Automatic warehouse

Abstract

Provided is an automated warehouse provided with a storage facility, a first trolley (5), and a second trolley, the first trolley (5) being provided with an electricity storage device (51), a travel drive device (53), and a control device (7) for controlling the travel drive device, the control device (7) being provided with a control unit (10), a heat generating device (8) for generating heat, and a heat insulating case (9). The control unit (10) and the heat generating device (8) are housed inside the heat insulating case (9).

Description

Technical Field

[0001] The present invention relates to an automated warehouse. Background Art

[0002] For example, in Japanese Unexamined Patent Application Publication No. 2019-108204 (Patent Document 1), a technique related to an automated warehouse is disclosed. Hereinafter, the reference numerals shown in parentheses in the description of the background art are the reference numerals of Patent Document 1.

[0003] The automated warehouse of Patent Document 1 includes a transport cart (12) for transporting an article (W) and a multi-stage storage and transport unit (6) arranged side by side in the vertical direction. Each of the multi-stage storage and transport units (6) includes a travel path (R) on which the transport cart (12) travels and a storage unit (storage rack 11) for storing the article (W). The travel path (R) includes a first travel path (R1) arranged along a first direction and a second travel path (R2) arranged along a second direction which is orthogonal to the first direction (X) when viewed in the vertical direction. The second travel path (R2) is connected to the first travel path (R1), and a plurality of them are arranged side by side along the first direction (X). In addition, a plurality of storage units are provided along each of the second travel paths (R2). The transport cart (12) includes a first cart (sub-cart 19) capable of carrying the article (W) and traveling and a second cart (mother cart 18) capable of carrying the first cart (19). Moreover, when transporting the article (W) to the storage unit, the second cart (18) travels on the first travel path (R1) with the first cart (19) mounted thereon. The first cart (19) transfers from the second cart (18) to an arbitrary second travel path (R2) and transports the article (W) to the storage unit at the storage destination. Summary of the Invention

[0004] However, in an automated warehouse as described above, for example, for the purpose of storing fresh food or frozen food, etc., the storage unit is sometimes in a low-temperature environment. In addition, depending on the temperature set in the storage unit, the temperature difference between the storage unit of the automated warehouse and other places may be large. In such a specific temperature environment, if devices and components with weak tolerance to low temperature or temperature changes are used in the first cart entering and leaving the storage unit, it is easy to cause malfunction in the first cart, and the operation rate of the equipment may decrease.

[0005] Therefore, it is desired to realize an automated warehouse which, in an automated warehouse having a first cart for transporting an article and a second cart capable of carrying the first cart, can reduce the incidence of malfunction of the first cart and suppress the decrease in the operation rate of the equipment even when the first cart travels in a specific temperature environment.

[0006] The automated warehouse related to the present disclosure is an automated warehouse having the following: a storage device, which has a plurality of rows of storage sections capable of storing articles side by side in a first direction that is a specific direction along a horizontal plane, in a second direction that intersects the first direction when viewed in the vertical direction; a first cart, which travels along the first direction and conveys the articles in the storage sections; and a second cart, which is capable of carrying the first cart and travels along the second direction outside the storage sections. The second cart is provided with a power supply unit for supplying power to the first cart. The first cart includes: a power storage device; a travel drive device, which uses the power stored in the power storage device to cause the first cart to travel; and a control device, which controls the travel drive device. The control device includes: a control unit, which generates a control signal for the travel drive device; a heating device, which generates heat using at least one of the power supplied from the power supply unit and the power stored in the power storage device; and a heat insulating housing, which is formed using a heat insulating material. The control unit and the heating device are accommodated inside the heat insulating housing.

[0007] According to this configuration, even when the control unit of the first cart includes components that are less tolerant to low temperatures or temperature changes, since the control unit is heated by the heat generated by the heating device, it is easy to keep the control unit within the allowable temperature range. Therefore, even when the first cart travels in a specific temperature environment such as a low temperature environment or an environment with a large temperature difference, the incidence of malfunction of the control unit can be reduced. In addition, according to this configuration, since the control unit and the heating device are accommodated inside the heat insulating housing, it is easy to keep the heat generated by the heating device inside the heat insulating housing, and it is easy to suppress the power consumption of the heating device to a small amount. Therefore, it is easy to miniaturize the power storage device provided in the first cart. In this way, according to this configuration, in an automated warehouse having a first cart for conveying articles and a second cart capable of carrying the first cart, even when the first cart travels in a specific temperature environment, the incidence of malfunction of the first cart can be reduced, and a decrease in the operation rate of the equipment can be suppressed.

[0008] Further features and advantages of the automated warehouse will become apparent from the following description of exemplary and non-limiting embodiments described with reference to the accompanying drawings. Description of the Drawings

[0009] Figure 1 It is a top view of the storage device. Figure 2 It is a longitudinal sectional front view of a part of the storage device. Figure 3 Is a perspective view of a part of the storage device. Figure 4 Is a top view schematically showing the internal structure of the first vehicle. Figure 5 Is a control block diagram. Figure 6 Is a top view schematically showing the travel paths of the first vehicle and the second vehicle. Figure 7 Is a control flow chart. Figure 8 Is a control flow chart. Detailed implementation mode

[0010] The implementation mode of the automated warehouse will be described with reference to the accompanying drawings. As Figure 1 and Figure 2 shown, the automated warehouse 1 includes a storage device 3 for storing the article W, a first vehicle 5 for transporting the article W, and a second vehicle 6 capable of carrying the first vehicle 5. In addition, as Figure 1 shown, the automated warehouse 1 includes a loading unit 90 for loading the article W into the storage device 3 and an unloading unit 91 for unloading the article W from the storage device 3.

[0011] As Figure 1 and Figure 2 shown, a specific direction along the horizontal plane is defined as the first direction X, and a direction intersecting the first direction X when observed in the vertical direction (top view) is defined as the second direction Y. Here, the second direction Y is a horizontal direction orthogonal to the first direction X when observed in the vertical direction. That is, the first direction X and the second direction Y are two horizontal directions orthogonal to each other.

[0012] One side of the first direction X is defined as the first side X1 of the first direction, and the other side of the first direction X is defined as the second side X2 of the first direction. In addition, one side of the second direction Y is defined as the first side Y1 of the second direction, and the other side of the second direction Y is defined as the second side Y2 of the second direction. Here, one side of the first direction X close to the travel path (the second travel path R2) of the second vehicle 6 is defined as the first side X1 of the first direction, and the opposite side thereof is defined as the second side X2 of the first direction. Therefore, with respect to the travel path of the second vehicle 6, between the regions on both sides of the first direction X, the orientations of the first side X1 of the first direction are opposite to each other. In addition, here, one side of the second direction Y close to the loading unit 90 and the unloading unit 91 is defined as the first side Y1 of the second direction, and the opposite side thereof is defined as the second side Y2 of the second direction.

[0013] As Figure 1As shown, in the storage device 3, a plurality of storage units 4 are provided along the second direction Y, and the storage units 4 can store the articles W side by side along the first direction X. In one storage unit 4, the number of articles W that can be stored side by side along the first direction X can vary according to the size of the article W in the first direction X. In Figure 1 the illustrated example, up to eight articles W can be stored side by side along the first direction X in one storage unit 4.

[0014] As Figure 1 and Figure 2 shown, the storage device 3 includes a plurality of stacked storage layers 32 arranged side by side in the vertical direction, and a plurality of columns of storage units 4 are provided in each of the plurality of stacked storage layers 32. In Figure 2 the example, a storage device 3 having three stacked storage layers 32 arranged in the vertical direction is illustrated. In Figure 2 the example, three levels L are sequentially designated as the first level L1, the second level L2, and the third level L3 from the lower side in the vertical direction. In Figure 1 the example, in one storage layer 32, a plurality of columns (here, nine columns) of storage units 4 are provided side by side along the second direction Y. In addition, the plurality of columns of storage units 4 are provided on both sides in the first direction X with the traveling path (second traveling path R2) of the second cart 6 interposed therebetween. Furthermore, the number of levels of the storage layers 32 and the number of storage units 4 provided in each storage layer 32 can be appropriately changed according to the scale of the storage device 3.

[0015] As Figure 1 , Figure 2 and Figure 6 shown, the first cart 5 travels along the first direction X and conveys the article W in the storage unit 4. The first cart 5 is configured to be able to carry the article W. The first cart 5 is disposed in each of the plurality of storage layers 32. In this example, one first cart 5 is disposed in each storage layer 32. In addition, as Figure 1 , Figure 2 and Figure 6 shown, the second cart 6 can carry the first cart 5 and travels along the second direction Y outside the storage unit 4. The second cart 6 is disposed in each of the plurality of stacked storage layers 32. In this example, one second cart 6 is disposed in each storage layer 32. Thus, in the storage device 3 of this example, one first cart 5 and one second cart 6 are disposed in each of the plurality of storage layers 32. On the other hand, it is also possible to dispose a plurality of first carts 5 and a plurality of second carts 6 in each of the plurality of storage layers 32.

[0016] As Figure 1 , Figure 2 and Figure 6As shown, the first vehicle 5 is configured to travel along a path (first travel path R1) in the first direction X provided on each storage layer 32. The second vehicle 6 is configured to travel along a path (second travel path R2) in the second direction Y provided on each storage layer 32. On one storage layer 32, a plurality of first travel paths R1 are provided. Moreover, the number of first travel paths R1 provided on the storage layers 32 of each level is the same as the number of storage units 4 provided on the storage layers 32 of each level. In addition, as Figure 1 shown, each first travel path R1 is arranged so as to overlap the corresponding storage unit 4 when viewed in the vertical direction. In Figure 1 , nine columns of first travel paths R1 are respectively arranged on both sides of the second travel path R2 corresponding to each storage unit 4. One second travel path R2 is arranged along the second direction Y so as to longitudinally cut the central portion of the storage layer 32 in the first direction X when viewed in the vertical direction. In addition, in this example, each of the multi-level storage layers 32 has the same configuration, but they can also have different configurations. For example, in some of the multi-level storage layers 32 or each storage layer 32, the number of storage units 4, first travel paths R1, second travel paths R2, first vehicles 5, and second vehicles 6 can be different.

[0017] As Figure 1 shown, the loading unit 90 and the unloading unit 91 are provided so as to travel along the second travel path R2. Specifically, the loading unit 90 and the unloading unit 91 are provided at one end in the second direction Y of the second travel path R2 (here, the end on the first side Y1 in the second direction). In this example, the loading unit 90 includes a storage section 92, a first lifting device 94, and a loading transporter 97. The storage section 92 has multiple levels corresponding to each of the multi-level storage layers 32. In addition, the unloading unit 91 includes an unloading section 93, a second lifting device 95, and an unloading transporter 96. The unloading section 93 has multiple levels corresponding to each of the multi-level storage layers 32. Hereinafter, for the conveyance of the article W using the loading unit 90, the process of conveying the article W outside the automated warehouse 1 to the storage unit 4 will be described and explained simultaneously. The article W loaded onto the loading transporter 97 from the outside of the automated warehouse 1 is conveyed to the first lifting device 94. Then, it is conveyed by the first lifting device 94 to the level of the storage layer 32 that is the storage destination. Thereafter, the article W is transferred from the first lifting device 94 to the storage section 92. The article W is transferred from the storage section 92 to the second vehicle 6 carrying the first vehicle 5 on the second travel path R2. In addition, the storage section 92 is a transporter.

[0018] As Figure 1 , Figure 2 and Figure 6As shown, the second vehicle 6 that has received the article W (the second vehicle 6 in the state of carrying the first vehicle 5) travels on the second travel path R2 and stops at a position corresponding to the storage unit 4 of the conveyance destination. Then, the first vehicle 5 carrying the article W detaches from the second vehicle 6 and travels on the first travel path R1 corresponding to the storage unit 4 of the conveyance destination. If the first vehicle 5 reaches the storage position of the storage unit 4, the article W is transferred to this storage position. Hereinafter, for the conveyance of the article W using the shipping unit 91, the process of conveying the article W stored in the storage unit 4 to the outside of the automated warehouse 1 will be shown and explained simultaneously.

[0019] As Figure 1 , Figure 2 and Figure 6 shown, if the first vehicle 5 reaches the storage position of the article W to be shipped in the storage unit 4, it loads the article W and travels on the first travel path R1. Thereafter, the first vehicle 5 transfers from the first travel path R1 to the second vehicle 6 on the second travel path R2. The second vehicle 6 carrying the article W and the first vehicle 5 travels on the second travel path R2, and the article W is handed over to the shipping department 93. The article W conveyed from the shipping department 93 to the second lifting device 95 is handed over to the shipping transporter 96 and conveyed outside the automated warehouse 1. In addition, the shipping department 93 is a transporter in the same manner as the receiving department 92. In Figure 2 , the case where the pallet Wa loaded with the goods Wb is shown as the article W is exemplified, but it is not limited thereto.

[0020] As Figure 2 and Figure 3 shown, the storage equipment 3 includes a plurality of columns 14 extending in the vertical direction. In the example of Figure 2 , the columns 14 are erected on the floor portion so as to extend upward in the vertical direction from the floor portion. Moreover, the plurality of columns 14 support the first rail 20 and the second rail 30. The first rail 20 is a rail that guides the first vehicle 5 in the first direction X. The first rail 20 is supported by the plurality of columns 14 by being connected to the plurality of columns 14 arranged side by side in the first direction X. The second rail 30 is a rail that guides the second vehicle 6 in the second direction Y. The second rail 30 is supported by the plurality of columns 14 by being connected to the plurality of columns 14 arranged side by side in the second direction Y. Here, by providing a pair of first rails 20, the first travel path R1 is formed. In addition, by providing a pair of second rails 30, the second travel path R2 is formed.

[0021] The storage unit 4 is formed using a pair of first rails 20. Specifically, as Figure 3As shown, each of a pair of first rails 20 has, in addition to the above-described first running surface 21, a placement surface 22 disposed on the upper side of the first running surface 21 (here, the upward-facing surface). The placement surface 22 is formed to continuously extend along the first direction X. By placing a plurality of articles W side by side along the first direction X on the placement surface 22, the plurality of articles W are stored side by side in the storage section 4 along the first direction X. Here, the article W is stored in the storage section 4 in a state where both sides in the second direction Y are placed on the placement surface 22 of one of the pair of first rails 20 and the placement surface 22 of the other. Taking the side facing the center in the second direction Y between the pair of first rails 20 as the inner side in the second direction Y and the opposite side as the outer side in the second direction Y, as Figure 3 shown, the placement surface 22 is disposed on the outer side in the second direction Y with respect to the first running surface 21 formed on the same first rail 20 as the placement surface 22. Thus, between the second directions Y of the pair of placement surfaces 22 forming one storage section 4, a pair of first running surfaces 21 forming the first running path R1 of the storage section 4 are disposed.

[0022] Here, the storage device 3 is configured to store the article W in a specific temperature environment. In this example, the storage device 3 is configured to store the article W in a frozen state. Specifically, the interior of the storage device 3 is a low-temperature environment in which fresh food, frozen food, etc. can be stored in a frozen state by a refrigerator (not shown) provided inside or outside the automated warehouse 1. In this embodiment, temperature adjustment is performed such that each of the multi-stage storage layers 32 becomes a low-temperature environment. Therefore, the storage sections 4 provided at each level are of course also in a low-temperature environment. Thus, the first running path R1 on which the first cart 5 travels is also in a low-temperature environment. In this example, the second running path R2 on which the second cart 6 travels is also in a low-temperature environment like the storage section 4, but the second running path R2 may be a normal-temperature environment. In addition, in this embodiment, the "specific temperature environment" means, for example, a low-temperature environment (here, a temperature environment in which the article W can be stored in a frozen state), or an environment with a large temperature difference between the storage section 4 and other places (here, the second running path R2) different from the environment maintained at normal temperature. In addition, the "low-temperature environment" means an environment lower than normal temperature, including an environment adjusted to a temperature range for storing the article W in a refrigerated state and an environment adjusted to a temperature range for storing the article W in a frozen state. Here, the temperature range for storing the article W in a refrigerated state is a temperature range higher than the freezing temperature and lower than normal temperature, for example, a temperature range of about -5°C to 10°C. In addition, the temperature range for storing the article W in a frozen state is a temperature range below 0°C, for example, a temperature range of about -15°C or lower.

[0023] As Figures 2 to 5As shown, the second vehicle 6 includes: a conveyor 6b that supports the article W and conveys the article W in the second direction Y; a third rail 6c; a second traveling drive device 66( Figure 5 ); and a power supply unit 61. The second traveling drive device 66 includes: second traveling wheels 6a that roll on a second traveling surface 31 which is the traveling surface (here, the upward-facing surface) of the second rail 30; an electric motor that drives the second traveling wheels 6a; and a transmission mechanism that transmits the driving force of the electric motor to the second traveling wheels 6a. In a state where the second vehicle 6 is in a position corresponding to the pair of first rails 20, the third rail 6c is connected to the pair of first rails 20. Specifically, the positional relationship between the third rail 6c and the pair of first rails 20 is in a state of being arranged side by side in a straight line. Thereby, the first vehicle 5 can transfer between the third rail 6c and the pair of first rails 20. The conveyor 6b conveys the article W between the second vehicle 6 and the storage unit 92 or the shipping unit 93. In Figure 3 In one example, the third rail 6c is formed in a trough shape below the conveyor 6b that supports the article W. Further, the second vehicle 6 may be a stacker crane, and the first vehicle 5 may be configured to be separable from the stacker crane. In such a case, the second rail 30 is not provided for each of the multiple levels, but is laid on the floor surface of the storage device 3.

[0024] As Figure 3 and Figure 5 shown, the power supply unit 61 supplies power to the first vehicle 5. In the present embodiment, the power supply unit 61 receives power supply from the outside and supplies power to the first vehicle 5. Here, a power supply line (not shown) is provided along the second traveling path R2. The second vehicle 6 receives power supply from this power supply line and travels on the second traveling path R2. Further, this power supply line may supply power in contact with the second vehicle 6, or may supply power to the second vehicle 6 non-contactingly. Additionally, a charging station for supplying power to the first vehicle 5 may be provided instead of providing the power supply line. Further, in the present embodiment, the power supply unit 61 supplies power to the first vehicle 5 in a state where the first vehicle 5 is mounted on the second vehicle 6. As Figure 3As shown, the power supply unit 61 is provided on the third track 6c of the second vehicle 6, and is disposed at a position in contact with the power receiving unit 62 of the first vehicle 5 in a state where the first vehicle 5 is supported by the second vehicle 6 (specifically, the third track 6c). That is, the power supply unit 61 supplies power in a state of being in contact with the power receiving unit 62. In addition, the power supply unit 61 may be configured to supply power to the first vehicle 5 without contact. Further, the second vehicle 6 includes a second control device 64. The second control device 64 has a second control unit 65. If the second control unit 65 acquires command information from the upper controller C that controls the entire automated warehouse 1, the second control unit 65 controls the second traveling drive device 66 based on the command information. In addition, if the first vehicle 5 is mounted on the second vehicle 6, the second control unit 65 controls the power supply unit 61 to supply power to the second vehicle 6. Furthermore, the second control unit 65 controls the conveyor 6b to transfer the article W between the warehousing unit 92 and the shipping unit 93.

[0025] As Figures 2 to 5 shown, the first vehicle 5 includes: a power storage device 51; a first traveling drive device 53; a support table 52 that supports the article W from below; a traveling main body portion 54; a lifting portion 55 ( Figure 5 ) that raises and lowers the support table 52 relative to the traveling main body portion 54; a power receiving unit 62 that receives power from the power supply unit 61 of the second vehicle 6; and a first control device 7. The first traveling drive device 53 uses the power stored in the power storage device 51 to drive the first vehicle 5 to travel. In the first traveling drive device 53, there are included: a first traveling wheel 5a that rolls on the first traveling surface 21 of the first track 20 and the third track 6c; a traveling motor M1 (here, an electric motor) that drives the first traveling wheel 5a; and a transmission mechanism that transmits the driving force of the traveling motor M1 to the first traveling wheel 5a. Moreover, the traveling motor M1 uses the power stored in the power storage device 51 to rotationally drive the first traveling wheel 5a. Here, the first traveling drive device 53 corresponds to the "traveling drive device".

[0026] As Figure 3As shown, on the support table 52, a support surface 5b for supporting the article W is formed. Here, the upper-facing surface of the support table 52 is the support surface 5b. When the first cart 5 supports the article W and travels on the first travel path R1, the support table 52 is raised so that the support surface 5b is in a position higher than the placement surface 22. In addition, when the article W is transferred to the placement surface 22, the support table 52 is lowered so that the support surface 5b is in a position lower than the placement surface 22. Thereby, the article W is placed on the placement surface 22. Similarly, when the first cart 5 supporting the article W is mounted on the second cart 6, the first cart 5 lowers the support table 52 on the third rail 6c so that the support surface 5b is in a position lower than the conveying surface of the conveyor 6b. Thereby, the article W is placed on the conveyor 6b. The raising and lowering of such a support table 52 is performed by the drive of the elevating unit 55( Figure 5 ).

[0027] As Figure 4 shown, the power storage device 51 stores the power supplied from the power supply unit 61 of the second cart 6 to the power receiving unit 62 of the first cart 5. In the present embodiment, the power storage device 51 stores the power supplied during the period when the first cart 5 is mounted on the second cart 6. Here, the power storage device 51 is a capacitor, but it may also be a battery.

[0028] The first control device 7 is configured to control the first travel drive device 53. In the present embodiment, as Figure 4 and Figure 5 shown, the first control device 7 includes: a first control unit 10 that generates a control signal for the first travel drive device 53; a heating device 8 that generates heat using at least one of the power supplied from the power supply unit 61 and the power stored in the power storage device 51; and a first heat insulating housing 9 formed of a heat insulating material. Here, the first control device 7 corresponds to the "control device", the first control unit 10 corresponds to the "control unit", and the first heat insulating housing 9 corresponds to the "heat insulating housing". In the present embodiment, the heating device 8 is a heater that generates heat by being energized. In the present embodiment, the heating device 8 uses the power stored in the power storage device 51 to generate heat. As Figure 4 shown, in the travel main body portion 54, a plurality of heating devices 8 are arranged. In addition, the first control device 7 further includes a second heat insulating housing 13 in addition to the first heat insulating housing 9. The second heat insulating housing 13 is also formed of a heat insulating material in the same manner as the first heat insulating housing 9. In this example, as Figure 4As shown, the first control device 7 (the first control unit 10, the heating device 8, and the first heat insulating housing 9) is housed in the internal space Q of the traveling main body 54. In the internal space Q, there are also housed a power storage device 51, a traveling motor M1 of the first traveling drive device 53 and a transmission mechanism (not shown), a power receiving unit 62, the first heat insulating housing 9, and the second heat insulating housing 13. Further, in the traveling main body 54, a plurality of first traveling wheels 5a as the first traveling drive device 53 and a lifting unit 55 (not shown) are installed.

[0029] As Figure 5 shown, if the first control unit 10 acquires command information from the upper controller C that controls the entire automated warehouse 1, it controls the first traveling drive device 53 based on this command information. Further, the first control unit 10 controls the lifting unit 55 to adjust the height of the support surface 5b when moving between the first traveling path R1 and the second traveling path R2. Furthermore, the first control unit 10 controls the power receiving unit 62 to receive the power supplied from the power supply unit 61 of the second vehicle 6. In the present embodiment, the first control unit 10, the second control unit 65, and the upper controller C are configured to be able to communicate with each other. Each of these control units and the upper controller C includes a processor such as a microcomputer, and also includes peripheral circuits such as a memory, and realizes each function through the cooperation of these hardware and the program executed on the hardware such as the processor. In addition, in Figure 5 this, a configuration in which each of the first control unit 10 and the second control unit 65 directly communicates with the upper controller C is illustrated, but it may also be a configuration in which one of the first control unit 10 and the second control unit 65 communicates with the upper controller C via the other.

[0030] As described above, the first vehicle 5 travels in a low-temperature environment where the article W can be stored in a frozen state. When devices and components with weak low-temperature tolerance are used in the first vehicle 5, it is easy to cause malfunctions in the first vehicle 5, and the operating rate of the equipment may decrease. Therefore, by protecting the devices and components with weak low-temperature tolerance, it is possible to make it difficult for the first vehicle 5 traveling in a low-temperature environment to cause malfunctions. In the present embodiment, the first control unit 10 is heated by the heat generated by the heating device 8 to protect the first control unit 10 from the influence of low temperature. Here, in the first control unit 10, a control board that constitutes a control circuit is included. In the present embodiment, since the heat generated by the heating device 8 is used to protect the first control unit 10 from the influence of low temperature, for example, it is not necessary to make the control board and components of the first control unit 10 of low-temperature specifications, and it is easy to achieve cost reduction.

[0031] As Figure 4As shown, the first control unit 10 and the heating device 8 are accommodated inside the first heat insulating housing 9. Additionally, the traveling motor M1 included in the first traveling drive device 53 and the heating device 8 are accommodated in the second heat insulating housing 13. Further, in the present embodiment, as Figure 4 shown, the automated warehouse 1 further includes a temperature sensor 11 that detects the temperature inside the first heat insulating housing 9. In this example, the temperature sensor 11 is provided inside the first heat insulating housing 9. That is, inside the first heat insulating housing 9, in addition to the first control unit 10 and the heating device 8, the temperature sensor 11 is also accommodated. On the other hand, the temperature sensor 11 is not provided inside the second heat insulating housing 13.

[0032] In Figure 4 it, a plurality of second heat insulating housings 13 and the first heat insulating housing 9 are arranged in the internal space Q of the traveling main body portion 54. A pair of second heat insulating housings 13 are provided separately along the first direction X. Moreover, in each of the second heat insulating housings 13, the traveling motor M1 and the heating device 8 are accommodated. The traveling motor M1 is protected from low temperature by the heat generated by the heating device 8. It is known that there are the following types of magnets used in electric motors and the like: if the temperature changes from normal temperature to low temperature, demagnetization occurs, and even if the temperature returns from low temperature to normal temperature, the magnetic force does not return to its original state. For the purpose of heating the traveling motor M1 to protect the traveling motor M1 from low temperature, as an example, it can be cited to suppress the low-temperature demagnetization of the magnet used in the motor by the heat generated by the heating device 8. Additionally, in the case where there are components such as a control board attached to the traveling motor M1 that are weakly resistant to low temperature, it can be cited to also protect the control board and components with weak low-temperature resistance from low temperature by the heat generated by the heating device 8.

[0033] In Figure 4In the example, in the internal space Q of the traveling main body portion 54, starting from the first side X1 in the first direction, they are arranged side by side in the described order of the second heat insulating housing 13, the power storage device 51, the first heat insulating housing 9, and the second heat insulating housing 13, but their arrangements can be appropriately changed. Additionally, instead of separately providing the second heat insulating housing 13 different from the first heat insulating housing 9 in the internal space Q, the first heat insulating housing 9 can accommodate the first control unit 10, the traveling motor M1, and the heating device 8. Further, depending on the type of the traveling motor M1, it is not necessarily required to accommodate the traveling motor M1 in a heat insulating housing (the first heat insulating housing 9 or the second heat insulating housing 13). Moreover, the power storage device 51 can be accommodated in a heat insulating housing. Particularly, when the power storage device 51 is a battery, it is suitable to be accommodated in a heat insulating housing. On the other hand, a heat insulating material can be installed on the traveling main body portion 54 so as to cover the internal space Q. In this case, the traveling main body portion 54 itself realizes the function of a heat insulating housing. In addition, for the second vehicle 6, it can also be configured as follows: the second control device 64 includes a heating device 8 and a heat insulating housing, and the heating device 8 and the second control unit 65 are accommodated in the heat insulating housing.

[0034] In the present embodiment, as Figure 6 and Figure 7 shown, the first control unit 10 executes stop control. Specifically, when the first vehicle 5 is mounted on the second vehicle 6, the first control unit 10 operates the heating device 8, and when the first vehicle 5 is in the storage unit 4 after leaving the second vehicle 6, the first control unit 10 stops the heating device 8. In this example, if the storage unit 4 that is the traveling destination of the first vehicle 5 is the target storage unit 4A, the upper controller C sends command information specifying the target storage unit 4A and instructing the first vehicle 5 to travel to the target storage unit 4A to the first control device 7 and the second control device 64. In this command information, it includes the case of instructing to convey the article W to the target storage unit 4A and the case of conveying the article W from the target storage unit 4A. And, when the first vehicle 5 is mounted on the second vehicle 6 (i.e., when the first vehicle 5 exists on the second traveling path R2), in either the case of conveying the article W to the target storage unit 4A or the case of conveying the article W from the target storage unit 4A, the first control unit 10 operates the heating device 8 (S01). In this example, when the first vehicle 5 is mounted on the second vehicle 6, all of the plurality of heating devices 8 are operated.

[0035] Further, if the first vehicle 5 is separated from the second vehicle 6 (S02: Yes), the first control unit 10 stops the operation of the heating device 8 (S03). Specifically, if the first vehicle 5 leaves the second vehicle 6 and transfers to the first travel path R1 of the storage unit 4, the first control unit 10 stops the operation of all of the plurality of heating devices 8. Thus, in a state where the first vehicle 5 is in the storage unit 4, the power supply from the power storage device 51 to the heating device 8 is also cut off, and thus power consumption of the power storage device 51 due to the operation of the heating device 8 can be suppressed. Therefore, compared with a case where the heating device 8 operates regardless of the state of the first vehicle 5, miniaturization of the power storage device 51 can be easily achieved. On the other hand, since the plurality of (here, three) heating devices 8 are respectively housed in the heat insulating cases (the first heat insulating case 9 or the second heat insulating case 13), it is easy to maintain the heat retaining state inside the heat insulating case even in a state where the heating device 8 is not operating. Therefore, even if the first vehicle 5 repeatedly travels in the storage unit 4 in a low temperature environment, it is difficult for malfunctions to occur in the first control unit 10, the traveling motor M1, and the like. Further, in the present example, since the first vehicle 5 leaves the second vehicle 6 and is in the storage unit 4, the first control unit 10 may restart the operation of the heating device 8 under certain conditions even in a state where the heating device 8 is stopped. For example, when the temperature inside at least one of the first heat insulating case 9 and the second heat insulating case 13 becomes equal to or lower than a specified temperature, the first control unit 10 may switch all or part of the plurality of heating devices 8 from the stopped state to the operating state even in a state where the first vehicle 5 is in the storage unit 4.

[0036] In the present example, as described above, the temperature sensor 11 is provided inside the first heat insulating case 9. As Figure 6As shown, for example, when the object storage section 4A that previously conveyed the article W and the object storage section 4A that will convey the article W next are separated from each other in the second direction Y, the second vehicle 6 travels a relatively long distance while carrying the first vehicle 5. Thus, when the situation where the second vehicle 6 travels a relatively long distance is repeated, the period during which the first vehicle 5 is carried on the second vehicle 6 also becomes longer, and the period during which the heating device 8 operates also becomes long-term. Therefore, it is easy to maintain the temperature inside the first heat insulating housing 9 within an appropriate temperature range. On the other hand, when the object storage section 4A that previously conveyed the article W and the object storage section 4A that will convey the article W next approach each other in the second direction Y, the second vehicle 6 travels a relatively short distance while carrying the first vehicle 5. Further, when the object storage section 4A that previously conveyed the article W and the object storage section 4A that will convey the article W next are adjacent to each other with the second travel path R2 therebetween, the second vehicle 6 stops, and the first vehicle 5 moves to the adjacent object storage section 4A via the second vehicle 6. When such conveyance control is repeated, the period during which the first vehicle 5 is carried on the second vehicle 6 becomes short, and the period during which the heating device 8 operates also becomes short-term. In short, compared with the period during which the first vehicle 5 is carried on the second vehicle 6, the period during which the first vehicle 5 travels in the storage section 4 (here, the first travel path R1) is longer. Therefore, the operating period of the heating device 8 is insufficient, and it is difficult to maintain the inside of the first heat insulating housing 9 within an appropriate temperature range. Then, the first control unit 10 easily maintains the inside of the first heat insulating housing 9 within an appropriate temperature range regardless of what conveyance instruction is given, and thus executes temperature management control. Hereinafter, the temperature management control will be specifically described.

[0037] As Figure 8As shown, when the first control unit 10 is in a state where the first vehicle 5 is mounted on the second vehicle 6 and the temperature S detected by the temperature sensor 11 is lower than the first threshold T1, the first vehicle 5 is kept in a standby state while mounted on the second vehicle 6 until the temperature S detected by the temperature sensor 11 reaches the second threshold T2 set to be equal to or higher than the first threshold T1. In this example, when the first vehicle 5 is transferred from the storage unit 4 to the second vehicle 6 and the temperature S detected by the temperature sensor 11 is lower than the first threshold T1 (S10: Yes), regardless of whether there is a next conveyance instruction, the first vehicle 5 is put on standby while mounted on the second vehicle 6 (S11). As a result, the operation of the heating device 8 continues, and thus the temperature inside the first heat insulating housing 9 rises. Then, when the temperature S detected by the temperature sensor 11 is equal to or higher than the second threshold T2 (S12: Yes), the first control unit 10 determines that the first vehicle 5 can be separated from the second vehicle 6 (S13). Then, when it is necessary to move the first vehicle 5 to the target storage unit 4A according to the conveyance instruction received from the upper controller C, the first vehicle 5 is transferred from the position on the second travel path R2 corresponding to the target storage unit 4A to the target storage unit 4A. In the present embodiment, the second threshold T2 has the same value as the first threshold. In addition, a temperature sensor 11 may also be provided inside the second heat insulating housing 13. Further, in a state where the first vehicle 5 is mounted on the second vehicle 6, when the temperature S detected by at least a part of the temperature sensors 11 is lower than the first threshold T1, the first vehicle 5 may be kept in a standby state while mounted on the second vehicle 6 until the temperature S detected by all the temperature sensors 11 reaches the second threshold T2 set to be equal to or higher than the first threshold. In this case, the first threshold T1 and the second threshold T2 may not be common values for all the temperature sensors 11, but may be set to different values for each temperature sensor 11.

[0038] In addition, in the specific storage layer 32, when the first vehicle 5 is in a standby state while mounted on the second vehicle 6, if a new conveyance instruction is received from the upper controller C, either the first vehicle 5 or the second vehicle 6 may send information that the first vehicle 5 is in a standby state to the upper controller C. In such a case, the upper controller C can re-set the target storage unit 4A related to the new conveyance instruction to a storage layer 32 of a different level. As a result, it is possible to keep the first vehicle 5 in the specific storage layer 32 on standby and execute the conveyance control of the article in the storage layer 32 of a different level. Therefore, even in the specific storage layer 32, even if the first vehicle 5 is on standby by temperature management control, it is possible to suppress a decrease in the conveyance efficiency of the article W of the entire device.

[0039]

Other Embodiments

[0040] (2) In the above-described embodiment, the following configuration has been described as an example, but it is not limited thereto: The first control unit 10 causes the heating device 8 to operate in a state where the first vehicle 5 is mounted on the second vehicle 6, and causes the heating device 8 to stop in a state where the first vehicle 5 has left the second vehicle 6 and is in the storage unit 4. The first control unit 10 may also continue the operation of the heating device 8 regardless of whether the first vehicle 5 is mounted on the second vehicle 6. For example, the first control unit 10 may also continue the operation state of all or part of the heating device 8 in a state where the first vehicle 5 has separated from the second vehicle 6 and is traveling in the storage unit 4 (here, the first travel path R1). In addition, the first control unit 10 may selectively execute the following two: stop control, which causes the heating device 8 to operate in a state where the first vehicle 5 is mounted on the second vehicle 6 and causes the heating device 8 to stop in a state where the first vehicle 5 is in the storage unit 4; and continue control, which also continues the operation state of the heating device 8 in a state where the first vehicle 5 is in the storage unit 4. In this case, for example, either the stop control or the continue control may be executed corresponding to the period during which the first vehicle 5 is mounted on the second vehicle 6 and the period during which the first vehicle 5 is on the second travel path R2 (the time when the first vehicle 5 is mounted on the second vehicle 6).

[0041] (3) In the above-described embodiment, the following configuration has been described as an example: When the first control unit 10 is in a state where the first vehicle 5 is mounted on the second vehicle 6 and the temperature S detected by the temperature sensor 11 is lower than the first threshold value T1, the first vehicle 5 is kept on standby in a state of being mounted on the second vehicle 6 until the temperature S detected by the temperature sensor 11 reaches the second threshold value T2 set to the same value as the first threshold value T1. However, it is not limited to such a configuration. The first control unit 10 can also keep the first vehicle 5 on standby in a state of being mounted on the second vehicle 6 when the temperature S detected by the temperature sensor 11 is lower than the first threshold value T1 until the temperature S detected by the temperature sensor 11 reaches a second threshold value T2 greater than the first threshold value T1.

[0042] (4) In the above-described embodiment, the following configuration has been described as an example, but is not limited thereto: The storage device 3 includes multiple storage layers 32 arranged side by side in the vertical direction. Multiple rows of storage units 4 are provided in each of the multiple storage layers 32, and the second vehicle 6 is disposed in each of the multiple storage layers 32. The storage device 3 may, for example, also include only a single storage layer 32, and multiple rows of storage units 4 are provided in this storage layer 32. In addition, for example, the second vehicle 6 may not be disposed in each of the multiple storage layers 32, but one second vehicle 6 may be disposed at each of a specified number of levels.

[0043] (5) In the above-described embodiment, the following configuration has been described as an example: The traveling motor M1 is accommodated in the heat-insulating housing (in the example of the above-described embodiment, the second heat-insulating housing 13). However, it is not limited to such a configuration, and a motor other than the traveling motor M1 provided in the first vehicle 5 (for example, an electric motor that drives the lifting unit 55) may be accommodated in the heat-insulating housing instead of the traveling motor M1. In addition, it may be a configuration in which both the traveling motor M1 and a motor other than the traveling motor M1 are accommodated in different heat-insulating housings together or separately.

[0044] (6) In addition, as long as there is no contradiction, the configurations disclosed in the above-described respective embodiments can also be combined and applied with the configurations disclosed in other embodiments (including combinations of the embodiments described as other embodiments). Regarding other configurations, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various changes can be appropriately made without departing from the gist of the present disclosure.

[0045]

Summary of the Above Embodiment

[0046] The automated warehouse according to the present disclosure is an automated warehouse including the following: a storage device that has multiple rows of storage units 4 in a second direction that intersects the first direction when viewed in the vertical direction, and the storage units 4 can store articles side by side in a first direction that is a specific direction along a horizontal plane; a first vehicle that travels along the first direction and conveys the articles in the storage units 4; and a second vehicle that can carry the first vehicle and travels along the second direction outside the storage units 4. The second vehicle includes a power supply unit that supplies power to the first vehicle. The first vehicle includes: a power storage device; a traveling drive device that uses the power stored in the power storage device to cause the first vehicle to travel; and a control device that controls the traveling drive device. The aforementioned control device includes: a control unit that generates a control signal for the aforementioned traveling drive device; a heating device that generates heat using at least one of the power supplied from the aforementioned power supply unit and the power stored in the aforementioned power storage device; and a heat-insulating housing formed of a heat-insulating material. The aforementioned control unit and the aforementioned heating device are accommodated inside the aforementioned heat-insulating housing.

[0047] According to this configuration, even when the control unit of the first vehicle includes components with weak tolerance to low temperature or temperature changes, since the control unit is heated by the heat generated by the heating device, it is easy to keep the control unit within the allowable temperature range. Therefore, even when the first vehicle travels in a specific temperature environment such as a low-temperature environment or an environment with a large temperature difference, the incidence of malfunction of the control unit can be reduced. In addition, according to this configuration, the control unit and the heating device are accommodated inside the heat-insulating housing, so it is easy to keep the heat generated by the heating device inside the heat-insulating housing, and it is easy to suppress the power consumption of the heating device to a small amount. Therefore, it is easy to miniaturize the power storage device provided in the first vehicle. Thus, according to this configuration, in an automated warehouse having a first vehicle for transporting goods and a second vehicle capable of carrying the first vehicle, even when the first vehicle travels in a specific temperature environment, the incidence of malfunction of the first vehicle can be reduced, and a decrease in the operation rate of the equipment can be suppressed.

[0048] Here, it is preferable that the aforementioned control unit operates the aforementioned heating device when the aforementioned first vehicle is mounted on the aforementioned second vehicle, and stops the aforementioned heating device when the aforementioned first vehicle leaves the aforementioned second vehicle and is in the aforementioned storage section.

[0049] According to this configuration, when the first vehicle leaves the power supply unit of the second vehicle and is in the storage section, the heating device does not consume power. Therefore, during this period, there is no need to supply power to the heating device through the power storage device, so it is easy to miniaturize the power storage device, and further, it is easy to miniaturize the first vehicle and reduce costs.

[0050] In addition, in the configuration where the aforementioned heating device is stopped when the aforementioned first vehicle leaves the aforementioned second vehicle and is in the aforementioned storage section as described above, it is preferable that a temperature sensor for detecting the temperature inside the aforementioned heat-insulating housing is further provided. When the temperature detected by the temperature sensor is lower than the first threshold value in the state where the first vehicle is mounted on the second vehicle, the control unit maintains the state of being mounted on the second vehicle and makes the first vehicle standby until the temperature detected by the temperature sensor reaches the second threshold value set to be equal to or higher than the first threshold value.

[0051] According to this configuration, when the temperature sensor is lower than the first threshold value, the first vehicle does not travel, but maintains the state of being mounted on the second vehicle and stands by. Therefore, in the configuration where the first vehicle is in the storage unit while being separated from the second vehicle and the heating device is stopped, it is also easy to keep the control unit within the allowable temperature range, and the incidence of defective conditions of the control unit during the travel of the first vehicle can be reduced.

[0052] In addition, preferably, the storage device includes a plurality of storage layers arranged side by side in the vertical direction, and a plurality of rows of the storage units are provided in each of the plurality of storage layers. The second vehicle is arranged in each of the plurality of storage layers and configured to travel along a path along the second direction provided in each storage layer.

[0053] According to this configuration, since the storage device includes a plurality of storage layers arranged side by side in the vertical direction, it is possible to ensure many storage units capable of storing articles in a frozen state. In addition, in each of the plurality of storage layers, the first vehicle and the second vehicle can be used to convey articles, so it is easy to improve the conveyance efficiency of articles.

[0054] The automated warehouse according to the present disclosure only needs to achieve at least one of the above-described various effects. Explanation of reference numerals

[0055] 1: Automated warehouse 3: Storage device 4: Storage unit 5: First vehicle 6: Second vehicle 7: First control device (control device) 8: Heating device 9: First heat insulating housing (heat insulating housing) 10: First control unit (control unit) 11: Temperature sensor 32: Storage layer 51: Power storage device 53: First travel drive device (travel drive device) 61: Power supply unit R2: Second travel path (path along the second direction Y) S: Temperature detected by temperature sensor T1: The first threshold T2: The second threshold W: The article X: The first direction Y: The second direction.

Claims

1. An automatic warehouse, comprising: a storage device, wherein a storage unit capable of storing articles side by side along a first direction being a specific direction along a horizontal plane is provided with a plurality of rows along a second direction being a direction intersecting the first direction when viewed in a vertical direction; a first vehicle that travels along the first direction to transport the articles to the storage unit; and a second vehicle that can carry the first vehicle and travel along the second direction outside the storage unit, The automatic warehouse has the following characteristics: The second vehicle includes a power supply unit for supplying power to the first vehicle. The first vehicle includes: a power storage device; a travel drive device that uses the power stored in the power storage device to drive the first vehicle; and a control device that controls the travel drive device. The control device includes: a control unit that generates a control signal for the travel drive device; a heating device that generates heat using at least one of the power supplied from the power supply unit and the power stored in the power storage device; and a heat-insulating housing formed using a heat-insulating material. The control unit and the heat generating device are accommodated inside the heat insulating housing.

2. The automated warehouse according to claim 1, wherein: The control unit operates the heat generating device when the first vehicle is mounted on the second vehicle, and stops the heat generating device when the first vehicle is separated from the second vehicle and is located in the storage unit.

3. The automated warehouse according to claim 2, wherein: further comprising a temperature sensor for detecting the temperature inside the thermally insulating housing, When the temperature detected by the temperature sensor is lower than a first threshold, the control unit causes the first vehicle to wait while being mounted on the second vehicle until the temperature detected by the temperature sensor reaches a second threshold set to be equal to or higher than the first threshold.

4. The automated warehouse according to any one of claims 1 to 3, wherein: The storage facility comprises a plurality of storage layers arranged side by side in the vertical direction, and a plurality of rows of storage units are provided in each of the plurality of storage layers. The second vehicle is disposed at each of the plurality of storage levels, and is configured to travel along a path provided at each of the storage levels and along the second direction.

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