Flat storage device

Abstract

The control device accepts designation of the object position (Pt) in the storage plane (F), and in a case where the object position (Pt) is designated, can execute a passage formation mode of forming the passage (R), and in the passage formation mode, sets a passage area (AR) for securing the passage (R), and moves all the object articles (C) placed in the passage area (AR) to a place other than the passage area (AR) in the storage plane (F) by the conveyance device.

Description

TECHNICAL FIELD

[0001] The present application relates to a flat storage device that has a storage flat surface on which a plurality of target articles are placed and stored, a conveyance device that moves the target articles on the storage flat surface, and a control device that controls the operation of the conveyance device. BACKGROUND

[0002] One example of such a flat storage device is disclosed in Japanese Patent Application Publication No. 2016-210526 (Patent Literature 1). Hereinafter, in the description of the background art, the symbols shown in parentheses are those of Patent Literature 1.

[0003] In the technology disclosed in Patent Literature 1, a placement flat surface (1) on which a plurality of storage articles (C) are placed and stored is divided into a plurality of small areas (SAa1 to SAb4) by a plurality of passage areas (PAa1 to PAb3). Thus, in the case where the storage articles (C) placed in the small areas (SAa1 to SAb4) are urgently taken out by a manual operation by an operator, the operator can quickly enter the position where the urgently taken-out target storage article (C) is placed using the passage areas (PAa1 to PAb3). In this way, in the technology disclosed in Patent Literature 1, by forming the passage areas (PAa1 to PAb3) through which the operator can pass in the placement flat surface (1) on which the storage articles (C) are placed, the convenience of the operator when entering the desired position in an emergency is sought to be improved.

[0004] PRIOR ART DOCUMENTS

[0005] PATENT LITERATURE

[0006] Patent Literature 1: Japanese Patent Application Publication No. 2016-210526 SUMMARY

[0007] PROBLEMS TO BE SOLVED BY THE INVENTION

[0008] However, in the technology disclosed in Patent Literature 1, the placement flat surface (1) is formed with a plurality of passage areas (PAa1 to PAb3) where no storage article (C) is placed, and accordingly, there is room for improvement in the improvement of the storage efficiency of the storage articles (C).

[0009] In view of the above actual circumstances, it is desirable to realize a flat storage device in which the storage efficiency of target articles can be improved in a storage flat surface on which a plurality of target articles are stored, and a passage through which an operator can pass can be formed as needed.

[0010] MEANS FOR SOLVING THE PROBLEMS

[0011] The flat storage device according to the present disclosure has:

[0012] a storage plane that places and stores a plurality of object articles;

[0013] a conveyance device that moves the aforementioned object articles in the aforementioned storage plane; and

[0014] a control device that controls the operation of the aforementioned conveyance device,

[0015] the aforementioned control device accepts designation of an object position in the aforementioned storage plane, and in a case where the aforementioned object position is designated, a passage formation mode that forms a passage through which an operator can pass from an outer edge portion of the aforementioned storage plane to the aforementioned object position can be executed,

[0016] the aforementioned control device sets a passage area for securing the aforementioned passage in the aforementioned passage formation mode, and moves all of the aforementioned object articles placed in the aforementioned passage area to a place other than the aforementioned passage area in the aforementioned storage plane using the aforementioned conveyance device.

[0017] According to the present configuration, it is not necessary to secure a passage through which an operator can pass in advance in the storage plane. Therefore, compared to a case where such a passage is secured in advance, it is possible to secure a wide area that can be used for storing object articles, and it is possible to improve the storage efficiency of object articles. In addition, according to the present configuration, in a case where an object position is designated in the storage plane, a passage formation mode that forms a passage from an outer edge portion of the storage plane to the object position is executed. Thereby, it is possible to form a passage for allowing an operator to enter an arbitrary object position using a conveyance device. For example, in a case where a cargo scatter or the like of object articles exists in a part of the storage plane, and a need for an operator to perform work arises at a position where the cargo scatter or the like exists, the position where the cargo scatter or the like exists is taken as an object position, and it is possible to form a passage up to the object position in the storage plane. As described above, according to the present configuration, it is possible to realize a plane storage device in which it is possible to improve the storage efficiency of object articles in a storage plane in which a plurality of object articles are stored, and it is possible to form a passage through which an operator can pass in accordance with a need.

[0018] Further features and advantages of the technology disclosed in the present disclosure will become more apparent from the following description of exemplary and non-limiting embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a schematic perspective view of a plane storage device.

[0020] Figure 2 is a view showing the operation of a gripping portion.

[0021] Figure 3 is a view showing the operation of a gripping portion.

[0022] Figure 4 is a diagram showing a gripping state of the container using the gripping portion.

[0023] Figure 5 is a control block diagram of the planar storage device.

[0024] Figure 6 is a diagram showing one example of the operation portion.

[0025] Figure 7 is a flowchart showing a control sequence in a case where the passage formation mode is executed.

[0026] Figure 8 is an explanatory diagram of a case where the passage formation mode is executed under a shortest distance condition.

[0027] Figure 9 is an explanatory diagram of a case where the passage formation mode is executed under a minimum article condition.

[0028] Figure 10 is an explanatory diagram of a case where the passage formation mode is executed under a passage direction condition.

[0029] Figure 11 is an explanatory diagram of a case where the passage formation mode is executed under a passage direction condition.

[0030] Figure 12 is an explanatory diagram of a case where the empty region securing process is executed. DETAILED DESCRIPTION

[0031] A planar storage device according to the present embodiment will be described with reference to the drawings.

[0032]

Mechanical configuration of planar storage device

[0033] As shown in Figure 1 , the planar storage device 100 is provided with a storage plane F that places and stores a plurality of containers C, a conveyance device 1 that moves the containers C within the storage plane F, and a control device 2 (refer to Figure 5 ) that controls the operation of the conveyance device 1. In the present embodiment, the planar storage device 100 is configured in a manner that places and stores a single container C or a container group Cg in which a plurality of containers C are stacked on the storage plane F. In the planar storage device 100, a container C that contains contents such as parts or an empty container C that does not contain contents is stored as an object article. That is, in the present embodiment, the object article is a container C that can be stacked in multiple numbers, and the container C corresponds to the "object article".

[0034] In the following, directions along the direction of the storage plane F and orthogonal to each other are referred to as the X direction and the Y direction, and a direction orthogonal to the storage plane F is referred to as the Z direction. The X direction and the Y direction are directions along the horizontal direction, and the Z direction is a direction along the vertical direction.

[0035] In the present embodiment, as shown in Figures 1 to 3 The conveying device 1 is provided with a gripping portion 101 that grips the container C, a moving mechanism 11 that moves the gripping portion 101 in the X direction and the Y direction, and a lifting mechanism 12 that lifts the gripping portion 101 in the Z direction.

[0036] In the present embodiment, the moving mechanism 11 is provided with a pair of fixed rails 11R arranged along the Y direction at positions separated in the X direction of the storage plane F and fixed to the storage plane F, a Y direction moving body 11Y that supports the gripping portion 101 and moves it in the Y direction, and an X direction moving body 11X that supports the gripping portion 101 and moves it in the X direction.

[0037] In the present embodiment, the Y direction moving body 11Y is composed of a movable rail extending in the X direction. In the example shown, the movable rail is provided with a pair of rail portions 11Ya arranged parallel to each other. With respect to the Y direction moving body 11Y, each of the two end portions in the X direction is supported so as to be movable with respect to the fixed rail 11R and moves in the Y direction along the fixed rail 11R. The Y direction moving body 11Y is driven by a Y direction moving drive portion (not shown) composed of a motor or the like, for example.

[0038] In the present embodiment, the X direction moving body 11X is composed of a trolley that runs along the movable rail that constitutes the Y direction moving body 11Y. The X direction moving body 11X moves in the X direction by running along the Y direction moving body 11Y that extends in the X direction. The X direction moving body 11X is driven by an X direction moving drive portion (not shown) composed of a motor or the like, for example.

[0039] The gripping portion 101 is supported by the X direction moving body 11X. Therefore, by moving the X direction moving body 11X in the X direction, the gripping portion 101 supported by the X direction moving body 11X also moves in the X direction. In addition, as described above, the X direction moving body 11X is supported by the Y direction moving body 11Y. Therefore, by moving the Y direction moving body 11Y in the Y direction, the gripping portion 101 supported by the X direction moving body 11X also moves in the Y direction. In this way, the gripping portion 101 is composed so as to be movable in the X direction and the Y direction.

[0040] The lifting mechanism 12 is configured to move the gripping part 101 up and down in the Z direction. In this example, it is supported by the X-direction moving body 11X. Although detailed illustrations are omitted, the lifting mechanism 12 includes: a belt connected to the gripping part 101; and a lifting drive unit (not shown), which is, for example, a motor, to drive the belt. By driving the belt with the lifting drive unit, the gripping part 101 moves up and down in the Z direction. Thus, in this embodiment, the gripping part 101 is supported by the X-direction moving body 11X via the lifting mechanism 12.

[0041] In this embodiment, the conveying device 1 includes a gripping mechanism 10. The gripping mechanism 10 includes the gripping part 101 described above and a gripping drive unit (not shown), which is composed of, for example, a motor and drives the gripping part 101. The gripping part 101 is driven by the gripping drive unit and is configured to change state between a gripping state for gripping the container C and a non-gripping state for not gripping the container C.

[0042] like Figure 2 and Figure 3 As shown, in this embodiment, the gripping part 101 includes a pair of gripping units 101U that approach or separate from each other along the X direction. Each of the pair of gripping units 101U is supported on the X-direction moving body 11X via a lifting mechanism 12 in a manner that synchronously rises and falls between a pair of track portions 11Ya of the Y-direction moving body 11Y. Each of the pair of gripping units 101U includes: a pair of positioning members 101a, which are arranged side by side along the Y direction and approach or separate from each other along the Y direction; and a gripping member 101b, which is disposed between the pair of positioning members 101a arranged side by side along the Y direction.

[0043] In this embodiment, the positioning member 101a is configured such that, in the gripping state of the gripping part 101, it contacts the outer edge of the container C from the outside to position the container C. In this example, each pair of gripping units 101U has a pair of positioning members 101a (i.e., a total of 4 positioning members 101a) configured to contact the four corners of the rectangular container C. In the illustrated example, the multiple positioning members 101a are configured as L-shaped columns with a cross-sectional shape along the horizontal plane, conforming to the outer edge shape of each of the four corners of the container C.

[0044] In this embodiment, the gripper 101b is configured to grip the gripped portion Cr, which extends circumferentially around the upper outer edge of the container C. In this example, the gripper 101b includes: a plurality of protrusions 101p, which engage with the gripped portion Cr of the container C when gripped by the gripper 101; and a support member 101s, which supports the plurality of protrusions 101p.

[0045] In the present embodiment, the support member 101s is formed in a column shape extending along the Z direction, and supports a plurality of protruding bodies 101p at a lower end region thereof. The plurality of protruding bodies 101p supported by the support member 101s are arranged side by side along the Z direction at the lower end region of the support member 101s, and protrude toward the other support member 101s side (inner side) arranged opposite to each other along the X direction. In the present example, the plurality of protruding bodies 101p arranged side by side along the Z direction are arranged in a plurality of rows (two rows in the example shown) along the Y direction. Figure 2

[0046] Each of the plurality of protruding bodies 101p is urged in a direction in which it protrudes toward the inner side (the other support member 101s side) by a spring. Therefore, as shown in Figure 4 the grasped state of the gripping portion 101, a portion of the plurality of protruding bodies 101p is retracted to the outer side by overcoming the force of the spring by the reaction force from the gripped portion Cr of the container C, and another portion of the protruding bodies 101p arranged further downward than the retracted portion of the protruding bodies 101p becomes a state of supporting the gripped portion Cr of the container C from below. In addition, in this state, the positioning member 101a contacts or approaches from the outer side with respect to the outer edge of the container C, and positions the container C in the X direction and the Y direction (refer to Figure 3 ).

[0047] In the present embodiment, the conveying device 1 is configured in such a manner that the container C alone or a plurality of containers C constituting a container group Cg can be moved simultaneously. Specifically, the conveying device 1 is configured in such a manner that, in a state in which the gripping portion 101 has gripped one container C that is a grasping target, only the gripped container C is moved, or in addition to the gripped container C, a plurality of containers C stacked thereon are moved.

[0048] Figure 2 and Figure 3 An example in which the conveying device 1 takes out the upper three containers C from the container group Cg constituted by seven containers C and moves the upper three containers C is shown. The conveying device 1 can separate and move a single or a plurality of containers C from the container group Cg, and in addition, can place and stack other single or a plurality of containers C moved to the upper side of the container group Cg.

[0049] Here, as described above, the containers C can be stacked in a plurality of layers to become a stacked state. As described above, in the present embodiment, the container C is formed in a rectangular shape in plan view, but is not limited thereto, and the container C can be formed in a polygonal shape other than a rectangular shape, a circular shape, or an elliptical shape in plan view. In addition, in the present embodiment, as shown in Figure 1 the example shown, a plurality of kinds of containers C that differ in at least one of the size and the height of the bottom surface can be stored in the storage plane F. In the present example, as shown in​Figure 1 As shown, each of the container groups Cg in which the plurality of containers C are in a stacked state is composed of the same kind of containers C that are identical in size and height of the bottom surface. However, as long as the containers can be stacked, the container groups Cg can also be composed of a plurality of kinds of containers C that are different from each other. Such containers C are, for example, plastic reservoirs for containing contents such as parts used in a manufacturing line of a factory. In the planar storage device 100, containers C containing such contents or empty containers C that do not contain contents are stored as target articles.

[0050] As shown in Figure 1 In the present example, the planar storage device 100 is provided with an in-out conveyor 3 that conveys the containers C (container groups Cg) between the storage plane F and the outside of the storage plane F. The outside of the storage plane F is, for example, the manufacturing line of the factory described above. In Figure 1 In the example shown, the in-out conveyor 3 is provided with an in conveyor 31 that conveys the containers C from the outside of the storage plane F to the storage plane F, and an out conveyor 32 that conveys the containers C from the storage plane F to the outside of the storage plane F. The conveying device 1 is configured in a manner that the containers C are handed over between the in-out conveyor 3 (here, between each of the in conveyor 31 and the out conveyor 32). Furthermore, the in-out conveyor 3 is not limited to the above configuration, and can be composed of one conveyor. Alternatively, the in-out conveyor 3 can be composed of a device other than a conveyor, such as a conveying cart.

[0051] As shown in Figure 8 and the like, the outer edge portion E of the storage plane F becomes a region in which the containers C are not placed. Also, the region of the storage plane F surrounded by the outer edge portion E becomes a storage area AF in which the containers C can be placed. That is, the storage plane F is provided with a region in which the containers C are not placed (the outer edge portion E) and a storage area AF in which the containers C can be placed.

[0052] The outer edge portion E can be used for the passage of workers.

[0053] In the present embodiment, the storage plane F is formed in a rectangular shape, and the outer edge portion E is formed along the four edges of the rectangular storage plane F. In the present example, the outer edge portion E includes a first outer edge portion El, a second outer edge portion E2, a third outer edge portion E3, and a fourth outer edge portion E4 that constitute the edges of the storage plane F.

[0054] In the example shown, the first outer edge portion El and the second outer edge portion E2 are arranged opposite each other, and the third outer edge portion E3 and the fourth outer edge portion E4 are arranged opposite each other.

[0055] In the present embodiment, a gate G through which workers can enter and exit is provided at any one of the four edges that form the outer edge portion E. In Figure 8 , Figure 9 , Figure 11The diagram illustrates an example where an entrance / exit G is located at the first outer edge E1. Operators enter the storage plane F through the entrance / exit G located at the first outer edge E1, and can also pass through the second outer edge E2, third outer edge E3, and fourth outer edge E4. Although detailed illustrations are omitted, the storage plane F can be surrounded by a fence, and the entrance / exit G leading to the storage plane F has a door that is normally blocked. Furthermore, in... Figure 10 The example shown is an entrance / exit G located at the fourth outer edge E4.

[0056] [Control Structure of Flat Storage Equipment]

[0057] like Figure 5 As shown, the control device 2 is configured to communicate with and control the conveying device 1. In this example, the control device 2 is also configured to communicate with and control the inbound / outbound device 3. Furthermore, the control device 2 manages the entire planar storage equipment 100 uniformly. In this embodiment, the control device 2 manages the position of the container group Cg placed on the storage plane F, the types of containers C constituting the container group Cg, and the number (stack number) of containers C constituting the container group Cg. Furthermore, in this embodiment, even when containers C are placed individually on the storage plane F, the control device 2 manages the container group Cg as a container group Cg with a number (stack number) of containers C constituting the container group Cg of "1". The control device 2 includes, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Moreover, each function is achieved through the cooperation of this hardware and a program executed on the processor such as a computer.

[0058] In this embodiment, the control device 2 includes: a storage unit 21 that stores various information; and a zone setting unit 22 that sets the path zone AR (see below) in the path forming mode described later. Figure 8 wait).

[0059] The storage unit 21 stores, in association, identification information Ii for identifying each container C stored on the storage plane F and storage position information Ip indicating the location of the stored container C for each of the containers C stored on the storage plane F. Thus, the control device 2 can determine the location of each container C stored on the storage plane F.

[0060] In addition, in the present embodiment, the storage section 21 stores the layer number information In showing the number of layers of the containers C of the container group Cg and the height dimension information Ih showing the height dimension of the containers C in association with the storage position information Ip. The control device 2 can grasp the number of the containers C constituting the container group Cg from the layer number information In. At the same time, the control device 2 can grasp the height dimension of each of the plurality of containers C constituting the container group Cg from the height dimension information Ih. Therefore, the control device 2 can grasp the height of the container group Cg in association with the position where the container group Cg in which the plurality of containers C are stacked is stored. In the planar storage apparatus 100, the upper limit height of the container group Cg in the storage plane F is determined in such a manner that the conveying device 1 in operation and the container group Cg do not interfere with each other in relation to the set position of the conveying device 1. Alternatively, the upper limit height of the container group Cg is such a height that the container group Cg stored in the storage plane F can be stably placed. The control device 2 according to the present embodiment manages the number of the containers C constituting the container group Cg in such a manner that the number does not exceed the above-described upper limit height.

[0061] In the present embodiment, the storage section 21 stores the bottom surface dimension information Is showing the bottom surface dimension of the containers C in association with the storage position information Ip. Thereby, the control device 2 can grasp the occupied area and the position thereof of the containers C (container group Cg) placed in the storage plane F.

[0062] The control device 2 is configured in such a manner that it can perform the in-transport control of transporting the container group Cg from the outside of the storage plane F to the storage plane F and the out-transport control of transporting the container group Cg from the storage plane F to the outside of the storage plane F. In the present embodiment, the control device 2 performs the in-transport control or the out-transport control by controlling the conveying device 1 and the in-out transport device 3.

[0063] Specifically, in the in-transport control, the container group Cg transported from the outside of the storage plane F by the in-transport conveyor 31 is transported to the storage plane F by the conveying device 1 and placed directly on the storage plane F or on other container group Cg already placed on the storage plane F. Then, the control device 2 causes the storage section 21 to store the storage position information Ip for the transported container group Cg.

[0064] In addition, in the out-transport control, the container group Cg is taken out from the storage plane F by the conveying device 1 and loaded on the out-transport conveyor 32, which is transported to the outside of the storage plane F. Then, the control device 2 causes the storage section 21 to delete the storage position information Ip for the transported container group Cg. The container group Cg transported to the outside of the storage plane F is conveyed, for example, to each of the manufacturing lines of the factory and the like.

[0065] Further, the control device 2 is configured in a manner capable of executing a passage formation mode in which a passage R through which the worker can pass is formed in the storage plane F. In the passage formation mode, the control device 2 accepts designation of an object position Pt (see FIG. 1) in the storage plane F, and forms the passage R from the outer edge portion E of the storage plane F to the object position Pt when the object position Pt is designated. The object position Pt is an arbitrary position of the storage plane F, and is designated by the worker, for example. For example, in a case where there is a cargo scattering of the containers C (container groups Cg) or the like in a part of the storage plane F, and there is a need for the worker to perform work at the position where the cargo scattering or the like is present, the position where the cargo scattering or the like is present is designated as the object position Pt. Figure 8

[0066] As shown in FIG. 1, the control device 2 sets a passage area AR for securing the passage R in the passage formation mode, and moves all the containers C (container groups Cg) placed in the passage area AR to a place other than the passage area AR in the storage plane F by the conveyance device 1. In the present embodiment, the above-described area setting portion 22 sets the passage area AR. Further, as described above, the container C alone placed in the storage plane F is grasped by the control device 2 as a "container group Cg" having a stacking number of "1". Therefore, in the following, the container C alone is sometimes referred to as the container group Cg. Figures 8 to 11

[0067] The passage area AR is an imaginary area connecting the object position Pt and the outer edge portion E, and is set regardless of whether the container C is actually placed or not. After the passage formation mode is executed, the state where there is no container C in the passage area AR is achieved, and the passage R through which the worker can pass is formed in a region corresponding to the passage area AR.

[0068] In the present embodiment, by executing the passage formation mode, the conveyance device 1 moves all the containers C placed in the passage area AR to an empty area S where there is no container C (container group Cg) other than the passage area AR or to a container group Cg placed at a place other than the passage area AR.

[0069] ​​Then, in this embodiment, the control device 2 updates the storage location information Ip stored in the storage unit 21 for the container C that moves by executing the path forming mode. In cases where, for example, the path R from the object position Pt to the outer edge E is formed manually by an operator, it is difficult for the control device 2 to know the type of container C that moves to form the path R or the position of the container C before the move. For the control device 2 to know such information, the operator needs to input the storage location information Ip for the moved container C and repeat the operation stored in the storage unit 21. However, as described above, the control device 2 can easily know the type or position of the moved container C by updating the storage location information Ip of the container C that moves by executing the path forming mode. Therefore, it is not necessary to return the container C that moves by executing the path forming mode to its previous position, and it can continue to be used in this state.

[0070] In this embodiment, when the control device 2 is executing the path forming mode, it accepts the specification of the setting condition T and sets the path area AR according to the specified setting condition T. For example, if an operator specifies the setting condition T, the control device 2 accepts the specification and sets the path area AR by the area setting unit 22 according to the specified setting condition T.

[0071] In this embodiment, the setting condition T includes any one of the following: a shortest distance condition Ta that minimizes the distance from the outer edge E to the object position Pt; a minimum number of items condition Tb that minimizes the number of containers C placed in the passage area AR; and a passage direction condition Tc that sets the extension direction of the passage area AR. Furthermore, in this embodiment, the minimum number of items condition Tb is the condition that minimizes the number of container groups Cg placed in the passage area AR.

[0072] like Figure 5 As shown, in this embodiment, the setting condition T includes the width of the setting path area AR (path width Rw: refer to...). Figure 8 The path width condition Td is equal to the size of the path (e.g., ...). Figure 8 As shown, the passage width Rw of the passage area AR is a dimension in a direction orthogonal to the direction in which the passage area AR extends. Based on the above configuration, by setting the size of the passage width Rw corresponding to various situations, a passage R with an appropriate passage width Rw can be formed. For example, when it is necessary to bring a machine such as a trolley to the target location Pt, the size of the machine is included; or when multiple operators are going to the target location Pt, the number of operators is included.

[0073] like Figure 5 and Figure 6As shown, the control device 2 according to this embodiment includes an operation unit 23 operable by an operator. The operation unit 23 accepts the specification of the object position Pt through the operator's operation. In this example, in addition to the object position Pt, the operation unit 23 also accepts the specification of the setting condition T through the operator's operation. Furthermore, the operation unit 23 also accepts the specification of the passage width condition Td through the operator's operation.

[0074] like Figure 6 As shown, in this embodiment, the operation unit 23 includes an operation screen (operation display) 23S. In this example, the operation screen 23S is configured as a touch panel. On the operation screen 23S, the object position Pt can be set. In this example, an object position setting image 23a is displayed, showing that the operator can input or select the object position Pt. Additionally, on the operation screen 23S, setting conditions T can be set. In this example, a setting condition setting image 23b is displayed, showing that the operator can input or select setting condition T from the shortest distance condition Ta, the fewest items condition Tb, and the path direction condition Tc. Furthermore, on the operation screen 23S, the path width Rw of the path area AR can be set. In this example, a path width setting image 23c is displayed, showing that the operator can input or select the path width Rw. Figure 6 In the example shown, the operation screen 23S displays images that the operator can input or select in the order of object position Pt, setting condition T, and path width Rw (object position setting image 23a, setting condition setting image 23b, and path width setting image 23c). Furthermore, the operation unit 23 can also be configured to allow for various input methods using a keyboard and monitor.

[0075] Next, use Figure 7 The flowchart is used to explain the sequence of actions performed by the control device 2 in the path formation mode.

[0076] When executing the path forming mode, control device 2 determines whether the object position Pt has been selected (step #1). If control device 2 determines that the object position Pt has been selected (step #1: yes), it determines whether the setting condition T has been selected (step #2). Then, if control device 2 determines that the setting condition T has been selected (step #2: yes), it determines whether the path width Rw has been selected (step #3).

[0077] The control device 2 sets the prescribed passage width Rw in the case where it is judged that the passage width Rw is not selected (Step #3: No), and sets the passage area AR based on the object position Pt and the set condition T and the prescribed passage width Rw that are selected respectively (Step #5). On the other hand, the control device 2 sets the passage area AR based on the object position Pt, the set condition T and the passage width Rw in the case where it is judged that the passage width Rw is selected (Step #3: Yes). Further, the prescribed passage width Rw set in the process of Step #4 can be a width through which the worker can pass, and for example, can be set in the range of 500 mm to 1500 mm.

[0078] The control device 2 judges whether or not there is the container C in the passage area AR after setting the passage area AR (Step #5). This judgment is made based on the storage position information Ip. The control device 2 moves the container C to a place other than the passage area AR of the storage plane F in the case where it is judged that there is the container C in the passage area AR (Step #6: Yes) (Step #7). Then, the control device 2 updates the storage position information Ip of the moved container C (Step #8). Thereafter, the control device 2 ends the passage formation mode in the case where it is judged that there is no container C in the passage area AR (Step #6: No) (Step #9: Yes). On the other hand, the control device 2 repeats the processes of Step #7 and Step #8 in the case where it is judged that there is the container C in the passage area AR (Step #9: No). Further, the control device 2 sets the passage area AR (Step #5), and ends the passage formation mode in the same manner as described above in the case where it is judged that there is no container C in the passage area AR (Step #6: No) in Step #6 thereafter.

[0079] Next, an example of forming the passage R in the storage plane F by executing the passage formation mode based on each set condition T will be described.

[0080] Figure 8 A case where the passage formation mode is executed under the shortest distance condition Ta will be described. The control device 2 sets the passage area AR in accordance with the shortest distance condition Ta in the case where the object position Pt is designated and the shortest distance condition Ta is designated as the set condition T.

[0081] In the present embodiment, the control device 2 calculates the position of the outer edge portion E closest to the object position Pt based on the storage position information Ip of the container group Cg placed at the object position Pt in the case where the shortest distance condition Ta is designated as the set condition T, and sets the passage area AR between the calculated position and the object position Pt. In the case where the shortest distance condition Ta is designated as the set condition T, the control device 2 can set the passage area AR in the same manner as described above in the case where the object position Pt is designated. Figure 8The area surrounded by the double-dot chain line is a passage area AR set in a manner satisfying the shortest distance condition Ta. In the example shown, a passage area AR is set between the object position Pt and the 1st outer edge portion E1, and the container groups Cg are placed at 8 positions within the passage area AR. The control device 2 moves the container groups Cg placed at the 8 positions to a place other than the passage area AR on the storage plane F. As described above, the place that becomes the destination of the movement of the container groups Cg is a place other than the passage area AR on the storage plane F, on other container groups Cg or an empty area S. By executing the passage formation mode, as shown in the lower drawing of FIG. 12, Figure 8 all the containers C placed in the passage area AR are removed, and a passage R through which the worker can pass is formed in the area corresponding to the passage area AR. By thus setting the condition T as the shortest distance condition Ta, the passage R through which the worker reaches from the outer edge portion E to the object position Pt in the shortest distance can be formed.

[0082] In addition, in the present embodiment, the control device 2 sets the passage area AR in a manner that the edge of the outer edge portion E on which the entrance G is provided becomes the starting point when the shortest distance condition Ta is specified as the condition T. In detail, the control device 2 sets the passage area AR in a manner that the position of the edge (the outer edge portion E) on which the entrance G is provided closest to the object position Pt becomes the starting point. Thereby, the passage R can be formed from a position close to the entrance G. Figure 8 An example in which the shortest distance condition Ta is specified as the condition T and the 1st outer edge portion E1 on which the entrance G is provided is set as the starting point to set the passage area AR is shown. In addition, in the example shown in FIG. 13, the passage area AR set does not differ depending on the presence or absence of the condition that the edge of the outer edge portion E on which the entrance G is provided (the 1st outer edge portion E1) is set as the starting point, but differs depending on which position is specified as the object position Pt, and sometimes a passage area AR different from the above is set. For example, for the 2nd object position Pt2 shown in FIG. 14, when the passage area AR is set in the shortest distance condition Ta without considering the edge of the outer edge portion E on which the entrance G is provided, a passage area AR like that shown by "AR2" in FIG. 15 is set. Figure 8 Figure 8 Figure 8

[0083] Figure 9 An example in which the passage formation mode is executed in the least articles condition Tb is shown. The control device 2 sets the passage area AR in the least articles condition Tb when the object position Pt is specified and the least articles condition Tb is specified as the condition T.

[0084] ​​​In the present embodiment, the control device 2 sets the passage area AR in a region in which the number of the container groups Cg placed between the subject position Pt and the outer edge portion E is the least, on the basis of the storage position information Ip of all the container groups Cg placed on the storage plane F, in a case where the least article condition Tb is designated as the setting condition T. In Figure 9 the region surrounded by the double-dot chain line is the passage area AR set in a manner satisfying the least article condition Tb. In the example illustrated, the passage area AR is set between the subject position Pt and the 2nd outer edge portion E2, and the container groups Cg are placed at 4 positions within the passage area AR. The control device 2 moves the container groups Cg placed at the 4 positions to a place other than the passage area AR on the storage plane F. Thus, as illustrated in the lower drawing of Figure 9 , all the containers C placed in the passage area AR are removed, and a passage R through which the worker can pass is formed in a region corresponding to the passage area AR. By thus setting the setting condition T to the shortest distance condition Ta, it is possible to suppress the number of movements of the container groups Cg (or the individual containers C) by the conveyance device 1 to be small, and to shorten the time taken by the conveyance device 1 to form the passage R.

[0085] Further, in the above, a case where the passage area AR is set in accordance with the least article condition Tb without taking into account the edge of the outer edge portion E provided with the entrance and exit G is described. However, in a case where the least article condition Tb is designated as the setting condition T, the passage area AR can also be set in a manner taking the edge of the outer edge portion E provided with the entrance and exit G as a starting point. In this case, in the present example, the 1st outer edge portion E1 provided with the entrance and exit G is taken as the starting point, and a region like that shown by "AR2" in Figure 9 is set in a manner in which the number of the container groups Cg existing before the subject position Pt is the least.

[0086] In the above, an example in which the passage area AR is set in each of a case where the setting condition T is set to the shortest distance condition Ta or a case where the setting condition T is set to the least article condition Tb is described. However, the passage area AR satisfying the shortest distance condition Ta is not limited to one, and the passage area AR satisfying the least article condition Tb is not limited to one either.

[0087] Thus, for example, in a case where the setting condition T is set to the shortest distance condition Ta and two or more passage areas AR satisfying the shortest distance condition Ta can be set, it is appropriate for the control device 2 to set, as the passage area AR, a candidate in which the number of the container groups Cg included in each candidate is the least, among the candidates of the two or more passage areas AR satisfying the shortest distance condition Ta. Thus, it is possible to form, as the passage R, a candidate in which the time taken to form the passage R by the conveyance device 1 is the least, among the candidates of the passage R in which the distance from the outer edge portion E to the subject position Pt is the shortest.

[0088] Further, for example, in a case where the set condition T is the minimum article condition Tb and a case where it is possible to set two or more passage areas AR that satisfy the minimum article condition Tb, it is appropriate that the control device 2 sets, as the passage area AR, a candidate having the shortest distance from the outer edge portion E to the object position Pt among candidates of two or more passage areas AR that satisfy the minimum article condition Tb. Thereby, it is possible to form the passage R having the shortest distance from the outer edge portion E to the object position Pt among candidates of the passage R formed in the shortest time.

[0089] Further, in a case where it is possible to set a plurality of passage areas AR even if the condition as described above is set, it is also possible to further add other conditions or to set a passage area AR selected by the operator from the plurality of passage areas AR.

[0090] Figure 10 A case where the passage formation mode is executed under the passage direction condition Tc is shown. The control device 2 sets the passage area AR in accordance with the passage direction condition Tc in a case where the object position Pt is designated and the passage direction condition Tc is designated as the set condition T.

[0091] In the present embodiment, the control device 2 sets the passage area AR from the object position Pt in a direction designated by the passage direction condition Tc in a case where the passage direction condition Tc is designated as the set condition T. By making the set condition T the passage direction condition Tc, it is possible to form the passage R in a direction corresponding to various conditions, for example, a current position of the operator or a position of the entrance G to the storage plane F, and the like. For example, in a case where the operator is present in the vicinity of the entrance G to the storage plane F, it is possible to form the passage R in a direction in which the operator is present. Figure 10 In the present embodiment, the control device 2 sets the passage area AR from the object position Pt in a direction designated by the passage direction condition Tc in a case where the passage direction condition Tc is designated as the set condition T. By making the set condition T the passage direction condition Tc, it is possible to form the passage R in a direction corresponding to various conditions, for example, a current position of the operator or a position of the entrance G to the storage plane F, and the like. For example, in a case where the operator is present in the vicinity of the entrance G to the storage plane F, it is possible to form the passage R in a direction in which the operator is present. Figure 10 The area enclosed by the double-dot chain line in the present embodiment is the passage area AR set in a manner so as to satisfy the passage direction condition Tc. In the illustrated example, the passage area AR is set in a manner so as to extend in the Y direction from the object position Pt and reach the fourth outer edge portion E4, and the container groups Cg are placed at five positions within the passage area AR. The control device 2 moves the container groups Cg placed at the five positions to a place other than the passage area AR of the storage plane F. As described above, the place that becomes the movement destination of the container groups Cg is the other container groups Cg or the empty area S placed at the place other than the passage area AR of the storage plane F. By executing the passage formation mode, as shown in the lower drawing of the present embodiment, all of the containers C placed in the passage area AR are removed, and the passage R through which the operator can pass is formed in the area corresponding to the passage area AR. Figure 10

[0092] Further, in the present embodiment, the control device 2 sets the passage area AR in a manner so as to satisfy the passage direction condition Tc in a case where the object position Pt is designated and the passage direction condition Tc is designated as the set condition T. Figure 11 ​The image shows another example where the setting condition T is the path direction condition Tc. In this example, an entrance / exit G is provided at the first outer edge E1.

[0093] In this example, the path direction condition Tc includes the direction and distance extending from the object position Pt. When the path direction condition Tc is specified as setting condition T, the control device 2 sets the path area AR according to the direction and distance extending from the object position Pt included in the path direction condition Tc. Figure 11 The area enclosed by the double-dotted line is the pathway region AR, defined to satisfy the pathway direction condition Tc. Figure 11 The following example is shown: the direction extending from the object location Pt is designated as the Y direction, and its distance is designated as the first extension distance Ly; further, the direction extending from this point is designated as the X direction, and its distance is designated as the second extension distance Lx, thus establishing a passageway AR. In the illustrated example, container groups Cg are placed at five locations within the passageway AR. The control device 2 moves the container groups Cg placed at these five locations to locations on the storage plane F other than the passageway AR. Thus, as... Figure 11 As shown in the diagram below, all containers C placed in the access area AR are removed, forming a passageway R accessible to workers in the area corresponding to the access area AR. Figure 11 In the example shown, by setting the condition T to the path direction condition Tc, a path R is formed by connecting the position of the first outer edge E1 (outer edge E) closest to the entrance / exit G to the object position Pt.

[0094] Here, depending on the storage condition of container C in storage plane F, after setting passage area AR, the empty area S for moving container C placed in passage area AR is sometimes insufficient.

[0095] Therefore, in this embodiment, as Figure 12 As shown, the control device 2 performs the following process (empty area assurance process): When executing the passage formation mode, if there is insufficient space (empty area S) in the storage plane F for moving all containers C placed in the passage area AR, the transport device 1 is used to increase the number of stacks of containers C stored in the storage plane F, thereby increasing the storage capacity in the storage plane F and ensuring space (empty area S) for moving all containers C placed in the passage area AR. In this example, in the empty area assurance process, the control device 2 increases the number of stacks of containers C placed in spaces other than the passage area AR in the storage plane F within a range below the upper limit of the preset upper limit of the number of stacks of containers C, thus ensuring empty area S.

[0096] exist Figure 12In the example shown in FIG. 1, the upper limit number of layers of the storage plane F is "10", and the numbers shown inside the container groups Cg in the figure show the number of layers of the containers C in the current state of each container group Cg. Further, in order to facilitate explanation, in the example shown in FIG. 1, the number of layers of the containers C in each container group Cg is indicated by the number of layers of the containers C in the container group Cg that is placed on the top of the container group Cg. Figure 12 In the example shown in FIG. 1, the upper limit number of layers of the storage plane F is "10", and the numbers shown inside the container groups Cg in the figure show the number of layers of the containers C in the current state of each container group Cg. Further, in order to facilitate explanation, in the example shown in FIG. 1, the number of layers of the containers C in each container group Cg is indicated by the number of layers of the containers C in the container group Cg that is placed on the top of the container group Cg.

[0097] In the example shown in FIG. 1, the upper limit number of layers of the storage plane F is "10", and the numbers shown inside the container groups Cg in the figure show the number of layers of the containers C in the current state of each container group Cg. Further, in order to facilitate explanation, in the example shown in FIG. 1, the number of layers of the containers C in each container group Cg is indicated by the number of layers of the containers C in the container group Cg that is placed on the top of the container group Cg. Figure 12 In the example shown in FIG. 1, the upper limit number of layers of the storage plane F is "10", and the numbers shown inside the container groups Cg in the figure show the number of layers of the containers C in the current state of each container group Cg. Further, in order to facilitate explanation, in the example shown in FIG. 1, the number of layers of the containers C in each container group Cg is indicated by the number of layers of the containers C in the container group Cg that is placed on the top of the container group Cg. Figure 12 In the example shown in FIG. 1, the upper limit number of layers of the storage plane F is "10", and the numbers shown inside the container groups Cg in the figure show the number of layers of the containers C in the current state of each container group Cg. Further, in order to facilitate explanation, in the example shown in FIG. 1, the number of layers of the containers C in each container group Cg is indicated by the number of layers of the containers C in the container group Cg that is placed on the top of the container group Cg.

[0098] In the example shown in FIG. 1, the upper limit number of layers of the storage plane F is "10", and the numbers shown inside the container groups Cg in the figure show the number of layers of the containers C in the current state of each container group Cg. Further, in order to facilitate explanation, in the example shown in FIG. 1, the number of layers of the containers C in each container group Cg is indicated by the number of layers of the containers C in the container group Cg that is placed on the top of the container group Cg. Figure 12 In the example shown in FIG. 1, the upper limit number of layers of the storage plane F is "10", and the numbers shown inside the container groups Cg in the figure show the number of layers of the containers C in the current state of each container group Cg. Further, in order to facilitate explanation, in the example shown in FIG. 1, the number of layers of the containers C in each container group Cg is indicated by the number of layers of the containers C in the container group Cg that is placed on the top of the container group Cg.

[0099]

Other Embodiments

[0100] Next, other embodiments of the plane storage device will be described.

[0101] (1) In the above-described embodiment, an example in which the minimum article condition Tb is a condition for minimizing the number of container groups Cg placed in the passage region AR was described. However, the minimum article condition Tb is not limited to this example, and can be a condition for minimizing the number of containers C placed in the passage region AR. That is, in this case, the control device 2 sets the passage region AR in such a manner that the number of containers C placed in the passage region AR is minimized, taking into account the number of container groups Cg placed in the passage region AR and the number of layers thereof.

[0102] (2) In the above-described embodiment, an example in which the storage plane F is formed in a rectangular shape and the outer edge portion E is formed along the four sides of the rectangular storage plane F was described. However, the shape of the storage plane F is not limited to this example, and various shapes such as a polygonal shape, a circular shape, an elliptical shape, and the like can be adopted. In addition, regardless of the shape of the storage plane F, the outer edge portion E through which the worker can pass is not necessarily required, and the entire storage plane F can be made into the storage region AF.

[0103] (3) In the above-described embodiment, an example in which the entrance and exit G is provided in the first outer edge portion El was described. However, the example is not limited to this, and in the case where the storage plane F is formed in a rectangular shape, the entrance and exit G can be provided in the second outer edge portion E2, the third outer edge portion E3, or the fourth outer edge portion E4. In addition, the number of the entrance and exit G can be one or a plurality.

[0104] (4) In the above-described embodiment, an example in which the control device 2 accepts designation of the setting condition T in the case where the passage formation mode is executed, and sets the passage region AR in accordance with the designated setting condition T was described. However, the example is not limited to this, and the control device 2 can set the passage region AR automatically without accepting the setting condition T. In this case, the control device 2 sets the passage region AR in accordance with a predetermined condition. The predetermined condition can be any one of the above-described shortest distance condition Ta, the minimum article condition Tb, and the passage direction condition Tc, or can be a condition different from them.

[0105] (5) In the above-described embodiment, an example in which the target article is the container C that can be stacked in multiple layers was described. However, the example is not limited to this, and the target article can be the container C that cannot be stacked, or can be various articles other than the container C.

[0106] (6) In the above-described embodiments, an example in which the moving mechanism 11 is provided with the Y-direction moving body 11Y formed in a rail shape and the X-direction moving body 11X constituted by a trolley that travels along the Y-direction moving body 11Y has been described. However, the moving mechanism 11 is not limited to such an example, and the moving mechanism 11 can be constituted in a manner that enables movement of the gripping portion 101 for gripping the container C in both the X direction and the Y direction. For example, the moving mechanism 11 can also be constituted by a robot arm or the like that enables movement of the gripping portion 101 in the X direction, the Y direction, and the Z direction.

[0107] (7) Furthermore, the configurations disclosed in the above-described embodiments can be applied in combination with the configurations disclosed in the other embodiments as long as there is no contradiction. As for other configurations, the embodiments disclosed in this specification are merely examples at all points. Therefore, various changes can be appropriately made within the scope of the gist of the present disclosure.

[0108]

Summary of the above-described embodiments

[0109] Hereinafter, the planar storage device described in the above will be described.

[0110] The planar storage device according to the present disclosure is provided with:

[0111] a storage plane that places and stores a plurality of object articles;

[0112] a conveyance device that moves the aforementioned object articles within the aforementioned storage plane; and

[0113] a control device that controls the operation of the aforementioned conveyance device,

[0114] the aforementioned control device accepts designation of an object position within the aforementioned storage plane, and in a case where the aforementioned object position is designated, a passage formation mode in which a passage through which a worker can pass is formed from an outer edge portion of the aforementioned storage plane to the aforementioned object position can be executed,

[0115] the aforementioned control device sets a passage area for securing the aforementioned passage in the aforementioned passage formation mode, and moves all of the aforementioned object articles placed within the aforementioned passage area to a place other than the aforementioned passage area within the aforementioned storage plane using the aforementioned conveyance device.

[0116] According to this configuration, it is not necessary to pre-establish a passageway for operators on the storage plane. Therefore, compared to pre-establishing such a passageway, a wider area can be ensured for storing the items, thus improving the storage efficiency of the items. Furthermore, according to this configuration, when an item location is designated on the storage plane, a passageway formation mode is executed to form a passageway connecting the outer edge of the storage plane to the item location. Thus, a conveying device can be used to form a passageway for operators to access any item location. For example, if there is a spillage of items on a portion of the storage plane, and an operator needs to perform work at the location where such spillage occurs, the location where the spillage occurs can be designated as the item location, and a passageway leading to that item location can be formed on the storage plane. As described above, according to this configuration, a planar storage device can be realized that improves the storage efficiency of items on a storage plane storing multiple items and allows for the formation of passageways for operators as needed.

[0117] Here, it is appropriate to say that

[0118] The aforementioned control device includes a storage unit that stores, in association, identification information for identifying each of the aforementioned object articles stored on the aforementioned storage plane, and storage location information indicating the location where the object articles are stored.

[0119] The aforementioned control device updates the aforementioned storage location information for the aforementioned object that is moved by executing the aforementioned path formation mode.

[0120] Based on this configuration, the management of objects stored on the storage plane is easily achieved. Furthermore, for objects moved through the execution path formation mode, the storage location information is updated, thus allowing it to be known where the moved objects are stored. Therefore, it is not necessary to return objects moved through the execution path formation mode to their previous position, and they can continue to be used in this state.

[0121] In addition, it is appropriate that

[0122] When the aforementioned control device executes the aforementioned path formation mode, it accepts the specified setting conditions and sets the aforementioned path area according to the specified setting conditions.

[0123] Based on this configuration, a pathway can be formed in a pathway area that is set in accordance with the set conditions.

[0124] Furthermore, when the aforementioned control device configures the aforementioned passage area according to the specified settings, it is appropriate that...

[0125] Under the aforementioned conditions,

[0126] It includes any one of the following: a minimum distance condition that minimizes the distance from the aforementioned outer edge to the aforementioned object location; a minimum number of items condition that minimizes the number of the aforementioned object items placed in the aforementioned passage area; and a passage direction condition that sets the extension direction of the aforementioned passage area.

[0127] Based on this configuration, appropriate setting conditions can be selected to set the passage area according to the situation at that moment. For example, by setting the setting condition to the shortest distance condition, a passage can be formed that allows the operator to reach the object location from the outer edge with the shortest distance. In addition, by setting the setting condition to the minimum number of items condition, the number of object items moved by the conveyor can be reduced, and the time for the conveyor to form the passage can be shortened. Furthermore, by setting the setting condition to the passage direction condition, a passage can be formed along a direction corresponding to various conditions, such as the operator's current position or the position of the entrance / exit to the storage plane.

[0128] Furthermore, in the aforementioned configuration including any one of the aforementioned shortest distance condition, minimum number of items condition, and path direction condition, it is appropriate that,

[0129] The aforementioned storage plane is rectangular in shape.

[0130] The aforementioned outer edge is formed by the four sides of the aforementioned rectangular storage plane.

[0131] The entrance / exit that allows the aforementioned workers to enter and exit is located on any one of the four sides forming the aforementioned outer edge.

[0132] When the aforementioned control device specifies either the aforementioned shortest distance condition or the aforementioned minimum number of items condition as the aforementioned setting condition, it sets the aforementioned passage area with the aforementioned outer edge having the aforementioned entrance and exit as the starting point.

[0133] According to this configuration, when either the shortest distance condition or the minimum number of items condition is specified as a setting condition, a passage can be formed from a position close to the entrance or exit.

[0134] Furthermore, when the aforementioned control device configures the aforementioned passage area according to the specified settings, it is appropriate that...

[0135] The aforementioned settings include a passage width condition that sets the width of the aforementioned passage area.

[0136] Based on this configuration, the width of the passage can be set accordingly to various situations. For example, when it is necessary to bring a machine such as a trolley to the target location, the width of the passage can be included; or when multiple operators need to go to the target location, the width of the passage can be included.

[0137] In addition, it is appropriate that

[0138] The aforementioned objects are containers that can be stacked in multiples.

[0139] The aforementioned control device performs the following processing: when executing the aforementioned passage formation mode, if there is insufficient space in the aforementioned storage plane for moving all the aforementioned object articles placed in the aforementioned passage area, the aforementioned conveying device is used to increase the number of stacks of the aforementioned object articles stored in the aforementioned storage plane, thereby increasing the storage capacity in the aforementioned storage plane and ensuring space for moving all the aforementioned object articles placed in the aforementioned passage area.

[0140] According to this configuration, even if the storage area is insufficient to allow movement of all objects placed in the passageway, processing is performed to ensure the storage area corresponding to the insufficiency, thereby enabling the proper formation of the passageway.

[0141] In addition, it is appropriate that

[0142] The X and Y directions are defined as directions along the aforementioned storage plane and orthogonal to each other, and the Z direction is defined as the direction orthogonal to the aforementioned storage plane.

[0143] The aforementioned conveying device includes: a gripping part that grips the aforementioned object; a moving mechanism that moves the aforementioned gripping part along the aforementioned X direction and the aforementioned Y direction; and a lifting mechanism that lifts the aforementioned gripping part along the aforementioned Z direction.

[0144] Based on this configuration, the object can be properly moved to various positions within the storage plane.

[0145] Industrial availability

[0146] The technology disclosed herein can be used in a planar storage device, which includes a storage plane for placing and storing multiple object articles, a conveying device for moving the object articles within the storage plane, and a control device for controlling the operation of the conveying device.

[0147] Symbol Explanation

[0148] 100: Flat storage equipment

[0149] 1: Conveying device

[0150] 11: Mobile mechanism

[0151] 101: Grip section

[0152] 12: Lifting mechanism

[0153] 2: Control device

[0154] 21: Storage Department

[0155] AR: Passage Area

[0156] R: Pathway

[0157] Rw: Path width

[0158] F: Storage plane

[0159] E: Outer edge

[0160] G: Entrance / Exit

[0161] S: Empty area

[0162] C: Container (object item)

[0163] Pt: Object position

[0164] Ii: Identification Information

[0165] IP: Storage location information

[0166] T: Setting conditions

[0167] Ta: Shortest distance condition

[0168] Tb: Minimum Item Requirements

[0169] Tc: Pathway Direction Condition

[0170] Td: Path width condition.

Claims

1. A planar storage device, comprising: A storage surface that holds and stores multiple objects / items; A conveying device that moves the object article within the storage plane; and A control device that controls the operation of the conveying device. The control device receives a designation of the object's location within the storage plane. Once the object's location is designated, it can execute a path-forming mode to create a passageway from the outer edge of the storage plane to the object's location, allowing worker access. The control device sets a passage zone in the passage formation mode to ensure the passage, and uses the conveying device to move all the object items placed in the passage zone to a location outside the passage zone within the storage plane. When executing the path forming mode, the control device accepts the specified settings and sets the path area according to the specified settings. Under the given conditions, It includes any one of the following: a shortest distance condition that minimizes the distance from the outer edge to the object location; a minimum number of items condition that minimizes the number of object items placed in the passage area; and a passage direction condition that sets the extension direction of the passage area.

2. The planar storage device according to claim 1, wherein, The control device includes a storage unit that stores, in association, identification information for recognizing the object item and storage location information indicating the location where the object item is stored for each of the object items stored on the storage plane. The control device updates the storage location information for the object item that is moved by executing the path forming mode.

3. The planar storage device according to claim 1, wherein, The storage plane is rectangular in shape. The outer edge is formed along the four sides of the rectangular storage plane. The entrance / exit for workers is located on any one of the four sides forming the outer edge. When either the shortest distance condition or the minimum number of items condition is specified as the setting condition, the control device sets the passage area with the side of the outer edge where the entrance / exit is located as the starting point.

4. The planar storage device according to claim 1, wherein, The setting conditions include a passage width condition that sets the width of the passage area.

5. The planar storage device according to claim 1 or 2, wherein, The object is a container that can be stacked multiple times. The control device performs the following processing: when the passage formation mode is executed, if there is insufficient space in the storage plane for moving all the object items placed in the passage area, the conveying device is used to increase the number of stacks of the object items stored in the storage plane, thereby increasing the storage capacity in the storage plane and ensuring sufficient space for moving all the object items placed in the passage area.

6. The planar storage device according to claim 1 or 2, wherein, The X and Y directions are defined as directions along the storage plane and orthogonal to each other, and the Z direction is defined as the direction orthogonal to the storage plane. The conveying device includes: a gripping part that grips the object; a moving mechanism that moves the gripping part along the X and Y directions; and a lifting mechanism that lifts the gripping part along the Z direction.

Images