automated warehouse

Abstract

The present application shortens the time taken to transfer goods from a shelf to a cart. A transport controller (53) of a traveling cart (7) performs the following control when a delivery goods (W1) is delivered: when delivery traveling to a position corresponding to a placement position of the delivery goods (W1) on a shelf (11) is performed, the width of the delivery goods (W1) is measured using a first goods detection sensor (78) or a second goods detection sensor (79) present on the front side of the traveling direction of the traveling cart (7), the second arm (755) is moved based on the measurement result of the width of the delivery goods (W1) to adjust the arm interval of the first arm (753) and the second arm (755) to be larger than the width of the delivery goods (W1) by a prescribed amount, and the delivery goods (W1) is pulled in while maintaining the adjusted arm interval by advancing and retreating the first arm (753) and the second arm (755) after the traveling cart (7) reaches the position corresponding to the placement position of the delivery goods (W1).

Description

Technical Field

[0001] The present invention relates to an automated warehouse comprising: shelves consisting of multiple layers; and trolleys configured for each layer and having a transfer device for transferring goods between the shelves via a pair of arms. Background Technology

[0002] Previously, an automated warehouse was known, comprising: shelves consisting of multiple layers; and trolleys configured for each layer of the shelves, and having a transfer device for transferring goods between the shelves via a pair of arms. Furthermore, in this automated warehouse, it is known to detect the two ends of the goods to be transferred using sensors mounted on the trolley, and calculate the width of the goods to be transferred based on the detection results of the ends of the goods (see, for example, Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2013-237562 Summary of the Invention

[0006] In conventional automated warehouses, when goods are transferred from shelves to trolleys, the following steps are performed: (i) extending a pair of arms toward the shelf with the distance between them greater than the width of the goods to be transferred; (ii) clamping the goods to be transferred with the arms while closing the hooks on the arms; (iii) increasing the distance between the arms from the clamped state by a predetermined amount to ensure a gap between the goods and the arms; (iv) in state (iii), pulling the arms toward the trolley to transfer the goods onto the trolley.

[0007] In conventional automated warehouses that perform the above-mentioned procedures (i) to (iv), the transfer of goods from the shelf to the trolley is time-consuming because of the actions of performing the above-mentioned procedures (ii) and (iii), namely, widening the gap between the two arms after the goods are clamped by the arms.

[0008] The object of the present invention is to reduce the time spent transferring goods from the shelf to the trolley after the trolley stops in an automated warehouse equipped with a trolley having a transfer device for transferring goods between the shelf by means of a pair of arms.

[0009] The following sections will explain several methods as means to solve the problem. These methods can be combined arbitrarily as needed.

[0010] An automated warehouse according to one aspect of the present invention comprises shelves consisting of multiple layers, trolleys for each layer that move goods by traveling along the extension direction of the shelves, and a lower-level controller for controlling the trolleys. The trolleys have a transfer device, a first sensor, and a second sensor.

[0011] The transfer device has a first arm and a second arm for transferring goods between the shelf and the shelf.

[0012] The first sensor is located on the side of the first arm and detects the goods placed on the shelf.

[0013] The second sensor is located on the side of the second arm and detects the goods placed on the shelf.

[0014] In the aforementioned trolley, at least one of the first arm and the second arm is capable of moving relative to the trolley along the extension direction of the shelf.

[0015] In addition, the lower-level controller performs the following control when goods are shipped out:

[0016] When the trolley travels to a position corresponding to the loading position of the outbound goods on the shelf, the width of the outbound goods is determined using a first or second sensor located on the front side of the trolley in the direction of travel.

[0017] The first and / or second arms are moved based on the measurement of the width of the outgoing goods, so that the arm spacing between the first and second arms is adjusted to be a specified amount larger than the width of the outgoing goods.

[0018] After the trolley reaches the position corresponding to the loading position of the outbound goods, the first and second arms move forward and backward while maintaining the adjusted arm spacing to pull the outbound goods in.

[0019] In the aforementioned automated warehouse, when goods are being retrieved, the lower-level controller uses a sensor located at the front of the trolley in the direction of travel to determine the width of the goods to be retrieved, and adjusts the arm spacing based on this measurement to be a predetermined amount larger than the width of the goods. Furthermore, after the trolley reaches the position corresponding to the loading position of the goods, the lower-level controller performs the following control: while maintaining the adjusted arm spacing, it moves the first and second arms forward and backward to pull the goods into the warehouse.

[0020] In this way, by setting the arm spacing before the trolley reaches the transfer position and not changing it afterwards, the time spent transferring goods during the outbound process after the trolley stops can be shortened. This is because, in the past, the arm would move to clamp the outbound goods when they were being taken out of the warehouse, and then the arm would move again to ensure a gap between the outbound goods and the arm, but such actions are no longer necessary.

[0021] Automated warehouses may also include a higher-level controller. The higher-level controller sends a transport instruction containing information related to the width of the outgoing goods to a lower-level controller. In this case, the lower-level controller performs the following control: when outgoing transport begins, it adjusts the arm spacing to a first spacing that is a predetermined amount larger than the value shown in the transport instruction's information related to the width of the outgoing goods; then, from the state after adjusting the arm spacing to the first spacing, it adjusts the arm spacing to be a predetermined amount larger than the width of the outgoing goods as shown by the measurement results.

[0022] By adjusting the arm spacing to the first spacing when starting to exit the warehouse, and then adjusting the arm spacing from the state after adjusting the arm spacing to the first spacing to a value greater than the value shown by the measurement results by a specified amount, it is possible to shorten the movement distance of the first arm and / or the second arm when adjusting the arm spacing based on the measurement results.

[0023] By shortening the travel distance of the first and / or second arms when adjusting the arm spacing based on the measurement results, the transfer of outbound goods can be performed immediately after the trolley stops, even if the time from the completion of the width measurement of the outbound goods to the trolley stopping is short. This is because shortening the travel distance of the first and / or second arms can shorten the time from the completion of the width measurement of the outbound goods to the completion of the arm spacing adjustment.

[0024] Alternatively, the second arm can move along the extension direction of the shelf, and the second sensor is located on the second arm. In this case, when the second sensor is located in front of the trolley in the direction of travel during outbound movement, the lower controller determines the width of the outbound goods based on information related to the position of the trolley and information related to the position of the second arm on the trolley.

[0025] Therefore, when the second sensor located on the moving second arm is located at the front of the direction of travel, that is, when the width of the outbound goods is determined by the second sensor whose position on the trolley changes due to the movement of the second arm, the width of the outbound goods can be accurately determined by taking into account the position of the second sensor on the trolley.

[0026] Alternatively, when the first sensor is located in front of the trolley in the direction of travel during outbound movement, if the difference between the information related to the width of the outbound goods contained in the transport command and the measurement result of the width of the outbound goods is less than a first predetermined value, and the placement position of the outbound goods on the shelf deviates from the predetermined position in the extension direction of the shelf, the lower controller determines the stopping position of the trolley based on the amount of deviation of the outbound goods from the predetermined position.

[0027] Therefore, even if the width of the outgoing goods is within the intended range, but the outgoing goods are placed on the shelf in a direction that deviates from the intended position in the extension direction of the shelf, the trolley can be stopped at a stop position determined by taking into account the positional deviation of the outgoing goods, and the outgoing goods can be accurately pulled into the trolley by the first arm and the second arm.

[0028] Alternatively, when the second sensor is located in front of the trolley in the direction of travel during outbound movement, if the difference between the information related to the width of the outbound goods contained in the transport command and the measurement result of the width of the outbound goods is less than a first predetermined value, and the placement position of the outbound goods on the shelf deviates from the predetermined position in the extension direction of the shelf, the lower controller determines the position of the second arm on the trolley based on the amount of deviation of the outbound goods from the predetermined position.

[0029] Therefore, even if the width of the outgoing goods is within the intended range, but the outgoing goods are placed on the shelf in a direction that deviates from the intended position in the extension direction of the shelf, the second arm can be moved to a position determined by taking into account the position deviation of the outgoing goods, and the outgoing goods can be accurately pulled into the trolley by the first and second arms without having to move the trolley to match the aforementioned deviation.

[0030] Alternatively, if the difference between the information related to the width of the outbound goods contained in the transport instruction and the measured result of the width of the outbound goods is greater than a first predetermined value, the lower-level controller controls the trolley to re-measure the width of the outbound goods.

[0031] Therefore, if the width of the outgoing goods is outside the expected range, instead of immediately setting the trolley to an abnormal stop state, the width of the outgoing goods is re-measured, which can prevent the trolley's operating rate in the automated warehouse from decreasing.

[0032] The first arm can also be fixed to the trolley on one side of the shelf's extension direction, i.e., the first direction side. In this case, when re-measuring the width of the outgoing goods (wherein the outgoing goods are placed on the side closer to the shelf's first direction end than the end on the other side of the shelf's extension direction, i.e., the second direction side), the lower controller causes the trolley to travel a first distance from the second direction end side of the outgoing goods, which is opposite to the first direction, towards the second direction.

[0033] Therefore, when the outgoing goods are located on the side of the shelf closest to the end in the first direction of the shelf's extension, the trolley can be prevented from moving further towards the end of the shelf in the first direction when the outgoing goods are remeasured, and the width of the outgoing goods can be remeasured simultaneously. As a result, it is no longer necessary to set up a travel path further on the end side in the first direction than the area on the shelf that can hold the goods (the area corresponding to the trolley's travel path) in order to remeasure the outgoing goods.

[0034] The first distance can also be a distance equivalent to the distance between the first sensor and the end of the outgoing goods on the second direction side when the trolley is moved in the second direction. Thus, the first sensor can reliably detect both ends of the outgoing goods, and accurately determine the width of the outgoing goods in the remeasurement of the width of the outgoing goods.

[0035] The second arm can also be configured to move along the extension direction of the shelf from the end of the trolley on the second direction side. In this case, when the width of the outbound goods (wherein the outbound goods are placed on one side near the second direction end of the shelf) is remeasured, the lower controller causes the trolley to move from the first direction end side of the outbound goods to the first direction, which includes the sum of the information related to the width of the outbound goods and the first distance contained in the transport command.

[0036] Therefore, when the outgoing goods are placed on the shelf as a whole at the end in the second direction, which is closer to the end of the shelf in its extended direction, the trolley can be prevented from moving further towards the end of the shelf in the second direction when the outgoing goods are remeasured, and the width of the outgoing goods can be remeasured at the same time. As a result, it is no longer necessary to set up a travel path at the end of the shelf in the second direction, relative to the area on the shelf that can hold the goods (the area corresponding to the travel path of the trolley), in order to remeasure the outgoing goods.

[0037] Invention Effects

[0038] It can reduce the time spent transferring goods from shelves to trolleys by a transfer device that uses a pair of arms to transfer goods between shelves. Attached Figure Description

[0039] Figure 1 This is a top view of the automated warehouse.

[0040] Figure 2 It is a 3D view of the traveling trolley and the shelf.

[0041] Figure 3 This is a top view of the moving trolley.

[0042] Figure 4 This is a functional block diagram representing the control structure of an automated warehouse.

[0043] Figure 5 This is a flowchart illustrating the process of goods leaving the warehouse.

[0044] Figure 6A This is a diagram illustrating an example of the state of the traveling trolley after it reaches the position corresponding to the loading location of the outgoing goods.

[0045] Figure 6B This diagram illustrates an example of the state after the first and second arms are extended toward the outgoing goods.

[0046] Figure 6C This is a diagram illustrating an example of the state after the hook has been moved.

[0047] Figure 6D This diagram illustrates an example of the state of goods after they have been pulled into the moving trolley.

[0048] Figure 7 This is a flowchart showing the measurement process for the width of goods leaving the warehouse.

[0049] Figure 8A This diagram illustrates an example of goods being detected at the rear end of the warehouse by a second cargo detection sensor.

[0050] Figure 8B This diagram illustrates an example of a front end of outbound goods being detected by a second cargo detection sensor.

[0051] Figure 9 This is a flowchart showing the retry action when the measured width of the outbound goods deviates from the width value indicated in the transport instruction.

[0052] Figure 10A This is a diagram showing an example of outbound goods being placed on the side of a shelf closest to the first direction.

[0053] Figure 10B This is a diagram showing an example of outbound goods being placed on the side of a shelf closest to the second direction.

[0054] Figure 11A This diagram illustrates an example of how the traveling trolley moves in a second direction when the width of the outgoing goods is remeasured.

[0055] Figure 11B This diagram illustrates an example of how the traveling trolley moves in the first direction when the width of the outgoing goods is remeasured.

[0056] Figure 12 This diagram illustrates an example where outbound goods, whose width is to be remeasured, are placed at the end of a shelf on the first direction side, and the traveling trolley is moved further in the first direction for the purpose of remeasurement.

[0057] Figure 13 This is a flowchart illustrating the retry actions when cargo deviation is detected.

[0058] Figure 14 It is a diagram that schematically represents the definition of the reference point for the stop position.

[0059] Figure 15A This diagram illustrates an example of goods being moved from their original placement position to a position that deviates in the positive direction of the X-axis.

[0060] Figure 15B This diagram schematically illustrates the method of adjusting the positions of the first and second arms when outbound goods deviate from their original loading position in the positive direction of the X-axis.

[0061] Figure 16A This diagram illustrates an example of goods being moved from their original placement position to a negative position along the X-axis.

[0062] Figure 16B This diagram schematically illustrates the method of adjusting the positions of the first and second arms when outbound goods deviate from their original loading position in the negative X-axis direction. Detailed Implementation

[0063] 1. First Implementation Method

[0064] (1) Automated Warehouse

[0065] The following uses Figure 1 and Figure 2 The first embodiment of the automated warehouse 100, which is equipped with a traveling trolley 7 (an example of a trolley), will be described. Figure 1 This is a top view of the Automated Warehouse 100. Figure 2 This is a perspective view showing the traveling trolley 7 and the rack 1. In the following description, Figure 1 The left and right directions are called the X direction. Figure 1 The vertical direction, that is, the direction orthogonal to the X direction in the horizontal direction, is called the Y direction, and the direction perpendicular to both the X and Y directions is defined as... Figure 2 The vertical direction is called the Z direction. The automated warehouse 100 is equipped with shelves 1, lifting and conveying devices 3, inbound and outbound stations 5, multiple traveling trolleys 7, and guide rails 7a.

[0066] Shelf 1 stores goods W. Specifically, shelf 1 has multiple shelves 11. The multiple shelves 11 extend along the X direction and are arranged at predetermined intervals in the Z direction. That is, shelf 1 consists of multiple layers of shelves 11. Goods W are placed on any one of the multiple shelves 11 for storage.

[0067] Additionally, a relay conveyor 13 is provided on each shelf 11. The relay conveyor 13 is located near the lifting and conveying device 3 and transfers goods W to be stored from the lifting and conveying device 3. In addition, goods W to be shipped out are transferred from the traveling trolley 7.

[0068] In this embodiment, such as Figure 1 As shown, the rack 1 is arranged on both sides of the traveling trolley 7 (guide rail 7a) in the Y direction. However, it is not limited to this, and the rack 1 may also be arranged on only one side of the traveling trolley 7 (guide rail 7a) in the Y direction.

[0069] The lifting and conveying device 3 is configured between the rack 1 and the inbound / outbound station 5, and has a lifting platform. The lifting platform in the lifting and conveying device 3 can move up and down in the Z direction while supporting multiple goods. The lifting platform, for example, has a conveyor that transfers goods W between the inbound / outbound station 5 and the relay conveyor 13 of the rack 1.

[0070] The inbound / outbound station 5 moves goods W that are to be stored (stored) on the shelves 11 of the rack 1 from the outside to the vicinity of the lifting and conveying device 3. Additionally, the inbound / outbound station 5 moves goods W that have been moved by the lifting and conveying device 3 for outbound purposes to the outside. The inbound / outbound station 5 is, for example, a conveyor belt or other conveying device.

[0071] The guide rail 7a is a component provided on each shelf 11 of the rack 1 and extending along the X direction. The traveling trolley 7, provided on each shelf 11, is guided by the guide rail 7a provided on the corresponding shelf 11 and travels along the extension direction (X direction) of the shelf 11. Furthermore, a slit is provided on the guide rail 7a along the extension direction (X direction). This slit is detected by a slit detection sensor 7b provided on the traveling trolley 7. Figure 4 ) Detection. The slit detection sensor 7b is, for example, a photoelectric sensor, etc.

[0072] (2) Traveling trolley

[0073] (2-1) Brief description of the traveling trolley

[0074] The traveling trolley 7 travels along the X direction at a height corresponding to the height of each shelf 11. The traveling trolley 7 is guided by guide rails 7a laid at heights corresponding to each shelf 11 and extending along the X direction, thus traveling along the X direction. Furthermore, the traveling trolley 7 has a transfer device 75 for transferring goods W between the relay conveyor 13 of the rack 1 and between the trolley and the shelf 11. Figure 3 ).

[0075] According to the above structure, the traveling trolley 7 can transport the held goods W in the X direction by traveling along the shelf 11 while holding the goods W. In addition, the goods W can be transferred between the traveling trolley 7 and the relay conveyor 13 and between the traveling trolley 7 and the shelf 11 using the transfer device provided on the traveling trolley 7.

[0076] Specifically, when goods W enter the warehouse, after the goods W are transferred from the lifting and conveying device 3 to the relay conveyor 13 to the traveling trolley 7, the traveling trolley 7 moves along the X direction to the target position of the shelf 11, and at the target position, the goods W are transferred from the traveling trolley 7 to the shelf 11.

[0077] On the other hand, when goods are being shipped out, the traveling trolley 7 travels to a target position (referred to as shipping outbound goods W1) corresponding to the loading position of the goods W on the shelf 11 at that target position, and transfers the goods W from the shelf 11 onto the traveling trolley 7. Afterwards, the traveling trolley 7 moves along the X direction to the configuration position of the relay conveyor 13, and transfers the goods W from the traveling trolley 7 onto the relay conveyor 13.

[0078] (2-2) Detailed description of the traveling trolley

[0079] The following uses Figure 3 The structure of the traveling carriage 7 in the first embodiment will be described in detail. Figure 3 This is a top view of the traveling carriage 7. In the following description, Figure 3 The right side of the paper is defined as the positive direction of the X-axis (in...). Figure 3 The arrow in the middle points out the direction of the X-axis, and the opposite side is defined as the negative direction of the X-axis. Furthermore, the positive direction of the X-axis of the traveling carriage 7 is defined as the front side of the traveling carriage 7, and the negative direction of the X-axis of the traveling carriage 7 is defined as the rear side of the traveling carriage 7. The traveling carriage 7 includes a pair of guide members 71, a first main body 73a, a second main body 73b, and a transfer device 75.

[0080] A pair of guide members 71 are longer members in the X direction, arranged at a predetermined interval in the Y direction, to guide the movement of the frame 751 (second arm 755) of the transfer device 75.

[0081] The first main body 73a is located at the end of the pair of guide members 71 on the positive direction side of the X-axis, and constitutes the main body of the traveling carriage 7 on the positive direction side of the X-axis. Wheels 731 are respectively provided at both ends of the first main body 73a in the Y-axis direction. The wheels 731 are connected by a first motor 731a (…). Figure 4 The first motor 731a rotates in response to the rotation of the wheel 731, thereby causing the traveling carriage 7 to move along the guide rail 7a. Furthermore, a first rotation measurement sensor 731b is provided on the first motor 731a to measure the rotation of the wheel 731.Figure 4 The first rotation measurement sensor 731b is, for example, an encoder.

[0082] The second main body 73b is located at the end of the pair of guide members 71 on the negative X-direction side, and constitutes the main body of the traveling carriage 7 on the negative X-direction side. Driven wheels 733 are respectively provided at both ends of the second main body 73b in the Y-direction. The driven wheels 733 rotate on the guide rail 7a as the traveling carriage 7 moves.

[0083] (2-3) Detailed description of the transfer device

[0084] The transfer device 75 is a device for transferring goods W between the traveling trolley 7 and the relay conveyor 13, and between the traveling trolley 7 and the shelf 11. In this embodiment, the transfer device 75 is disposed above a pair of guide members 71 of the traveling trolley 7 between the first main body 73a and the second main body 73b. The transfer device 75 has a frame 751, a first arm 753, a second arm 755, and a pair of mounting members 757.

[0085] The frame 751 is slidably mounted on a pair of guide members 71 and is movable in the X direction between the first main body 73a and the second main body 73b. Specifically, a ball screw 76 with threads formed approximately throughout the entire X direction is screwed onto the frame 751. A second motor 751a is provided on the traveling carriage 7 to rotate the ball screw 76. Figure 4 ). By means of the second motor 751a ( Figure 4 The ball screw 76 is rotated, which allows the frame 751 to move along the X direction (the extension direction of the shelf 11).

[0086] Furthermore, a second rotation measurement sensor 751b is provided on the second motor 751a to measure the rotation of the ball screw 76. Figure 4 The second rotation measurement sensor 751b is, for example, an encoder.

[0087] The first arm 753 extends and retracts relative to the first main body 73a in the Y direction via an arm guide rail (not shown) provided on the first main body 73a. The first arm 753 is fixed to the side of the first main body 73a (the front side of the traveling carriage 7) and cannot move in the X direction. A component (not shown) is provided on the first arm 753 that engages with the spline of the spline component 77 extending in the X direction. Furthermore, a third motor 77a is provided on the traveling carriage 7 to rotate the spline component 77. Figure 4 By rotating the spline component 77 using the third motor 77a, the first arm 753 can be moved (extended) in the Y direction.

[0088] Furthermore, the first arm 753 can move in the positive direction of the Y-axis ( Figure 3The telescoping mechanism (Y-axis arrow direction) can also extend and retract in the opposite negative direction. Thus, the transfer device 75 can transfer goods W between any shelf 11 positioned across the guide rail 7a.

[0089] Hooks 753a are provided at both ends of the first arm 753 in the Y direction, rotatable about an axis extending in the Y direction. When transferring cargo W, the hooks 753a rotate relative to the first arm 753 such that their length direction is oriented in the X direction, and hook the cargo W from behind. On the other hand, when not transferring cargo W, such as... Figure 3 As shown, hook 753a is in a state where its length direction is oriented towards the Z direction.

[0090] The second arm 755 is mounted on the frame 751 and moves along the X direction as the frame 751 moves along the X direction. That is, the second arm 755 can move along the X direction on the side of the second main body 73b, i.e., the rear side of the traveling carriage 7. The second arm 755 extends and retracts relative to the frame 751 in the Y direction via an arm guide rail (not shown) mounted on the frame 751. The second arm 755, like the first arm 753, is provided with a component (not shown) that engages with the spline of the spline member 77 extending along the X direction, for example, by utilizing a third motor 77a (…). Figure 4 Rotating the spline component 77 allows the second arm 755 to move (extend) along the Y direction together with the first arm 753.

[0091] Hooks 755a are provided at both ends of the second arm 755 in the Y direction, rotatable about an axis extending in the Y direction. When transferring cargo W, the hooks 755a rotate relative to the second arm 755 such that their length direction is oriented in the X direction, and hook the cargo W from behind. On the other hand, when cargo W is not being transferred, such as... Figure 3 As shown, hook 755a is positioned with its length direction facing the Z direction.

[0092] On a pair of guide members 71, one of a pair of mounting members 757 is disposed on the side of the first arm 753, and the other is disposed on the side of the second arm 755. The pair of mounting members 757 are components for mounting the cargo W transferred to the transfer device 75.

[0093] When using the transfer device 75 with the above structure to transfer goods W, the second arm 755 is moved along the X direction based on the width of the goods W to be transferred, to adjust the interval (called the arm interval) between the first arm 753 and the second arm 755. Then, the length direction of the hooks 753a and 755a is oriented towards the X direction. That is, the hooks 753a and 755a are closed. By placing the goods W between the first arm 753 and the second arm 755, closing the hooks 753a and 755a, and pulling the first arm 753 and the second arm 755 together toward the transfer device 75, the goods W can be transferred.

[0094] (2-4) Cargo detection sensors

[0095] The traveling carriage 7 also includes a sensor for measuring the width of the outgoing goods W1 in the X direction when performing outgoing travel for goods W1 to be taken out of the shelf 11. Specifically, the traveling carriage 7 also includes a first goods detection sensor 78 (an example of a first sensor) and a second goods detection sensor 79 (an example of a second sensor) for detecting goods W placed on the shelf 11.

[0096] The first cargo detection sensor 78 is disposed on the side of the first arm 753. Specifically, the first cargo detection sensor 78 is installed in the first main body 73a at a position adjacent to the first arm 753. In this embodiment, the first cargo detection sensor 78 is disposed at both ends in the Y direction of the first main body 73a, and is capable of detecting cargo W placed on either of a pair of shelves 11 arranged with the guide rail 7a between them.

[0097] The first cargo detection sensor 78 is, for example, a light reflection type sensor such as a photoelectric sensor. The first cargo detection sensor 78 detects the cargo W by emitting visible or infrared light along the Y direction and receiving reflected light from the cargo W. Furthermore, if the light does not illuminate the cargo W, the first cargo detection sensor 78 will not receive the reflected light.

[0098] The second cargo detection sensor 79 is located on the side of the second arm 755. Specifically, the second cargo detection sensor 79 is mounted on the frame 751 at a position adjacent to the second arm 755 and can move together with the second arm 755 in the X direction. In this embodiment, the second cargo detection sensor 79 is located at both ends of the frame 751 in the Y direction and can detect cargo W placed on either of a pair of shelves 11 arranged with guide rails 7a between them.

[0099] The second cargo detection sensor 79 is, for example, a light reflection type sensor such as a photoelectric sensor. The second cargo detection sensor 79 detects the cargo W by emitting visible or infrared light along the Y direction and receiving reflected light from the cargo W. Furthermore, if the light does not illuminate the cargo W, the second cargo detection sensor 79 will not receive the reflected light.

[0100] (3) Control structure of automated warehouse

[0101] use Figure 4 To illustrate the control structure of the automated warehouse 100. Figure 4 This is a functional block diagram representing the control structure of the automated warehouse 100. For example... Figure 4 As shown, the automated warehouse 100 has a host controller 51 and a transfer controller 53 (an example of a slave controller).

[0102] The host controller 51 is a controller that manages the storage and inbound / outbound operations of goods W in the automated warehouse 100. For example, based on a schedule for managing the inbound / outbound operations of goods W, the host controller 51 sends a transport instruction to the transport controller 53, instructing the traveling trolley 7 to move goods W. The transport instruction includes information related to the width of the goods W in the X direction and the placement position of the goods W on the shelf 11.

[0103] The host controller 51 is a computer system with a processor (e.g., CPU), storage devices (e.g., ROM, RAM, HDD, SSD, etc.), and various interfaces (e.g., A / D converter, D / A converter, communication interface, etc.). The host controller 51 can perform various control actions by executing programs stored in the storage unit (corresponding to part or all of the storage area of ​​the storage device), or it can implement some control actions using the hardware included in the controller.

[0104] The host controller 51 can be implemented by a single computer system or by separate computer systems.

[0105] The transfer controller 53 is a device installed on each traveling carriage 7 and controls the traveling carriage 7 based on transfer commands from the host controller 51. Furthermore, communication between the host controller 51 and the transfer controller 53 is conducted wirelessly. The first motor 731a of the traveling carriage 7, the second motor 751a of the transfer device 75, and the third motor 77a of the transfer device 75 are connected to the transfer controller 53. The transfer controller 53 can control these motors based on transfer commands.

[0106] Additionally, a slit detection sensor 7b and a first rotation measurement sensor 731b are connected to the transport controller 53. The transport controller 53 is able to receive output signals from these sensors. The transport controller 53 determines the position of the traveling carriage 7 in the X direction based on the detection result of the slit detected by the slit detection sensor 7b and the rotation amount of the wheel 731 measured by the first rotation measurement sensor 731b.

[0107] A second rotation measurement sensor 751b is connected to the transport controller 53. The transport controller 53 is able to receive the output signal from the second rotation measurement sensor 751b. The transport controller 53 determines the position of the frame 751 (second arm 755) on the traveling trolley 7 based on the rotation amount of the ball screw 76 measured by the second rotation measurement sensor 751b.

[0108] A first cargo detection sensor 78 and a second cargo detection sensor 79 are connected to the conveying controller 53. The conveying controller 53 can receive output signals from these sensors. The conveying controller 53 calculates the width of the cargo W based on the detection result of the cargo W by the first cargo detection sensor 78 or the second cargo detection sensor 79 and the position of the traveling carriage 7 in the X direction.

[0109] The transfer controller 53 is a computer system having a processor (e.g., CPU), storage devices (e.g., ROM, RAM, HDD, SSD, etc.), and various interfaces (e.g., A / D converter, D / A converter, communication interface, etc.). The transfer controller 53 can perform various control actions by executing programs stored in the storage unit (corresponding to part or all of the storage area of ​​the storage device), or it can implement some control actions using the hardware included in these controllers.

[0110] The transfer controller 53 can be implemented by a single computer system or by separate computer systems.

[0111] In the control structure of the automated warehouse 100 described above, although not shown, a separate controller is provided to connect and control the lifting and conveying device 3 and the inbound / outbound station 5. In addition, although not shown, other sensors, switches, and information input devices for detecting the status of each device are connected to the host controller 51 and / or the conveying controller 53.

[0112] Furthermore, the conveying controller 53 may not be located on the traveling carriage 7, but rather be an independent computer system separate from the traveling carriage 7. In this case, for example, the motor controllers controlling the first motor 731a, the second motor 751a, and the third motor 77a may be located on the traveling carriage 7, and signals may be transmitted and received between the conveying controller 53 and the various sensors of the traveling carriage 7 and the aforementioned motor controllers via wireless communication.

[0113] (4) Operations of the automated warehouse

[0114] (4-1) Goods outbound operations

[0115] use Figure 5 This will illustrate the outbound operation of goods W in the automated warehouse 100 with the above structure. Figure 5 This is a flowchart illustrating the outbound operation of goods W. When a transport instruction to remove goods W from the warehouse is sent from the host controller 51 to the transport controller 53 of the traveling trolley 7, which is configured to correspond to the shelf 11 carrying the outbound goods W1, the traveling trolley 7 begins the outbound operation.

[0116] When the outbound operation begins, the transport controller 53, in step S1, causes the traveling trolley 7 to move out of the warehouse to a position corresponding to the loading position of the outbound goods W1 on the shelf 11. This position corresponding to the loading position of the outbound goods W1 on the shelf 11 is the stopping position of the traveling trolley 7 when the outbound goods W1 enters the warehouse, and is determined by the positional relationship between the position of the first arm 753 (first goods detection sensor 78) in the X direction and the end of the outbound goods W1 in the positive direction of the X direction.

[0117] When the outbound journey begins, the transport controller 53, which receives the transport instruction, moves the second arm 755 in the X direction in step S2 based on the information related to the width of the outbound goods W1 contained in the received transport instruction, so as to change the arm spacing between the first arm 753 and the second arm 755.

[0118] Specifically, the conveying controller 53 moves the second arm 755 such that the arm gap is larger than a predetermined amount than the value indicated by information related to the width of the outbound goods W1. This information related to the width of the outbound goods W1 can be obtained, for example, by extracting the width information of the outbound goods W1 from master data containing width information for each goods W, or by directly using information related to the width of the outbound goods W1 upon entry into the warehouse. Furthermore, the predetermined amount of the arm gap is the size that creates a slight gap between the outbound goods W1 and the arm, and can be set, for example, to 15 mm.

[0119] During the outbound movement of the moving trolley 7, the transport controller 53 uses either the first cargo detection sensor 78 or the second cargo detection sensor 79 in step S3 to determine the width of the outbound cargo W1. The determination of the width of the outbound cargo W1 is performed using the cargo detection sensor located at the front of the trolley in the direction of travel of the first cargo detection sensor 78 and the second cargo detection sensor 79. The determination of the width of the outbound cargo W1 will be explained in detail later.

[0120] After measuring the width of the outbound goods W1, the transport controller 53 determines in step S4 whether the measured value of the width of the outbound goods W1 measured by the goods detection sensor deviates significantly from the width value shown in the information related to the width of the outbound goods W1 contained in the transport instruction.

[0121] Specifically, it is determined whether the absolute value of the difference between the measured width of the outgoing goods W1 and the width value shown in the information related to the width of the outgoing goods W1 is below a first predetermined value. The first predetermined value can be set, for example, as the degree to which the first arm 753 and / or the second arm 755 will not interfere with the goods W and / or the column of the shelf 11 adjacent to the outgoing goods W1, or a value of about a few percent of the outgoing goods W1.

[0122] If the absolute value of the aforementioned difference is greater than the first predetermined value ("No" in step S4), the transport controller 53 determines that the measured width of the outbound goods W1 deviates significantly from the width value indicated by the information related to the width of the outbound goods W1. In this case, the outbound action of the outbound goods W1 proceeds to the retry action in step S10. As described later, in the retry action, the width of the outbound goods W1 is remeasured, and a predetermined action is performed based on the remeasurement result.

[0123] On the other hand, if the absolute value of the difference between the measured value of the width of the outbound goods W1 and the width value shown in the information related to the width of the outbound goods W1 is less than or equal to a first predetermined value ("Yes" in step S4), the transport controller 53 determines that the measured value of the width of the outbound goods W1 is close to the width value shown in the information related to the width of the outbound goods W1.

[0124] If the measured width of the outbound goods W1 is determined to be close to the width value shown in the information related to the width of the outbound goods W1, the transport controller 53 determines in step S5 whether the actual placement position of the outbound goods W1 on the shelf 11 deviates from the specified position (e.g., the placement position of the outbound goods W1 on the shelf 11 shown in the transport instruction).

[0125] Regarding whether the actual placement position of outbound goods W1 deviates from the specified position, it can be determined, for example, by the following: whether the position of the goods detection sensor at the rear end of outbound goods W1, under timed conditions and at the front side of the travel direction, deviates from the position of the front end of outbound goods W1 in the X direction calculated based on the information contained in the transport instruction.

[0126] If it is determined that the actual placement position of the outbound goods W1 on the shelf 11 deviates from the specified position ("Yes" in step S5), the outbound action of the outbound goods W1 proceeds to the retry action in step S10.

[0127] On the other hand, if it is determined that the measured value of the width of the outgoing goods W1 is close to the width value shown in the information related to the width of the outgoing goods W1 ("Yes" in step S4) and the actual placement position of the outgoing goods W1 on the shelf 11 does not deviate from the specified position ("No" in step S5), the outgoing goods W1 is transferred from the shelf 11 to the traveling trolley 7.

[0128] The following uses Figure 5 and Figure 6A to Figure 6D This will illustrate the specific actions of transferring outbound goods W1 from shelf 11 to traveling trolley 7. Figure 6A This diagram illustrates an example of the state of the traveling trolley 7 after it reaches the position corresponding to the loading position of the outgoing goods W1. Figure 6B This is a diagram illustrating an example of the state after the first arm 753 and the second arm 755 are extended toward the outgoing goods W1. Figure 6C This is a diagram illustrating an example of the state after hooks 753a and 755a have been activated. Figure 6D This diagram illustrates an example of the state of goods W1 after they have been pulled into the traveling trolley 7.

[0129] like Figure 6A As shown, after the traveling trolley 7 reaches the position corresponding to the loading position of the outgoing goods W1, in step S6, the conveying controller 53, while maintaining the current arm spacing and the positions of the first arm 753 and the second arm 755 as adjusted in step S2, extends the first arm 753 and the second arm 755 toward the outgoing goods W1. Figure 6A In the example, the first arm 753 and the second arm 755 are extended in the positive direction of the Y-axis.

[0130] Furthermore, in this embodiment, the entry and exit positions of the goods W are determined based on the fixed first arm 753. Therefore, whether the traveling trolley 7 has reached the position corresponding to the loading position of the outgoing goods W1 can be determined based on the position of the first arm 753 in the X direction.

[0131] After extending the first arm 753 and the second arm 755 in the positive direction of the Y-axis, the conveying controller 53, in step S7, directs the length direction of the hooks 753a and 755a toward the space between the first arm 753 and the second arm 755, as shown below. Figure 6C The diagram shows how hooks 753a and 755a are made to be in the closed state.

[0132] After hooks 753a and 755a are closed, in step S8 the transport controller 53 uses hooks 753a and 755a to push the outbound goods W1 toward the traveling trolley 7 by pulling the first arm 753 and the second arm 755 toward the traveling trolley 7.

[0133] By performing the above steps S6 to S8, as follows Figure 6D As shown, it can transfer outbound goods W1 to the traveling trolley 7 (transfer device 75).

[0134] After the outbound goods W1 are transferred onto the traveling trolley 7, in step S9, the transfer controller 53 causes the traveling trolley 7 carrying the outbound goods W1 to travel along the X direction to the designated position of the relay conveyor 13, thereby transferring the outbound goods W1 to the designated position of the relay conveyor 13. Then, the outbound goods W1 are removed from the warehouse by being transferred from the traveling trolley 7 to the relay conveyor 13 by the transfer device 75.

[0135] As described above, in the transfer device 75 of this embodiment, firstly, the arm spacing between the first arm 753 and the second arm 755 is adjusted to be only a predetermined amount larger than the width of the outgoing goods W1. Then, while maintaining the adjusted arm spacing, the first arm 753 and the second arm 755 are moved forward and backward in the Y direction to pull in the outgoing goods W1. As a result, when the outgoing goods W1 are removed from the warehouse, since it is no longer necessary to move the arms to clamp the outgoing goods W1 and then move the arms again to ensure a gap between the outgoing goods W1 and the arms, the time spent transferring the outgoing goods W1 during the outgoing process can be shortened.

[0136] (4-2) Measurement of the width of outbound goods

[0137] The following is about... Figure 5 The measurement of the width of the outbound goods W1 performed in step S3 will be described in detail. In this embodiment, the measurement of the width of the outbound goods W1 is performed using a goods detection sensor located at the front of the traveling direction of the traveling carriage 7 as the traveling carriage 7 travels to the position corresponding to the loading position of the outbound goods W1. The traveling direction of the traveling carriage 7 refers to the direction in which the traveling carriage 7 travels due to the outbound movement. Specifically, when the outbound goods W1 is on the positive X-axis side relative to the current position of the traveling carriage 7, the traveling direction is the positive X-axis direction. On the other hand, when the outbound goods W1 is on the negative X-axis side relative to the current position of the traveling carriage 7, the traveling direction is the negative X-axis direction.

[0138] As a result of outbound travel, whether the direction of travel is the positive or negative direction of the X-axis can be determined, for example, based on the relative position of the loading position of the outbound goods W1 with respect to the traveling carriage 7 contained in the transport instruction, and the rotation direction of the wheels 731 during outbound travel.

[0139] Furthermore, when the direction of travel is the positive direction of the X-axis, the cargo detection sensor located at the front of the travel direction of the traveling carriage 7 is the first cargo detection sensor 78. On the other hand, when the direction of travel is the negative direction of the X-axis, the cargo detection sensor located at the front of the travel direction of the traveling carriage 7 is the second cargo detection sensor 79.

[0140] use Figure 7 Let me explain in detail the measurement of the width of the outbound goods W1. Figure 7 This is a flowchart showing the measurement action of the width of the outbound goods W1.

[0141] During the outbound journey of the trolley 7, the transport controller 53 determines in step S31 whether the cargo detection sensor located at the front of the outbound journey direction has detected the rear end of the outbound cargo W1.

[0142] The rear end of the outbound goods W1 is located on the opposite side of the travel direction of the outbound travel trolley 7 when viewed from the perspective of the outbound travel trolley 7. Therefore, when the outbound goods W1 are detected by the goods detection sensor located at the front of the travel direction, the rear end of the outbound goods W1 will be detected first.

[0143] Specifically, for example, when the cargo detection sensor is a light reflection type sensor, the timing at which the cargo detection sensor located at the front of the travel direction initially detects the reflected light from the outgoing cargo W1 becomes the timing for detecting the rear end of the outgoing cargo W1. For example, the rising timing of the output signal from this cargo detection sensor becomes the timing for detecting the rear end of the outgoing cargo W1.

[0144] When the cargo detection sensor located at the front of the direction of travel detects the rear end of the outgoing cargo W1 ("Yes" in step S31), the transport controller 53 obtains in step S32 the position of the traveling trolley 7 at the time when the rear end of the outgoing cargo W1 is detected (referred to as the first trolley position) and the position of the second arm 755 on the traveling trolley 7 at the time when the rear end of the outgoing cargo W1 is detected (referred to as the first position).

[0145] Next, in step S33, the transport controller 53 further determines whether the cargo detection sensor located at the front of the travel direction has detected the front end of the outbound cargo W1. The front end of the outbound cargo W1 is the end located on the travel direction side of the outbound trolley 7 when viewed from the perspective of the outbound trolley 7. Therefore, if the outbound cargo W1 is detected by the cargo detection sensor located at the front of the travel direction, the front end of the outbound cargo W1 will be detected last.

[0146] Specifically, for example, when the cargo detection sensor is a light reflection type sensor, the timing at which the cargo detection sensor located at the front of the travel direction no longer detects the reflected light from the outgoing cargo W1 becomes the timing for detecting the front end of the outgoing cargo W1. More specifically, for example, the timing of the descent of the output signal from the cargo detection sensor becomes the timing for detecting the front end of the outgoing cargo W1.

[0147] When the cargo detection sensor located at the front of the direction of travel detects the front end of the outgoing cargo W1 ("Yes" in step S33), the transport controller 53 obtains in step S34 the position of the traveling trolley 7 at the time when the front end of the outgoing cargo W1 is detected (referred to as the second trolley position) and the position of the second arm 755 on the traveling trolley 7 at the time when the front end of the outgoing cargo W1 is detected (referred to as the second position).

[0148] After acquiring the position of the first vehicle and the first location at the timed end of detecting outbound goods W1, and the position of the second vehicle and the second location at the timed end of detecting outbound goods W1, the transport controller 53 uses this position information to calculate the width of outbound goods W1.

[0149] As described above, the position of the first cargo detection sensor 78, which is fixed to the first main body 73a, on the traveling carriage 7 does not change. On the other hand, the position of the second cargo detection sensor 79, which is fixed to the frame 751, on the traveling carriage may change. Therefore, when calculating the width of the outbound cargo W1, the transport controller 53 determines in step S35 whether the cargo detection sensor located at the front in the direction of travel is the first cargo detection sensor 78 or the second cargo detection sensor 79.

[0150] When the first cargo detection sensor 78 is located at the front of the travel direction (referred to as "first sensor" in step S35), since the position of the first cargo detection sensor 78 on the traveling carriage 7 does not change, the distance traveled by the traveling carriage 7 from the rear end of the detected outbound cargo W1 to the front end is consistent with the distance from the rear end to the front end of the outbound cargo W1, i.e., the width of the outbound cargo W1.

[0151] Therefore, when the first cargo detection sensor 78 is located at the front of the travel direction and the width of the outgoing cargo W1 is determined by the first cargo detection sensor 78, the transport controller 53 calculates the distance traveled by the traveling trolley 7 from the rear end of the outgoing cargo W1 to the front end of the outgoing cargo W1 in step S36, that is, the difference between the position of the first trolley and the position of the second trolley, as the width of the outgoing cargo W1.

[0152] On the other hand, when the second cargo detection sensor 79 is located at the front of the travel direction (referred to as "second sensor" in step S35), since the position of the second cargo detection sensor 79 on the traveling carriage 7 may change, the distance traveled by the traveling carriage 7 from the rear end of the detected outgoing cargo W1 to the front end is not necessarily consistent with the width of the outgoing cargo W1.

[0153] Therefore, when the second cargo detection sensor 79 is located at the front of the travel direction and the width of the outgoing cargo W1 is determined by the second cargo detection sensor 79, the transport controller 53, in step S37, considers the position of the second arm 755 on the traveling carriage 7 when the rear end of the outgoing cargo W1 is detected (first position) and the position of the second arm 755 on the traveling carriage 7 when the front end of the outgoing cargo W1 is detected (second position) in addition to the positions of the first carriage and the second carriage, to calculate the width of the outgoing cargo W1.

[0154] Specifically, for example, the reference position of the traveling trolley 7 is defined as the installation position of the first cargo detection sensor 78, and the position of the second arm 755 on the traveling trolley 7 is defined as the position of the second cargo detection sensor 79 relative to the above reference position in the X direction (the negative direction of the X axis). If the reference position (first trolley position) of the traveling trolley 7 is X1, and the distance between the position of the second arm 755 on the traveling trolley 7 (first position) and the reference position of the traveling trolley 7 is a1, and the rear end of the outgoing cargo W1 is detected by the second cargo detection sensor 79, then the position of the rear end of the outgoing cargo W1 in the X direction can be calculated as X1 - a1. Figure 8A This is a diagram illustrating an example of the state of the rear end of outbound goods W1 detected by the second cargo detection sensor 79.

[0155] On the other hand, such as Figure 8B As shown, if the reference position (second carriage position) of the traveling carriage 7 is X2 and the distance between the position of the second arm 755 on the traveling carriage 7 (second position) and the reference position of the traveling carriage 7 is a2, the front end of the outgoing cargo W1 is detected by the second cargo detection sensor 79, and the position of the front end of the outgoing cargo W1 in the X direction can be calculated as X2-a2. Figure 8B This is a diagram illustrating an example of the state of the front end of outbound goods W1 detected by the second cargo detection sensor 79.

[0156] The width of the outbound goods W1 can be calculated as the difference between the positions of its front and rear ends. Therefore, Figure 8A and Figure 8B In the case shown, the width of the outbound goods W1 can be calculated as the absolute value of (X2-a2)-(X1-a1).

[0157] The formula (X2 - a2) - (X1 - a1) for the width of the outgoing goods W1 can be rewritten as (X2 - X1) - (a2 - a1). Here, X2 - X1 corresponds to the amount of movement of the traveling carriage 7 from the detection of the rear end of the outgoing goods W1 to the detection of the front end. On the other hand, a2 - a1 corresponds to the amount of movement of the second arm 755 from the detection of the rear end of the outgoing goods W1 to the detection of the front end. Therefore, the width of the outgoing goods W1 can also be expressed as the difference between the amount of movement of the traveling carriage 7 from the detection of the rear end of the outgoing goods W1 to the detection of the front end and the amount of movement of the second arm 755. By using the above formula to calculate the width of the outgoing goods W1, the width of the outgoing goods W1 can be measured even when the distance between the position of the second arm 755 and the reference position of the traveling carriage 7 changes during the movement of the second arm 755 relative to the traveling carriage 7.

[0158] Furthermore, for example, if the movement of the second arm 755 is completed before the start of the outbound journey, or if the distance from the start of the outbound journey to the start of the measurement of the outbound cargo W1 is long enough to allow the second arm 755 to move in the X direction, the width of the outbound cargo W1 can be calculated as X2 - X1 using only the reference position of the traveling carriage 7 at the timing when the rear end and front end of the outbound cargo W1 are detected by the second cargo detection sensor 79. This is because in such cases, a2 - a1 = 0.

[0159] By performing the above steps S31 to S37, the width of the outgoing cargo W1 can be accurately determined using the first cargo detection sensor 78 or the second cargo detection sensor 79 located on the front side of the traveling carriage 7 in the direction of travel as it leaves the warehouse.

[0160] Furthermore, since the travel direction of the traveling trolley 7 is known before the width of the outgoing goods W1 is measured, it is possible to determine which of the first goods detection sensor 78 and the second goods detection sensor 79 should be used to measure the width of the outgoing goods W1 before measuring its width. Therefore, if it is determined that the first goods detection sensor 78 will be used to measure the width of the outgoing goods W1 before measuring its width, the transport controller 53 may not need to obtain the first position in step S32 or the second position in step S34.

[0161] (4-3) Retry the action

[0162] (4-3-1)Overview

[0163] The following is about... Figure 5The retry operation performed in step S10 will be described in detail. As described above, a retry operation is performed when there is a deviation between the result obtained by measuring the width of the outbound goods W1 using the goods detection sensor and the information shown in the transport instruction. In addition, the retry operation includes re-measuring the width of the outbound goods W1 and a prescribed operation based on the re-measuring result. Hereinafter, the retry operation when the measured width of the outbound goods W1 deviates from the width value shown in the transport instruction and the retry operation when a deviation of the goods is detected will be described separately.

[0164] (4-3-2) Retry action when the width measurement result deviates from the width value of the transport command.

[0165] use Figure 9 This explains the retry action performed when the measured width of outbound goods W1 deviates from the width value indicated in the transport instruction, that is, when the absolute value of the difference between the measured width of outbound goods W1 and the width value indicated in the information related to the width of outbound goods W1 is greater than or equal to a first predetermined value ("No" in step S4 above). Figure 9 This is a flowchart illustrating the retry procedure when the measured width of outbound goods W1 deviates from the width value indicated in the transport instruction. In the following description, [the following will be used to describe the process]. Figure 3 The positive direction of the X-axis is called the "first direction", and the negative direction of the X-axis, which is opposite to the first direction, is called the "second direction".

[0166] The retry operation begins with a remeasurement of the width of the outbound goods W1. During the retry operation, when the width of the outbound goods W1 is remeasured, the transport controller 53 moves the traveling carriage 7 to a position deviating from the loading position of the outbound goods W1 whose width is to be remeasured. This movement depends on the following: the outbound goods W1 whose width is to be remeasured is as follows... Figure 10A The layout center of the shelf 11 shown (e.g., the middle position in the extension direction of the shelf 11) is placed on the side closer to the end of the shelf 11 in the first direction than the end of the shelf 11 in the second direction, or as... Figure 10B The shelf shown is placed on the side closer to the second direction side of the shelf 11 than the first direction side end of the shelf 11. Figure 10A This is a diagram illustrating an example of a condition in which outbound goods W1 are placed on the side of shelf 11 closer to the end of shelf 11 in the first direction than the end of shelf 11 in the second direction. Figure 10B This is a diagram illustrating an example of a condition in which outbound goods W1 are placed on the side of shelf 11 closer to the end of shelf 11 in the second direction than the end of shelf 11 in the first direction.

[0167] Therefore, in step S101, the transport controller 53 first determines, with reference to the transport instruction, whether the layout center of the outbound goods W1 whose width is to be remeasured is placed on the side closer to the first direction side end of the shelf 11 than the second direction side end of the shelf 11, or on the side closer to the second direction side end than the first direction side end of the shelf 11.

[0168] When the outbound cargo W1, whose width is to be remeasured, is placed on the side of the shelf 11 closer to the end of the shelf 11 in the first direction than the end of the shelf 11 in the second direction (referred to as the "first direction side" in step S101), the transport controller 53 causes the traveling trolley 7 to travel a first distance d1 from the end of the outbound cargo W1 in the second direction in the second direction in step S102.

[0169] The aforementioned first distance d1 only needs to be a distance such that the cargo detection sensor used to remeasure the width of the outbound cargo W1 is located outside the outbound cargo W1. In addition, the position (XA) of the boundary A of the second direction side of the scanning detection range of the outbound cargo W1 in the X direction can also be the same as the position of the cargo detection sensor used for remeasurement in the X direction.

[0170] Specifically, such as Figure 11A As shown, the traveling carriage 7 is driven in such a way that the first cargo detection sensor 78 of the traveling carriage 7 is located at a position separated by a first distance d1 from the boundary A of the second direction side of the scanning detection range of the outgoing cargo W1 in the second direction. Figure 11A This diagram illustrates an example of the state after the traveling trolley 7 moves in the second direction when the width of the outgoing goods W1 is remeasured.

[0171] More specifically, when the boundary A of the second direction side of the scanning detection range of outbound goods W1 is set to XA in the X direction, the traveling trolley 7 is made to travel in the second direction until the position of the first goods detection sensor 78 in the X direction (the position of the traveling trolley 7 in the X direction) becomes XA-d1.

[0172] Furthermore, the scanning detection range of cargo W is defined as the position range of the traveling trolley 7 capable of detecting cargo W by the cargo detection sensor. In this embodiment, cargo W classified according to the same size is placed on a shelf 11. In addition, since the above-mentioned scanning detection range is determined according to the size classification of cargo W placed on the shelf 11, a scanning detection range of the same range is determined for a shelf 11.

[0173] like Figure 11AAs shown, when the traveling trolley 7 moves in the second direction to a position XA-d1 in the X direction for the first cargo detection sensor 78, the first cargo detection sensor 78 is positioned at a position separated by a first distance d1 from the boundary A of the second direction side of the scanning detection range of the outgoing cargo W1 in the second direction. As a result, the first cargo detection sensor 78 exists at a position further offset from the end of the outgoing cargo W1 in the second direction side. That is, the first distance d1 corresponds to the distance the first cargo detection sensor 78 exists in the second direction side relative to the end of the outgoing cargo W1 when the traveling trolley 7 moves in the second direction.

[0174] On the other hand, when the outbound goods W1, whose width is to be remeasured, is placed on the side of the shelf 11 closer to the end of the shelf 11 in the second direction than the end of the shelf 11 in the first direction (referred to as the "second direction side" in step S101), the transport controller 53 causes the traveling trolley 7 to travel a distance from the end of the outbound goods W1 in the first direction in the first direction in step S103, which is equivalent to the sum of the width value shown in the information related to the width of the outbound goods W1 contained in the transport command and the aforementioned first distance d1.

[0175] Specifically, such as Figure 11B As shown, the traveling carriage 7 is moved in a first direction such that the first cargo detection sensor 78 is located in a position that separates the traveling carriage 7 from the boundary B of the first direction side of the scanning detection range of the outgoing cargo W1 by a first distance d1 in the first direction, and further separates it by a distance equivalent to the width value d2 of the outgoing cargo W1 included in the transport instruction in the first direction. Figure 11B This diagram illustrates an example of the state after the traveling trolley 7 moves in the first direction when the width of the outgoing goods W1 is remeasured.

[0176] More specifically, when the position of the boundary B of the second direction side of the scanning detection range of the outbound goods W1 in the X direction is set to XB, and the width value shown in the information related to the width of the outbound goods W1 contained in the transport instruction is set to d2, the traveling trolley 7 travels in the first direction until the position of the first goods detection sensor 78 in the X direction (the position of the traveling trolley 7 in the X direction) becomes XB+d1+d2.

[0177] like Figure 11BAs shown, when the traveling trolley 7 moves in the first direction to the position of the first cargo detection sensor 78 in the X direction as XB+d1+d2, the second cargo detection sensor 79 is positioned at a position separated from the boundary B of the first direction side of the scanning detection range of the outgoing cargo W1 by a first distance d1 in the first direction. As a result, it exists at a position that is further deviated from the end of the outgoing cargo W1 in the first direction side in the first direction side.

[0178] Furthermore, during the travel of the aforementioned trolley 7 in the first direction, the transport controller 53 moves the second arm 755 so that the arm spacing between the first arm 753 and the second arm 755 is consistent with the width value shown in the information related to the width of the outbound goods W1 contained in the transport command.

[0179] By performing steps S101 to S103 as described above when remeasuring the width of the outgoing goods W1, the traveling trolley 7 can be moved in the opposite direction to the end of the shelf 11 where the outgoing goods W1 are placed. Therefore, when the outgoing goods W1 are placed on the shelf 11 on the side closer to one end than the other end in the extended direction of the shelf 11, the traveling trolley 7 can be prevented from moving further towards the other end of the shelf 11 when remeasuring the outgoing goods W1, and the width of the outgoing goods W1 can be remeasuring simultaneously. As a result, it is no longer necessary to install a guide rail 7a on the other end side relative to the area on the shelf 11 where the goods W can be placed (the area corresponding to the travel path of the traveling trolley 7) for remeasuring the outgoing goods W1.

[0180] For example, when outbound goods W1, whose width is to be remeasured, are placed at the end of the first direction relative to the end of the shelf 11 in the second direction, assuming that the traveling trolley 7 is moved in the first direction for the purpose of remeasurement, such as... Figure 12 As shown, the traveling trolley 7 travels beyond the end of the shelf 11 in the first direction. In this case, in order for the traveling trolley 7 to travel further in the first direction beyond the end of the shelf 11 in the first direction, a guide rail 7a that extends further in the first direction than the area on the shelf 11 where the goods W can be placed (the end in the first direction) needs to be provided. Figure 12 This diagram illustrates an example of a state in which the traveling carriage 7 is moved further in the first direction for the purpose of remeasurement when the outbound goods W1, whose width is to be remeasured, is placed at the end of the shelf 11 on the first direction side.

[0181] return Figure 9After the traveling trolley 7 is moved to the appropriate position through the execution of steps S101 to S103, the transport controller 53 causes the traveling trolley 7 to move from that position to the position corresponding to the loading position of the outgoing goods W1 in step S104. Furthermore, in order to accurately remeasure the outgoing goods W1, the outgoing movement performed in step S104 is performed at a reduced speed compared to the normal outgoing movement performed in step S3.

[0182] Furthermore, when the outbound goods W1, whose width is to be remeasured, is placed on the side near the end of the shelf 11 in the first direction, the travel carriage 7 is further located on the second direction side relative to the end of the outbound goods W1 in the second direction side, so the travel carriage 7 travels in the first direction as the direction of travel.

[0183] On the other hand, when the outbound goods W1, whose width is to be remeasured, is placed on the side near the end of the shelf 11 in the second direction, the travel carriage 7 is further present on the first direction side relative to the end of the outbound goods W1 in the first direction side, so the travel carriage 7 travels in the second direction as the direction of travel.

[0184] During the outbound journey in step S104, the transport controller 53 executes steps S31 to S37 in step S105 to re-measure the width of the outbound goods W1 using the goods detection sensor.

[0185] Furthermore, when the outbound cargo W1, whose width needs to be remeasured, is placed on the side near the end of the shelf 11 in the first direction, the width of the outbound cargo W1 is remeasured using the first cargo detection sensor 78 since the traveling trolley 7 travels in the first direction.

[0186] On the other hand, when the outbound cargo W1, whose width needs to be remeasured, is placed on the side near the end of the shelf 11 in the second direction, the width of the outbound cargo W1 is remeasured using the second cargo detection sensor 79 since the traveling trolley 7 travels in the second direction as the direction of travel.

[0187] After remeasuring the width of the outbound goods W1, the transport controller 53 performs a prescribed action based on the remeasuring result. Specifically, the transport controller 53 performs different processing depending on whether the remeasuring value of the width of the outbound goods W1 is greater than or less than the width value shown in the information related to the width of the outbound goods W1 contained in the transport instruction. Therefore, after remeasuring the width of the outbound goods W1, in step S106, the transport controller 53 determines whether the remeasuring value of the width of the outbound goods W1 is greater than or less than the width value shown in the information related to the width of the outbound goods W1 contained in the transport instruction.

[0188] If the remeasured width of the outbound goods W1 is less than the width value shown in the information related to the width of the outbound goods W1 ("Yes" in step S106), that is, if the actual width of the outbound goods W1 is less than the width shown in the transport instruction, in step S107, the transport controller 53 moves the second arm 755 from the state where the arm spacing has been adjusted to a first spacing that is a predetermined amount larger than the value shown in the information related to the width of the outbound goods W1 through the execution of the above step S2, and adjusts the arm spacing between the first arm 753 and the second arm 755 to be a predetermined amount larger than the remeasured width of the outbound goods W1.

[0189] Subsequently, in step S108, the transfer controller 53 executes the above steps S6 to S9, maintaining the arm spacing between the first arm 753 and the second arm 755 at the spacing adjusted in step S107, and simultaneously pulling the outbound goods W1 into the side of the traveling trolley 7 for transfer.

[0190] As mentioned above, when starting the outbound driving process, execute... Figure 5 In step S2, the arm spacing is adjusted to a first spacing that is a predetermined amount larger than the value shown in the information related to the width of the outbound goods W1 contained in the transport instruction. Then, from the state after adjusting the arm spacing to the first spacing, the arm spacing is adjusted to a predetermined amount larger than the width of the outbound goods W1 shown in the remeasurement result. As a result, the movement distance of the second arm 755 when adjusting the arm spacing based on the remeasurement result can be shortened.

[0191] By shortening the travel distance of the second arm 755 when adjusting the arm spacing based on the remeasurement results, even if the time from the completion of the width measurement of the outbound goods W1 to the stopping of the traveling trolley 7 is short, the transfer of the outbound goods W1 can be performed immediately after the traveling trolley 7 stops. This is because, by shortening the travel distance of the second arm 755, the time from the completion of the remeasurement of the width of the outbound goods W1 to the completion of the arm spacing adjustment can be shortened.

[0192] On the other hand, if the remeasured width of the outbound goods W1 is greater than the width value shown in the information related to the width of the outbound goods W1 ("No" in step S106), that is, if the actual width of the outbound goods W1 is greater than the width shown in the transport instruction, the transport controller 53 reports an anomaly in step S109. The transport controller 53 reports the anomaly, for example, by illuminating an alarm light, emitting an alarm sound, or displaying a warning on a designated display screen.

[0193] The reasons for different treatments based on whether the actual width of the remeasured outbound goods W1 is greater than or less than the width indicated in the transport instruction are as follows.

[0194] Even if the actual width of the remeasured outbound cargo W1 is smaller than the width indicated in the transport instruction, and the arm spacing is adjusted to match the remeasured width of the outbound cargo W1, and the first arm 753 and the second arm 755 are extended toward the outbound cargo W1, the first arm 753 and the second arm 755 will not interfere with other cargo W placed adjacent to the outbound cargo W1. Therefore, the transfer of the outbound cargo W1 from the shelf 11 to the traveling trolley 7 can be safely performed.

[0195] On the other hand, if the actual width of the remeasured outbound goods W1 is greater than the width indicated in the transport instruction, and the arm spacing is adjusted to match the remeasured width of the outbound goods W1, causing the first arm 753 and the second arm 755 to extend towards the outbound goods W1, then the first arm 753 and the second arm 755 may interfere with other goods W placed adjacent to the outbound goods W1. Therefore, it is impossible to safely transfer the outbound goods W1 from the shelf 11 to the traveling trolley 7. Therefore, by reporting an anomaly when the actual width of the remeasured outbound goods W1 is greater than the width indicated in the transport instruction, the user can check whether a larger goods W has been incorrectly placed, or whether the goods detection sensor has malfunctioned.

[0196] Furthermore, even if the actual width of the remeasured outbound goods W1 is greater than the width indicated by the transport instruction, when no other goods W are placed on the shelf 11 adjacent to the outbound goods W1, the transport controller 53 may not report an abnormality, but instead make the arm spacing larger than the width (remeasured width) of the outbound goods W1 by a specified amount and perform the transfer of the outbound goods W1.

[0197] (4-3-3) Retry action when cargo deviation is detected

[0198] use Figure 13 This explains the retry action performed when a deviation of goods is detected, that is, when the actual placement position of outbound goods W1 on shelf 11 deviates from the specified position ("Yes" in step S5). Figure 13This is a flowchart illustrating the retry actions when cargo deviation is detected.

[0199] When the retry action is initiated in case of detected deviation of goods, the transport controller 53 deviates the reference position of the stop position of the traveling trolley 7 when performing the transfer of outbound goods W1 by a certain amount in step S111.

[0200] The reference for the stopping position when transferring outbound goods W1 is determined by the positional relationship between the end of the outbound goods W1 on the first direction side placed at the appropriate position on the shelf 11 and the first arm 753 (first goods detection sensor 78).

[0201] Specifically, for example, such as Figure 14 As shown, the stopping position of the traveling trolley 7 can be defined as follows: the stopping position of the traveling trolley 7 when the end of the first arm 753 (first cargo detection sensor 78) of the outgoing cargo W1 placed at the appropriate position on the shelf 11 in the first direction is further present on the first direction side, and the width of the outgoing cargo W1 in the X direction is contained between the position of the first cargo detection sensor 78 in the X direction and the position of the second cargo detection sensor 79 in the X direction. Figure 14 It is a diagram that schematically represents the definition of the reference point for the stop position.

[0202] After the reference position of the stop position is deviated in the direction of deviation of the outbound goods W1, the transport controller 53 again moves the traveling trolley 7 to cause the cargo detection sensor on the front side of the travel direction to detect the rear end of the outbound goods W1 and determine whether the actual loading position of the outbound goods W1 on the shelf 11 has deviated from the specified position. The travel speed is reduced compared to the normal outbound travel to perform a second determination on whether the outbound goods W1 has deviated from the specified position.

[0203] If it is determined again that the actual placement position of the outbound goods W1 on the shelf 11 deviates from the specified position, the transport controller 53, in steps S112 to S114, similar to the case where the measurement result of the width of the outbound goods W1 deviates from the width value indicated by the transport command, moves the traveling trolley 7 a specified distance in either the first or second direction.

[0204] Specifically, when the outgoing goods W1 are placed on the side of the shelf 11 near the end in the first direction (referred to as the "first direction side" in step S112), the transport controller 53 causes the traveling trolley 7 to travel a first distance d1 from the end side in the second direction of the outgoing goods W1 in the second direction in step S113.

[0205] On the other hand, when the outgoing goods W1 is placed on the side of the shelf 11 near the end of the second direction ("second direction side" in step S112), the transport controller 53 causes the traveling trolley 7 to travel a distance from the end side of the outgoing goods W1 in the first direction in the first direction in step S114, which is equivalent to the sum of the width value shown in the information related to the width of the outgoing goods W1 contained in the transport command and the aforementioned first distance d1.

[0206] Furthermore, since the process of moving the traveling carriage 7 a predetermined distance in one of the first and second directions in steps S112 to S114 is respectively related to the process of moving the traveling carriage 7 a predetermined distance in one of the first and second directions, the process of moving the traveling carriage 7 a predetermined distance in one of the first and second directions is respectively related to the process of moving the traveling carriage 7 a predetermined distance in one of the first and second directions in the first direction, ... Figure 9 The processes performed in steps S101 to S103 of the flowchart are the same, so detailed explanations are omitted here.

[0207] After the traveling trolley 7 is moved to the appropriate position through the execution of steps S111 to S114, the transport controller 53 causes the traveling trolley 7 to leave the warehouse from that position and travel to the position corresponding to the loading position of the outgoing goods W1 in step S115.

[0208] In addition, in order to accurately remeasure the outbound goods W1, the outbound trip performed in step S115 is performed at a reduced speed compared to the normal outbound trip performed in step S3 above.

[0209] During the outbound travel process in step S115, the transport controller 53 executes the above steps S31 to S37 in step S116, and uses the cargo detection sensor on the front side of the travel direction to re-measure the width of the outbound cargo W1.

[0210] After re-measuring the width of the outbound goods W1, the transport controller 53 adjusts the positions of the first arm 753 and the second arm 755 in step S117 based on the result of the re-measuring of the width of the outbound goods W1.

[0211] Specifically, when the first cargo detection sensor 78 is located in front of the traveling carriage 7 during outbound travel, if the difference between the width value shown in the information related to the width of the outbound cargo W1 included in the transfer instruction and the remeasurement result of the width of the outbound cargo is less than a first predetermined value, and the placement position of the outbound cargo W1 on the shelf 11 deviates from the predetermined position in the positive direction of the X-axis, the stopping position of the traveling carriage 7 used to transfer the outbound cargo W1 is determined to deviate from the reference of the aforementioned stopping position in the positive direction of the X-axis based on the amount of deviation of the outbound cargo W1 from the predetermined position.

[0212] The deviation of the outbound goods W1 from the specified position can be determined, for example, based on the difference between the position of the first arm 753 (first cargo detection sensor 78) when the outbound goods W1 is in the specified position and the position of the first arm 753 (first cargo detection sensor 78) when the width of the outbound goods W1 is remeasured and the end of the first direction side of the outbound goods W1 is detected by the first cargo detection sensor 78.

[0213] For example, such as Figure 15A As shown, assuming that outbound goods W1 deviate from their original placement position in the positive X-axis direction, and if the traveling carriage 7 stops at a position corresponding to the original placement position of outbound goods W1 (the reference stop position), then the first goods detection sensor 78 detects outbound goods W1. Figure 15B As shown, the transport controller 53 causes the traveling trolley 7 to travel in the positive direction of the X-axis until the first cargo detection sensor 78 no longer detects the outgoing cargo W1. The stopping position of the traveling trolley 7 used for transfer deviates from the reference stopping position in the positive direction of the X-axis. Figure 15A This is a diagram illustrating an example of how outbound goods W1 are placed after being moved from their original location in the positive direction of the X-axis. Figure 15B This diagram schematically illustrates the method of adjusting the positions of the first arm 753 and the second arm 755 when the outgoing goods W1 deviate from their original loading position in the positive direction of the X-axis.

[0214] On the other hand, when the second cargo detection sensor 79 is located in front of the traveling carriage 7 during outbound travel, if the difference between the information related to the width of the outbound cargo W1 contained in the transfer instruction and the measurement result of the width of the outbound cargo is less than a first predetermined value, and the placement position of the outbound cargo W1 on the shelf 11 deviates from the predetermined position in the negative direction of the X-axis, the position of the second arm 755 used to transfer the outbound cargo W1 on the traveling carriage 7 is determined to deviate from its original position in the negative direction of the X-axis based on the amount of deviation of the outbound cargo W1 from the predetermined position.

[0215] For example, such as Figure 16A As shown, if the outbound goods W1 deviates from its original placement position in the negative X-axis direction, and the traveling trolley 7 stops at a position corresponding to the original placement position of the outbound goods W1, then the second goods detection sensor 79 detects the outbound goods W1. Figure 16B As shown, the transfer controller 53 moves the second arm 755 in the negative X-axis direction until the second cargo detection sensor 79 no longer detects the outgoing cargo W1. The position of the second arm 755 used for transfer is deviated in the negative X-axis direction from its original position. Figure 16AThis is a diagram illustrating an example of how outbound goods W1 are placed after being shifted from their original location to the negative X-axis position. Figure 16B This diagram schematically illustrates the method of adjusting the positions of the first arm 753 and the second arm 755 when the outgoing goods W1 deviate from their original loading position in the negative direction of the X-axis.

[0216] After adjusting the positions of the first arm 753 and the second arm 755, the transfer controller 53 executes the above steps S6 to S9 in step S118, maintaining the arm spacing and position between the first arm 753 and the second arm 755 at the spacing and position adjusted in step S117, and simultaneously pulling the outbound goods W1 towards the traveling trolley 7 for transfer.

[0217] By performing the above steps S117 to S118, even if the width of the outgoing goods W1 is within the expected range, but the outgoing goods W1 is deviated from the expected position in the X direction and placed on the shelf 11, the traveling trolley 7 (in the case of deviating in the positive direction of the X axis) or the second arm 755 (in the case of deviating in the negative direction of the X axis) can be moved to the position determined by taking into account the position deviation of the outgoing goods W1, and the outgoing goods W1 can be accurately pulled into the traveling trolley 7 for transfer by the first arm 753 and the second arm 755.

[0218] Furthermore, in the above example, when the outgoing goods W1 deviates in the negative X direction from the intended position, the second arm 755 can be moved and the first arm 753 and the second arm 755 can be used to transfer the outgoing goods W1. This is because the deviation in the negative X direction is small, and the first arm 753 and the second arm 755 can be used to transfer the outgoing goods W1 even without moving the traveling trolley 7. Therefore, if it is assumed that the deviation in the negative X direction is too large to hook the outgoing goods W1 by the hook 753a of the first arm 753, the traveling trolley 7 can be moved in the negative X direction to shorten the distance between the first arm 753 and the outgoing goods W1, and the second arm 755 can be moved as needed.

[0219] (5) Common aspects of the implementation methods

[0220] The first embodiments described above all have the following structure and function.

[0221] An automated warehouse (e.g., automated warehouse 100) includes: shelves consisting of multiple layers (e.g., shelf 11); trolleys (e.g., traveling trolley 7) configured for each layer and used to transport goods (e.g., goods W) by traveling along the extension direction (e.g., the X direction) of the shelves; and a lower-level controller (e.g., transport controller 53) for controlling the trolleys. The trolleys have a transfer device (e.g., transfer device 75), a first sensor (e.g., a first goods detection sensor 78), and a second sensor (e.g., a second goods detection sensor 79).

[0222] The transfer device has a first arm (e.g., first arm 753) and a second arm (e.g., second arm 755) for transferring goods between shelves.

[0223] The first sensor is located on the side of the first arm and detects the goods placed on the shelf.

[0224] The second sensor is located on the side of the second arm and detects the goods placed on the shelf.

[0225] In the aforementioned trolley, at least one of the first arm and the second arm is capable of moving relative to the trolley along the extension direction of the shelf.

[0226] In addition, the lower-level controller performs the following control when goods are shipped out:

[0227] When the trolley travels to a position corresponding to the loading position of the outbound goods (e.g., outbound goods W1) on the shelf, the width of the outbound goods is determined using a first or second sensor located on the front side of the trolley in the direction of travel.

[0228] The first and / or second arms are moved based on the measurement of the width of the outgoing goods, so that the arm spacing between the first and second arms is adjusted to be a specified amount larger than the width of the outgoing goods.

[0229] After the trolley reaches the position corresponding to the loading position of the outbound goods, the first and second arms move forward and backward while maintaining the adjusted arm spacing to pull the outbound goods in.

[0230] In the aforementioned automated warehouse, when goods are being retrieved, the lower-level controller uses a sensor located at the front of the trolley in the direction of travel to determine the width of the goods to be retrieved, and adjusts the arm spacing based on this measurement to be a predetermined amount larger than the width of the goods. Furthermore, after the trolley reaches the position corresponding to the loading position of the goods, the lower-level controller performs the following control: while maintaining the adjusted arm spacing, it moves the first and second arms forward and backward to pull the goods into the warehouse.

[0231] In this way, by setting the arm spacing before the trolley reaches the transfer position and not changing it afterwards, the time spent transferring goods during the outbound process after the trolley stops can be shortened. This is because, in the past, the arm would move to clamp the outbound goods when they were being taken out of the warehouse, and then the arm would move again to ensure a gap between the outbound goods and the arm, but such actions are no longer necessary.

[0232] 2. Other implementation methods

[0233] The present invention has been described above as one embodiment, but the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the invention. In particular, the various embodiments and modifications described in this specification can be arbitrarily combined as needed.

[0234] (A) Figure 5 , Figure 7 , Figure 9 , Figure 13 The processing content of each step in the flowchart and / or the execution order of each step can be appropriately changed without departing from the spirit of the invention.

[0235] (B) In the transfer device 75 described in the first embodiment, the first arm 753 cannot move in the X direction at the front of the traveling carriage 7, while the second arm 755 can move in the X direction at the rear of the traveling carriage 7. However, it is not limited to this, and both the first arm 753 and the second arm 755 may be able to move in the X direction.

[0236] (C) In the first embodiment described above, the position of the traveling carriage 7 in the X direction is determined based on the detection results of the slit provided on the guide rail 7a and the measurement results of the rotation amount of the wheel 731 by the first rotation amount measuring sensor 731b. However, it is not limited to this. For example, the position of the traveling carriage 7 in the X direction can also be determined based on the identification information shown by the barcode provided along the X direction, the measurement results of the distance between the traveling carriage 7 and a specified reference position (e.g., the end of the guide rail 7a in the X direction) by the distance sensor, etc.

[0237] (D) In ​​the first embodiment described above, the position of the second arm 755 on the traveling carriage 7 is determined based on the measurement result of the rotation amount of the ball screw 76 by the second rotation amount measuring sensor 751b. However, it is not limited to this. For example, the position of the second arm 755 on the traveling carriage 7 can also be determined based on the identification information shown by the barcode provided on the traveling carriage 7, the measurement result of the distance between the second arm 755 and a predetermined reference position of the traveling carriage 7 (e.g., the end of the first main body 73a and / or the second main body 73b) provided by the distance sensor, etc.

[0238] (E) In the first embodiment described above, when the outgoing goods W1 deviates from the predetermined placement position in the negative direction of the X-axis, the second arm 755 is moved according to the deviation of the outgoing goods W1 to adjust the position of the second arm 755. However, it is not limited to this. In the same way as when the outgoing goods W1 deviates from the predetermined placement position in the positive direction of the X-axis (towards the first goods detection sensor 78), the traveling carriage 7 is moved according to the deviation of the outgoing goods W1 to adjust the positions of the first arm 753 and the second arm 755.

[0239] (F) If the difference between the width value shown in the information related to the width of the outbound goods W1 and the measurement result of the width of the outbound goods W1 is greater than the first predetermined value (i.e., the outbound goods W1 is larger than expected), and the placement position of the outbound goods W1 on the shelf 11 deviates from the predetermined position in the X direction, then both the retry action (steps S101 to S109) and the retry action (steps S111 to S118) can be performed when the measurement result of the width of the outbound goods W1 deviates from the width value shown in the transport instruction, and when the deviation of the goods is detected.

[0240] (G) If it is determined in step S5 that the actual placement position of the outbound goods W1 on the shelf 11 has deviated from the specified position, it is not necessary to determine whether the outbound goods W1 has deviated from the specified position again, and the traveling trolley 7 can be moved a specified distance in one of the first and second directions immediately.

[0241] Industrial applicability

[0242] It can be widely used in automated warehouses that have multi-layered shelves and trolleys with transfer devices for transferring goods between the shelves.

[0243] Explanation of reference numerals in the attached figures

[0244] 100 Automated Warehouse

[0245] 1 shelf

[0246] 11 shelves

[0247] 13 Relay Conveyor

[0248] 3 Lifting and conveying device

[0249] 5. Inbound and Outbound Stations

[0250] 7. Traveling trolley

[0251] 71 Guide Components

[0252] 73a First Main Body

[0253] 731 Wheel

[0254] 731a First Motor

[0255] 731b First Rotation Measurement Sensor

[0256] 73b Second Main Body

[0257] 733 Driven wheel

[0258] 75 Transfer device

[0259] 751 Framework

[0260] 751a Second Motor

[0261] 751b Second Rotation Measurement Sensor

[0262] 753 First Arm

[0263] 753a and 755a hooks

[0264] 755 Second Arm

[0265] 757 mounting components

[0266] 76 Ball Screw

[0267] 77 Spline components

[0268] 77a Third Motor

[0269] 78 First Cargo Detection Sensor

[0270] 79 Second Cargo Detection Sensor

[0271] 7a guide rail

[0272] 7b Slit Detection Sensor

[0273] 51 Upper-level controller

[0274] 53 Conveying Controller

[0275] W Goods

[0276] W1 Goods shipped out of the warehouse.

Claims

1. An automated warehouse comprising shelves consisting of multiple layers, trolleys configured for each said shelf and used to move goods along the extension direction of the shelves, and a lower-level controller for controlling said trolleys, characterized in that, The trolley has: A transfer device having a first arm and a second arm for transferring goods between the shelf; A first sensor, located on the side of the first arm, detects the goods placed on the shelf; and A second sensor, located on the side of the second arm, detects the goods placed on the shelf. At least one of the first arm and the second arm is capable of moving within the trolley along the extension direction of the shelf. The lower-level controller performs the following control when the goods are released from the warehouse: When the trolley travels to a position corresponding to the loading position of the outbound goods on the shelf, during the trolley's travel, the width of the outbound goods is measured using either the first sensor or the second sensor located on the front side of the trolley's travel direction. During the movement of the trolley, the first arm and / or the second arm are moved based on the measurement of the width of the outgoing goods, so that the arm spacing between the first arm and the second arm is adjusted to be larger than the width of the outgoing goods by a specified amount. After the trolley reaches the position corresponding to the loading position of the outbound goods, the first and second arms are moved forward and backward while maintaining the adjusted arm spacing to pull the outbound goods in. The second arm is capable of moving along the extension direction of the shelf. The second sensor is mounted on the second arm. When the second sensor is located in front of the trolley in the direction of travel during the outbound journey, the lower-level controller determines the width of the outbound goods based on information related to the position of the trolley and information related to the position of the second arm on the trolley when the goods are detected.

2. The automated warehouse according to claim 1, characterized in that, It also includes a higher-level controller, which sends a transport instruction containing information related to the width of the outgoing goods to the lower-level controller. The lower-level controller performs the following control: when the outbound journey begins, the arm spacing is adjusted to a first spacing that is a predetermined amount larger than the value shown in the information related to the width of the outbound goods contained in the transport instruction; then, from the state after the arm spacing was adjusted to the first spacing, the arm spacing is adjusted to a predetermined amount larger than the width of the outbound goods shown in the measurement results.

3. The automated warehouse according to claim 1, characterized in that, When the second sensor is located in front of the trolley in the direction of travel during the outbound journey, if the difference between the information related to the width of the outbound goods contained in the transport command and the measurement result of the width of the outbound goods is less than a first predetermined value, and the placement position of the outbound goods on the shelf deviates from the predetermined position in the extension direction of the shelf, the lower controller determines the position of the second arm on the trolley based on the amount of deviation of the outbound goods from the predetermined position.

4. An automated warehouse comprising shelves consisting of multiple layers, trolleys configured for each said shelf and used to move goods along the extension direction of the shelves, and a lower-level controller for controlling said trolleys, characterized in that, The trolley has: A transfer device having a first arm and a second arm for transferring goods between the shelf; A first sensor, located on the side of the first arm, detects the goods placed on the shelf; and A second sensor, located on the side of the second arm, detects the goods placed on the shelf. At least one of the first arm and the second arm is capable of moving within the trolley along the extension direction of the shelf. The lower-level controller performs the following control when the goods are released from the warehouse: When the trolley travels to a position corresponding to the loading position of the outbound goods on the shelf, the width of the outbound goods is measured using the first sensor or the second sensor located on the front side of the trolley in the direction of travel of the outbound journey. Based on the measurement of the width of the outgoing goods, the first arm and / or the second arm are moved to adjust the arm spacing between the first arm and the second arm to be a predetermined amount larger than the width of the outgoing goods. After the trolley reaches the position corresponding to the loading position of the outbound goods, the first and second arms are moved forward and backward while maintaining the adjusted arm spacing to pull the outbound goods in. When the first sensor is located in front of the trolley in the direction of travel during the outbound journey, if the difference between the information related to the width of the outbound goods contained in the transport command and the measurement result of the width of the outbound goods is less than a first predetermined value, and the placement position of the outbound goods on the shelf deviates from the predetermined position in the extension direction of the shelf, the lower controller determines the stopping position of the trolley based on the amount of deviation of the outbound goods relative to the predetermined position.

5. An automated warehouse comprising shelves consisting of multiple layers, trolleys configured for each said shelf and used to move goods along the extension direction of the shelves, and a lower-level controller for controlling said trolleys, characterized in that, The trolley has: A transfer device having a first arm and a second arm for transferring goods between the shelf; A first sensor, located on the side of the first arm, detects the goods placed on the shelf; and A second sensor, located on the side of the second arm, detects the goods placed on the shelf. At least one of the first arm and the second arm is capable of moving within the trolley along the extension direction of the shelf. The lower-level controller performs the following control when the goods are released from the warehouse: When the trolley travels to a position corresponding to the loading position of the outbound goods on the shelf, the width of the outbound goods is measured using the first sensor or the second sensor located on the front side of the trolley in the direction of travel of the outbound journey. Based on the measurement of the width of the outgoing goods, the first arm and / or the second arm are moved to adjust the arm spacing between the first arm and the second arm to be a predetermined amount larger than the width of the outgoing goods. After the trolley reaches the position corresponding to the loading position of the outbound goods, the first and second arms are moved forward and backward while maintaining the adjusted arm spacing to pull the outbound goods in. If the difference between the information related to the width of the outbound goods contained in the transport instruction and the measurement result of the width of the outbound goods is greater than a first predetermined value, the lower-level controller controls the trolley to re-measure the width of the outbound goods.

6. The automated warehouse according to claim 5, characterized in that, The first arm is fixed to the trolley on one side of the extension direction of the shelf, i.e., the first direction side. When the width of the outbound goods is remeasured as follows, wherein the outbound goods are placed on the side of the shelf that is closer to the end of the shelf in the first direction than the end of the shelf in the second direction, which is opposite to the extension direction of the shelf, the lower controller causes the trolley to travel a first distance from the end of the outbound goods in the second direction opposite to the first direction towards the second direction.

7. The automated warehouse according to claim 6, characterized in that, The first distance is equivalent to the distance that the first sensor is located on the second direction side relative to the end of the outgoing goods when the trolley is moved in the second direction.

8. The automated warehouse according to claim 6, characterized in that, The second arm is configured to be movable at its end on the second direction side of the trolley along the extension direction of the shelf. When the width of the outbound goods placed on the side near the second direction end of the shelf is remeasured, the lower controller causes the trolley to move from the first direction end side of the outbound goods toward the first direction, which includes the information related to the width of the outbound goods and the first distance.

9. The automated warehouse according to claim 7, characterized in that, The second arm is configured to be movable at its end on the second direction side of the trolley along the extension direction of the shelf. When the width of the outbound goods placed on the side near the second direction end of the shelf is remeasured, the lower controller causes the trolley to move from the first direction end side of the outbound goods toward the first direction, which includes the information related to the width of the outbound goods and the first distance.

Images