diagram illustrating an example of how, in Implementation I, the effects of vibrations associated with the transfer by the transfer machine and vibrations associated with the passage of the traveling trolley are separately evaluated when other items are transferred to the periphery of a suitable rack via a transfer machine, and the mechanism by which the positional deviation of the items occurs is studied to accurately determine the logic of the positional deviation.

[0043] Figure 7This is a conceptual diagram of Implementation II, which evaluates the impact of vibrations associated with the transfer when other items are transferred to the periphery of a suitable shelf using a transfer machine in each transfer location.

[0044] Figure 8 This is a conceptual diagram illustrating an example of how, in the case of transferring other items to the periphery of a suitable shelf using a transfer machine, the effects of vibrations associated with the transfer by the transfer machine and vibrations associated with the passage of the traveling trolley are separately evaluated, and the mechanism by which the positional deviation of the items occurs is studied, thereby accurately determining the logic of the positional deviation.

[0045] Figure 9 This is a conceptual diagram of Implementation III, which evaluates the impact of vibrations associated with the transfer in the case where other items are transferred to the perimeter of a suitable shelf by a transfer machine mounted on a lifting platform of a stacking crane for each transfer site.

[0046] Figure 10 This is a conceptual diagram illustrating an example of how, in Embodiment III, the effects of vibrations associated with the transfer of other items to the periphery of a suitable shelf are evaluated separately by a transfer machine mounted on the lifting platform of a stacking crane, and the effects of vibrations associated with the passage of the lifting platform of the stacking crane. The diagram also shows how the mechanism by which the positional deviation of the items occurs is studied, thereby accurately determining the logic of the positional deviation.

[0047] Figure 11 This is a conceptual diagram of Implementation IV, which evaluates the impact of vibrations associated with the transfer in the case where other items are transferred to the perimeter of a suitable shelf by a transfer machine mounted on a lifting platform of a stacking crane for each transfer site.

[0048] Figure 12 This is a conceptual diagram illustrating an example of how, in the case of separately evaluating the effects of vibrations associated with the transfer of other items to the periphery of a suitable shelf by means of a transfer machine mounted on the lifting platform of a stacking crane, and the effects of vibrations associated with the passage of the lifting platform of the stacking crane, the mechanism by which the positional deviation of the items occurs is studied, thereby accurately determining the logic of the positional deviation. Detailed Implementation

[0049] Hereinafter, embodiments of the automated warehouse system of the present invention will be described with reference to the accompanying drawings.

[0050] The embodiments described below illustrate only one preferred example of the invention and are not intended to limit the invention to these embodiments. Furthermore, the possibility of other structures in the automated warehouse system of the invention is not excluded.

[0051] [Overall Structure of the Automated Warehouse System]

[0052] Figure 1 This is a perspective view showing the overall schematic structure of the automated warehouse system according to the embodiment.

[0053] Automated warehouse system A is configured to include a storage rack 1 for items, a conveying device (round trip mode) 4 for moving items P from an inbound station (not shown) to the storage rack 1 or from the storage rack 1 to an outbound station (not shown), and a control unit 5 for controlling the operation of the conveying device 4 (see reference). Figure 3 ).

[0054] The conveying device 4 includes a traveling track 41, a traveling trolley 42, a transfer machine 43, etc. The transfer machine 43 is mounted on the traveling trolley 42. Through the transfer machine 43, the item P is transferred from the side of the traveling trolley 42 to the shelf plate 1a of the storage rack 1 or from the shelf plate 1a of the storage rack 1 to the side of the traveling trolley 42.

[0055] The movement of these traveling trolleys 42 and the operation of the transfer machine 43 are controlled by the control unit 5.

[0056] [Item Structure]

[0057] The item P referred to here is a container for containing products, which can be a box or a container called a collapsible box, or a container called a shell for storing products.

[0058] Item P is prepared in a way that matches the products contained therein, and there are no particular restrictions on its size, shape, or material.

[0059] The size of item P can range from a small size of about 20cm on one side to a large size of about 1m on one side.

[0060] The shape of item P is typically a hollow cuboid or a hollow cuboid with its upper face omitted, but the shape of item P is not limited to any cuboid shape. Furthermore, to ensure smooth transfer operations by the transfer machine 43, item P is often used with a bottom of a specified thickness protruding from the bottom surface of the hollow cuboid body. The top view area of ​​the bottom is set to be smaller than the top view area of ​​the body.

[0061] The material of item P is not particularly limited; it can be made of resin or paper, such as corrugated cardboard.

[0062] [Structure of the storage rack]

[0063] Figure 1This is a perspective view showing the overall schematic structure of an automated warehouse system A including a storage rack 1 for item P. The storage rack 1 is configured to include a shelf 1a on which item P is placed when it is stored and a frame 1b supporting the shelf 1a.

[0064] In addition, a portion of the frame 1b also functions as a travel track 41 for the traveling trolley 42 to travel.

[0065] Along the travel track 41, a pair of storage racks 1 are provided, spaced apart in a manner that sandwiches the travel track 41 in the middle. The number of these pairs is determined in accordance with the number of items P being processed; in some cases, there is one pair, and in others, there are sometimes as many as ten pairs.

[0066] Furthermore, the number of levels of shelf 1a is also determined in accordance with the quantity / size of the items P being processed, but in the illustrated embodiment, the number of levels of shelf 1a is set to 6.

[0067] Furthermore, the storage rack 1 is often of a single-depth type, in which one item P can be placed in the depth direction (Y direction) from the side of the travel track 41 in the shelf plate 1a section, and a double-depth type, in which two items P can be placed in the depth direction in the shelf plate 1a section.

[0068] [Structure of the conveying device]

[0069] As a conveying device 4, it mostly adopts a reciprocating method ( Figure 1 ) conveying devices and stacking crane methods ( Figure 2 ) conveying device.

[0070] First, let me explain Figure 1 The conveying device shown is a reciprocating conveyor.

[0071] In the case of reciprocating mode, each level is equipped with a traveling trolley 42 in accordance with the number of levels of the shelf 1a in the storage rack 1.

[0072] The conveying device 4 includes a traveling track 41, a traveling trolley 42, a transfer machine 43, etc. The transfer machine 43 is mounted on the traveling trolley 42. Through the transfer machine 43, the item P is transferred from the side of the traveling trolley 42 to the shelf plate 1a of the storage rack 1 or from the shelf plate 1a to the side of the traveling trolley 42.

[0073] The conveying device 4 also includes an inbound / outbound relay conveyor 45 for moving items P into or out of the storage rack 1, an inbound / outbound lifting device 46, and an inbound / outbound conveyor 47.

[0074] The inbound / outbound relay conveyor 45 is configured to include an inbound relay conveyor 45a used to store item P into the storage rack 1 and an outbound relay conveyor 45b used to remove item P from the storage rack 1. The inbound / outbound relay conveyor 45, consisting of the inbound relay conveyor 45a and the outbound relay conveyor 45b, is arranged at intervals in the Y direction shown in the figure. Depending on the number of shelves 1a in the storage rack 1, multiple sets are arranged in the vertical direction (6 sets in the illustrated embodiment).

[0075] The lifting device 46 for entering and exiting the warehouse is also configured to include an entry lifting device 46a and an exit lifting device 46b.

[0076] The inbound and outbound conveyor 47 is also configured to include an inbound conveyor 47a and an outbound conveyor 47b.

[0077] In the conveying device 4 configured in this way, the goods P entering from the warehouse conveyor 47a are distributed to each warehouse relay conveyor 45a via the warehouse lifting device 46a for transport. The goods P distributed to the warehouse relay conveyor 45a are placed on the transfer machine 43 equipped with the traveling trolley 42 of the same level and are transported to the designated shelf 1a indicated by the control unit 5.

[0078] During the outbound process, the item P on the shelf 1a is loaded onto the transfer machine 43 of the traveling trolley 42 and transferred to the outbound relay conveyor 45b equipped at the same level. Afterwards, the item P is transferred to the outbound conveyor 47b via the outbound lifting device 46b.

[0079] The warehousing and outbound operations of items P using these traveling trolleys 42, transfer machines 43, inbound / outbound relay conveyors 45, inbound / outbound lifting devices 46, and inbound / outbound conveyors 47 are all controlled automatically by the control unit 5.

[0080] Next, the conveying device using a stacking crane will be explained.

[0081] exist Figure 2 The stacking crane-type conveying device 4S shown has two upright guide frames 4S1 called masts, and also has an upper frame 4S2 and a lower frame 4S3 that connect the upper and lower ends of these guide frames 4S1 respectively.

[0082] The conveying device 4S has a lifting platform 4S4 that can move up and down between these guide frames 4S1. The lifting device 4S5 that drives the lifting platform 4S4 up and down is installed at the lower part of the guide frames 4S1. A transfer machine 43 is mounted on the lifting platform 4S4.

[0083] In addition, the lower frame 4S3 is equipped with wheels (not shown) and a traveling device 4S6 for moving the guide frame 4S1 back and forth in the depth direction (X direction) of the storage rack 1.

[0084] The stacking crane-type transport device 4S is placed on the travel track 41a via wheels, and the upper frame 4S2 is slidably connected to the upper travel track 41b integrated with the storage rack 1.

[0085] In the stacking crane type conveying device 4S, the travel track 41a is laid on the depth direction (X direction) of the storage rack 1, and the lifting platform 4S4 equipped with the transfer machine 43 can move in the vertical direction between the guide frames 4S1. Therefore, a single stacking crane type conveying device 4S can be used to handle a pair of storage racks 1 that are set up along the travel track 41a and spaced apart in a manner that sandwiches the travel track 41a in the middle.

[0086] Therefore, in the case of the stacking crane type of the conveying device 4S, it has the advantage of being able to be manufactured cheaper than the above-mentioned reciprocating conveying device 4, which requires the preparation of a number of traveling trolleys 42 / transfer machines 43 corresponding to the number of levels of the storage rack 1.

[0087] Furthermore, in the case of a stacking crane-type conveying device 4S, there is no need for a relay conveyor 45 for inbound and outbound operations, or a lifting device 46 for inbound and outbound operations, which also has the advantage of being able to be manufactured cheaply.

[0088] However, in terms of the processing speed of the inbound and outbound of items P, a reciprocating conveyor is advantageous in relation to the configuration of multiple conveyor devices 4. In automated warehouse systems such as mail-order warehouses, which must process a large number of items P inbound and outbound within a day, reciprocating conveyor devices 4 are often used.

[0089] [Structure of the Control Department]

[0090] Figure 3 This is a block diagram showing the control unit 5 in the automated warehouse system A according to an embodiment. The control unit 5 can be, for example, a general-purpose computer with dedicated software installed in a personal computer. The personal computer has a central processing unit and a storage device including a hard disk, ROM, RAM, etc.

[0091] The conveying device control unit 5B, the position deviation determination unit 5C, the position deviation correction indication unit 5D, and the storage device 5E are all freely communicatively connected to the central control unit 5A to form the control unit 5.

[0092] The traveling trolley 42, transfer machine 43, inbound / outbound relay conveyor 45, inbound / outbound lifting device 46, and inbound / outbound conveyor 47 are connected to the conveying device control unit 5B. The conveying device control unit 5B sends control signals to all these devices and executes the control of all these devices.

[0093] The position deviation determination unit 5C determines whether, after the item P is placed into the storage rack 1, it is estimated that the item P has been subjected to vibration exceeding a predetermined threshold. In this embodiment, the position deviation determination unit 5C determines whether it is estimated that the item P has been subjected to vibration exceeding the predetermined threshold based on the determination result of the position deviation of the item P. Specifically, the position deviation determination unit 5C determines the position deviation (the probability of position deviation occurring) of the item P based on a score (position deviation score) described later. If the score reaches a score threshold (a threshold for the score) or if the score exceeds the score threshold, it is estimated that the item P has been subjected to vibration exceeding the predetermined threshold.

[0094] When the position deviation determination unit 5C estimates / determines that the item P has been subjected to vibration exceeding a predetermined threshold, the position deviation correction indication unit 5D outputs a control signal to the traveling trolley 42, transfer machine 43, etc. constituting the conveying device 4, and drives the traveling trolley 42, transfer machine 43, etc. to perform position deviation correction work on the placement position of the item P.

[0095] The position deviation determination unit 5C estimates / determines the position deviation by counting the number of times other items P on the shelf 1a at the same level as the placement position of the item P are moved to the vicinity of the placement position of the item P.

[0096] After the item P is placed into the storage rack 1, the number of times other items P on the rack plate 1a at the same level as the storage position where the item P is placed, which is considered to be most affected by vibration, are moved to the vicinity of the storage position of the item P, and the position deviation is estimated by counting. In this way, the occurrence of the position deviation of the item P from the specified storage position can be effectively and reliably estimated.

[0097] In addition, the position deviation determination unit 5C also implements a method to estimate the position deviation by multiplying the location coefficient of the transfer location of other items P to the shelf 1a at the same level as the placement location of the item P by the number of transfers.

[0098] The impact of vibrations caused by the transfer of other items P on item P varies depending on the transfer location of those other items P. Therefore, by estimating the location deviation by multiplying the location coefficient of the transfer location of other items P by the number of transfers, it is possible to make the estimate of the impact of vibrations caused by the transfer of other items P a more realistic estimate.

[0099] In addition, the position deviation determination unit 5C not only counts the number of times other items P are moved to the shelf 1a at the same level as the placement position of the item P, but also counts the number of times other items P on the shelf 1a at the upper and lower levels (upper and lower levels) of the level where the item P is placed to move to the vicinity of the placement position of the item P in order to estimate the position deviation.

[0100] Even if other items P are transferred to the shelves 1a above or below the level where item P is placed, the vibration still affects item P. Therefore, by counting not only the number of times other items P are transferred to the shelf 1a at the same level as the level where item P is placed, but also the number of times other items P on the shelves 1a above or below the level where item P is placed are transferred to the vicinity of the level where item P is placed, the positional deviation can be estimated, thereby making the estimate of the impact of vibration caused by the transfer of other items P on item P a more accurate estimate.

[0101] In addition, the position deviation determination unit 5C also estimates the position deviation by counting the number of times the traveling trolley 42 travels on the traveling track 41, which is at the same level as the placement position on which the item P is placed.

[0102] Even if the traveling trolley 42 travels on the traveling track 41, vibrations will inevitably occur in the traveling track 41.

[0103] Furthermore, the travel track 41 is part of the frame 1b that supports the shelf 1a, and in the storage rack 1, the vibration generated on the travel track 41 will also be transmitted to the shelf 1a.

[0104] Therefore, by counting the number of times the traveling trolley 42 travels on the traveling track 41, which is at the same level as the placement position on which the item P is placed, the position deviation can be estimated. This allows us to determine the position deviation by taking into account not only the vibration caused by the transfer of other items P, but also the vibration caused by the traveling trolley 42 traveling on the traveling track 41.

[0105] In addition, the position deviation determination unit 5C also performs a function to estimate the position deviation by not only counting the number of times the traveling trolley 42 travels on the traveling track 41 at the same level as the placement position on which the item P is placed, but also counting the number of times the traveling trolley 42 travels on the traveling track 41 at the level above and below the placement position on which the item P is placed.

[0106] Even when the traveling trolley 42 travels on the upper and lower travel tracks 41 of the stage carrying the item P, the vibration will still affect the item P.

[0107] Therefore, by counting not only the number of times the traveling trolley 42 travels on the same level as the placement position where the item P is placed, but also the number of times the traveling trolley 42 travels on the levels above and below the placement position where the item P is placed, the position deviation can be estimated, thereby making the impact of vibration caused by the travel of the traveling trolley 42 more accurately reflected in the determination of position deviation.

[0108] Furthermore, in the case of a conveying device 4S that is a stacking crane, the position deviation determination unit 5C also performs a count of the number of times the lifting platform passes through the same level as the placement position on which the item P is placed to estimate the position deviation.

[0109] In the case of a transport device 4S that is a stacking crane, since the frame 1b of the storage rack 1 does not also serve as the travel track 41 of the traveling trolley 42, the vibration caused by the movement of the transport device 4S is less than that of the reciprocating transport device 4.

[0110] However, even in the case of the stacking crane type of the conveying device 4S, the upper travel track 41b is connected to the frame 1b of the storage rack 1, and the vibration accompanying the movement of the conveying device 4S does not completely avoid affecting the storage rack 1.

[0111] Therefore, by counting the number of times the lifting platform 4S4 passes through the same level as the placement position on which the item P is placed, the position deviation can be estimated. Thus, the effect of vibration caused by the lifting platform 4S4 of the stacking crane passing through the vicinity of the placement position on which the item P is placed can also be taken into account to determine the position deviation.

[0112] In addition, the position deviation determination unit 5C takes into account the weight of other items P transported by the conveying devices 4 and 4S to estimate and determine the position deviation.

[0113] Whether it is when other items P are being transferred or when the conveying devices 4 and 4S are moving, the magnitude of the vibration applied to the loaded item P is greatly affected by the weight of the other items P.

[0114] The position deviation determination unit 5C, by also taking into account the influence of the weight of other items P, is able to make the estimate of the impact of vibration on the loaded item P more accurate.

[0115] Furthermore, when the storage rack 1 for item P is a single-depth type, the position deviation determination unit 5C optimizes the logic that estimates item P has experienced vibration exceeding a predetermined threshold for single-depth type storage rack 1. This optimization is performed at least through the selection of the location coefficient (e.g., primarily through the selection of the location coefficient). (Referring to later...) Figure 6 In the example, this optimization is performed by selecting the location coefficient and the weight coefficient.

[0116] Therefore, automated warehouse system A can be made into a system optimized for single-depth storage racks 1.

[0117] Furthermore, when the storage rack 1 for item P is a double-depth type, the position deviation determination unit 5C optimizes the logic that estimates item P has experienced vibration exceeding a predetermined threshold for the double-depth type storage rack 1. This optimization is performed at least through the selection of the location coefficient (e.g., primarily through the selection of the location coefficient). (Referring to later...) Figure 8 In the example, this optimization is performed by selecting the location coefficient and the weight coefficient.

[0118] Therefore, automated warehouse system A can be made into a system optimized for double-depth storage racks 1.

[0119] When the position deviation determination unit 5C estimates / determines that the item P has been subjected to vibration exceeding the specified threshold, the position deviation correction instruction unit 5D outputs control signals to the traveling trolley 42, transfer machine 43, etc. constituting the conveying device 4, and drives the traveling trolley 42, transfer machine 43, etc. to perform position deviation correction work on the placement position of the item P.

[0120] The positional deviation correction is achieved, for example, through a simulated transfer operation performed by a transfer machine 43 mounted on the conveyor 4. The simulated transfer operation is, for example, a redoing of the transfer process of item P from the transfer machine 43 to the storage rack 1 (shelf 1a) (simulated outbound / inbound operation). In this case, the simulated transfer operation includes the operation of transferring item P, placed on the storage rack 1, to the transfer machine 43 (simulated outbound operation) and the operation of transferring item P from the transfer machine 43 to the storage rack 1 (e.g., the location in shelf 1a where item P is placed) (simulated inbound operation).

[0121] Therefore, the execution of the position deviation correction work can be completed in a short time.

[0122] Furthermore, when the transfer machine 43 mounted on the conveying devices 4 and 4S is a single-depth type transfer machine, the simulated transfer work performed by the transfer machine 43 becomes a work optimized for single-depth type transfer machines.

[0123] In the case where the transfer machine 43 is a single-depth type transfer machine, by configuring the system to optimize the simulated transfer work performed by the transfer machine 43 for the single-depth type transfer machine 43, it is possible to realize a system that can complete the simulated transfer work in a shorter time.

[0124] Furthermore, when the transfer machine 43 mounted on the conveying devices 4 and 4S is a double-depth type transfer machine, the simulated transfer work performed by the transfer machine 43 becomes a work optimized for the double-depth type transfer machine.

[0125] When the transfer machine 43 is a double-depth type transfer machine 43, by configuring the system to optimize the simulated transfer work performed by the transfer machine for the double-depth type transfer machine 43, it is possible to realize a system that can complete the simulated transfer work in a short time even if the transfer machine 43 is a double-depth type transfer machine.

[0126] Furthermore, this positional deviation correction is achieved, for example, through simulated outbound / inbound operations performed by conveying devices 4 and 4S.

[0127] Therefore, the position deviation correction work can be made reliable / correct.

[0128] Next, based on Figure 4 The flowchart shown illustrates the general outline of the position deviation correction operation in control unit 5. Furthermore, the computer program used to enable at least one computer to perform position deviation correction processing for the placement position of item P in automated warehouse system A is provided, for example, by a recording medium (computer-readable recording medium) such as an optical disc or flash memory, or via a communication network. Moreover, the provided program is stored in a computer-referable storage device.

[0129] In step S1, the control unit 5 first determines whether the object to be put into storage has arrived at the storage station.

[0130] The control unit 5 is configured to also be able to grasp the storage reservation information and the outbound reservation information of the item P sent to the automated warehouse system A. In addition, in grasping the arrival of the stored item, in addition to this information, information from various sensors equipped in the automated warehouse system A is also flexibly utilized.

[0131] When it is determined in step S1 that the item to be stored has arrived at the storage station, the process proceeds to step S2. In step S2, after performing the empty shelf search process, the storage shelf for the item to be stored is determined.

[0132] Various conditions were considered in determining the shelving for the goods to be stored. For example, the type of goods to be stored, the place of shipment, and the scheduled time of shipment were all taken into account. The shelving was determined based on these factors.

[0133] When the storage rack for the item to be stored is determined in step S2, the process proceeds to step S3, where the control unit 5 drives the inbound / outbound conveyor 47, the inbound / outbound lifting device 46, the inbound / outbound relay conveyor 45, the traveling trolley 42, the transfer machine 43, etc., to store the item to the determined storage rack.

[0134] When the item is placed into the designated storage shelf, proceed to step S4. In step S4, in order to begin the position deviation determination of the item P in the designated storage shelf (suitable shelf), the score value is reset to zero. Then, proceed to step S10.

[0135] On the other hand, when it is decided in step S2 to store the item to a storage rack different from the suitable rack, the process proceeds to step S5. The control unit 5 faces the storage rack outside the suitable rack and drives the inbound / outbound conveyor 47, the inbound / outbound lifting device 46, the inbound / outbound relay conveyor 45, the traveling trolley 42, the transfer machine 43, etc., to store the item to a rack outside the suitable rack.

[0136] Next, proceed to step S6. In step S6, the control unit 5 detects the travel status of the traveling trolley 42, such as which stage of the traveling trolley has been driven to which position.

[0137] Next, when proceeding to step S7, the control unit 5 monitors the vibration occurrence associated with the travel status of the traveling trolley 42 in step S6, performs weighted processing associated with the travel of the traveling trolley 42, determines the score, allocates the score to the appropriate frame, and adds points to the score.

[0138] On the other hand, in the path from step S5 to step S8, in step S8, the control unit 5 detects the transfer status of the item P carried out by the transfer machine 43, such as which level and which position of the shelf 1a the item P has been transferred to.

[0139] Next, when moving from step S8 to step S9, in step S9, the control unit 5 monitors the occurrence of vibrations associated with the transfer of item P by the transfer machine 43 in step S8, performs weighted processing associated with the transfer of item P by the transfer machine 43, determines a score, allocates the score to a suitable shelf, and adds points to the score.

[0140] Proceed from steps S7 and S9 to step S10, where the estimated score of position deviation is stored in storage device 5E for each rack.

[0141] Next, proceed from step S10 to step S11. In step S11, compare each score value of the estimated position deviation in all shelves with the threshold, perform the estimation / judgment processing of the position deviation in each shelf, and extract the shelves whose score value exceeds the threshold.

[0142] Next, proceed from step S11 to step S12. In step S12, for the frames that were extracted in step S11 because the score value of the position deviation estimation exceeded the threshold, the process moves to step S13 to perform position deviation correction.

[0143] When the process proceeds to step S13, a position deviation correction process is performed.

[0144] Position deviation correction processing is achieved, for example, through simulated transfer work performed by the transfer machine 43 mounted on the conveying device 4.

[0145] Alternatively, the position deviation correction process can be achieved, for example, through simulated outbound / inbound operations performed by the conveying device 4.

[0146] When the position deviation correction process is implemented in step S13, the process returns to step S4, where the position deviation score is reset to zero.

[0147] On the other hand, for frames that are determined in step S12 to have a score value that does not reach the threshold for position deviation estimation, the process returns to step S2.

[0148] In addition, when an outbound instruction is input via the input unit 7 of a personal computer, the system searches for the shelf / item P to be outbound, and drives the traveling trolley 42, transfer machine 43, inbound / outbound relay conveyor 45, inbound / outbound lifting device 46, inbound / outbound conveyor 47, etc., to carry out the outbound processing of the item P (step S20).

[0149] When the outbound processing of item P in step S20 is completed, proceed to step S21, where the inventory data of item P is deleted, and then return to step S2.

[0150] The processes in steps S20 and S21 are performed. When the outbound processing of all items P in the shelves is completed, the processing of the automated warehouse system A is temporarily terminated.

[0151] The following provides a more specific example to further illustrate the implementation of the automated warehouse system A.

[0152] [Implementation Method I: One implementation method when the conveying device is a reciprocating type / the racking method for item P is a single-depth type]

[0153] Figure 5 An example of a conceptual diagram is shown, evaluating the impact of vibrations associated with the transfer when other items P are transferred to the periphery of a suitable shelf via the transfer machine 43 for each transfer site.

[0154] In this embodiment, it is shown that the shelf plate 1a of the storage rack 1 is of a single depth type and the transfer machine 43 is also of a single depth type.

[0155] The impact of relocation is evaluated as greatest when other items P are moved to the left and right adjacent shelves of the same level as the suitable shelf (suitable level), and as moderate when moved to the left and right adjacent shelves of these left and right adjacent shelves.

[0156] The impact of relocation is evaluated as minimal when other items P are moved to the upper or lower levels of the appropriate shelf.

[0157] When other items P are moved to other shelves, the impact of the relocation is evaluated as small enough to be negligible.

[0158] Figure 6 This is a conceptual diagram illustrating an example of the logic for evaluating the effects of vibrations associated with the transfer of other items P to the periphery of a suitable rack via the transfer machine 43, and accurately determining the occurrence of positional deviation of the item P.

[0159] At the top of the table, the effects of vibrations associated with the transfer of other items P by the transfer machine 43 to the periphery of the suitable rack are taken into account, and the effects of the weight of the other items P being transferred are also taken into account.

[0160] For example, in the influence of vibrations associated with the transfer of other items P to the periphery of the suitable shelf by the transfer machine 43, and in terms of location factors such as the positional relationship with the suitable shelf, a location coefficient of 0.2 is assigned to locations judged to have a small impact, a location coefficient of 2 is assigned to locations judged to have a moderate impact, and a location coefficient of 6 is assigned to locations judged to have a large impact.

[0161] In addition, the weight of other items P is affected by the following weight coefficients: 0.5 for light items, 1 for medium items, and 2 for heavy items.

[0162] Multiply these location coefficients and weight coefficients by the number of transfers to obtain the scores for each.

[0163] The lower part of the table shows the effect of vibrations associated with the passage of the traveling trolley 42.

[0164] When the traveling trolley 42 passes through the same level as the suitable frame, a location coefficient of 0.005 is assigned. When the traveling trolley 42 passes through a level below the suitable frame, a location coefficient of 0.005 is also assigned. When the traveling trolley 42 passes through a level above the suitable frame, a location coefficient of 0.002 is assigned.

[0165] Furthermore, regarding the influence of the weight of other items P, the values ​​described above for the transfer case are directly applied.

[0166] These location coefficients and weight coefficients are further multiplied by the number of passes to obtain the scores.

[0167] Each time the transfer is carried out by the transfer machine 43 and the traveling trolley 42 passes by, the count is accumulated, multiplied, and each score is calculated.

[0168] Then, when the sum of the scores (total value) becomes, for example, 500 or more, it is determined that the time for position deviation correction has been reached. In order to perform position deviation correction work, a position deviation correction instruction is output and the position deviation correction work is performed.

[0169] When the position deviation correction is performed, the score for the fit rack is reset to 0.

[0170] [Implementation Method II: One method of implementation when the conveying device is a reciprocating type and the racking method for item P is a double-depth type]

[0171] Figure 7 An example of a conceptual diagram is shown, evaluating the impact of vibrations associated with the transfer when other items P are transferred to the periphery of a suitable shelf via the transfer machine 43 for each transfer site.

[0172] In this embodiment, it is shown that the shelf plate 1a of the storage rack 1 is in the form of a double-depth type and the transfer machine 43 is also in the form of a double-depth type.

[0173] The impact of relocation is evaluated as greatest when other items P are moved to a rack on the same level as the suitable rack (the side through which the traveling trolley passes), and as moderate when moved to racks adjacent to the left and right sides of these suitable racks and racks on the aisle side.

[0174] The impact of relocation is evaluated as minimal when other items P are moved to the upper or lower levels of the appropriate shelf.

[0175] When other items P are moved to other shelves, the impact of the relocation is evaluated as small enough to be negligible.

[0176] Figure 8This is a conceptual diagram illustrating an example of the logic for evaluating the effects of vibrations associated with the transfer of other items P to the periphery of a suitable rack via the transfer machine 43, and accurately determining the occurrence of positional deviation of the item P.

[0177] The upper part of the table takes into account the effects of vibrations associated with the transfer of other items P by the transfer machine 43 to the periphery of the suitable shelf, and further considers the effects of the weight of the other items P being transferred.

[0178] For example, in the influence of vibrations associated with the transfer of other items P to the periphery of the suitable shelf by the transfer machine 43, and in terms of location factors such as the positional relationship with the suitable shelf, a location coefficient of 0.2 is assigned to locations judged to have a small impact, a location coefficient of 2 is assigned to locations judged to have a moderate impact, and a location coefficient of 6 is assigned to locations judged to have a large impact.

[0179] In addition, the weight of other items P is affected by the following weight coefficients: 0.5 for light items, 1 for medium items, and 2 for heavy items.

[0180] These location coefficients and weight coefficients are further multiplied by the number of transfers to obtain the scores.

[0181] The lower part of the table shows the effect of vibrations associated with the passage of the traveling trolley 42.

[0182] When the traveling trolley 42 passes through the same level as the suitable frame, a location coefficient of 0.005 is assigned. When the traveling trolley 42 passes through a level below the suitable frame, a location coefficient of 0.005 is also assigned. When the traveling trolley 42 passes through a level above the suitable frame, a location coefficient of 0.002 is assigned.

[0183] Furthermore, regarding the influence of the weight of other items P, the same values ​​as those used in the case of transfer performed by the transfer machine 43 are directly adopted.

[0184] These location coefficients and weight coefficients are further multiplied by the number of passes to obtain the scores.

[0185] Each time the transfer is carried out by the transfer machine 43 and the traveling trolley 42 passes by, the count is accumulated, multiplied, and each score is calculated.

[0186] Then, when the sum of the scores (total value) becomes, for example, 500 or more, it is determined that the time for position deviation correction has been reached. In order to perform position deviation correction work, a position deviation correction instruction is output and the position deviation correction work is performed.

[0187] When the position deviation correction is performed, the score for the fit rack is reset to 0.

[0188] [Implementation Method III: An implementation method where the conveying device is a stacking crane, the item P is placed in a single-depth type, the shelf is double-depth, and the shelf is shared with adjacent tracks]

[0189] Figure 9 An example of a conceptual diagram is shown, evaluating the impact of vibrations associated with the transfer in a case where other items P are transferred to the periphery of a suitable shelf by a transfer machine 43 mounted on a lifting platform of a stacking crane for each transfer site.

[0190] In this embodiment, it is shown that the shelf plate 1a of the storage rack 1 is double-deep, but the item P is placed in a single-deep manner, the transfer machine 43 mounted on the stacking crane is also single-deep, and the shelf plate 1a is shared with the adjacent track.

[0191] The impact of relocation is evaluated as greatest when other items P are moved to shelves on the adjacent aisle side (adjacent stacker crane aisle side) at the same level as the suitable shelves, and as moderate when moved to shelves on the left and right sides of these suitable shelves and adjacent aisle side shelves.

[0192] The impact of the transfer was evaluated as minimal when the transfer was carried out to the next two adjacent shelves on the left and right sides of these shelves.

[0193] When other items P are moved to other shelves, the impact of the relocation is evaluated as small enough to be negligible.

[0194] Figure 10 This is a conceptual diagram illustrating an example of the logic for evaluating the impact of vibrations associated with the transfer of other items P to the periphery of a suitable shelf by means of a transfer machine 43 mounted on a lifting platform in the manner of a stacking crane, and accurately determining the logic of the occurrence of positional deviation of the item P.

[0195] The upper part of the table takes into account the effects of vibrations associated with the transfer of other items P to the periphery of the suitable shelf by the transfer machine 43 mounted on the lifting platform, and also takes into account the effects of the weight of the other items P being transferred.

[0196] For example, in the influence of vibrations associated with the transfer of other items P to the periphery of the suitable shelf by the transfer machine 43, and in terms of location factors such as the positional relationship with the suitable shelf, a location coefficient of 0.2 is assigned to locations judged to have a small impact, a location coefficient of 2 is assigned to locations judged to have a moderate impact, and a location coefficient of 6 is assigned to locations judged to have a large impact.

[0197] In addition, the weight of other items P is affected by the following weight coefficients: 0.5 for light items, 1 for medium items, and 2 for heavy items.

[0198] These location coefficients and weight coefficients are further multiplied by the number of transfers to obtain the scores.

[0199] The lower part of the table shows the effects of vibrations associated with the passage of the stacking crane's lifting platform.

[0200] When the lifting platform passes through the same level as the suitable rack, a site coefficient of 0.005 is assigned.

[0201] Furthermore, regarding the influence of the weight of other items P, the same values ​​as those used in the case of transfer performed by the transfer machine 43 are directly adopted.

[0202] These location coefficients and weight coefficients are further multiplied by the number of passes to obtain the scores.

[0203] Each time the transfer machine 43 passes by the lifting platform of the stacking crane, the count is accumulated, multiplied, and each score is calculated.

[0204] Then, when the sum of the scores (total value) becomes, for example, 500 or more, it is determined that the time for position deviation correction has been reached. In order to perform position deviation correction work, a position deviation correction instruction is output and the position deviation correction work is performed.

[0205] When the position deviation correction is performed, the score for the fit rack is reset to 0.

[0206] [Implementation Method IV: One implementation method when the conveying device is a stacking crane type / the racking method for item P is a double-depth type]

[0207] Figure 11 An example of a conceptual diagram is shown, evaluating the impact of vibrations associated with the transfer in a case where other items P are transferred to the periphery of a suitable shelf by a transfer machine 43 mounted on a lifting platform of a stacking crane for each transfer site.

[0208] In this embodiment, the shelf plate 1a of the storage rack 1 is shown to be of double depth type, and the item P is placed in a double depth type.

[0209] The impact of relocation is evaluated as greatest when other items P are moved to racks on the same level as the suitable racks (stack crane aisle side), and as moderate when moved to racks adjacent to the left and right sides of these suitable racks and aisle side racks.

[0210] The impact of the transfer was evaluated as minimal when the transfer was carried out to the next two adjacent shelves on the left and right sides of these shelves.

[0211] When other items P are moved to other shelves, the impact of the relocation is evaluated as small enough to be negligible.

[0212] Figure 12 This is a conceptual diagram illustrating an example of the logic for evaluating the impact of vibrations associated with the transfer of other items P to the periphery of a suitable shelf by means of a transfer machine 43 mounted on a lifting platform in the manner of a stacking crane, and accurately determining the logic of the occurrence of positional deviation of the item P.

[0213] The upper part of the table takes into account the effects of vibrations associated with the transfer of other items P to the periphery of the suitable shelf by the transfer machine 43 mounted on the lifting platform, and also takes into account the effects of the weight of the other items P being transferred.

[0214] For example, in the influence of vibrations associated with the transfer of other items P to the periphery of the suitable shelf by the transfer machine 43, and in terms of location factors such as the positional relationship with the suitable shelf, a location coefficient of 0.2 is assigned to locations judged to have a small impact, a location coefficient of 2 is assigned to locations judged to have a moderate impact, and a location coefficient of 6 is assigned to locations judged to have a large impact.

[0215] In addition, the weight of other items P is affected by a weight factor of 0.5 for light items, 1 for medium items, and 2 for heavy items.

[0216] These location coefficients and weight coefficients are further multiplied by the number of transfers to obtain the scores.

[0217] The lower part of the table shows the effects of vibrations associated with the passage of the stacking crane's lifting platform.

[0218] When the lifting platform passes through the same level as the suitable rack, a site coefficient of 0.005 is assigned.

[0219] Furthermore, regarding the influence of the weight of other items P, the same values ​​as those used in the case of transfer performed by the transfer machine 43 are directly adopted.

[0220] These location coefficients and weight coefficients are further multiplied by the number of passes to obtain the scores.

[0221] Each time the transfer machine 43 passes by the lifting platform of the stacking crane, the count is accumulated, multiplied, and each score is calculated.

[0222] Then, when the sum of the scores (total value) becomes, for example, 500 or more, it is determined that the time for position deviation correction has been reached. In order to perform position deviation correction work, a position deviation correction instruction is output and the position deviation correction work is performed.

[0223] When the position deviation correction is performed, the score for the fit rack is reset to 0.

[0224] [Other implementation methods]

[0225] The specific structural examples described above are merely representative in all respects and are not intended to limit the invention to these examples.

[0226] In particular, the location coefficient, weight coefficient, threshold, etc. are merely examples, and the embodiments of the present invention should not be limited to these values.

[0227] In the above implementation, the location coefficient is set to, for example, large (6), medium (2), small (0.2), etc., for each transfer location. However, in other implementations, the location coefficient can be determined by ranking the locations more precisely as 5, 4, 3, 2, 1, etc., thereby making the impact of vibration caused by the transfer of other items on the items more accurately reflect reality.

[0228] Furthermore, in the above-described embodiments, the weight of other items P is affected by a weight factor of 0.5 when the weight is light, a weight factor of 1 when the weight is moderate, and a weight factor of 2 when the weight is heavy. However, in other embodiments, more detailed settings may be used.

[0229] For example, the weight coefficient can also be obtained by multiplying the weight [kg] of other items P by 0.1.

[0230] Furthermore, the actual use of vibration sensors or the like to sense the effects of vibration, thereby converging the coefficients of the location coefficient and weight coefficient to more desirable values, is a modification within the scope of this invention that is easily made by those skilled in the art.

[0231] Furthermore, the expansion of the application range of the vibration-prone locations should be considered, which is a change within the scope that is easily understood by those skilled in the art and is within the scope of this invention.

[0232] [Summary of the above embodiments]

[0233] The following is a summary of the automated warehouse system described above.

[0234] An automated warehouse system is an automated warehouse system comprising a storage rack for items, a conveying device for moving items to or from the storage rack, and a control unit for controlling the operation of the conveying device, wherein the control unit comprises:

[0235] The position deviation determination unit determines whether, after the item is placed into the storage rack, it is estimated that the item has been subjected to vibration exceeding a predetermined threshold; and

[0236] When the position deviation determination unit estimates that the item has been subjected to vibration exceeding a predetermined threshold, the position deviation correction indicator outputs a control signal to the conveying device to drive the conveying device to perform position deviation correction work on the item's placement position.

[0237] According to the aforementioned automated warehouse system, when it is estimated that an item has been subjected to vibration exceeding a predetermined threshold after it has been stored in the storage rack, the conveying device can be driven to perform position deviation correction work on the item's placement position. Therefore, it can reliably prevent the following situation: the more difficult it is to remove the item from the storage rack, the more the item's placement position deviates from the item's predetermined placement position.

[0238] Furthermore, there is no need to attach a special structure to the storage rack as described in Patent Document 1 or Patent Document 2. It can be handled simply by changing the software processing in the control unit, and there will be no significant increase in cost during the manufacture of the storage rack.

[0239] Preferably, the position deviation determination unit determines the position deviation by counting the number of times other items on the same shelf as the placement position of the item are moved to the vicinity of the placement position of the item.

[0240] According to the aforementioned automated warehouse system, after an item is stored in the storage rack, the number of times other items on the same shelf as the item being stored, which are considered to be most affected by vibration, are moved to the vicinity of the item's storage location is counted to determine the positional deviation. Therefore, the occurrence of the item's deviation from the designated storage location can be effectively and reliably monitored.

[0241] Furthermore, preferably, the position deviation determination unit determines the position deviation by multiplying the location coefficient of other items to the transfer location of the shelf at the same level as the placement location of the item by the number of transfers.

[0242] If, for each transfer location, the location coefficient is determined by ranking the location based on factors such as large, medium, small, or more specifically, 5, 4, 3, 2, 1, then the impact of vibrations caused by the transfer of other items on the item can be more accurately and precisely reflected in the determination of position deviation.

[0243] Therefore, according to the above-mentioned automated warehouse system, the impact of vibrations caused by the transfer of other items on the items can be reflected more precisely and accurately in the determination of position deviation.

[0244] Furthermore, preferably, the position deviation determination unit not only counts the number of times other items are moved to the shelf at the same level as the shelf where the item is placed, but also counts the number of times other items on the shelves above and below the shelf where the item is placed are moved to the vicinity of the shelf where the item is placed in order to determine the position deviation.

[0245] According to the aforementioned automated warehouse system, the impact of vibrations caused by the transfer of other items on the items can be more accurately reflected in the determination of position deviation.

[0246] Furthermore, preferably, the position deviation determination unit also determines the position deviation by counting the number of times the traveling trolley of the conveying device travels on a track at the same level as the placement position on which the item is placed.

[0247] According to the aforementioned automated warehouse system, the position deviation can be determined by considering not only the vibration caused by the transfer of other items, but also the vibration caused by the moving trolley of the conveying device traveling on the track.

[0248] Furthermore, preferably, the position deviation determination unit not only counts the number of times the traveling trolley of the conveying device travels on the same level as the placement position on which the item is placed, but also counts the number of times the traveling trolley of the conveying device travels on the upper and lower levels of the level on which the item is placed to determine the position deviation.

[0249] According to the above-mentioned automated warehouse system, the number of times the traveling trolley of the conveying device travels on the upper and lower tracks of the level carrying the items is counted. Therefore, the impact of vibration caused by the travel of the traveling trolley of the conveying device can be more accurately reflected in the determination of position deviation.

[0250] Furthermore, it is preferable when the conveying device is a stacking crane type conveying device.

[0251] The position deviation determination unit also determines the position deviation by counting the number of times the lifting platform at the same level as the placement position on which the item is placed.

[0252] According to the above-mentioned automated warehouse system, it is possible to determine the position deviation by not only taking into account the impact of vibration caused by the transfer of other items, but also the impact of vibration caused by the lifting platform of the stacking crane being at the same level as the loading position on which the items are loaded.

[0253] Furthermore, preferably, the position deviation determination unit considers the weight of other items being transported by the conveying device when determining the position deviation.

[0254] Whether when transferring other items or when the moving trolley of the conveying device is moving, the magnitude of the vibration of the item is greatly affected by the weight of the other items.

[0255] According to the aforementioned automated warehouse system, by also considering the influence of the weight of the other items, the magnitude of the impact of vibration on the items can be made closer to the actual magnitude.

[0256] Furthermore, when the storage rack for the item is a single-depth type, the logic in the position deviation determination unit that the item has been subjected to vibration exceeding a predetermined threshold is mainly optimized by selecting the location coefficient when the storage rack is a single-depth type.

[0257] The automated warehouse system described above can be easily configured as a system optimized for single-depth storage racks.

[0258] Furthermore, preferably, when the storage rack for the item is a double-depth type storage rack, the logic in the position deviation determination unit that estimates the item has been subjected to vibration exceeding a predetermined threshold is optimized primarily by selecting a location coefficient when the storage rack is a double-depth type storage rack.

[0259] The automated warehouse system described above can be easily configured as a system optimized for double-depth storage racks.

[0260] Furthermore, preferably, the position deviation correction is achieved through a simulated transfer operation performed by a transfer machine mounted on the conveying device.

[0261] According to the aforementioned automated warehouse system, the position deviation correction work can be completed in a short time through simulated transfer work performed by a transfer machine mounted on the conveying device.

[0262] Furthermore, it is preferable that, when the transfer machine mounted on the conveying device is a single-depth transfer machine, the simulated transfer work performed by the transfer machine is optimized to the operation of a single-depth transfer machine.

[0263] According to the aforementioned automated warehouse system, by configuring the simulated transfer work performed by the transfer machine to be optimized for single-depth transfer machines, it becomes a system capable of completing the simulated transfer work in a shorter time.

[0264] Furthermore, it is preferable that when the transfer machine mounted on the conveying device is a double-depth transfer machine, the simulated transfer work performed by the transfer machine is optimized to work under the condition of a double-depth transfer machine.

[0265] According to the above-mentioned automated warehouse system, by configuring the simulated transfer work performed by the transfer machine to be optimized for the case of a double-depth transfer machine, the system can be made capable of completing the simulated transfer work in a short time even if the transfer machine is a double-depth transfer machine.

[0266] Furthermore, preferably, the position deviation correction is achieved by simulating outbound / inbound operations performed by the conveying device.

[0267] According to the above-described automated warehouse system, the position deviation correction work can be reliably achieved through simulated outbound / inbound operations performed by the conveying device.

[0268] Explanation of reference numerals in the attached figures

[0269] A: Automated Warehouse System

[0270] 1: Storage rack

[0271] 1a: Shelf

[0272] 1b: Frame

[0273] 4: Conveying device (reciprocating type)

[0274] 41: Track

[0275] 42: Traveling trolley

[0276] 43: Transfer machine

[0277] 45: Relay conveyor for inbound and outbound operations

[0278] 45a: Relay conveyor for warehousing

[0279] 45b: Outbound relay conveyor

[0280] 46: Lifting device for entering and exiting warehouses

[0281] 46a: Lifting device for warehousing

[0282] 46b: Lifting device for warehouse exit

[0283] 47: Conveyor for inbound and outbound operations

[0284] 47a: Warehouse conveyor

[0285] 47b: Outbound conveyor

[0286] 4S: Handling equipment (stack crane type)

[0287] 4S1: Bootstrapping Framework

[0288] 4S2: Upper Frame

[0289] 4S3: Lower Frame

[0290] 4S4: Lifting Platform

[0291] 4S5: Lifting device

[0292] 4S6: Traveling device

[0293] 41a: Track (below)

[0294] 41b: Track (above)

[0295] 5: Control Department

[0296] 5A: Central Control Department

[0297] 5B: Conveying device control unit

[0298] 5C: Position Deviation Judgment Unit

[0299] 5D: Position Deviation Correction Indicator

[0300] 5E: Storage device

[0301] 6: Monitor

[0302] 7: Input Section

[0303] P: Item (box / shell).

Claims

1. An automated warehouse system comprising: a storage rack for goods; a conveying device for moving goods to or from the storage rack; and a control unit for controlling the operation of the conveying device, characterized in that... The control unit includes: The position deviation determination unit determines whether, after the item is placed into the storage rack, it is estimated that the item has been subjected to vibration exceeding a predetermined threshold; and When the position deviation determination unit estimates that the item has been subjected to vibration exceeding a predetermined threshold, the position deviation correction indicator outputs a control signal to the conveying device, driving the conveying device to perform position deviation correction work on the item's placement position. The position deviation determination unit determines position deviation by counting the number of times other items on the same shelf as the placement position of the item are moved to the vicinity of the placement position of the item.

2. The automated warehouse system according to claim 1, wherein, The position deviation determination unit determines the position deviation by multiplying the location coefficient of other items to the transfer location of the shelf at the same level as the placement location of the item by the number of transfers.

3. The automated warehouse system according to claim 1, wherein, The position deviation determination unit not only counts the number of times other items are moved to the shelf at the same level as the shelf where the item is placed, but also counts the number of times other items on the shelves above and below the shelf where the item is placed are moved to the vicinity of the shelf where the item is placed in order to determine the position deviation.

4. The automated warehouse system according to claim 1, wherein, The position deviation correction is achieved by simulating outbound / inbound operations performed by the conveying device.

5. The automated warehouse system according to claim 1, wherein, The position deviation correction is achieved through a simulated transfer operation performed by a transfer machine mounted on the conveying device.

6. The automated warehouse system according to claim 5, wherein, When the transfer machine mounted on the conveying device is a single-depth transfer machine, the simulated transfer work performed by the transfer machine is optimized to the operation under the single-depth transfer machine condition.

7. The automated warehouse system according to claim 5, wherein, When the transfer machine mounted on the conveying device is a double-depth type transfer machine, the simulated transfer work performed by the transfer machine is optimized to work under the condition of a double-depth type transfer machine.

8. An automated warehouse system comprising: a storage rack for goods; a conveying device for moving goods to or from the storage rack; and a control unit for controlling the operation of the conveying device, characterized in that... The control unit includes: The position deviation determination unit determines whether, after the item is placed into the storage rack, it is estimated that the item has been subjected to vibration exceeding a predetermined threshold; and When the position deviation determination unit estimates that the item has been subjected to vibration exceeding a predetermined threshold, the position deviation correction indicator outputs a control signal to the conveying device, driving the conveying device to perform position deviation correction work on the item's placement position. The position deviation determination unit also counts the number of times the traveling trolley of the conveying device travels on a track at the same level as the placement position on which the item is placed to determine the position deviation.

9. The automated warehouse system according to claim 8, wherein, The position deviation determination unit not only counts the number of times the traveling trolley of the conveying device travels on the same level as the placement position on which the item is placed, but also counts the number of times the traveling trolley of the conveying device travels on the upper and lower levels of the level on which the item is placed to determine the position deviation.

10. An automated warehouse system comprising: a storage rack for goods; a conveying device for moving goods to or from the storage rack; and a control unit for controlling the operation of the conveying device, characterized in that... The control unit includes: The position deviation determination unit determines whether, after the item is placed into the storage rack, it is estimated that the item has been subjected to vibration exceeding a predetermined threshold; and When the position deviation determination unit estimates that the item has been subjected to vibration exceeding a predetermined threshold, the position deviation correction indicator outputs a control signal to the conveying device, driving the conveying device to perform position deviation correction work on the item's placement position. When the conveying device is a stacking crane type conveying device, The position deviation determination unit also determines the position deviation by counting the number of times the lifting platform at the same level as the placement position on which the item is placed.

11. An automated warehouse system comprising: a storage rack for goods; a conveying device for moving goods to or from the storage rack; and a control unit for controlling the operation of the conveying device, characterized in that... The control unit includes: The position deviation determination unit determines whether, after the item is placed into the storage rack, it is estimated that the item has been subjected to vibration exceeding a predetermined threshold; and When the position deviation determination unit estimates that the item has been subjected to vibration exceeding a predetermined threshold, the position deviation correction indicator outputs a control signal to the conveying device, driving the conveying device to perform position deviation correction work on the item's placement position. The position deviation determination unit considers the weight of other items being transported by the conveying device to determine the position deviation.

12. An automated warehouse system comprising: a storage rack for goods; a conveying device for moving goods to or from the storage rack; and a control unit for controlling the operation of the conveying device, characterized in that... The control unit includes: The position deviation determination unit determines whether, after the item is placed into the storage rack, it is estimated that the item has been subjected to vibration exceeding a predetermined threshold; and When the position deviation determination unit estimates that the item has been subjected to vibration exceeding a predetermined threshold, the position deviation correction indicator outputs a control signal to the conveying device, driving the conveying device to perform position deviation correction work on the item's placement position. When the storage rack for the item is a single-depth type, the logic in the position deviation determination unit that the item has been subjected to vibration exceeding a predetermined threshold is mainly optimized by selecting the location coefficient when the storage rack is a single-depth type.

13. An automated warehouse system comprising: a storage rack for goods; a conveying device for moving goods to or from the storage rack; and a control unit for controlling the operation of the conveying device, characterized in that... The control unit includes: The position deviation determination unit determines whether, after the item is placed into the storage rack, it is estimated that the item has been subjected to vibration exceeding a predetermined threshold; and When the position deviation determination unit estimates that the item has been subjected to vibration exceeding a predetermined threshold, the position deviation correction indicator outputs a control signal to the conveying device, driving the conveying device to perform position deviation correction work on the item's placement position. When the storage rack for the item is a double-depth type, the logic in the position deviation determination unit that the item has been subjected to vibration exceeding a predetermined threshold is mainly optimized by selecting the location coefficient when the storage rack is a double-depth type.

14. A method for correcting position deviation of items in an automated warehouse system, the automated warehouse system comprising: a storage rack for items; a conveying device for conveying items to or from the storage rack; and a control unit for controlling the operation of the conveying device, characterized in that... The method causes the control unit to perform the following steps: The position deviation determination process determines whether, after an item is placed into the storage rack, it is estimated that the item has been subjected to vibration exceeding a specified threshold. as well as In the position deviation correction indication process, when it is estimated in the position deviation determination process that the item has been subjected to vibration exceeding a predetermined threshold, a control signal is output to the conveying device to drive the conveying device to perform position deviation correction work on the item's placement position. In the position deviation determination process, the position deviation is determined by counting the number of times other items on the same shelf as the placement position of the item are moved to the vicinity of the placement position of the item.

15. A computer program product comprising a computer program for causing at least one computer to perform position deviation correction processing of items in an automated warehouse system, characterized in that, The computer program causes the at least one computer to perform the following steps: The position deviation determination step determines whether the item has been subjected to vibration exceeding a specified threshold after it has been placed into the storage rack. as well as In the position deviation correction indication step, when it is estimated in the position deviation determination step that the item has been subjected to vibration exceeding a predetermined threshold, a control signal is output to the conveying device that transports the item, driving the conveying device to perform position deviation correction work on the loading position of the item. In the position deviation determination step, the position deviation is determined by counting the number of times other items on the same shelf as the placement position of the item are moved to the vicinity of the placement position of the item.

16. A recording medium containing a computer program for instructing at least one computer to perform position deviation correction processing for the placement of items in an automated warehouse system, characterized in that, The computer program causes the at least one computer to perform the following steps: The position deviation determination step determines whether the item has been subjected to vibration exceeding a specified threshold after it has been placed into the storage rack. as well as In the position deviation correction indication step, when it is estimated in the position deviation determination step that the item has been subjected to vibration exceeding a predetermined threshold, a control signal is output to the conveying device that transports the item, driving the conveying device to perform position deviation correction work on the loading position of the item. In the position deviation determination step, the position deviation is determined by counting the number of times other items on the same shelf as the placement position of the item are moved to the vicinity of the placement position of the item.

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