Warehouse units, automated warehouse systems

Abstract

To provide a technique for a cold storage warehouse which can improve the accuracy of a load storage position by reducing the influence of frost.SOLUTION: A warehouse unit 10 for a cold storage warehouse comprises: a storage row 3 formed by arraying, in a first direction, a plurality of storage parts 2 capable of storing a load 1 in a refrigerated manner; a conveyance path 5 provided along the storage row 3 to convey the load 1 with conveyance means 4; and a plurality of markers 6 arranged at prescribed intervals along the conveyance path 5 and detectable by detection means 7 provided in the conveyance means 4.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a storage unit for a refrigerated warehouse and an automated storage system for a refrigerated warehouse. [Background technology]

[0002] An automated warehousing system for a refrigerated warehouse capable of storing articles in a frozen state is known. The present applicant has disclosed an automated warehousing system for a refrigerated warehouse in Patent Document 1. This automated warehousing system includes a frozen storage shelf for storing a plurality of articles in a frozen state, and a transport vehicle capable of transporting the articles stored on the frozen storage shelf. The frozen storage shelf includes a plurality of storage stages, and a travel space is provided below each storage stage in which the transport vehicle can travel. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-152574 Summary of the Invention [Problem to be solved by the invention]

[0004] The inventors recognized the following: To realize an automated storage system for a refrigerated warehouse, it is conceivable to use a transport vehicle that transports goods along a refrigerated storage shelf with multiple storage compartments arranged in a longitudinal direction. For example, in order to store goods at a predetermined interval from the base end of the storage shelf toward the entrance, it is conceivable to measure the distance to a previously placed goods using an optical distance measuring device provided on the transport vehicle and control the travel of the transport vehicle based on this measurement result. In this case, there is a problem that the influence of frost on the optical path in the refrigerated space increases the error in the measurement result of the optical distance measuring device, reducing the accuracy of the storage position of the goods. For these reasons, conventional automated storage systems for refrigerated warehouses have room for improvement in terms of reducing the influence of frost and improving the accuracy of the storage position of goods.

[0005] The present invention has been made in consideration of such problems, and one of its objects is to provide technology for refrigerated warehouses that can reduce the effects of frost and improve the accuracy of cargo storage positions. [Means for solving the problem]

[0006] In order to solve the above problem, a warehouse unit for a refrigerated warehouse according to one embodiment of the present invention comprises a storage row consisting of a plurality of storage sections capable of storing goods in a frozen state arranged in a first direction, a conveying path provided along the storage row for conveying goods by a conveying means, and a plurality of markers arranged at predetermined intervals along the conveying path and detectable by a detection means provided on the conveying means.

[0007] Another aspect of the present invention is an automated storage system for a refrigerated warehouse. This automated storage system for a refrigerated warehouse includes a storage row consisting of a plurality of storage sections arranged in a first direction, each capable of storing goods in a frozen state, a conveyance path provided along the storage row, a conveyance means capable of conveying goods by moving along the conveyance path, and a plurality of markers arranged at predetermined intervals along the conveyance path. The conveyance means has a detection means capable of detecting the markers.

[0008] Any combination of the above components, or mutual substitution of the components or expressions of the present invention between methods, systems, etc., are also valid aspects of the present invention. [Effects of the Invention]

[0009] According to the present invention, a technique for a refrigerated warehouse can be provided that can reduce the effects of frost and improve the accuracy of the storage position of goods. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a plan view schematically illustrating an example of an automated warehouse system for a refrigerated warehouse according to an embodiment. [Figure 2] FIG. 2 is a side view schematically showing the automated warehouse system of FIG. 1. [Figure 3] FIG. 2 is a diagram schematically illustrating a conveying means of the automated warehouse system of FIG. [Figure 4] 4 is a diagram showing the conveying means and the stretching member of FIG. 3. FIG. [Figure 5] 2 is a side view schematically showing a transport means of the automated warehouse system of FIG. 1. FIG. [Figure 6] FIG. 2 is a plan view showing a first example of the arrangement of a plurality of markers. [Figure 7] FIG. 10 is a plan view showing a second example of the arrangement of multiple markers. DETAILED DESCRIPTION OF THE INVENTION

[0011] The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments and modifications, identical or equivalent components and members are designated by the same reference numerals, and redundant explanations will be omitted where appropriate. Furthermore, the dimensions of the members in each drawing are enlarged or reduced as appropriate to facilitate understanding. Furthermore, some members that are not important for explaining the embodiments will be omitted from the drawings.

[0012] Furthermore, terms including ordinal numbers such as first and second are used to describe various components, but these terms are used only to distinguish one component from another and do not limit the components.

[0013] [Embodiment Mode] The configuration of an automated warehouse system 100 for a refrigerated warehouse according to an embodiment (hereinafter referred to as "automated warehouse system 100") will be described with reference to the drawings. FIG. 1 is a plan view schematically showing an example of the automated warehouse system 100. In this figure, a portion of a storage row 3 is cut away. FIG. 2 is a side view of the automated warehouse system 100. In this figure, one of two extension members 52 is omitted.

[0014] For ease of explanation, as shown in the figure, an XYZ Cartesian coordinate system is defined in which a certain horizontal direction is the X-axis direction, a horizontal direction perpendicular to the X-axis direction is the Y-axis direction, and a direction perpendicular to both, i.e., the vertical direction, is the Z-axis direction. The left-right direction is sometimes referred to as the "left-right direction." The Y-axis direction is sometimes referred to as the "front-back direction." The Z-axis direction is sometimes referred to as the "up-down direction." The first direction is exemplified by the front-back direction. These directional notations do not limit the configuration of the automated warehouse system 100, and the automated warehouse system 100 can be used in any configuration depending on the application.

[0015] In this specification, the following terms are used for loads: A "load" refers to a collection of one or more cases, such as cardboard boxes, containing contents. A load may include multiple items. When a load is handled as a whole while mounted on a pallet, the pallet is also included in the load. A load may also be the smallest unit handled in a warehouse.

[0016] The overall configuration of the automated warehouse system 100 will be described. The automated warehouse system 100 is a system including storage rows 3 capable of storing multiple loads 1 in a refrigerated space 90 maintained at a predetermined low temperature. Hereinafter, the front-to-back dimension of a load 1 in a plan view will be referred to as the "load dimension," and the left-to-right dimension of a load 1 will be referred to as the "load width." Loads 1 with load dimensions of 1100 mm, 900 mm, and 1200 mm will be referred to as load 1 (M), load 1 (S), and load 1 (L). The load widths of load 1 (M), load 1 (S), and load 1 (L) are all equal, 1100 mm. Hereinafter, the automated warehouse system 100 will be described as storing loads 1 (M), 1 (S), and 1 (L).

[0017] The automated warehouse system 100 includes a shelf unit 33, a conveying means 4, a conveying path 5, a plurality of markers 6, a transport path 82, a conveying means 81, and a control unit 80. The shelf unit 33 includes a plurality of storage rows 3 arranged at predetermined intervals in the left-right direction. The storage rows 3, the conveying path 5, and the plurality of markers 6 constitute a warehouse unit 10 for a refrigerated warehouse (hereinafter simply referred to as a "warehouse unit 10"). In other words, the automated warehouse system 10 can be composed of a plurality of warehouse units 10, a conveying means 4, a transport path 82, a conveying means 81, and a control unit 80. The transport path 82, the conveying means 81, and the control unit 80 will be described later.

[0018] The storage row 3 is composed of a plurality of storage sections 2 capable of storing goods 1 in a frozen state, arranged in a first direction (front-to-back direction). A conveying path 5 is provided along the plurality of storage sections 2 for conveying goods 1 by a conveying means 4. The storage row 3 and the conveying path 5 extend in the front-to-back direction.

[0019] The shelf section 33 is a storage space capable of storing multiple items 1, and is installed between the floor Lg and ceiling Lc of the freezer space 90. The configuration of the shelf section 33 is not particularly limited as long as it is capable of storing multiple items 1. The automated warehouse system 100 has multiple (e.g., three) levels of shelf sections 33 stacked in layers in the vertical direction.

[0020] The shelf section 33 includes a plurality of storage rows 3 arranged in a row in the left-right direction. The plurality of storage rows 3 are referred to as storage rows 3-A, 3-B, 3-C, and 3-D from left to right in FIG. 1. In a storage row 3, the area for storing one load 1 is referred to as a storage section 2. The load width that can be accommodated is set to 1100 mm, which is the same for each storage row 3. Each storage row 3 can accommodate load 1 (M), load 1 (S), and load 1 (L).

[0021] The storage row 3 has a plurality of storage sections 2 arranged in a row in the front-to-rear direction from the upper base end 34 to the lower entrance 35 in Figure 1. The plurality of storage sections 2 are designated, in order from the base end 34 side, as the first storage section 2(1), the second storage section 2(2), the third storage section 2(3), the fourth storage section 2(4), and the fifth storage section 2(5). The entrance 35 on the transport path 82 side of the storage row 3 is aligned with the frontage of the shelf section 33 and functions as an entrance / exit for the conveying means 4 to enter and exit. The storage row 3 will be described later.

[0022] (Transportation means) The conveying means 4 will be described with reference to Figures 3, 4, and 5. Figure 3(A) is a plan view of the conveying means 4, and Figure 3(B) is a side view of the conveying means 4. Figure 4 is a diagram showing the conveying means 4 and the extension member. Figure 5 is a front view of the conveying means 81, showing the conveying means 4 mounted on the carriage mounting section 86. The conveying means 4 is, for example, a first carriage, and can convey the load 1 by moving it along the conveying path 5 with the load 1 loaded on it. The conveying means 4 can rotate multiple (for example, four) wheels 44 provided on both the left and right sides by driving a built-in motor (not shown) with power from a built-in battery (not shown). The conveying means 4 can move along the conveying path 5 by rotating the wheels 44. The conveying means 4 can raise and lower a platform section 42 on which the load 1 is placed by a built-in lift mechanism (not shown). In FIG. 4, the mounting table portion 42 in the raised state is shown by a broken line, and the mounting table portion 42 in the lowered state is shown by a solid line.

[0023] The conveying means 4 has a detecting means 7 capable of detecting the position of the marker 6. As an example, the multiple markers 6 are configured to include magnetic bodies 62, and the detecting means 7 can be configured to detect the position of the marker 6 based on the results of detecting the magnetism of the magnetic bodies 62. For example, the magnetic bodies 62 can be made of various known magnetic bodies, and in this example, they are permanent magnets. The detecting means 7 can be made of magnetic detection means based on known principles, and can be, for example, a Hall element capable of detecting the magnetic flux of a permanent magnet. Note that FIG. 2 shows the multiple markers 6 and a portion of the multiple detecting means 7.

[0024] As another example, the multiple markers 6 can be protrusions, and the detection means 7 can be configured to detect the positions of the markers 6 based on the results of detecting the protrusions. In this case, the detection means 7 can employ protrusion detection means based on known principles. Examples of such protrusion detection means include a distance sensor that can detect the distance to a protrusion, a proximity sensor that detects the approach of a protrusion, and a contact sensor such as a limit switch. The marker 6 may include multiple different types of mark means, such as a magnetic body and a protrusion.

[0025] The conveying path 5 is a first running path (e.g., a first rail) along which the conveying means 4 travels, and extends in the front-to-rear direction along the storage rows 3. In this example, the conveying path 5 is provided below the storage rows 3 so that the conveying means 4 can pass underneath them. Each storage row 3 is provided with two extension members 52 that are spaced apart on the left and right and extend in the front-to-rear direction (first direction). As shown in FIG. 4 , the cross section of the extension member 52 perpendicular to the extension direction (front-to-rear direction) has an angular C-shape that surrounds a space through which the wheels 44 of the conveying means 4 can pass.

[0026] Specifically, the extension member 52 has an upper horizontally extending portion 53 extending left and right on the upper side, an intermediate vertically extending portion 54 extending downward from the end of the upper horizontally extending portion 53, and a lower horizontally extending portion 55 extending parallel to the upper horizontally extending portion 53 from the lower end of the intermediate vertically extending portion 54. The storage section 2 is provided in the upper horizontally extending portion 53 of the extension member 52, and the conveying path 5 is provided in the lower horizontally extending portion 55 of the extension member 52. The multiple markers 6 are arranged in positions facing the side surfaces of the wheels 44 on the intermediate vertically extending portion 54 of the extension member 52. The upper horizontally extending portion 53, the intermediate vertically extending portion 54, and the lower horizontally extending portion 55 can be formed integrally.

[0027] The markers 6 are arranged at predetermined intervals along the conveying path 5 so that the positions of the markers 6 can be detected by the detecting means 7 provided on the conveying means 4 .

[0028] The longitudinal dimensions of storage section 2 (hereinafter referred to as "storage section dimensions") can be set by adding a predetermined gap to the package dimensions of the package 1 to be stored. The package dimensions of storage row 3 can be set according to the ratio of the planned number of packages 1 (M), 1 (S), and 1 (L) to be stored (hereinafter referred to as "planned number of packages"). In this example, since the planned number of packages 1 (M) is greater than the planned number of packages 1 (S) and 1 (L), storage rows 3-A and 3-B are set to store package 1 (M), storage row 3-C is set to store package 1 (S), and storage row 3-D is set to store package 1 (L).

[0029] However, the ratio of the planned number of items to be stored is not always constant, but changes depending on various factors such as the season. If the storage section dimensions of each storage row 3 cannot be changed, the ratio of the number of items that can be stored for each package size will be fixed, which increases the possibility that the ratio of the planned number of items to the number of items that can be stored will not match, resulting in a decrease in storage efficiency. Therefore, in this embodiment, the storage section dimensions of each storage row 3 can be changed as desired. In other words, each storage row 3 is configured to be able to store any of package 1 (M), package 1 (S), and package 1 (L), and the storage section dimensions of each storage row 3 can be flexibly changed in accordance with changes in the ratio of the planned number of items to be stored.

[0030] In this embodiment, the storage position of load 1 is controlled so that each storage row 3 can store all of load 1 (M), load 1 (S), and load 1 (L). Here, in order to control the storage position of load 1, it is conceivable to measure the distance to a previously placed load using an optical distance measuring device, and control the storage position of the load using this measurement result. In this case, it has been found that the influence of frost on the optical path in the refrigerated space 90 increases the error in the measurement result of the optical distance measuring device, resulting in a problem of reduced accuracy in the storage position of the load.

[0031] Therefore, the warehouse unit 10 of the embodiment is equipped with a plurality of markers 6 that are arranged at predetermined intervals along the conveying path 5 and can be detected by a detection means 7 provided on the conveying means 4, and controls the unloading position of the conveying means 4 based on the detection results of the detection of the plurality of markers 6 by the detection means 7.

[0032] Each storage row 3 is set as either a storage section 2(M) for storing load 1(M), a storage section 2(S) for storing load 1(S), or a storage section 2(L) for storing load 1(L). In addition, each storage row 3 is provided with markers 6(M), 6(L), and 6(S) at positions corresponding to storage section 2(M), storage section 2(S), and storage section 2(L).

[0033] The control unit 80 also stores the storage sections 2 in each storage row 3 that store the goods 1 and the storage sections 2 that do not store the goods 1. In this embodiment, the goods 1 are stored in order from the storage section 2 on the base end 34 side to the storage section 2 on the entrance section 35 side. Therefore, the control unit 80 controls the conveying means 4 to store the goods 1 in the storage section 2 closest to the base end 34 among the storage sections 2 that do not store the goods 1.

[0034] For example, based on the above control, the conveying means 4 traveling along the storage rows 3-A and 3-B stops at the position where the detection means 7 detects the marker 6 (M), and by unloading the load 1 (M) into the storage row 3 at that position, the load can be stored in the storage section 2 (M) corresponding to the load dimensions of the load 1 (M).

[0035] For example, based on the above control, the conveying means 4 traveling along the storage row 3-C stops at the position where the detection means 7 detects the marker 6(S), and by unloading the load 1(S) into the storage row 3 at that position, the load can be stored in the storage section 2(S) corresponding to the load dimensions of the load 1(S).

[0036] For example, based on the above control, the conveying means 4 traveling along the storage row 3-D stops at the position where the detection means 7 detects the marker 6(L), and by unloading the load 1(L) into the storage row 3 at that position, the load can be stored in the storage section 2(L) corresponding to the load dimensions of the load 1(L).

[0037] 6 and 7, examples of the arrangement of multiple markers 6 will be described. FIGS. 6 and 7 are diagrams showing examples of the arrangement of multiple markers 6. In the first arrangement example shown in FIG. 6, marker 6(M), marker 6(L), and marker 6(S) are arranged on one of the two opposing side surfaces of two extension members 52. In this case, it is sufficient to arrange the detection means 7 on one side of the conveying means 4, so the cost of the parts for the detection means 7 and the number of installation steps can be reduced, which is advantageous in terms of cost.

[0038] If multiple markers 6 are placed too close together, the detection means 7 is more likely to erroneously detect markers 6 that are not the target of detection. Also, the detection accuracy of the detection means 7 will decrease due to the influence of the magnetic flux of markers 6 that are not the target of detection. For this reason, multiple markers 6 can be placed in a dispersed manner.

[0039] For example, in the example of FIG. 6, multiple markers 6 are close to each other in the area indicated by circle N. Therefore, in this embodiment, a second arrangement example shown in FIG. 7 is adopted. In the example of FIG. 7, the multiple markers 6 are distributed and arranged on two extension members 52. In particular, the multiple markers 6 are arranged alternately on the two extension members 52. Specifically, marker 6(M) and marker 6(L) are arranged on the side of one of the two extension members 52 (the extension member on the left in FIG. 7), and marker 6(S) is arranged on the side of the other (the extension member on the right in FIG. 7). In this case, since the markers 6 are distributed left and right, the possibility of false detection and a decrease in detection accuracy is reduced.

[0040] When each marker 6 is distributed to the left and right, as shown in Figures 3 and 4, the detection means 7(M) and detection means 7(L) corresponding to marker 6(M) and marker 6(L) are arranged on the side of the conveying means 4 facing marker 6(M) and marker 6(L), and the detection means 7(S) corresponding to marker 6(S) is arranged on the side of the conveying means 4 facing marker 6(S).

[0041] To further reduce the possibility of false detection or a decrease in detection accuracy, the multiple markers 6 may be placed at multiple different heights H1, H2, and H3. In the example of Fig. 4, the marker 6(M) is placed at a first height H1, the marker 6(S) is placed at a second height H2 that is lower than the first height, and the marker 6(L) is placed at a third height H3 that is lower than the second height. In this case, the detection means 7(M) is placed at the first height H1, the detection means 7(S) is placed at the second height H2, and the detection means 7(L) is placed at the third height H3.

[0042] In this embodiment, the detection means 7(M), the detection means 7(S), and the detection means 7(L) are arranged at a plurality of different positions P1, P2, and P3 in the front-to-rear direction. Specifically, as shown in Fig. 3, the detection means 7(M) is arranged at a first position P1, the detection means 7(S) is arranged at a second position P2, and the detection means 7(L) is arranged at a third position P3. The first position P1 is a position shifted forward (toward the arrow in the Y-axis direction) from the second position P2, and the third position P3 is a position shifted backward from the second position P2.

[0043] In this way, when the detection means 7 is shifted, the marker 6 (M) is shifted forward corresponding to the shift amount of the detection means 7 (M) (the difference between P1 and P2), and the marker 6 (L) is shifted backward corresponding to the shift amount of the detection means 7 (L) (the difference between P2 and P3).

[0044] (Means of transportation) 1 and 5, other configurations of the automated warehouse system 100 will be described. The cart mounting section 86 has two rails 87 along which the conveying means 4 travels. The rails 87 have an angular C-shape in cross section perpendicular to the extension direction (front-rear direction) that surrounds a space through which the wheels 44 of the conveying means 4 can pass.

[0045] As shown in Figure 1, transport means 81 travels left and right on transport path 82 and can transport transport means 4 when empty or loaded with a load 1. Transport means 81 receives power from power supply unit 83 via current collection unit 85 provided on the side, supplies the received power to a motor (not shown), and the motor can rotate multiple (for example, four) wheels 84 provided on both sides. Transport means 81 is configured to be able to charge the battery of transport means 4 with the received power.

[0046] The transport path 82 is a second travel path (e.g., a second rail) along which the transport means 81 travels, and extends in the left-right direction along the entrance 35 of the storage row 3. The power supply unit 83 extends in the left-right direction along the transport path 82, and can supply power to the transport means 81.

[0047] As shown in FIG. 1, an inbound / outbound section 88 is arranged near the end of the transport path 82. When entering the warehouse, goods 1 from outside are carried into the inbound / outbound section 88, and the carried goods 1 are transported to and stored in the target storage section 2 by the transport means 4 and the transport means 81. When leaving the warehouse, goods 1 stored in the target storage section 2 are transported to the inbound / outbound section 88 by the transport means 4 and the transport means 81, and the transported goods 1 are carried out to the outside.

[0048] The control unit 80 includes an MPU (Micro Processing Unit) and controls the movement of the goods 1 for storing, retrieving, carrying out, transporting, etc. based on operations from the user. As an example, the control unit 80 controls the conveying means 4 and the transporting means 81 to transport the goods 1 between a predetermined storage unit 2 and the storing / retrieving unit 88.

[0049] An example of the operation of this embodiment will be described. Here, an example will be described in which the load 1 (M) carried into the loading / unloading section 88 is stored in the storage row 3-B. In this embodiment, the load 1 is stored in this order from the storage section 2 on the base end 34 side to the storage section 2 on the entrance section 35 side. The control section 80 stores the storage sections 2 in which the load 1 is stored and the storage sections 2 in which the load 1 is not stored, and in this operation example, the conveying means 4 is controlled to store the load 1 (M) in the third storage section 2 (3) closest to the base end 34 among the storage sections 2 in which the load 1 is not stored.

[0050] (1) When the operation is started, the control unit 80 controls the transport means 81 to load the empty transport means 4 and move to the side of the loading / unloading section 88. (2) Next, the control unit 80 controls the conveying means 4 to move to the loading / unloading unit 88 and hold the load 1 (M).

[0051] (3) Next, the control unit 80 controls the conveying means 4 so that it moves to the conveying means 81 while holding the load 1 (M). (4) Next, the control unit 80 controls the transport means 81 to move in front of the entrance 35 of the storage row 3-B with the transport means 4 loaded thereon.

[0052] (5) Next, the control unit 80 controls the conveying means 4 to move to the third storage section 2(3) of the storage row 3-B while holding the load 1(M). At this time, the control unit 80 counts the number of times that the detection means 7 detects the marker 6(M) while the conveying means 4 is moving through the storage row 3-B, and when the marker 6(M) corresponding to the target storage section 2 is detected, the control unit 80 stops the conveying means 4 at that position.

[0053] (6) Next, the control unit 80 controls the conveying means 4 to lower the loading platform 42 and drop the load 1 (M) into the storage row 3-B. This operation causes the load 1 (M) to be stored in the destination third storage unit 2 (3). (7) Next, the control unit 80 controls the transport means 4 so that the platform unit 42 moves to the transport means 81 in a lowered state. The above is an explanation of one example of the operation. Various modifications of this operation are possible.

[0054] In this manner, in the embodiment, while the conveying means 4 moves along the storage line 3, the detection means 7 counts the number of times it detects the marker 6, and the storage line 3 can be stopped at the position where it detects the marker 6 corresponding to the target storage section 2. The goods 1 to be stored can be stored at this stopping position, and the goods 1 to be removed can be picked up at this stopping position.

[0055] The following describes the features of the warehouse unit 10. The warehouse unit 10 for a refrigerated warehouse comprises a storage row 3 consisting of a plurality of storage sections 2 capable of storing goods 1 in a frozen state, arranged in a first direction, a conveying path 5 provided along the storage row 3 and for conveying the goods 1 by conveying means 4, and a plurality of markers 6 arranged at predetermined intervals along the conveying path 5 and detectable by detection means 7 provided on the conveying means 4.

[0056] With this configuration, the distance between the marker 6 and the detection means 7 is short, so the impact of frost is less than when the transport vehicle is controlled based on the measurement results of the distance to the load placed in front, and the accuracy of the stopping position of the transport means 4 can be maintained even in a refrigerated space, improving the accuracy of the storage position of the load 1.

[0057] As an example, the plurality of markers 6 include magnetic materials 62, and the detection means 7 detects the markers 6 based on the results of detecting the magnetism of the magnetic materials 62. In this case, the markers 6 are hardly affected by frost.

[0058] As an example, the markers 6 may be protrusions, and the detection means 7 may detect the positions of the markers 6 based on the results of detecting the protrusions. In this case, the markers 6 are hardly affected by frost.

[0059] As an example, two extension members 52 extending in the first direction are arranged on the left and right of the conveying path 5, spaced apart from each other, and the multiple markers 6 are provided on the extension members 52. In this case, compared to using an attachment member dedicated to the markers, it is possible to save cost and space for the attachment member.

[0060] As an example, the multiple markers 6 are provided on the opposing side surfaces of the two extension members 52. In this case, the extension members 52 do not become an obstacle and the markers 6 are easier to detect from the conveying means 4, compared to when the markers 6 are provided on the opposite side of the opposing surfaces of the extension members 52.

[0061] As an example, the extension member 52 has an angular C-shape in cross section perpendicular to the extension direction that surrounds a space through which the wheels 44 of the conveying means 4 can pass, and the multiple markers 6 are arranged in an area facing the side surfaces of the wheels 44 of the extension member 52. In this case, since this area is wide, the markers 6 can be easily attached.

[0062] As an example, the multiple markers 6 are arranged alternately on the two extension members 52. In this case, the markers 6 can be arranged more dispersedly than when the multiple markers 6 are arranged closely to each other, which reduces the possibility of false detection or a decrease in detection accuracy.

[0063] As an example, the multiple markers 6 are arranged at multiple different heights. In this case, the multiple markers 6 are spaced apart in the height direction, which reduces the possibility of false detection or a decrease in detection accuracy.

[0064] The features of the automated warehouse system 100 will be described. The automated warehouse system 100 for a refrigerated warehouse comprises a storage row 3 consisting of a plurality of storage sections 2 capable of storing goods 1 in a frozen state, arranged in a first direction, a conveying path 5 provided along the storage row 3, a conveying means 4 capable of conveying the goods 1 by moving along the conveying path 5, and a plurality of markers 6 arranged at predetermined intervals along the conveying path 5. The conveying means 4 has a detection means 7 capable of detecting the markers 6.

[0065] With this configuration, the distance between the marker 6 and the detection means 7 is short, so the impact of frost is less than when the transport vehicle is controlled based on the measurement results of the distance to the load placed in front, and the accuracy of the stopping position of the transport means 4 can be maintained even in a refrigerated space, improving the accuracy of the storage position of the load 1.

[0066] The above describes in detail exemplary embodiments of the present invention. The above-described embodiments merely illustrate specific examples of implementing the present invention. The content of the embodiments does not limit the technical scope of the present invention, and many design modifications, such as changes, additions, and deletions of components, are possible within the scope of the inventive concept defined in the claims. In the above-described embodiments, content that allows such design modifications is described using notations such as "in the embodiment" or "in the embodiment," but this does not mean that design modifications are not permitted in content that does not have such notations. Furthermore, hatching in the drawings does not limit the material of the hatched object.

[0067] (Variation) The following describes the modified examples. In the drawings and descriptions of the modified examples, the same or equivalent components and members as those in the embodiment are denoted by the same reference numerals. Explanations that overlap with the embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from the embodiment.

[0068] In the description of the embodiment, an example was shown in which the multiple markers 6 and the detection means 7 face each other in the left-right direction, but the present invention is not limited to this. For example, some or all of the multiple markers 6 can be provided on the lower side of the storage unit 2 (the lower surface of the upper horizontal extension portion 53). In this case, the detection means 7 can be disposed in a position on the conveying means 4 that faces the markers 6 on the lower side of the storage unit 2 in the up-down direction.

[0069] In the description of the embodiment, an example was shown in which the transport means 81 and the transport path 82 are provided, but the present invention is not limited to this. It is not essential to provide the transport means 81 and the transport path 82. For example, at the entrance 35 of each storage row 3, goods 1 to be received from outside may be placed directly on the transport means 4, and goods 1 to be delivered to outside may be taken out directly from the transport means 4.

[0070] In the description of the embodiment, the automated warehouse system 100 has been shown as accommodating loads 1 of three different sizes, but the present invention is not limited to this. For example, the automated warehouse system may be one that accommodates loads of two or four or more different sizes.

[0071] For example, the detection means 7(M), the detection means 7(S) and the detection means 7(L) may be arranged at the same positions as each other in the front-rear direction.

[0072] For example, the conveying means 4 may be provided in each row of the multiple storage rows 3. For example, the transporting means 81 may be provided in each tier of the multiple shelf sections 33. For example, a transfer means capable of transferring the load 1 between the shelf sections 33 in each tier may be provided.

[0073] For example, a cleaning member for reducing frost on the surface of the marker 6 may be provided on the side of the conveying means 4. Examples of the cleaning member include a brush or other bristles, a spatula, and the like.

[0074] Each of these modifications provides the same functions and effects as the embodiment.

[0075] Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. A new embodiment resulting from the combination has the combined effects of the combined embodiments and modifications. [Explanation of symbols]

[0076] 1 load, 2 storage section, 3 storage row, 4 conveying means, 5 conveying path, 6 marker, 7 detection means, 10 storage unit, 44 wheel, 52 extension member, 62 magnetic material, 100 automated storage system.

Claims

1. A warehouse unit comprising: a storage row consisting of a plurality of storage sections capable of storing goods arranged in a first direction; a transport path provided along the storage row for transporting goods by a transport means; and a plurality of markers arranged at predetermined intervals along the transport path and detectable by a detection means provided on the transport means.

2. the plurality of markers include a magnetic material; The warehouse unit according to claim 1 , wherein the detection means detects the marker based on the result of detecting the magnetism of the magnetic body.

3. the plurality of markers are protrusions; The warehouse unit according to claim 1 , wherein the detection means detects the marker based on the result of detecting the protrusion.

4. Two extension members extending in a first direction are disposed on the conveying path at a distance from each other on the left and right sides, The storage unit according to claim 1 , wherein the plurality of markers are provided on the extension member.

5. The storage unit according to claim 4 , wherein the plurality of markers are provided on opposing sides of the two extension members.

6. the extension member has an angular C-shape in a cross section perpendicular to the extension direction that surrounds a space through which the wheels of the conveying means can pass, The storage unit according to claim 4 or 5, wherein the plurality of markers are arranged in an area of ​​the extension member facing a side of the wheel.

7. The storage unit according to claim 5 or 6, wherein the plurality of markers are arranged in a staggered manner on the two extension members.

8. The warehouse unit according to claim 1 , wherein the markers are arranged at different heights.

9. A warehouse unit as described in any one of claims 1 to 3, wherein the plurality of markers include first markers arranged in a plurality of positions corresponding to storage positions of cargo of a first dimension, and second markers arranged in a plurality of positions corresponding to storage positions of cargo of a second dimension different from the cargo of the first dimension.

10. A storage row including a plurality of storage sections capable of storing luggage arranged in a first direction; A conveying path provided along the storage row; A conveying means capable of conveying a load by moving along the conveying path; and a plurality of markers arranged at predetermined intervals along the transport path. The transport means is an automated warehouse system having a detection means capable of detecting the marker.

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