Automatic warehouse system

Abstract

To provide an automatic warehouse system which can achieve both of storage capacity and convenience.SOLUTION: An automatic warehouse system 100, which comprises a shelf part 22 having multiple stages of a plurality of storage parts 24 arranged in a row direction and a column direction and can store multiple sizes of pallets on the shelf parts 22, has: first transport means 14 which can hold the pallet 12 and move the shelf part 22 in the row direction; second transport means 16 on which the first transport means 14 is mounted and which can move a side part of the shelf part 22 in the row direction; and an acquisition part 38 which acquires a size of the pallet 12 of a storage object as an acquisition size.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] There is known an automated warehouse system that can efficiently store and retrieve a large number of items in a small space. In Patent Document 1, the present applicant discloses an automated warehouse system equipped with storage shelves capable of storing a plurality of items. This automated warehouse system is configured to carry in and carry out items using transport carts that can move in the column direction between the storage shelves and carts that can move in the row direction. In this automated warehouse system, items are placed on pallets for transport and storage. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-160040 A Summary of the Invention [Problem to be solved by the invention]

[0004] It is possible to store loaded pallets (hereinafter simply referred to as "pallets") of multiple sizes or pallets of unknown size in one warehouse. In this case, it is possible to reduce wasted space and increase storage capacity. It is also possible to improve the convenience of automated warehouse systems when storing pallets of multiple sizes or pallets of unknown size.

[0005] The present invention has been made in consideration of such problems, and one of its objects is to provide an automated warehouse system that can achieve both storage capacity and convenience. [Means for solving the problem]

[0006] In order to solve the above problems, one embodiment of the automated warehouse system of the present invention is an automated warehouse system that has a shelf section having multiple tiers of multiple storage sections arranged in row and column directions, and is capable of storing pallets of multiple sizes on the shelf section, and has a first conveying means that can hold the pallet and move the shelf section in the column direction, a second conveying means that is mounted on the first conveying means and can move the side of the shelf section in the row direction, and an acquisition section that acquires the size of the pallet to be stored as an acquired size.

[0007] 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. Effect of the Invention

[0008] According to the present invention, it is possible to provide an automated warehouse system that can achieve both storage capacity and convenience. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a plan view illustrating an example of an automated warehouse system according to an embodiment. [Diagram 2] FIG. 2 is a side view showing the automated warehouse system of FIG. [Diagram 3] FIG. 2 is a side view illustrating an example of the first conveying means of FIG. 1. [Figure 4] 2 is a front view illustrating an example of the second conveying means of FIG. 1. FIG. [Diagram 5] FIG. 2 is a plan view illustrating an example of an acquisition unit in FIG. [Figure 6] 2 is a flowchart showing an example of a warehousing operation of the automated warehouse system of FIG. 1. [Figure 7] 2 is a schematic diagram showing an example of arrangement of pallets on the shelf section of FIG. 1. FIG. [Figure 8] FIG. 13 is an explanatory diagram illustrating an example of an operation for packing and storing pallets. [Figure 9] FIG. 2 is a side view illustrating a schematic configuration of an automated warehouse system according to a first modified example. [Figure 10]FIG. 11 is a side view illustrating a schematic configuration of an automated warehouse system according to a second modified example. [Figure 11] FIG. 2 is a schematic diagram showing an example of a pallet arrangement. [Figure 12] FIG. 1 is a plan view showing an example of a storage row for storing pallets of multiple pallet widths. [Figure 13] FIG. 13 is a schematic front view of the storage row of FIG. 12. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] The background of the present disclosure will be described. Handling only one type of pallet individually will allow for a simpler structure and a higher storage rate. In other words, the number of pallets that can be stored can be calculated based on the total length of the row, so specifications can be easily determined between the warehouse user and the user. In this case, it is not important to check the pallet size again even for operation after delivery to the warehouse. This is because the pallet size is determined, and if the target pallet is supported at the center of the transport vehicle and the distance between the transport vehicle and the already placed pallet is detected by a sensor, the distance between the already placed pallet and the target pallet can be easily calculated. This is because it is possible to determine how close the transport vehicle should be to the already placed pallet.

[0011] On the other hand, the appropriate pallet size may differ depending on the type of product. It is assumed that a warehouse specialized for that product will be set up in the factory that produces that product or in a nearby location. In that case, it is rational to use the optimal pallet size for storing that product and optimize the warehouse to handle pallets of one size. On the other hand, at a base positioned as a warehouse for shipping to consumption areas, it is desirable to combine and ship as many products as necessary that meet the demand of the consumption area. In that case, it is desirable to store a mix of these multiple types of products, and in that case, a warehouse that can handle different pallet sizes is desirable. Even if multiple sizes of pallets are handled, it is considered preferable for users to handle multiple sizes of pallets in the same shelf (warehouse) rather than having multiple specialized shelves for each size.

[0012] However, if a warehouse designed to handle one type of pallet as mentioned above also handles different pallet sizes, the warehouse must be designed to accommodate the maximum size. Specifically, the maximum size of pallets that will be used should be anticipated, and the warehouse should be designed to arrange them at a fixed pitch.

[0013] FIG. 11 is a schematic diagram showing an example of pallet arrangement in a storage row 123. FIG. 11(a) shows an example where pallets are arranged at a constant pitch Pd according to the maximum size, and FIG. 11(b) shows an example where pallets are arranged closely packed together. As shown in FIG. 11(a), when pallets are arranged at a pitch Pd according to the maximum size pallet 12-L, the gap between the pallets can be maintained even when the maximum size pallets are consecutive. However, when small size pallets 12-S and maximum size pallets 12-L are mixed, the gap between these pallets becomes large, and compared to the case where the pallets are arranged closely packed together as shown in FIG. 11(b), a wasted space is generated by the amount indicated by the symbol Cd, and space efficiency is reduced. In other words, it can be said that a warehouse designed for the maximum size does not have enough flexibility to handle different pallet sizes.

[0014] For these reasons, the inventors focused on an automated warehouse system that can flexibly respond to fluctuations in the size mix of pallets by acquiring the size of the pallets to be stored and controlling the stopping positions of the transport vehicles 114. This system makes it possible to easily handle pallets of multiple sizes or unknown sizes.

[0015] The automated warehouse system disclosed herein is an automated warehouse system equipped with a shelf section having multiple stages with multiple storage sections arranged in row and column directions, and capable of storing pallets of multiple sizes in the shelf sections. The automated warehouse system has a first conveying means capable of holding a pallet and moving the shelf section in the column direction, a second conveying means equipped with the first conveying means and capable of moving the side of the shelf section in the row direction, and an acquisition section that acquires the size of the pallet to be stored as an acquired size. The multiple storage sections can be arranged in a row direction to form a storage row. Each storage row can flexibly handle pallets of multiple sizes without any partitions between them.

[0016] This automated warehouse system can transport the pallet to a desired storage section by the first transport means and the second transport means. This automated warehouse system can also ascertain the pallet sizes of pallets of multiple sizes or unknown sizes by acquiring the size of the pallet to be stored by the acquisition unit. The pallet to be stored may be held by the first transport means after the size of the pallet has been acquired. This makes it possible to determine the storage section in which to store the pallet based on the results acquired by the acquisition unit.

[0017] As one example, a storage row may store multiple pallets of different sizes. As another example, a storage row may store a group of pallets divided into multiple groups according to size. With these configurations, the automated warehouse system can flexibly respond to changes in the size mix of pallets. Also, the pallets can be designed (length) to optimize storage efficiency. The present invention will be described in detail below with reference to the embodiments.

[0018] The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments and modified examples, the same or equivalent components and members are given the same reference numerals, and duplicated descriptions are omitted as appropriate. The dimensions of the members in each drawing are enlarged or reduced as appropriate for ease of understanding. Some of the members that are not important for explaining the embodiments are omitted in each drawing.

[0019] In addition, terms including ordinal numbers such as first, second, etc. are used to describe various components, but these terms are used only for the purpose of distinguishing one component from another component, and the components are not limited by these terms.

[0020] [Embodiment] The overall configuration of the automated warehouse system 100 according to the embodiment will be described with reference to FIG. 1 and FIG. 2. FIG. 1 is a plan view showing an example of the automated warehouse system 100 according to the embodiment. FIG. 2 is a side view showing the automated warehouse system 100. In FIG. 2, the description of an area 22-B described later is omitted. For convenience of description, as shown in the figure, an XYZ orthogonal coordinate system is defined in which a 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., a vertical direction, is the Z-axis direction. The positive directions of the X-axis, Y-axis, and Z-axis are defined in the directions of the arrows in each figure, and the negative directions are defined in the directions opposite to the arrows. The X-axis direction is sometimes called the "row direction", the Y-axis direction is sometimes called the "column direction", and the Z-axis direction is sometimes called the "up-down direction". The traveling direction of the first conveying means described later is sometimes called the "forward" or "front", and the opposite is sometimes called the "rear" or "rear". Such directional notations do not limit the configuration of the automated warehouse system 100, and the automated warehouse system 100 may be used in any configuration depending on the application.

[0021] Additionally, in this disclosure, unless otherwise specified, "pallet" refers primarily to a pallet loaded with a load, but also includes empty pallets. Unless otherwise specified, "position" refers to position in the column direction, and "size" refers to size in the column direction (total length in the column direction). Furthermore, unless otherwise specified, "pallet size" or "pallet size" refers to the size of a single pallet without a load (total length in the column direction). Additionally, the total length of a pallet in the row direction is referred to as "pallet width."

[0022] 1, the automated warehouse system 100 includes a shelf unit 22, a first transport means 14, a second transport means 16, a lifting mechanism 20, an acquisition unit 38, a conveyor device 44, and a control unit 50. The shelf unit 22 is a storage shelf having a plurality of storage units 24 capable of storing pallets 12 arranged along row and column directions. A pallet 12 may be the smallest unit that is received, stored, rearranged, and removed from the automated warehouse system 100.

[0023] The shelf section 22 is a storage shelf having multiple stages with multiple storage sections 24 arranged in row and column directions. Each storage section 24 can store a pallet 12. The first transport means 14 is a self-propelled cart that can hold the pallet 12 and move along the shelf section 22 in the column direction. The second transport means 16 is a self-propelled cart that can move along the side of the shelf section 22 in the row direction with the first transport means 14 holding the pallet 12 mounted on it. The lifting mechanism 20 is a lifter that can raise and lower the pallet 12 up and down. The first transport means 14, the second transport means 16 and the lifting mechanism 20 are collectively referred to as the transport mechanism.

[0024] The acquisition unit 38 acquires the size of the pallet 12 to be stored as the acquired size Sa. In this example, the acquisition unit 38 includes a measurement unit 40 and a data providing unit 52. The measurement unit 40 measures the size of the pallet 12 to be stored, and provides the measurement result to the control unit 50 as the acquired size Sa. The data providing unit 52 provides stored data Dm stored in association with the pallet 12 to be stored to the control unit 50 as the acquired size Sa.

[0025] The acquisition unit 38 may include only one of the measurement unit 40 and the data providing unit 52, but in this embodiment, both are included. By comparing the judgment results of both the measurement unit 40 and the data providing unit 52, it is possible to detect an error in one judgment result based on the judgment result of the other, thereby increasing the reliability of the overall judgment results. In addition, it is possible to widen the allowable range of measurement error of the measurement unit 40 and the allowable range of errors in the stored data Dm, which is advantageous in terms of simplifying the configuration, reducing costs, and making them smaller.

[0026] The data providing unit 52 will be explained first, and the measurement unit 40 will be described later. The data providing unit 52 has a memory unit 52m. The memory unit 52m stores data on the pallets 12 on the shelf unit 22 and the position and size of the pallet 12 being moved. In this case, it is easy to manage because it is possible to visually check how many and what size pallets are stored in a specific storage unit and what size the pallet being moved is. Also, for example, the type of pallet that caused the error can be stored when an error occurs, and by knowing this type, it becomes easy to respond.

[0027] The memory unit 52m stores stored data Dm, which will be described later. In this example, the data providing unit 52 identifies the stored data Dm using the reading unit 46. The reading unit 46 reads display information Cs of the pallet 12 to be stored or the cargo on the pallet 12, and provides it to the data providing unit 52. The stored data Dm is stored in the memory unit 52m as a data table corresponding to the display information Cs. The data providing unit 52 provides the stored data Dm identified by table processing using the display information Cs as a key, as the acquired size Sa.

[0028] The stored data Dm may be created at the sender of the pallet 12 and input to the memory unit 52m via a transmission means such as a storage medium or a communication medium. The stored data Dm may be created within the automated warehouse system 100, and data created at the sender of the pallet 12 may be used for this creation.

[0029] The display information Cs may be a visible display such as a barcode, a two-dimensional barcode, a character, a symbol, a figure, a pattern, etc., or an invisible display such as a magnetic record or an electronic tag. The display information Cs includes pallet identification information such as a product code and a lot code. Note that it is not essential to use the display information Cs, and another means for identifying the correspondence between each pallet 12 and the stored data Dm may be provided.

[0030] The conveyor device 44 moves the pallet 12 carried in by external transport means 54, such as a forklift, to the lifting mechanism 20. In this embodiment, the measurement unit 40 and the reading unit 46 are disposed in front of the lifting mechanism 20 of the conveyor device 44, and the measurement unit 40 measures the size of the pallet 12 to be stored in front of the lifting mechanism 20, and the reading unit 46 reads the display information Cs of the pallet 12 to be stored in front of the lifting mechanism 20.

[0031] The control unit 50 includes an MPU (Micro Processing Unit) and the like. Based on the results of operations by an operator, the control unit 50 controls the operations of the first conveying means 14, the second conveying means 16, and the lifting mechanism 20 in order to transport the pallet 12. The control unit 50 also controls the operations of the conveyor device 44 and the acquisition unit 38 (the measurement unit 40, the reading unit 46, the data providing unit 52, etc.) in order to acquire the size of the pallet 12.

[0032] The shelf section 22 will be described with reference to Figures 1 and 2. The configuration of the shelf section 22 is not particularly limited as long as it is capable of storing a plurality of pallets 12. The shelf section 22 includes a plurality of storage sections 24 arranged along the X-axis direction and the Y-axis direction. Each storage section 24 is configured to be capable of storing a pallet 12. The shelf section 22 of this embodiment has two areas 22-A, 22-B that are provided apart in the Y-axis direction with the second rail 28 in between. The two areas 22-A, 22-B are capable of storing a pallet 12 in each storage section 24.

[0033] In this embodiment, the storage sections 24 are arranged in a row in the Y-axis direction. Specifically, the storage sections 24 are arranged continuously on a first rail 26, which will be described later, extending in the Y-axis direction, and the storage sections 24 are the locations where the pallets 12 on the first rail 26 are stored. Therefore, even if the length of the first rail 26 is the same, the number of storage sections 24 varies depending on the size of the pallets 12 to be stored and the size of the gap between adjacent pallets 12. The multiple storage sections 24 arranged in a row in the Y-axis direction are referred to as storage rows 23. On the side of each storage row 23 facing the running path (second rail 28) of the second conveying means 16, an opening 23a through which the first conveying means 14 enters and exits to insert and remove the pallets 12 is provided. The opening 23a functions as an entrance and exit for the pallets 12.

[0034] In this embodiment, N levels (N is an integer equal to or greater than 1, for example 3) of shelf sections 22 are provided, arranged in layers one above the other. FIG. 1 shows shelf section 22 of the first level, which is closest to floor Fr. In the second and subsequent levels, shelf section 22 of the Nth level is arranged above shelf section 22 of the (N-1)th level. Shelf sections 22 of each level may have a similar configuration to each other. In particular, shelf section 22 of each level is provided with a set of one or more first conveying means 14 and second conveying means 16. Shelf section 22 of each level may be referred to as a "shelf level."

[0035] A first rail 26 is provided on the shelf 22 as a path for the first transport means 14. The first rail 26 extends in the Y-axis direction on the shelf 22. The first transport means 14 is a transport means that can run under each storage section 24. A second rail 28 is provided on the side of the shelf 22 as a path for the second transport means 16. The second rail 28 extends in the X-axis direction adjacent to the shelf 22 and the lifting mechanism 20.

[0036] The first conveying means 14 will be described with reference to FIG. 3. FIG. 3 is a side view showing an example of the first conveying means 14. The first conveying means 14 includes a vehicle body 14b, a motor (not shown), a plurality of wheels 14f, a mounting platform 14c, and a lift mechanism 14d. The first conveying means 14 drives the plurality of wheels 14f by the motor and travels on the first rail 26 in the Y-axis direction with the pallet 12 mounted thereon. The first conveying means 14 raises and lowers the mounting platform 14c and the pallet 12 on the mounting platform 14c by the lift mechanism 14d. In FIG. 3, the mounting platform 14c in the raised state is shown by a dashed line, and the mounting platform 14c in the lowered state is shown by a solid line.

[0037] The first conveying means 14 can enter the storage section 24. The first conveying means 14 can get on and off the second conveying means 16 and the lifting mechanism 20. The first conveying means 14 can lower the pallet 12 into the storage section 24 and the second conveying means 16. The first conveying means 14 can lift and hold the pallet 12 from the storage section 24 and the second conveying means 16.

[0038] The first conveying means 14 includes two first sensors 14s provided at one end side and the other end side of the first conveying means 14 in the Y-axis direction. The first sensor 14s can detect the distance to an object (another pallet 12, a wall W, an obstacle, etc.) in the traveling direction by scanning the laser 14e and detecting the reflected light. The first conveying means 14 moves along the shelf section 22 while detecting the previously stored pallet 12 based on the detection result of the first sensor 14s, stops a predetermined distance before the pallet 12, and unloads the pallet 12 held there. In other words, the first conveying means 14 can place a plurality of pallets 12 in the storage row 23 in a line at a predetermined interval. In addition, the first sensor 14s can detect the relative position of the held pallet 12 with respect to the first conveying means 14.

[0039] The second conveying means 16 will be described with reference to FIG. 4. FIG. 4 is a front view showing an example of the second conveying means 16 in a schematic manner, showing a state in which the first conveying means 14 is mounted. The second conveying means 16 includes a mounting portion 16c, a guide portion 16j, a motor (not shown), and a plurality of wheels 16f. The second conveying means 16 drives the plurality of wheels 16f by the motor and travels on the second rail 28 in the X-axis direction. The second conveying means 16 can mount the first conveying means 14 on the mounting portion 16c. The second conveying means 16 can transport the first conveying means 14 in a state in which a pallet 12 is mounted or when it is empty. The mounting portion 16c is provided with two guide portions 16j arranged apart in the X-axis direction. The two guide portions 16j guide the first conveying means 14 when the first conveying means 14 is mounted. The pallet 12 can be placed on the two guide portions 16j.

[0040] The second conveying means 16 is provided with a second sensor 16s capable of detecting the position of the first conveying means 14 and the protrusion of the pallet 12 held by the first conveying means 14. For example, the second sensor 16s is a transmission type optical sensor consisting of a set of a light projector 16h and a light receiver 16k arranged apart in the X-axis direction. The second sensor 16s detects whether the light emitted by the light projector 16h is blocked by the light receiver 16k. Two sets of second sensors 16s are provided on the second conveying means 16 at positions that do not interfere with the first conveying means 14 and the pallet 12 and are apart in the Y-axis direction.

[0041] The lifting mechanism 20 and the conveyor device 44 will be described with reference to Figs. 1 and 2. The lifting mechanism 20 lifts and lowers the pallet 12 between the shelf parts 22 of each stage. One front of the lifting mechanism 20 faces the conveyor device 44, and the other front faces the conveying path (second rail 28) of the second conveying means. When storing, the lifting mechanism 20 transports the pallet 12 delivered from the conveyor device 44 to the target stage. When unloading, the lifting mechanism 20 transports the target pallet 12 to the first stage and delivers it to the conveyor device 44. The lifting mechanism 20 may lift and lower the pallet 12 held by the first conveying means 14, but in this embodiment, it lifts and lowers the pallet 12 in a standalone state that is not held by the first conveying means 14.

[0042] The conveyor device 44 in this embodiment is a belt conveyor. When entering the warehouse, the conveyor device 44 transports the pallet 12 delivered from the external transport means 54 to the acquiring unit 38 and the lifting mechanism 20. When leaving the warehouse, the conveyor device 44 transports the pallet 12 delivered from the lifting mechanism 20 to a position where the external transport means 54 can pick it up. In other words, the conveyor device 44 transports the pallet 12 in the opposite direction when entering the warehouse and when leaving the warehouse.

[0043] The pallet 12 delivered from the external transport means 54 may be tilted in a planar direction relative to the transport direction of the conveyor device 44. For this reason, in this embodiment, a guide (not shown) capable of correcting the tilt is provided midway along the conveyor device 44. The pallet 12 comes into contact with the guide while being transported by the conveyor device 44, and the tilt is gradually corrected.

[0044] The measuring unit 40 will be described with reference to Fig. 5. Fig. 5 is a plan view showing an example of the measuring unit 40. In this figure, reference numeral 12-S indicates a small-sized pallet 12 (e.g., total length = reference size - 100 mm), reference numeral 12-M indicates a medium-sized pallet 12 (e.g., total length = reference size + 100 mm), and reference numeral 12-L indicates a large-sized pallet 12 (e.g., total length = reference size + 400 mm). The pallets 12-L, 12-M, and 12-S are shown overlapping while being shifted in the X-axis direction.

[0045] The configuration of the measuring unit 40 is not limited, and a method of measuring the size based on an image of the pallet 12, a method using an ultrasonic sensor, a method using a laser sensor, etc. can be adopted. As an example, the measuring unit 40 of this embodiment performs measurement using three optical sensors 41, 42, 43 arranged apart in the X-axis direction. The optical sensor 41 is arranged on the lifting mechanism 20 side of the optical sensor 42 in the Y-axis direction, and the optical sensor 43 is arranged on the opposite side of the optical sensor 42 from the lifting mechanism 20 in the Y-axis direction. The optical sensors 41, 42, 43 are transmissive optical sensors consisting of a set of projectors 41j, 42j, 43j and photoreceivers 41k, 42k, 43k. The optical sensors 41, 42, 43 detect whether the light projections 41e, 42e, 43e of the projectors 41j, 42j, 43j are blocked by the photoreceivers 41k, 42k, 43k.

[0046] As an example, the measuring unit 40 measures the size of the pallet 12 based on the detection results of the optical sensors 42 and 43 at the timing when the optical sensor 41 detects the front end 12j of the pallet 12 (hereinafter referred to as the "front end detection timing"). Note that the conveyor device 44 may be temporarily stopped at the front end detection timing.

[0047] If optical sensors 42, 43 are both ON (non-blocking) at the timing of front end detection, measurement unit 40 determines the size of pallet 12 to be "small." If optical sensor 42 is OFF (blocking) and optical sensor 43 is ON (non-blocking) at the timing of front end detection, measurement unit 40 determines the size of pallet 12 to be "medium." If optical sensors 42, 43 are both OFF (blocking) at the timing of front end detection, measurement unit 40 determines the size of pallet 12 to be "large."

[0048] The measuring unit 40 may stop the conveyor device 44 and measure the stopped pallet 12. In this case, the measuring unit 40 can be configured simply and measurement accuracy can be easily ensured. The measuring unit 40 may keep the conveyor device 44 moving and measure the moving pallet 12. In this case, the amount of time lost during stoppage can be reduced, and the number of pallets that can be measured per hour can be increased.

[0049] As shown in Fig. 5, the reading unit 46 of this embodiment is disposed near the measurement unit 40. The reading unit 46 scans the pallet 12 with a laser scanner and reads the display information Cs. The reading unit 46 may read the display information Cs asynchronously, independent of the operation of the measurement unit 40, or may read the display information Cs synchronized with the operation of the measurement unit 40. The reading unit 46 may read the display information Cs when the pallet 12 stops, or may read the display information Cs while the pallet 12 is moving.

[0050] A description will now be given of an example of the operation of the automated warehouse system 100 configured as described above. The operation described below is merely an example, and various modifications are possible.

[0051] (warehousing operation) The storage operation S110 of the automated warehouse system 100 will be described with reference to Figures 1, 2 and 6. Figure 6 is a flow chart showing the storage operation S110. These operations are controlled by the control unit 50.

[0052] (1) In the storing operation S110, first, the pallet 12 to be stored is placed on the conveyor device 44 by the external transport means 54 such as a forklift (step S111). (2) Next, the conveyor device 44 transports the pallet 12 to the acquisition unit 38 (the measurement unit 40, the reading unit 46) (step S112). (3) Next, the acquisition unit 38 acquires the pallet size of the pallet 12 on the conveyor device 44, and sends the acquisition result to the control unit 50 (step S113). The conveyor device 44 transfers the pallet 12 to the lifting mechanism 20.

[0053] (4) The control unit 50 determines the storage unit that will store the pallet 12 based on the acquired results (step S114). The determination result may include information about the storage unit at the storage location, information about the storage row to which the storage unit belongs, information about the area to which the storage row belongs, and information about the shelf to which the area belongs. If the determination results of the measurement unit 40 and the data provision unit 52 in this step match, the control unit 50 proceeds to the next step of the process, but if they do not match, the control unit 50 temporarily stops the process and notifies the worker that there is an abnormality. Once the worker has taken the required corrective action, the control unit 50 proceeds to the next step of the process.

[0054] (5) Next, the pallet 12 is loaded onto the lifting mechanism 20 and transported to the determined shelf level for storage (step S115). For example, the conveyor device 44 stops transporting the pallet 12 in front of the lifting mechanism 20. When the platform of the lifting mechanism 20 descends, the conveyor device 44 pushes out the pallet 12 and places it on the platform of the lifting mechanism 20.

[0055] (6) At the storage shelf, the second conveying means 16, carrying the empty first conveying means 14, moves in front of the lifting mechanism 20 (step S116). (7) Next, the first conveying means 14 moves from the second conveying means 16 to the lifting mechanism 20 and holds the pallet 12 (step S117). In this manner, in this embodiment, the pallet size of the pallet 12 is acquired, and then the pallet 12 is held by the first conveying means 14. (8) Next, the first conveying means 14 holding the pallet 12 moves from the lifting mechanism 20 to the second conveying means 16 (step S118).

[0056] (9) Next, the second transport means 16 carries the first transport means 14 and moves to the front of the storage row 23 to which the storage section 24 of the storage destination belongs (step S119). (10) Next, the first conveying means 14 moves from the second conveying means 16 to the storage section 24 where the pallet 12 is to be stored, and unloads the pallet 12 there (step S120). The first conveying means 14 may transmit the position of the storage section 24 where the pallet 12 has been unloaded (hereinafter referred to as the "storage position") to the control section 50. The control section 50 may calculate the storage capacity (e.g., size) of the storage row 23 based on the storage position transmitted from the first conveying means 14. The control section 50 can refer to the calculated storage capacity to determine the storage section 24 in which to store the pallet 12 to be brought in later.

[0057] After unloading the pallet 12, the first conveying means 14 may remain on standby or may move to another standby location.

[0058] (Removal operation) The retrieval operation of the automated warehouse system 100 will be described with reference to FIG. 1 and FIG. 2. In the retrieval operation, first, the first conveying means 14, with the placement platform 14c lowered, enters under the pallet 12 to be retrieved in the storage section 24 from which the pallet 12 is to be retrieved, raises the placement platform 14c to hold the pallet 12, and then mounts on the second conveying means 16. After the first conveying means 14 mounts on the second conveying means 16, the second conveying means 16 moves in front of the lifting mechanism 20. Next, the first conveying means 14 exits the second conveying means 16, enters the lifting mechanism 20, lowers the pallet 12, and exits the lifting mechanism 20. Next, the lifting mechanism 20 lowers the pallet 12 and places it on the conveyor device 44. The conveyor device 44 transports the pallet 12 in front of the external conveying means 54. The pallet 12 transported in front of the external conveying means 54 is retrieved to the outside by the external conveying means 54. The removed pallet 12 may be loaded onto a truck (not shown) or the like and shipped.

[0059] Next, an example of the arrangement of pallets 12 on shelf section 22 will be described with reference to Fig. 7. Fig. 7 is a schematic diagram showing an example of the arrangement of pallets 12 on shelf section 22. As described above, shelf section 22 has a plurality of storage rows 23 each consisting of a plurality of storage sections 24 arranged in the row direction. Storage rules relating to the size of pallets 12 (hereinafter referred to as "attributes" of storage row 23) are set in advance for each storage row 23. As an example, storage row 23 may have the following attributes:

[0060] As shown in Figure 7, pallets 12 of the same size may be stored in one storage row 23. In this case, efficient operation is possible when storing a large number of pallets of the same type. In the example of Figure 7, storage rows 23-A and 23-B have an attribute (hereinafter referred to as "S attribute") for storing small-sized pallets 12-S. Storage row 23-C has an attribute (hereinafter referred to as "M attribute") for storing medium-sized pallets 12-M. Storage rows 23-D and 23-E have an attribute (hereinafter referred to as "L attribute") for storing large-sized pallets 12-L.

[0061] Furthermore, as shown in Fig. 7, multiple pallets of different sizes may be stored in one storage row 23. In this case, flexible operation is possible when storing a wide variety of pallets of different sizes. In the example of Fig. 7, storage row 23-F has an attribute (hereinafter referred to as "attribute C") for storing a mixture of multiple pallets 12-M, 12-S, 12-L of different sizes.

[0062] Furthermore, as shown in Fig. 7, multiple pallets having different pallet widths may be stored in one storage row 23. In this case, flexible operation is possible when storing a wide variety of pallets having different pallet widths. In the example of Fig. 7, storage row 23-G has an attribute (hereinafter referred to as "P attribute") that allows multiple pallets 12-M(1), 12-S(2), 12-L(1), and 12-L(2) having different pallet widths to be stored together.

[0063] The alphabets of the symbols attached to the pallets 12 indicate the pallet sizes L, M, and S, and the numbers in parentheses indicate the pallet width of the pallet. In the symbols indicating the pallet width, (1) indicates the first pallet width (1200 mm in this example), and (2) indicates the second pallet width (1100 mm in this example). In other words, pallet 12-M(1) indicates a medium-sized pallet with the first pallet width, and pallet 12-S(2) indicates a small-sized pallet with the second pallet width. Pallet 12-L(1) indicates a large-sized pallet with the first pallet width, and pallet 12-L(2) indicates a large-sized pallet with the second pallet width. Note that pallets with the first pallet width are collectively referred to as the first pallet 12(1), and pallets with the second pallet width are collectively referred to as the second pallet 12(2).

[0064] In addition, among the symbols indicating the pallet width, the "(1)" indicating the first pallet width may be omitted. In this example, the hallet width of the pallets stored in the storage rows 23-A to 23-F is the first pallet width. These storage rows may also be configured to be capable of storing multiple pallets with different pallet widths. The pallet width is not limited to two types, and may be three or more types.

[0065] With reference to Figures 12 and 13, a storage row 23-G capable of storing a wide variety of pallets with different pallet widths will be described. Figure 12 is a plan view of the storage row 23-G capable of storing pallets 12 with a plurality of pallet widths. Figure 13 shows the storage row 23-G as viewed from the front. The storage row 23-G has a pair of placement sections 33, 34 arranged apart in the row direction for placing the pallets 12, and a pair of side restriction sections 31, 32 that restrict movement in the row direction of the pallets 12 placed on the pair of placement sections 33, 34.

[0066] The pair of mounting portions 33, 34 has a first mounting portion 33 and a second mounting portion 34, and the pair of side restriction portions 31, 32 has a first side restriction portion 31 and a second side restriction portion 32. The first side restriction portion 31 is disposed on the opposite side of the first mounting portion 33 to the second mounting portion 34, and the second side restriction portion 32 is disposed on the opposite side of the second mounting portion 34 to the first mounting portion 33.

[0067] The first and second loading sections 33, 34 in this embodiment are upper surfaces of the first rail 26 extending in the Y-axis direction in the storage section 24. The first and second side restriction sections 31, 32 in this embodiment have a rail shape extending in the Y-axis direction and are arranged to sandwich both side sections of the pallet 12 placed on the first and second loading sections 33, 34. The first and second side restriction sections 31, 32 are arranged on both sides of the first and second loading sections 33, 34 in the row direction in a plan view.

[0068] The first and second side restriction portions 31, 32 have guide portions 31e, 32e that guide the row direction position of the pallet 12. When the pallet 12 approaches, the guide portions 31e, 32e contact the sides of the pallet 12 to restrict the position. The guide portions 31e, 32e are located above the first and second placement portions 33, 34.

[0069] The size of the gap between the first and second side restriction portions 31, 32 is configured so that the first pallet 12(1) can pass through without interfering with the first and second side restriction portions 31, 32. For this reason, the row-direction spacing D1 between the first and second side restriction portions 31, 32 is larger than the pallet width W1 of the first pallet 12(1). The row-direction spacing D1 is set to the pallet width W1 plus a sufficiently large margin. In this example, the row-direction spacing D1 is the row-direction spacing between the guide portions 31e, 32e.

[0070] If the gap between the first and second placement sections 33, 34 is too large, the second pallet 12(2) will fall into the gap. For this reason, the row-direction spacing D2 between the first and second placement sections 33, 34 is smaller than the pallet width W2 of the second pallet 12(2). In this example, the row-direction spacing D2 is the spacing between opposing ends 33e, 34e of the first and second placement sections 33, 34 that face each other in the row direction.

[0071] If the row direction interval D1 is too large, as shown in (c) and (d) of FIG. 13, when the second pallet 12(2) is biased to one side in the row direction, the other end of the pallet may fall into the gap between the first and second placement sections 33, 34. Therefore, the first and second placement sections 33, 34 are arranged to be able to support the second pallet 12(2) regardless of the position of the second pallet 12(2) located between the first and second side restriction sections 31, 32. Specifically, the row direction distance E1 in a plan view between the first side restriction section 31 and the second placement section 34 and the row direction distance E2 in a plan view between the second side restriction section 32 and the first placement section 33 are set to be smaller than the pallet width W2 of the second pallet 12(2). Note that the distance between two points in a plan view is the distance between the two points projected onto a plane.

[0072] In the example of Fig. 13, distance E1 is the shortest distance on a plane from the opposing end 34e to the farther guide portion 31e, and distance E2 is the shortest distance on a plane from the opposing end 33e to the farther guide portion 32e. In the example of Fig. 13, pallet width W1 of first pallet 12(1) is the maximum width that can be stored in storage row 23-G, and pallet width W2 of second pallet 12(2) is the minimum width that can be stored in storage row 23-G. In other words, storage row 23-G can store a mixture of multiple types of pallets 12 with different row widths from each other, with pallet widths ranging from W1 to W2.

[0073] The acquiring unit 38 may be configured to acquire the pallet width in addition to the pallet size. The measuring unit 40 may be configured to measure the pallet width in addition to the pallet size. The data providing unit 52 may be configured to provide the pallet width in addition to the pallet size. The control unit 50 may control the transport mechanism to store one pallet 12 in a storage row 23 determined in accordance with the pallet width acquired by the acquiring unit 38 for that one pallet 12.

[0074] Next, the change of the attribute of each storage row 23 will be described. The product mix may change seasonally, monthly, weekly, or daily. If the attributes of the storage rows 23 remain initially set and cannot be changed, there is a possibility that the change in the product mix cannot be accommodated. For this reason, in this embodiment, the attributes of the storage rows 23 are configured to be changeable. For example, if the number of products on the pallet 12-L is likely to increase, the ratio of storage rows 23 with the L attribute can be increased. The attribute of the storage rows 23 may be changed based on the operation of an operator, or may be changed automatically based on the calculation result by calculating the ratio of each attribute in the control unit 50 or its higher-level control system according to the product storage / retrieval plan.

[0075] The attributes of each storage row 23 may be stored in the control unit 50. In this case, the attributes of the storage row 23 can be changed by rewriting the attributes stored in the control unit 50. When the attributes of a storage row 23 are changed, the pallets 12 stored in the storage row 23 may be rearranged to match the changed attributes. Rearrangement is the operation of transferring a pallet 12 from one storage row 23 to another storage row 23 in the shelf unit 22.

[0076] In the above explanation, an example of handling three pallet sizes is shown, but there is a need to handle many more types of pallets. For example, if the minimum and maximum pallet sizes are determined, this embodiment is not limited to the above-mentioned small, medium, and large sizes, but can also handle intermediate sizes between these (for example, total length = reference size + 200 mm, reference size - 50 mm, etc.). In this embodiment, each storage row 23 stores one group of pallets divided into multiple groups according to pallet size. It is possible to design (length) the pallets 12 so that the storage efficiency can be optimized.

[0077] For example, pallets with a size of small (reference size - 100 mm) or less may be classified as a first group, pallets larger than small (reference size - 100 mm) and smaller than medium (reference size + 100 mm) may be classified as a second group, and pallets larger than medium (reference size + 100 mm) and smaller than large (reference size + 400 mm) may be classified as a third group. Pallets in the first group may be stored in a storage row with an S attribute, pallets in the second group may be stored in a storage row with an M attribute, and pallets in the third group may be stored in a storage row with an L attribute. These groups may be set for each shelf level of the shelf section 22. A design (length) can be made that enables the storage efficiency of each shelf level of the shelf section 22 to be optimized.

[0078] An example of the operation of packing pallets 12 into the storage row 23 for storage will be described with reference to Figure 8. This operation realizes the state in which the pallets 12 are packed and arranged as shown in Figure 11(b). Figure 8 is an explanatory diagram that explains an example of the operation of packing pallets 12 for storage. In this operation, the size of the pallet to be stored is acquired in advance, and the movement of the first conveying means 14 is controlled based on the acquired result.

[0079] First, the first conveying means 14 holds the pallet 12-S(A) to be stored near the center of the first conveying means 14 and moves from left to right in the figure, approaching the already placed pallet 12-S(B) and stopping just before that pallet (FIG. 8(a)). "Near the center" refers to the range from the center that allows for error and variation in operation. At this time, the first conveying means 14 detects the distance from that pallet with the first sensor 14s to avoid contact with the pallet and stops a predetermined distance before, leaving a large gap between the adjacent pallets.

[0080] Next, the first conveying means 14 temporarily lowers the pallet 12-S(A) into the storage row 23 and moves to the left in the figure (FIG. 8(b)). Next, the first conveying means 14 holds the pallet 12-S(A) at the position after the movement and moves to the right in the figure (FIG. 8(c)). In this operation, the first conveying means 14 may detect the already placed pallet 12-S(B) and determine the gap based on the distance to the pallet and the pallet size of the pallet 12-S(A). For example, the first conveying means 14 calculates the distance that the first conveying means 14 should move with respect to the position of the already placed pallet 12-S(B) according to the size of the pallet 12-S(A) to be stored measured by the measuring unit 40. In this operation, the stop position of the first conveying means 14 is controlled so that a predetermined gap Sd is formed between adjacent pallets based on the calculation result, the measured pallet size, and the detection distance of the first sensor 14s. Next, the first conveying means 14 deposits the pallet 12-S(A) at that position into the storage row 23 (FIG. 8(d)).

[0081] This operation is completed when pallet 12-S(A) is lowered into storage row 23, and first conveying means 14 moves to a standby location. By storing pallets closer together in this manner, wasted space is reduced by the amount indicated by symbol Cd compared to the case of Figure 11(a), improving space efficiency.

[0082] Next, a method for storing multiple pallets 12 of different sizes that are randomly stored in each storage row 23 of the shelf section 22 will be described. In this example, the following dimensions are input as parameters to the control section 50 and stored in advance. The following dimensions are dimensions in the row direction unless otherwise specified. (1) Storage dimensions of the shelf section 22. In particular, the dimension Yc of each storage row 23 (2) Distance between adjacent pallets Sd (3) Other dimensions. In particular, the dimension Yd of the dead space at the back of each storage row 23 where no pallets 12 are placed

[0083] Next, the control unit 50 calculates the dimensions of each available storage space (hereinafter referred to as "available storage dimensions Ys") from the current storage state of each storage row 23. For this calculation, the dimensions Yp(1) to Yp(n) of the n pallets currently being stored are used. The control unit 50 stores the dimensions Yp(1) to Yp(n) for each storage row 23. As an example, the control unit 50 can calculate the dimension Ys of each storage row 23 using equation (1). Ys=Yc-Σ[Yp(1)~Yp(n)]-n·Sd-Yd···(1) The storage capacity Ys of each storage row 23 is stored in the control unit 50.

[0084] When a new pallet 12 is stored, the control unit 50 searches for a storage row 23 having a storage capacity dimension Ys larger than the pallet size Yj of the new pallet 12.

[0085] The control unit 50 can add storage destination determination conditions, such as the type of pallet 12 or the storage row closest to the exit, to the storage rows 23 hit by the search, and determine the storage destination for storing the new pallet 12. The storage destination determination conditions can be changed to desired conditions.

[0086] When a pallet 12 is removed from the warehouse, the control unit 50 recalculates the storage capacity dimension Ys of each storage row 23 by adding the pallet size Ye of the removed pallet 12, and updates the stored data.

[0087] By determining the storage row in this manner, a plurality of pallets 12 of different sizes randomly stored on the shelf section 22 can be stored at a high density, improving space efficiency.

[0088] The features of the automated warehouse system 100 of this embodiment configured as above will be described. The automated warehouse system 100 of this embodiment has a first conveying means 14 capable of holding a pallet 12 and moving the shelf section 22 in the column direction, a second conveying means 16 mounted with the first conveying means 14 and capable of moving the side of the shelf section 22 in the row direction, and an acquisition section 38 that acquires the size of the pallet 12 to be stored as an acquired size. In this case, pallets of different sizes or pallets of unknown size can be stored smoothly. Also, since the pallets can be stored in a storage section appropriate for their size based on the acquired size, wasted space can be reduced and space efficiency can be improved.

[0089] In this embodiment, the acquisition unit 38 includes a measurement unit 40 that measures the size of the pallet 12 to be stored and provides the measurement result as the acquired size. In this case, an actual measurement value can be provided as the acquired size.

[0090] In this embodiment, the acquisition unit 38 includes a data providing unit 52 that provides, as the acquired size, stored data that is associated with the pallet 12 to be stored. In this case, the stored data can be provided as the acquired size.

[0091] In this embodiment, the pallet 12 to be stored is held by the first conveying means 14 after the size of the pallet 12 is acquired. In this case, a storage section 24 is determined based on the acquired size, and the pallet 12 can be transported using the first conveying means 14 of the storage row 23 or shelf to which the storage section 24 belongs.

[0092] In this embodiment, the storage unit 24 for storing the pallet 12 to be stored is determined based on the acquisition result by the acquisition unit 38. In this case, since the storage unit 24 can be determined based on the acquisition result, the pallet 12 can be stored in a storage unit suitable for its size.

[0093] This embodiment has a storage row 23 consisting of a plurality of storage sections 24 arranged in a row direction, and a plurality of pallets 12 of different sizes are stored in the storage row 23. In this case, flexible operation is possible when storing a wide variety of pallets of different sizes.

[0094] This embodiment has a plurality of storage rows 23 each consisting of a plurality of storage sections 24 arranged in a row direction, and each storage row 23 stores a group of pallets 12 that are divided into a plurality of groups according to size. In this case, a greater variety of pallet sizes can be accommodated. In this way, by grouping and storing pallets of different sizes, the number of pallets that can be stored in the automated warehouse system can be increased.

[0095] Furthermore, if the shelf section is divided into a storage section designed for large sizes and a storage section designed for small sizes at a specified ratio, if the product mix changes, the ratio of large and small size pallets will also change, which may cause a mismatch with the ratio of storage sections. In contrast, in this embodiment, the attributes of the storage rows 23 are configured to be changeable, so it is possible to flexibly respond to changes in the product mix and it is less likely to cause a mismatch between the ratio of pallets and the ratio of storage sections.

[0096] In this embodiment, a storage column 23-G is provided in which a plurality of storage sections capable of storing a first pallet 12(1) and a second pallet 12(2) having a row width smaller than that of the first pallet 12(1) are arranged in a column direction. The row width of the second pallet 12(2) is smaller than that of the first pallet 12(1). The storage column 23-G has a pair of placement sections 33, 34 arranged apart in the row direction for placing the second pallet 12(2) and the first pallet 12(1), and a pair of side restriction sections 31, 32 arranged on both sides in the row direction of the pallet placed on the pair of placement sections 33, 34. The row distance D1 between the pair of side restriction sections 31, 32 is larger than the pallet width W1 of the first pallet 12(1). The pair of placement sections 33, 34 are arranged to be able to support the second pallet 12(2) regardless of the position of the second pallet 12(2) located between the pair of side restriction sections 31, 32. In this case, pallets of a plurality of widths having different row widths can be stored in one storage row 23-G.

[0097] Above, examples of the embodiments of the present invention have been described in detail. All of the above-mentioned embodiments merely show specific examples of implementing the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes such as changing, adding, and deleting components are possible within the scope of the invention as defined in the claims. In the above-mentioned embodiments, the contents for which such design changes are possible are described with the notation "of the embodiment" or "in the embodiment", but this does not mean that design changes are not permitted for contents without such notation.

[0098] (Modification) The following describes the modified examples. In the drawings and description of the modified examples, the same or equivalent components and members as those in the embodiment are denoted by the same reference numerals. Descriptions that overlap with the embodiment will be omitted as appropriate, and the description will focus on configurations that differ from the embodiment.

[0099] [First Modification] In the description of the embodiment, an example in which the conveyor device 44 is provided is shown, but the present invention is not limited thereto. FIG. 9 is a side view that shows a schematic diagram of the automated warehouse system 100 according to the first modified example, and corresponds to FIG. 2. This modified example differs from the embodiment in that the lifting mechanism 20 lifts and lowers the first conveying means 14, and the conveyor device 44 is not provided. In this modified example, the external conveying means 54 places the pallet 12 to be stored on the first conveying means 14. In this modified example, the acquisition unit 38 includes the measurement unit 40, and does not include a data providing unit. The first conveying means 14 enters the measurement unit 40 while holding the pallet 12. The measurement unit 40 measures the pallet size of the pallet 12 held by the first conveying means 14, and sends the measurement result to the control unit 50. The control unit 50 determines the storage unit in which to store the pallet 12 based on the measurement result.

[0100] The first conveying means 14 enters the lifting mechanism 20 while holding the pallet 12. The lifting mechanism 20 transports the first conveying means 14 and the pallet 12 to the shelf level of the storage destination. The first conveying means 14 moves from the lifting mechanism 20 to the second conveying means 16. The second conveying means 16 transports the first conveying means 14 and the pallet 12 to the storage row 23 of the storage destination. The first conveying means 14 transports the pallet 12 to the storage section 24 of the storage destination, and lowers the pallet 12 into the storage section 24. This modification provides the same effects as the embodiment.

[0101] [Second modified example] In the description of the embodiment, an example in which the lifting mechanism 20 is provided has been shown, but the present invention is not limited to this. Fig. 10 is a side view showing a schematic diagram of an automated warehouse system 100 according to a second modified example, and corresponds to Fig. 2. This modified example differs from the embodiment in that it does not include the lifting mechanism 20, but includes an intermediate shelf 25 having multiple intermediate storage sections 21.

[0102] The intermediate storage section 21 is a temporary storage section for receiving the pallets 12 from the external transport means 54 when the pallets are stored in the warehouse. The intermediate storage section 21 in this modified example has the same number of tiers (three tiers) as the shelf section 22. The first transport means 14 enters the intermediate storage section 21 from an opening facing the inside to load and unload the pallets 12. The external transport means 54 inserts its fork into the intermediate storage section 21 from an opening facing the outside to load and unload the pallets 12.

[0103] In this modified example, the acquisition unit 38 includes a measurement unit 40, but does not include a data providing unit. In this modified example, the measurement unit 40 is provided in the intermediate storage unit 21 of each stage.

[0104] In this modification, the external conveying means 54 carries the incoming pallet 12 into the intermediate storage section 21. The measuring section 40 measures the pallet size of the pallet 12 carried into the intermediate storage section 21 and sends the measurement result to the control section 50. The control section 50 determines the storage section in which to store the pallet 12 based on the measurement result. The second conveying means 16 transports the empty first conveying means 14 to the front of the intermediate storage section 21. The first conveying means 14 enters the intermediate storage section 21 and boards the second conveying means 16 while holding the pallet 12. The second conveying means 16 transports the first conveying means 14 and the pallet 12 to the storage row 23 where the pallet 12 is to be stored. The first conveying means 14 transports the pallet 12 to the storage section 24 where the pallet 12 is to be stored and unloads the pallet 12 into the storage section 24. This modification provides the same effects as the embodiment.

[0105] [Other variations] In the description of the embodiment, an example in which the second conveying means 16 does not have a lifting mechanism has been shown, but the present invention is not limited to this. For example, the second conveying means 16 may have a lifting mechanism that lifts the first conveying means 14. In this case, the measuring unit 40 or the reading unit 46 may be provided in the second conveying means 16. The second conveying means 16 may be a stacker crane.

[0106] In the description of the embodiment, an example has been shown in which the measuring unit 40 and the reading unit 46 are provided upstream of the lifting mechanism 20, but the present invention is not limited to this. The measuring unit 40 or the reading unit 46 may be provided in the lifting mechanism 20, or may be provided between the lifting mechanism 20 and the shelf unit 22, or may be provided in the second conveying means 16. The acquiring unit 38 may acquire the pallet size anywhere upstream of the lifting mechanism 20, and may acquire the pallet size immediately after storage, for example.

[0107] In the embodiment, an example was shown in which all pallets 12 whose pallet size was acquired by the acquisition unit 38 are stored, but this is not limiting. For example, a pallet 12 whose pallet size is outside a predetermined range may be rejected without being stored in the shelf unit 22.

[0108] In the description of the embodiment, an example in which the second rail 28 is provided on the running path of the second conveying means 16 has been shown, but the present invention is not limited to this. For example, the second conveying means 16 may run on a running path without a rail.

[0109] Each of these modified examples provides the same effects as the embodiment.

[0110] 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 respective embodiments and modifications.

[0111] The present invention can also be defined by the features described in the following items. (Item 1) An automated warehouse system including a shelf unit having a plurality of storage sections arranged in rows and columns, the shelf unit being capable of storing pallets of a plurality of sizes, A first conveying means capable of holding a pallet and moving the shelf portion in a row direction; a second conveying means having the first conveying means mounted thereon and capable of moving along a side of the shelf in a row direction; an acquisition unit that acquires the size of a pallet to be stored as an acquisition size; An automated warehouse system having

[0112] (Item 2) The acquisition unit includes a measurement unit that measures the size of a pallet to be stored and provides the measurement result as the acquired size. 2. The automated warehouse system according to item 1.

[0113] (Item 3) The acquisition unit includes a data providing unit that provides stored data associated with a pallet to be stored as the acquired size. 3. The automated warehouse system according to item 1 or 2.

[0114] (Item 4) The pallet to be stored is held by the first conveying means after the acquired size is acquired. The automated warehouse system according to any one of items 1 to 3.

[0115] (Item 5) A storage unit for storing the pallet to be stored is determined based on the acquisition result of the acquisition unit. The automated warehouse system according to any one of items 1 to 4.

[0116] (Item 6) A storage row including a plurality of storage units arranged in a row direction, A plurality of pallets of different sizes are stored in the storage row. 6. The automated warehouse system according to any one of items 1 to 5.

[0117] (Item 7) A storage system includes a plurality of storage rows each including a plurality of storage units arranged in a row direction, In the storage queue, a group of pallets divided into a plurality of groups according to size is stored. 7. The automated warehouse system according to any one of items 1 to 6.

[0118] (Item 8) The group is set for each stage of the shelf portion. Item 7. The automated warehouse system according to item 7.

[0119] (Item 9) Detecting the position of a pallet already placed and determining a gap based on the distance to the pallet and the obtained size; The automated warehouse system according to any one of items 1 to 8.

[0120] (Item 10) a storage row in which a plurality of storage units capable of storing a first pallet and a second pallet having a row width smaller than the row width of the first pallet are arranged in a column direction; The storage row includes a pair of placement sections arranged apart in a row direction for placing the second pallet and the first pallet, and a pair of side restriction sections arranged on both sides in the row direction of the pallet placed on the pair of placement sections, a row direction interval between the pair of side restriction portions is greater than a row direction width of the first pallet, The set of placement sections is arranged to be able to support the second pallet regardless of the position of the second pallet located between the set of side restriction sections. 5. The automated warehouse system according to any one of items 1 to 4.

[0121] (Item 11) An automated warehouse system including a shelf unit having a plurality of storage sections arranged in rows and columns, and capable of storing pallets in the shelf unit, a first conveying means capable of holding the pallet and moving the shelf portion in a row direction; a second conveying means having the first conveying means mounted thereon and capable of moving along a side of the shelf in a row direction; having The shelf is controlled so that pallets of multiple sizes can be stored therein. Automated warehouse system.

[0122] (Item 12) A storage unit for storing data relating to the pallets of the shelf unit, the positions of the pallets during movement, and the pallet sizes. The automated warehouse system according to any one of items 1 to 11. [Explanation of symbols]

[0123] 12 pallet, 14 first conveying means, 16 second conveying means, 20 lifting mechanism, 21 intermediate loading section, 22 shelf section, 23 storage row, 24 storage section, 25 intermediate shelf, 31, 32 side regulating section, 33, 34 loading section, 38 acquisition section, 40 measurement section, 44 conveyor device, 50 control section, 52 data providing section, 54 external conveying means, 100 automated warehouse system.

Claims

[Claim 1] An automated warehouse system including a shelf unit having a plurality of storage sections arranged in rows and columns, the shelf unit being capable of storing pallets of a plurality of sizes, a first conveying means capable of holding a pallet and moving the shelf in a row direction; a second conveying means having the first conveying means mounted thereon and capable of moving along a side of the shelf in a row direction; an acquisition unit that acquires the size of a pallet to be stored as an acquisition size; An automated warehouse system having

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